JP4324849B2 - Article gripping device - Google Patents

Article gripping device Download PDF

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JP4324849B2
JP4324849B2 JP2003276202A JP2003276202A JP4324849B2 JP 4324849 B2 JP4324849 B2 JP 4324849B2 JP 2003276202 A JP2003276202 A JP 2003276202A JP 2003276202 A JP2003276202 A JP 2003276202A JP 4324849 B2 JP4324849 B2 JP 4324849B2
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gripping
pair
article
pressing
state
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淑照 池畑
尚幸 吉川
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Daifuku Co Ltd
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Description

本発明は、互いに対向する一対の把持部材を接近離間方向に移動させるアクチュエータと、
前記一対の把持部材を接近側に移動させて物品を両側方から押圧して把持する押圧作動状態と前記一対の把持部材を離間側に移動させて物品の押圧を解除する押圧解除作動状態とに切り換えるように、前記アクチュエータの作動を制御する制御手段とが設けられた物品把持装置に関する。
The present invention includes an actuator that moves a pair of gripping members facing each other in an approaching and separating direction;
A pressing operation state in which the pair of gripping members are moved to the approach side to press and grip the article from both sides, and a press release operation state in which the pair of gripping members are moved to the separation side to release the pressing of the article. The present invention relates to an article gripping apparatus provided with a control means for controlling the operation of the actuator so as to be switched.

かかる物品把持装置は、前記制御手段により、前記一対の把持部材を接近側に移動させるように前記アクチュエータを作動させて、物品を両側方から押圧して把持する押圧作動状態にして物品を把持するものであり、物品を把持していることを判別するために、前記制御手段により前記押圧作動状態であることを判別するようになっている。
このような物品把持装置において、従来は、前記アクチュエータを流体圧シリンダにて構成し、前記一対の把持部材を接近側に移動させるべく前記空圧シリンダを作動させる流体の圧力が予め設定した設定押圧用圧力になると作動する圧力スイッチを設けて、その圧力スイッチが作動することに基づいて、前記制御手段により前記押圧作動状態であると判別するように構成していた(例えば、特許文献1参照。)。
In this article gripping device, the actuator is operated by the control means so as to move the pair of gripping members to the close side, and the article is gripped by pressing and gripping the article from both sides. In order to determine that the article is being gripped, it is determined by the control means that the state is the pressing operation state.
In such an article gripping device, conventionally, the actuator is constituted by a fluid pressure cylinder, and the pressure of the fluid for operating the pneumatic cylinder to move the pair of gripping members to the approach side is set pressure set in advance. A pressure switch is provided that is activated when the working pressure is reached, and based on the pressure switch being actuated, the controller is configured to determine that it is in the pressing operation state (see, for example, Patent Document 1). ).

特公平1‐29668号公報Japanese Patent Publication No. 1-26668

しかしながら、従来では、以下に説明するように、前記一対の把持部材にて物品を押圧して把持している状態でないにも拘らず、前記押圧作動状態であると誤って判別する場合があり、前記押圧作動状態であることを適切に判別し難いという問題があった。
即ち、前記一対の把持部材を接近側に移動させるべく前記空圧シリンダを作動させる流体の圧力が上昇するのは、前記把持部材が物品に当接して物品を押圧する状態であるとは限らず、前記把持部材が物品を押圧していない状態でも起こり得る。
例えば、通常は、前記把持部材を前記接近離間方向に移動自在なように基枠に支持して、そのように基枠に支持した前記把持部材を前記アクチュエータにて移動させることになるが、そのように把持部材を基枠に支持する構造にメカ的なトラブルが発生して、把持部材が移動し難くなったり、移動しなくなったりすると、前記一対の把持部材を接近側に移動させるべく前記空圧シリンダを作動させる流体の圧力が上昇して、前記圧力スイッチが作動することになり、そのような場合には、前記一対の把持部材にて物品を押圧して把持している状態でないにも拘らず、前記押圧作動状態であると誤って判別することになる。
However, conventionally, as described below, there is a case where it is erroneously determined that it is in the pressing operation state, even though it is not in a state of pressing and gripping an article with the pair of gripping members. There is a problem that it is difficult to appropriately determine that the state is the pressing operation state.
That is, the pressure of the fluid that operates the pneumatic cylinder to move the pair of gripping members to the close side is not necessarily in a state where the gripping members abut against the article and press the article. This can occur even when the gripping member is not pressing the article.
For example, normally, the gripping member is supported by a base frame so as to be movable in the approaching / separating direction, and the gripping member supported by the base frame is moved by the actuator. Thus, when a mechanical trouble occurs in the structure that supports the gripping member on the base frame, and the gripping member becomes difficult to move or stops moving, the pair of gripping members are moved to the close side. The pressure of the fluid that activates the pressure cylinder rises and the pressure switch is activated. In such a case, the article is not in a state where the pair of gripping members press and hold the article. Regardless, it is erroneously determined that the state is the pressing operation state.

本発明は、かかる実情に鑑みてなされたものであり、その目的は、一対の把持部材にて物品を両側方から押圧して把持する押圧作動状態を適切に判別し得る物品把持装置を提供することにある。   The present invention has been made in view of such a situation, and an object thereof is to provide an article gripping apparatus capable of appropriately determining a pressing operation state in which an article is pressed and gripped from both sides by a pair of gripping members. There is.

