JP3595488B2 - Pallet partition operation unit structure - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a pallet partition operation unit structure for interposing a partition between works stacked on a pallet by a robot.
[0002]
[Prior art]
Conventionally, when a press-formed panel is held by the gripper of a robot and loaded on a pallet, if the panels interfere with each other, they will be deformed or damaged, so a partition is interposed between the panels. Is known as shown in FIG. 7 (see JP-A-7-68332).
[0003]
That is, a support shaft 103 is extended on the pallet 102 on which the panels 101,... Are stacked, and the interference prevention plates 104,. Supported. On the side of the pallet 102, an interference prevention plate setting device 105 is provided. The interference prevention plate setting device 105 includes a driving base 106 driven in three axial directions and an air cylinder 107 of the driving base 106. A knocker 108 extends and knocks the partition plate 104 between the panels 101,....
[0004]
Thus, even if the shape of the panel to be formed is changed and the support position of the interference prevention plate 104 is changed, the drive base 106 can be moved in three axial directions to cope with the change. Have been.
[0005]
[Problems to be solved by the invention]
However, in the above-described partition operation portion structure of the pallet 102, a positioning device or a dedicated robot for moving the drive table 106 provided with the knocker 108 in three axial directions must be provided on the side of the pallet 102. In addition to the increase in cost, it is necessary to secure an installation space.
[0006]
The present invention has been made in view of such a conventional problem, and has as its object to provide a partition operation section structure of a pallet that can perform a partition operation without increasing costs. is there.
[0007]
[Means for Solving the Problems]
Wherein is a problem in the partition operation unit structure of the onset Ming pallet in order to solve the partition is provided rotatably pallet workpiece held by the gripper of the robot are stacked, the partition switch of the pallet In a structure in which the partition is tilted inward and arranged between the workpieces, and is tilted to the outside of the pallet and stands up and is pivoted between an upright state arranged outside the workpiece, the partition is provided by the pallet. A cylindrical portion rotatably fitted on the support shaft of the above, a partition bar extending from the cylindrical portion, and a push plate extending from the cylindrical portion and extending downward from a rotation center of the partition in the upright state. In the configuration, the weight of the partition bar is set to be heavier than the push plate, and the center of gravity of the partition bar is arranged outside the pallet than the support shaft in the upright state, To the gripper A pipe constituting the frame is detachably fixed, and the push plate of the partition in the upright state is pressed toward the outside of the pallet, and the partition bar is tilted inward of the pallet. A pressing portion for forming the tilted state is provided, and the pressing portion is constituted by a cylinder fixed to the pipe and a rod extending from the cylinder and reciprocating.
[0008]
That is, when loading the work on the pallet, the work is held by the gripper of the robot and placed in the pallet. Then, the push plate of the upright partition is pressed outward of the pallet by a pressing portion provided on the frame of the gripper. Then, the partition is fallen inside the pallet.
[0010]
That is, at the time of the partitioning operation, the rod is made to protrude from the cylinder of the frame to press the push plate. This causes the partition to fall down to the inside of the pallet. Then, the rod is retracted by the cylinder.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
(First Embodiment)
[0014]
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an auto palletizer 3 for automatically loading a panel 1 as a work continuously formed by a transfer press apparatus on a work loading pallet 2, and the auto palletizer 3 performs a pressing process. A work receiving table 4 on which the panel 1 unloaded is placed, a extracting robot 5 holding and moving the panel 1 mounted on the work receiving table 4, and a panel 1 held by the extracting robot 5. And a positioning work receiving table 7 on the side of the delivery conveyor 6, on which the panel 1 is placed, and a palletizing robot 8 that moves while holding the panel 1 positioned and mounted on the positioning work receiving table 7. ing. The palletizing robot 8 is movably supported by a linear guide 9, and a pallet transfer device 11 is provided on a side of the linear guide 9. The pallet transfer device 11 is configured such that first to third transfer paths 12 to 14 are connected in a U-shape, and a pallet plate supporting the work loading pallet 2 is transferred on each of the transfer paths 12 to 14. Is configured.
[0015]
As shown in FIGS. 2 and 3, the work loading pallet 2 includes a base 21 and columns 22 to 25 erected at four corners of the base 21, and the columns 23, 23 on the near side. A gap is formed at the input port of the panel 1, and a plurality of horizontal rails 26,... Are bridged above the columns 24, 25 provided on the back side of the input port, and a lower horizontal rail is provided. The center of 26 is supported by middle pillars 27, 27 (see FIG. 2). Hanging guides 28,... Protrude from the horizontal rails 26,..., And are inserted into window openings 29 formed in the panel 1 as shown in FIG. It is configured so that the panel 1 can be suspended and supported. The upper and lower horizontal rails 31, 31 are also bridged between the front pillars 22, 23 and the rear pillars 24, 25, and between the horizontal rails 31, 31 is also shown in FIG. As shown, a support shaft 33 for rotatably supporting a plurality of partitions 32,... Is bridged. Note that the partitions 32a, 32a set at the innermost position (see FIG. 2) are fixed in a state where they are fallen inside the work loading pallet 2.