本願発明の物品把持装置は、互いに対向する一対の把持部材を接近離間方向に移動させるアクチュエータと、
前記一対の把持部材を接近側に移動させて物品を両側方から押圧して把持する押圧作動状態と前記一対の把持部材を離間側に移動させて物品の押圧を解除する押圧解除作動状態とに切り換えるように、前記アクチュエータの作動を制御する制御手段とが設けられたものであって、
第1特徴構成は、平面視で矩形状の複数の物品が水平方向に並ぶ物品群を把持対象の物品とし、
前記一対の把持部材の少なくとも一方が、前記アクチュエータにて前記接近離間方向に直線移動される移動部材に、前記接近離間方向にスライド移動自在な状態で且つ弾性付勢手段により他方の前記把持部材に接近する接近側に付勢された状態で支持され、
前記把持部材が前記接近離間方向における前記押圧作動状態を判別するための押圧状態判別位置にまで前記移動部材に対して前記弾性付勢手段の付勢力に抗して後退したことを検出する押圧状態検出手段が設けられ、
前記制御手段は、前記押圧状態検出手段により前記把持部材が前記押圧状態判別位置にまで後退したことが検出されることに基づいて、前記押圧作動状態であると判別するように構成され
前記アクチュエータが前記接近離間方向にスライド移動可能なように基枠に支持され、
前記一対の把持部材が、前記アクチュエータに、前記接近離間方向に移動されるよう連係されている点を特徴とする。
即ち、前記制御手段は、前記一対の把持部材を接近側に移動させるように前記アクチュエータを作動させ、前記押圧状態検出手段により、前記移動部材に支持されている把持部材が前記弾性付勢手段の付勢力に抗して前記押圧状態判別位置にまで後退したことが検出されると、前記押圧作動状態であると判別する。
つまり、前記移動部材に支持されている前記把持部材が物品に当接した状態で、前記アクチュエータが前記一対の把持部材を接近側に移動させるべく作動すると、前記移動部材が前記弾性手段の付勢力に抗して物品側に前進する、換言すれば、前記把持部材が前記移動部材に対して前記弾性付勢手段の付勢力に抗して後退することになり、そして、前記把持部材が前記移動部材に対して前記弾性付勢手段の付勢力に抗して前記押圧状態判別位置にまで後退すると、その後退したことが前記押圧状態検出手段により検出されて、その検出に基づいて、前記制御手段により前記押圧作動状態であると判別されるのである。
従って、前記移動部材に支持されている前記把持部材が物品に当接した状態で、前記アクチュエータがその把持部材を接近側に移動させるべく作動して、前記把持部材にて物品を押圧する状態が現出しない限り、前記把持部材が前記押圧状態判別位置にまで後退することはなくて、前記押圧作動状態であると判別されることが無いので、前記一対の把持部材にて物品を押圧して把持している状態でないにも拘らず、前記押圧作動状態であると誤判別することを抑制することが可能になった。
その結果、一対の把持部材にて物品を両側方から押圧して把持する押圧作動状態を適切に判別し得る物品把持装置を提供することができるようになった。
The article gripping device of the present invention includes an actuator that moves a pair of gripping members facing each other in an approaching and separating direction;
A pressing operation state in which the pair of gripping members are moved to the approach side to press and grip the article from both sides, and a press release operation state in which the pair of gripping members are moved to the separation side to release the pressing of the article. Control means for controlling the operation of the actuator to be switched, and
In the first characteristic configuration, a group of articles in which a plurality of rectangular articles in a plan view are arranged in a horizontal direction is an article to be grasped,
At least one of the pair of gripping members is moved to the moving member that is linearly moved in the approaching / separating direction by the actuator, and is slidably movable in the approaching / separating direction, and the other gripping member by the elastic biasing means. Supported in the state of being biased to the approaching approach,
A pressing state in which it is detected that the gripping member has retreated against the urging force of the elastic urging means with respect to the moving member up to a pressing state determination position for determining the pressing operation state in the approaching / separating direction. Detection means are provided,
The control means is configured to determine that the pressing member is in the pressing operation state based on detection by the pressing state detection means that the gripping member has been retracted to the pressing state determination position .
The actuator is supported by a base frame so as to be slidable in the approaching / separating direction,
The pair of gripping members are linked to the actuator so as to be moved in the approaching / separating direction .
That is, the control unit operates the actuator so as to move the pair of gripping members to the approach side, and the gripping member supported by the moving member is moved by the pressing state detection unit to the elastic biasing unit. When it is detected that the actuator has moved back to the pressing state determination position against the urging force, the pressing state is determined.
That is, when the actuator is operated to move the pair of gripping members to the approach side in a state where the gripping member supported by the moving member is in contact with the article, the moving member is biased by the elastic means. The gripping member moves backward against the urging force of the elastic urging means with respect to the moving member, and the gripping member moves in the movement direction. When the member retreats to the pressing state determination position against the urging force of the elastic urging unit with respect to the member, the retreat is detected by the pressing state detecting unit, and based on the detection, the control unit Therefore, it is determined that the state is the pressing operation state.
Therefore, in a state where the gripping member supported by the moving member is in contact with the article, the actuator is operated to move the gripping member to the approaching side and presses the article with the gripping member. As long as it does not appear, the gripping member does not move back to the pressing state determination position and is not determined to be in the pressing operation state. Although it is not in the gripping state, it is possible to suppress erroneous determination as the pressing operation state.
As a result, it is possible to provide an article gripping apparatus that can appropriately determine a pressing operation state in which an article is pressed and gripped from both sides by a pair of gripping members.