[0016]
The partition 32 has an upright standing state 41 located outside the side of the panel 1 as shown by a solid line in FIG. 4 and a panel 32 which is folded inside the work loading pallet 2 as shown by a broken line in FIG. It is supported so as to be able to form a tilted state 42 located between the two, and is configured to be rotatable between the upright state 41 and the tilted state 42. The partition 32 has a cylindrical portion 43 rotatably fitted on the support shaft 33, a partition bar 45 extending from the cylindrical portion 43, and a lower portion than the rotation center of the partition 32 in the upright state 41. , The weight of the partition bar 45 is made heavier than that of the push plate 46, and the center of gravity of the partition bar 45 is located outside the pallet more than the support shaft 33 when the partition 32 is standing. Has been placed to. In the tilted state 42, the partition bar 45 is configured to be interposed between the panels 1 loaded on the work loading pallet 2.
[0017]
On the other hand, a gripper 52 for holding the panel 1 is provided at the tip of the arm 51 of the palletizing robot 8 (see FIGS. 2 and 3), and the gripper 52 can be replaced according to the panel 1 to be held. It is attached detachably. As shown in FIG. 4, pipes 53,... Forming a frame extending laterally are detachably fixed to the gripper 52. The pipes 53,. Are provided with vacuum cups 54,... For sucking the panel 1 by negative pressure. In the pipes 53 bent downward in FIG. 4, partition pressures 55, 55 as pressing portions are provided at respective positions corresponding to the partitions 32, 32 of the work loading pallet 2.
[0018]
The partition pressure 55 includes an air cylinder 62 fixed to the pipe 53 via a bracket 61, as shown in FIG. 5 (a state in which the pipe 53 is removed from the gripper 52). The rod 63 includes a rod 63 that extends and reciprocates in the direction in which the rod 63 extends, and a head 64 that is provided at the tip of the rod 63. The air cylinder 62 is disposed along the pipe 53. The hose not shown in the figure is connected. Thereby, a positive pressure is applied to the air cylinder 62 from the hose to cause the rod 63 to protrude, and the push plate 36 of the partition 32 is pressed outward of the work loading pallet 2 as shown in FIG. Thus, the partition 32 in the upright state 41 can be turned into the tilted state 42, and the partition operation section according to the present embodiment is configured.
[0019]
In the present embodiment according to the above configuration, when the panel 1 is loaded on the work loading pallet 2, the panel 1 on the positioning work receiving table 7 is held by the gripper 52 of the palletizer robot 8 and FIG. As shown in FIG. 3, the suspension guides 28,... Are inserted through the window opening 29 of the panel 1 from the input port of the work loading pallet 2 to support the panel 1 in a suspended state. Then, while maintaining the holding state of the panel 1 by the gripper 52, the panel 1 is brought into contact with the partition 32a fixed at the innermost position by the palletizer robot 8. In this contact state, the air cylinder 62 of the partition pushers 55, 55 is operated. Then, the rod 63 projects from the air cylinder 62, and the head 64 of the rod 63 presses the push plate 46 of the partition 32. As a result, the partition 32 in the upright state 41 is tilted inward to the inclined state 42, and the front side of the panel 1 in the contact state held by the gripper 52, as shown by the broken line in FIG. The partition bars 45 of the partitions 32 extend from the left and right.
[0020]
Then, after the air cylinder 62 is deactivated and the rod 63 is retracted, the holding state of the panel 1 by the gripper 52 is released. At this time, the partitions 32a, 32a set on the back side of the work loading pallet 2 are fixed in a state of being turned inward, and the panel 1 is fixed by the partitions 32a, 32a and the partition pushers 55, 55. It is held in a state of being sandwiched between the fallen partitions 32, 32. In addition, since the partitions 32, 32 are tilted in a state where the partitions 32a, 32a are in contact with the palletizer robot 8, rattling during transport of the panel 1 sandwiched between the partitions 32, 32a can be prevented. . Further, since the rod 63 protruded during the partitioning operation is retracted, it is possible to prevent a problem caused by interference of the rod 63 with the work loading pallet 2 which may occur when the gripper 52 is pulled out from the work loading pallet 2. .
[0021]
On the other hand, a partition pusher 55 for rotating the partition 32 is provided on a pipe 53 of the gripper 52 which is changed according to the shape of the workpiece to be conveyed. For this reason, a positioning device or a dedicated robot for positioning the operation unit so as to be movable in three axial directions is unnecessary, unlike a conventional operation unit for rotating and operating the partition 32 on the side of the work loading pallet 2. Cost reduction can be achieved. In addition, since the positioning device and the dedicated robot need not be installed on the side of the work loading pallet 2, the movable range of the palletizing robot 8 on which the panel 1 is loaded can be expanded.
[0022]
In the same manner as described above, by repeating the loading of the panel 1 on the work loading pallet 2 and the turning operation of the partitions 32, 32, the panels 1, 2 loaded on the work loading pallet 2 are interposed. The partitions 32,... Can be interposed.
[0023]
(Second embodiment)
[0024]
FIG. 6 (showing a state in which the pipe 53 is detached from the gripper 52) is a view showing the second embodiment, and only parts different from the first embodiment will be described.
[0025]
A partition pressure 55 for rotating the partition 32 provided on the work loading pallet 2 includes a fixed block 71 fixed to the pipe 53 via a bracket 61, and a fixed rod 72 protruding from the fixed block. It consists of:
[0026]
When the partition 32 is rotated by the gripper 52 having the fixing rod 72, the panel 1 is held at the innermost position by the palletizer robot 8 while the panel 1 is held by the gripper 52. Contact. After releasing the holding state of the panel 1 by the gripper 52, the gripper 52 is moved right and left by the palletizer robot 8, and the partitions 32, 32 are pushed by the fixed rod 72 fixed to the pipe 53 of the gripper 52. The partitions 32 are pushed down by pressing the plates 46, 46. Thereby, the panel 1 can be held in a state of being sandwiched between the partitions 32a, 32a and the partitions 32, 32 which are tilted down by the partition pushers 55, 55. Even if the panel 1 moves to the insertion port immediately after releasing the holding state, the panel 1 can be sandwiched because it is blocked by the gripper 52.
[0027]
Then, the gripper 52 is pulled out from the work loading pallet 2 after returning to the center position of the work loading pallet 2.
[0028]
Since the partition pressure 55 can be configured with such a simple structure, the cost can be further reduced.
[0029]
In each of the embodiments, the work loading pallet 2 for suspending and supporting the panel 1 has been described as an example. However, the present invention is not limited to this, and the work loading pallet for loading with the panel 1 leaned against the work. It may be.
[0030]
【The invention's effect】
As described above, in the pallet partition operation part structure of the first aspect of the present invention, the pressing part for rotating the partition is provided on the frame of the gripper that is changed according to the shape of the workpiece to be conveyed. I have. For this reason, there is no need for a positioning device or a dedicated robot for positioning the operation unit so as to be movable in three axial directions, unlike the conventional case where the operation unit for rotating the partition is installed on the side of the pallet. Thereby, cost reduction can be achieved. Further, since it is not necessary to install the positioning device and the dedicated robot on the side of the pallet, the movable range of the robot for loading the work can be expanded.
[0031]
Further, the front Symbol pressing portion, and a cylinder fixed to the frame, can be constructed by a simple structure consisting of a rod extending from the cylinder. Further, since the rod protruding at the time of the partitioning operation can be retracted, it is possible to prevent problems caused by interference of the rod with the pallet.
[Brief description of the drawings]
FIG. 1 is a plan view of a first embodiment of the present invention.
FIG. 2 is a perspective view showing a state where panels are loaded on a work loading pallet according to the embodiment.
FIG. 3 is a perspective view showing a state where panels are loaded on the work loading pallet of the embodiment.
FIG. 4 is a front view showing a state where the partition is pushed down by the partition pusher of the embodiment.
FIG. 5 is a perspective view showing a state where a pipe is detached from the gripper of the embodiment.
FIG. 6 is a perspective view showing a state where a pipe is detached from a gripper according to the second embodiment.
FIG. 7 is an enlarged view of a main part showing a conventional pallet partitioning operation part structure.
[Explanation of symbols]
1 panel (work)
2 Work loading pallet 8 Palletizing robot 32 Partition 33 Support shaft
43 cylindrical part
45 Partition bar
46 push plate 52 gripper 53 pipe (frame)
55 Partition pusher (pressing part)
62 Air cylinder 63 Rod 72 Fixed rod

Claims (1)

A partition is rotatably provided on a pallet on which the work held by the gripper of the robot is loaded, and the partition is tilted inside the pallet and is inclined between the works and tilted outward from the pallet. In the structure which is turned up and down between the upright state arranged outside the work,
A cylindrical portion rotatably fitted to the support shaft of the pallet, a partition bar extending from the cylindrical portion, and a lower portion than the rotation center of the partition extending from the cylindrical portion in the upright state; And the weight of the partition bar is set to be heavier than the push plate, and the center of gravity of the partition bar is disposed outside the pallet with respect to the support shaft in the upright state. While
A pipe constituting a frame is detachably fixed to the gripper, and the push plate of the partition in the upright state is pressed toward the outside of the pallet on the pipe, and the partition bar is placed inside the pallet. A pallet, characterized in that a pressing portion for tilting to the inclined state is provided, and the pressing portion is constituted by a cylinder fixed to the pipe and a rod extending from the cylinder and reciprocating. Partition operation part structure.

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