また、把持対象の物品が開き状態となっている一対の把持部材の一方側に偏って位置する状態で、前記一対の把持部材を接近させるように前記アクチュエータが作動するときには、一方の把持部材が先に物品に当接すると、その把持部材は静止した状態で、他方の把持部材が物品側に移動するように前記アクチュエータが前記接近離間方向に移動して、前記一対の把持部材が物品の両側方に当接して、その両側方から押圧することになる。
つまり、把持対象の物品が開き状態となっている一対の把持部材の一方側に偏って位置する状態で、前記一対の把持部材が接近するときには、前記一対の把持部材のうちの一方が先に物品に当接するとそれが静止した状態で、他方が物品側に移動する形態で、前記一対の把持部材が接近して、物品をその両側方から押圧するので、先に物品に当接した把持部材によって物品を無理やり押して、他方の把持部材の方に移動させるようなことが起こらず、物品の損傷を抑制することが可能になる。
又、前記一対の把持部材のうちの一方のみに前記押圧状態検出手段を設ける場合にも、前記一対の把持部材が物品の両側方に当接して、その両側方から押圧する状態となって、前記移動部材に支持されている前記把持部材が前記弾性付勢手段の付勢力に抗して前記押圧状態判別位置にまで後退すると、その後退したことが前記押圧状態検出手段により検出されて、前記制御手段により前記押圧作動状態であると判別されるので、前記押圧作動状態であると誤判別することを抑制することが可能になる。
従って、物品の損傷を抑制しながら、物品を把持することが可能になり、又、一対の把持部材のうちの一方のみに押圧状態検出手段を設けて低廉化を図りながら、一対の把持部材にて物品を両側方から押圧して把持する押圧作動状態を適切に判別することが可能になった。
Further , when the actuator is operated so as to bring the pair of gripping members closer to each other while the article to be gripped is located on one side of the pair of gripping members in an open state, the one gripping member is When the first abutting against the article, the gripping member is stationary, the actuator moves in the approaching / separating direction so that the other gripping member moves to the article side, and the pair of gripping members moves to both sides of the article. Will be pressed against both sides.
In other words, when the pair of gripping members approach in a state where the article to be gripped is located on one side of the pair of gripping members that are in the open state, one of the pair of gripping members comes first. The pair of gripping members approach and press the article from both sides in a state where the article comes into contact with the article and the other moves to the article side. Forcibly pushing the article with the member and moving it toward the other gripping member does not occur, and damage to the article can be suppressed.
Further, even when the pressing state detection means is provided only in one of the pair of gripping members, the pair of gripping members are in contact with both sides of the article and are pressed from both sides. When the gripping member supported by the moving member retreats to the pressing state determination position against the urging force of the elastic urging unit, the retreating state is detected by the pressing state detecting unit, and Since it is determined by the control means that the state is the pressing operation state, it is possible to suppress erroneous determination that the state is the pressing operation state.
Accordingly, the article can be gripped while suppressing damage to the article, and the pressing state detecting means is provided in only one of the pair of gripping members, and the pair of gripping members is made inexpensive. Thus, it is possible to appropriately determine the pressing operation state in which the article is pressed from both sides and held.

特徴構成は、上記第1特徴構成に加えて、
前記一対の把持部材の夫々について、前記押圧状態検出手段が設けられ、
前記制御手段が、前記一対の押圧状態検出手段のいずれもが前記把持部材が前記押圧状態判別位置にまで後退したことを検出することに基づいて、前記押圧作動状態であると判別するように構成されている点を特徴とする。
即ち、制御手段は、前記一対の把持部材の夫々に対して振り分けて設けられている前記一対の押圧状態検出手段のいずれもが前記把持部材が前記押圧状態判別位置にまで後退したことを検出することに基づいて、前記押圧作動状態であると判別する。
つまり、前記一対の把持部材の夫々が物品の側方に当接して物品を押圧する状態となって、前記弾性付勢手段の付勢力に抗して前記押圧状態判別位置にまで後退すると、前記一対の把持部材の夫々に対応する前記押圧状態検出手段により、前記把持部材が前記押圧状態判別位置にまで後退したことが検出され、それら一対の押圧状態検出手段のいずれもが前記把持部材が前記押圧状態判別位置にまで後退したことを検出すると、前記制御手段により前記押圧作動状態であると判別されるのである。
従って、前記一対の把持部材の一方のみが物品に当接する状態、例えば、前記一対の把持部材のうちの一方を前記接近離間方向に移動自在なように基枠に支持する構造にメカ的なトラブルが発生して、その把持部材が物品に当接せずに、他方の把持部材のみが物品に当接する状態では、前記一対の押圧状態検出手段のいずれもにより前記把持部材が前記押圧状態判別位置にまで後退したことが検出されることがないので、前記制御手段により前記押圧作動状態であると判別されることがなく、前記一対の把持部材にて物品を押圧して把持している状態でないにも拘らず、前記押圧作動状態であると誤判別することを一段と抑制することが可能になった。
その結果、一対の把持部材にて物品を両側方から押圧して把持する押圧作動状態を一段と適切に判別することが可能になった。
The second characteristic feature, in addition to the first feature structure,
The pressing state detection means is provided for each of the pair of gripping members,
The control means is configured to determine that both of the pair of pressing state detection means are in the pressing operation state based on detecting that the gripping member has moved back to the pressing state determination position. It is characterized by that.
That is, the control means detects that the gripping member has been retracted to the pressing state determination position by any of the pair of pressing state detection means provided to be distributed to each of the pair of gripping members. Based on this, it is determined that the pressing operation state is present.
That is, when each of the pair of gripping members comes into contact with the side of the article and presses the article, and retreats to the pressing state determination position against the urging force of the elastic urging means, It is detected by the pressing state detecting means corresponding to each of the pair of gripping members that the gripping member has moved back to the pressing state determination position. When it is detected that the actuator has moved back to the pressing state determination position, the control means determines that the pressing operation state is established.
Therefore, when only one of the pair of gripping members is in contact with the article, for example, a mechanical trouble occurs in a structure in which one of the pair of gripping members is supported on the base frame so as to be movable in the approaching / separating direction. And the gripping member is not in contact with the article and only the other gripping member is in contact with the article, the gripping member is moved to the pressed state determination position by both of the pair of pressing state detection means. Is not detected as being in the pressing operation state by the control means, and is not in a state in which the pair of gripping members press and hold the article. Nevertheless, it is possible to further suppress erroneous determination that the state is the pressing operation state.
As a result, it has become possible to more appropriately determine the pressing operation state in which the pair of gripping members press and grip the article from both sides.

以下、図面に基づいて、本発明の実施形態を説明する。尚、本実施形態では、図10に示すように、平面視で夫々矩形状の複数の物品Wが水平方向に並ぶ物品群を把持する場合について説明する。
図1ないし図3及び図9に示すように、把持装置Aは、水平方向に互いに対向する一対の把持部材1とその一対の把持部材1を接近離間方向に移動させるアクチュエータとしての空圧シリンダ2等を備えて構成した2台の把持部A1、それら2台の把持部A1夫々の前記一対の把持部材1を接近側に移動させて物品群を両側方から押圧して把持するように前記空圧シリンダ2が作動している押圧作動状態を検出する押圧状態検出部A2、及び、前記把持装置Aの各種制御を司る制御手段としてのコントローラ34等を備えて構成してある。
そして、前記コントローラ34は、2台の把持部A1の夫々の前記一対の把持部材1を接近側に移動させて物品群を両側方から押圧して把持する押圧作動状態と前記一対の把持部材1を離間側に移動させて物品群の押圧を解除する押圧解除作動状態とに切り換えるべく前記空圧シリンダ2の作動を制御するように構成してある。
前記2台の把持部A1は、前記一対の把持部材1の接近離間方向(以下、単に接近離間方向と記載する場合がある)を互いに直交させるように設けて、4個の把持部材1にて物品群をその四側方から押圧して把持するように構成してある。
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, as shown in FIG. 10, a case will be described in which a group of articles each having a plurality of rectangular articles W arranged in a horizontal direction in a plan view is gripped.
As shown in FIGS. 1 to 3 and 9, the gripping device A includes a pair of gripping members 1 facing each other in the horizontal direction and a pneumatic cylinder 2 as an actuator that moves the pair of gripping members 1 in the approaching and separating directions. The two gripping portions A1 that are configured to include the two gripping portions A1, and the pair of gripping members 1 of the two gripping portions A1 are moved to the approaching side to press and grip the group of articles from both sides. A pressing state detection unit A2 that detects a pressing operation state in which the pressure cylinder 2 is operating, a controller 34 as a control unit that performs various controls of the gripping device A, and the like are provided.
Then, the controller 34 moves the pair of gripping members 1 of the two gripping portions A1 to the approaching side and presses and grips the article group from both sides, and the pair of gripping members 1. The operation of the pneumatic cylinder 2 is controlled so as to switch to a press release operation state in which the product group is moved to the separated side to release the press of the article group.
The two gripping portions A1 are provided so that the approaching / separating directions of the pair of gripping members 1 (hereinafter sometimes simply referred to as approaching / separating directions) are orthogonal to each other. The article group is configured to be pressed and gripped from its four sides.

尚、前記2台の把持部A1は、一方の把持部A1の一対の把持部材1のうちの一方を昇降自在に設けた以外は略同様に構成してあるが、区別を明確にするために、把持装置Aの平面図を示す図1において、図面の左右方向を把持装置Aの左右方向Xとして、図面の上下方向を把持装置Aの前後方向Yとし、一対の把持部材1が左右方向Xに対向して位置する把持部A1を左右方向用の把持部A1と、一対の把持部材1が前後方向に対向して位置する把持部A1を前後方向用の把持部A1と夫々称し、以下の説明において、把持部A1を左右方向と前後方向とを区別して説明するときは、左右方向用の把持部A1、並びに、その左右方向用の把持部A1の把持部材1及び空圧シリンダ2夫々を示す符号に、左右方向であることを示すxの添え字を付し、前後方向用の把持部A1、並びに、その前後方向用の把持部A1の把持部材1及び空圧シリンダ2夫々を示す符号に、前後方向であることを示すyの添え字を付して説明する。又、図面においては、左右方向を示す添え字x、及び、前後方向を示す添え字yを付してある。   The two gripping portions A1 are configured in substantially the same manner except that one of the pair of gripping members 1 of the one gripping portion A1 is provided so as to be movable up and down. 1, which shows a plan view of the gripping device A, the left-right direction of the drawing is the left-right direction X of the gripping device A, the up-down direction of the drawing is the front-back direction Y of the gripping device A, and the pair of gripping members 1 are in the left-right direction X A gripping part A1 positioned opposite to the gripping part A1 is referred to as a gripping part A1 for the left-right direction, and a gripping part A1 where the pair of gripping members 1 are positioned facing the front-rear direction is referred to as a gripping part A1 for the front-rear direction. In the description, when the gripping portion A1 is described separately in the left-right direction and the front-rear direction, the gripping portion A1 for the left-right direction, and the gripping member 1 and the pneumatic cylinder 2 of the gripping portion A1 for the left-right direction are respectively described. The subscript of x indicating the left-right direction A suffix “y” indicating the front-rear direction is added to the reference numerals indicating the front-rear direction gripping part A1 and the gripping member 1 and the pneumatic cylinder 2 of the front-rearward direction gripping part A1. I will explain. In the drawings, a subscript x indicating the left-right direction and a subscript y indicating the front-rear direction are added.

前記把持部A1について説明を加える。
図1ないし図3に示すように、各把持部A1は、基本的には、一対の空圧シリンダ2を、夫々のシリンダロッド先端側を同一方向に向けた状態で一対の連結部材3によりシリンダチューブの両端を連結することにより、一体的に連結し、そのように一体的に連結した一対の空圧シリンダ2を前記接近離間方向に移動自在なように基枠としてのフレーム4に支持し、且つ、前記一対の把持部材1を前記接近離間方向に各別に移動自在に前記フレーム4に支持した状態で、前記一対の把持部材1を、一体的に連結した前記一対の空圧シリンダ2のシリンダロッド先端部とシリンダチューブ後端部とに振り分けて接続してある。
つまり、前記一対の把持部材1を、前記一対の空圧シリンダ2に、その収縮作動によって前記接近離間方向に移動されるように連係してある。
各把持部材1の長手方向の両端部は、夫々と前記接近離間方向が直交するように接近する把持部材1と交差させることが可能なように凹凸状に形成してある。
The grip part A1 will be further described.
As shown in FIGS. 1 to 3, each gripping portion A1 basically includes a pair of pneumatic cylinders 2 and a pair of connecting members 3 with the cylinder rod tips facing in the same direction. By connecting both ends of the tube, they are connected together and supported by a frame 4 as a base frame so that the pair of pneumatic cylinders 2 that are integrally connected can be moved in the approaching and separating directions, The pair of pneumatic cylinders 2 are integrally connected with the pair of gripping members 1 in a state where the pair of gripping members 1 are supported by the frame 4 so as to be movable separately in the approaching and separating directions. The rod tip and the cylinder tube rear end are distributed and connected.
That is, the pair of gripping members 1 are linked to the pair of pneumatic cylinders 2 so as to be moved in the approaching / separating direction by the contraction operation.
Both end portions in the longitudinal direction of each gripping member 1 are formed in a concavo-convex shape so as to be able to intersect with the gripping members 1 approaching so that the approaching and separating directions are orthogonal to each other.

以下、左右方向用の把持部A1x、前後方向用の把持部A1y毎に更に説明する。
先ず、前後方向用の把持部A1yについて説明を加える。
図1ないし図3に示すように、一体的に組み付けた一対の空圧シリンダ2yを、フレーム4に付設した一対のガイドレール5に前後方向Yにスライド自在なように支持し、且つ、前記一対の把持部材1y夫々を前記フレーム4に付設したリニアガイド6に前後方向Yにスライド自在なように支持した状態で、前記一対の把持部材1yを、一体的に連結した前記一対の空圧シリンダ2yのシリンダロッド先端部とシリンダチューブ後端部とに振り分けて接続してある。
Hereinafter, the gripping part A1x for the left-right direction and the gripping part A1y for the front-rear direction will be further described.
First, the front-rear direction gripping portion A1y will be described.
As shown in FIGS. 1 to 3, a pair of pneumatic cylinders 2 y assembled together are supported by a pair of guide rails 5 attached to the frame 4 so as to be slidable in the front-rear direction Y, and the pair of pneumatic cylinders 2 y is supported. The pair of pneumatic cylinders 2y are integrally connected to the pair of gripping members 1y in a state in which each of the gripping members 1y is supported by a linear guide 6 attached to the frame 4 so as to be slidable in the front-rear direction Y. Are distributed and connected to the front end of the cylinder rod and the rear end of the cylinder tube.

図4ないし図6に基づいて、前記一対の空圧シリンダ2yを前記一対のガイドレール5にて案内する構成について説明を加えると、前記一対のガイドレール5の夫々は、横断面形状が概ねコの字形状に形成して、夫々の開口側を内側に向けて互いに間隔を隔て並べた状態で前記フレーム4に付設してある。
前記一対の空圧シリンダ2yを連結する一対の連結部材3の夫々に対して、左右両側の夫々に上下に並べて一対のガイドローラ7を設けてある。
そして、一体的に組み付けた前記一対の空圧シリンダ2yを、前述のように4箇所に上下一対ずつ設けたガイドローラ7を用いて、前記一対のガイドレール5にスライド案内されるように支持させてある。
Based on FIGS. 4 to 6, a description will be given of a configuration in which the pair of pneumatic cylinders 2y is guided by the pair of guide rails 5. Each of the pair of guide rails 5 has a substantially cross-sectional shape. And are attached to the frame 4 in a state where the respective opening sides are directed inward and are spaced apart from each other.
A pair of guide rollers 7 is provided on each of the left and right sides of the pair of connecting members 3 that connect the pair of pneumatic cylinders 2y.
Then, the pair of pneumatic cylinders 2y assembled together are supported so as to be slidably guided by the pair of guide rails 5 by using the guide rollers 7 provided at the upper and lower pairs at four locations as described above. It is.

次に、左右方向用の把持部A1xについて説明を加える。
図1ないし図3に示すように、一体的に組み付けた一対の空圧シリンダ2xを、フレーム4に付設した一対のガイドレール8に左右方向Xにスライド自在なように支持してある。
前記一対の把持部材1xのうち、シリンダチューブ後端側に接続する前記把持部材1xは、前記フレーム4に付設したリニアガイド9に左右方向Xにスライド自在なように支持してある。
一方、シリンダロッド先端側の前記把持部材1xについては、左右方向移動架台11を、前記フレーム4に付設したリニアガイド10に左右方向Xに移動自在に支持して、その左右方向移動架台11にリニアガイド12にて上下方向に移動自在に支持してある。又、前記左右方向移動架台11には、前記把持部材1xを、他方の把持部材1xと同高さに位置する把持位置と、その上方の退避位置とにわたって昇降させる把持部材昇降部13を設けてある。
そして、一体的に連結した前記一対の空圧シリンダ2xのシリンダチューブの後端部に、前記左右方向移動架台11を接続し、シリンダロッドの先端部に前記把持部材1xを接続して、前記一対の空圧シリンダ2xを収縮作動させることにより、前記一対の把持部材1xを接近離間させるように構成してある。
Next, a description will be given of the gripping part A1x for the left-right direction.
As shown in FIGS. 1 to 3, a pair of pneumatic cylinders 2 x that are integrally assembled are supported by a pair of guide rails 8 attached to the frame 4 so as to be slidable in the left-right direction X.
Of the pair of gripping members 1x, the gripping member 1x connected to the cylinder tube rear end side is supported by a linear guide 9 attached to the frame 4 so as to be slidable in the left-right direction X.
On the other hand, with respect to the gripping member 1x on the tip side of the cylinder rod, the left and right direction moving gantry 11 is supported by a linear guide 10 attached to the frame 4 so as to be movable in the left and right direction X, and the left and right direction moving gantry 11 is linearly supported. The guide 12 is supported so as to be movable in the vertical direction. Further, the left-right moving base 11 is provided with a gripping member lifting and lowering portion 13 that lifts and lowers the gripping member 1x between a gripping position located at the same height as the other gripping member 1x and a retracted position above it. is there.
Then, the left and right moving frame 11 is connected to the rear ends of the cylinder tubes of the pair of pneumatic cylinders 2x that are integrally connected, and the gripping member 1x is connected to the tip of the cylinder rod. The pneumatic cylinder 2x is contracted to move the pair of gripping members 1x closer to and away from each other.

左右方向用の把持部A1xの前記一対の空圧シリンダ2xを前記一対のガイドレール8にて案内する構成は、前後方向用の把持部A1yの前記一対の空圧シリンダ2yを前記一対のガイドレール5にて案内する構成と同様であるので、詳細な説明及び図示を省略して、図5に基づいて簡単に説明すると、前記一対の空圧シリンダ2xを連結する一対の連結部材3の夫々に対して、左右両側の夫々に上下に並べて一対のガイドローラ14を設け、一体的に組み付けた前記一対の空圧シリンダ2xを、前述のように4箇所に上下一対ずつ設けたガイドローラ14を用いて、前記一対のガイドレール8にスライド案内されるように支持させてある。   The configuration in which the pair of pneumatic cylinders 2x of the gripping part A1x for the left-right direction is guided by the pair of guide rails 8 is configured such that the pair of pneumatic cylinders 2y of the gripping part A1y for the front-back direction is the pair of guide rails. 5, the detailed description and illustration are omitted, and a simple description based on FIG. 5 shows that each of the pair of connecting members 3 that connect the pair of pneumatic cylinders 2x. On the other hand, a pair of guide rollers 14 are provided vertically on both the left and right sides, and the pair of pneumatic cylinders 2x that are integrally assembled are used with the guide rollers 14 that are provided with a pair of upper and lower ones as described above. The pair of guide rails 8 are slidably guided.

前記把持部材昇降部13は、詳細は後述するフォーク装置D(図11参照)にて前記把持装置Aが把持した物品群を横方向に取り出すときに、前記把持部材1が干渉しないように前記退避位置に上昇させるようにするものであり、以下のように構成してある。尚、前記把持装置Aにおいて、昇降操作自在な把持部材1が位置して、物品群を外部に取り出すための部分を物品取り出しゲートAgと称する場合がある。
即ち、前記把持部材1に上下方向に沿わせてラック15を取り付けてあり、前記把持部材昇降部13は、そのラック15にかみ合わせたピニオン16と、そのピニオン16にベルト17にて連動連結されて前記ピニオン16を回転駆動する把持部材昇降用モータ18とを備えて構成してある。
The gripping member lifting and lowering unit 13 retracts the gripping member 1 so that the gripping member 1 does not interfere when taking out a group of articles gripped by the gripping device A in a fork device D (see FIG. 11), which will be described in detail later. It raises to a position and is configured as follows. In the gripping device A, the gripping member 1 that can be moved up and down is positioned, and a portion for taking out the article group to the outside may be referred to as an article takeout gate Ag.
That is, a rack 15 is attached to the gripping member 1 along the vertical direction, and the gripping member elevating part 13 is interlocked and connected to the pinion 16 by a belt 17 and the pinion 16. A gripping member lifting / lowering motor 18 that rotationally drives the pinion 16 is provided.

各把持部A1を上述のように構成することにより、前記空圧シリンダ2のシリンダロッドを収縮させると、シリンダロッド先端側の把持部材1が先に物品群に当接して、そのシリンダロッド先端側の把持部材1が静止した状態で、前記空圧シリンダ2のシリンダチューブが前記ガイドレール5,8の案内にて移動してシリンダチューブ側の把持部材1が物品群に近づくように移動して、前記一対の把持部材1にて物品群をその両側方から押圧することになる。
つまり、前記一対の把持部材1を接近させるように前記空圧シリンダ2が作動するときには、前記一対の把持部材1のうちの一方が先に物品群に当接するとそれが静止した状態で、他方が物品群側に移動する形態で、前記一対の把持部材1が接近するように構成してある。
By configuring each gripping part A1 as described above, when the cylinder rod of the pneumatic cylinder 2 is contracted, the gripping member 1 on the tip side of the cylinder rod comes into contact with the article group first, and the tip side of the cylinder rod With the gripping member 1 stationary, the cylinder tube of the pneumatic cylinder 2 moves by the guide rails 5 and 8 so that the gripping member 1 on the cylinder tube side moves closer to the article group, The group of articles is pressed from both sides by the pair of gripping members 1.
That is, when the pneumatic cylinder 2 is operated so as to bring the pair of gripping members 1 close to each other, when one of the pair of gripping members 1 comes into contact with the article group first, Is configured so that the pair of gripping members 1 approach each other.

次に、前記把持部材1を前記空圧シリンダ2に接続する構成、及び、前記押圧状態検出部A2について説明を加える。
図4、図5、図7及び図8に示すように、前記把持部材1を前記空圧シリンダ2に接続する構成は、左右方向用の把持部A1x及び前後方向用の把持部A1yのいずれにおいても同様であり、前記各把持部A1の前記一対の把持部材1夫々を、前記空圧シリンダ2にて前記接近離間方向に移動される移動部材19に、前記接近離間方向に移動自在な状態で且つコイルバネ20により他方の前記把持部材1に接近する接近側に付勢した状態で支持してある。尚、図8は、前後方向の把持部A1yのシリンダロッド先端側の把持部材1を前記空圧シリンダに接続する構成を例として、詳細に図示している。
前記押圧状態検出部A2としては、図1ないし図5、及び、図7に示すように、左右方向用の把持部A1x及び前後方向用の把持部A1yの夫々のシリンダロッド先端側とシリンダチューブ後端側とに1個ずつ、合計4個設け、それら4個の押圧状態検出部A2は、前記押圧作動状態を検出する構成を同様に構成してある。
即ち、前記押圧状態検出部A2は、図8に、前後方向の把持部A1yのシリンダロッド先端側に設けた押圧状態検出部A2にて例示するように、前記把持部材1が前記接近離間方向における前記押圧作動状態を判別するための押圧状態判別位置にまで前記コイルバネ20の付勢力に抗して後退したことを検出する押圧状態検出手段としての近接センサ28を備えて構成してある。
Next, a configuration for connecting the gripping member 1 to the pneumatic cylinder 2 and the pressing state detection unit A2 will be described.
As shown in FIGS. 4, 5, 7, and 8, the structure in which the gripping member 1 is connected to the pneumatic cylinder 2 is either the left-right gripping part A1x or the front-rearward gripping part A1y. Similarly, the pair of gripping members 1 of the gripping portions A1 can be moved in the approaching / separating direction to the moving member 19 moved in the approaching / separating direction by the pneumatic cylinder 2. Further, the coil spring 20 is supported in a state of being biased toward the approaching side approaching the other gripping member 1. FIG. 8 shows in detail an example of a configuration in which the gripping member 1 on the tip side of the cylinder rod of the gripping part A1y in the front-rear direction is connected to the pneumatic cylinder.
As shown in FIG. 1 to FIG. 5 and FIG. 7, the pressing state detection part A2 includes the cylinder rod tip side and the cylinder tube rear side of the holding part A1x for the left-right direction and the holding part A1y for the front-rear direction. A total of four are provided, one at the end side, and the four pressed state detection units A2 are similarly configured to detect the pressed operation state.
That is, the pressing state detection unit A2 is configured so that the gripping member 1 is in the approaching / separating direction as illustrated in FIG. 8 by a pressing state detection unit A2 provided on the front end side of the cylinder rod of the gripping unit A1y in the front-rear direction. A proximity sensor 28 is provided as a pressing state detecting unit that detects that the coil spring 20 has moved backward against the biasing force of the coil spring 20 to a pressing state determination position for determining the pressing operation state.

前記移動部材19について説明を加える。
図7及び図8に示すように、前後方向の把持部Ayのシリンダロッド先端側、シリンダチューブ後端側、左右方向の把持部Axのシリンダチューブ後端側の夫々に接続する前記移動部材19は、前記空圧シリンダ2に対して接続する取り付け板21と受板22とを所定の間隔を隔てて対向させた状態で、2本の軸体23にて連結して構成してある。図示は省略するが、左右方向の把持部Axのシリンダロッド先端側に接続する前記移動部材19は、前記軸体23として、4本の軸体23を2本ずつ前後方向に振り分けて設けた点以外は、他の移動部材19と同様の構成である。
そして、図8に示すように、前記各軸体23に、両端夫々にウレタンワッシャ25を付設してそのウレタンワッシャ25を含めた全長が前記取り付け板21と前記受板22との間隔よりも設定長さ短いリニアブッシュ24を摺動自在に外嵌し、それら2個のリニアブッシュ24に把持部材接続板26を取り付け、その把持部材接続板26と前記受板22との間に2個の圧縮状態の前記コイルバネ20を上下方向に並べて介装して、その2個のコイルバネ20にて前記把持部材接続板26を前記取り付け板21の側に付勢してある。但し、図示は省略するが、左右方向の把持部Axのシリンダロッド先端側に接続する前記移動部材19においては、前記2個のコイルバネ20を、前述のように前後方向に2個ずつ位置する軸体23の設置位置に対応させて振り分けて介装してある。
図7及び図8中の27は、各コイルバネ20に対応して設けたショックアブソーバである。
The moving member 19 will be further described.
As shown in FIGS. 7 and 8, the moving member 19 connected to the front end side of the cylinder rod of the grip portion Ay in the front-rear direction, the rear end side of the cylinder tube, and the rear end side of the cylinder tube of the grip portion Ax in the left-right direction is The mounting plate 21 and the receiving plate 22 connected to the pneumatic cylinder 2 are connected by two shaft bodies 23 in a state of facing each other with a predetermined interval. Although not shown in the drawings, the moving member 19 connected to the cylinder rod tip side of the gripping part Ax in the left-right direction is provided as the shaft body 23 by distributing the four shaft bodies 23 by two in the front-rear direction. Other than that, the configuration is the same as that of the other moving member 19.
Then, as shown in FIG. 8, each shaft body 23 is provided with urethane washers 25 at both ends, and the total length including the urethane washers 25 is set to be greater than the distance between the mounting plate 21 and the receiving plate 22. A linear bushing 24 having a short length is slidably fitted, a gripping member connection plate 26 is attached to the two linear bushings 24, and two compressions are provided between the gripping member connection plate 26 and the receiving plate 22. The coil springs 20 in the state are arranged in the vertical direction, and the gripping member connection plate 26 is biased toward the mounting plate 21 by the two coil springs 20. However, although not shown in the drawings, in the moving member 19 connected to the cylinder rod tip side of the gripping part Ax in the left-right direction, the two coil springs 20 are respectively positioned in the front-rear direction as described above. They are arranged according to the installation position of the body 23.
7 and 8 is a shock absorber provided corresponding to each coil spring 20.

そして、前後方向用の把持部A1yにおいては、上述のように構成した移動部材19を、前記シリンダチューブ後端側では、詳細な図示は省略するが、前記取り付け板21を前記連結部材3に接続することにより取り付け、シリンダロッド先端側では、図8に示すように、前記取り付け板21を前記一対の空圧シリンダ2yのシリンダロッドの先端部に接続することにより取り付けて、各移動部材19の把持部材接続板26に前記把持部材1yを接続してある。
つまり、前記一対の把持部材1y夫々を、前記移動部材19に、前記接近離間方向に移動自在な状態で且つ前記コイルバネ20により前記接近側に付勢した状態で支持してある。
In the gripping part A1y for the front-rear direction, the moving member 19 configured as described above is connected to the connecting member 3 although the detailed illustration is omitted on the cylinder tube rear end side. As shown in FIG. 8, the attachment plate 21 is attached by connecting the tip of the cylinder rod of the pair of pneumatic cylinders 2 y to grip each moving member 19. The gripping member 1y is connected to the member connection plate 26.
That is, each of the pair of gripping members 1y is supported by the moving member 19 in a state of being movable in the approaching / separating direction and being biased toward the approaching side by the coil spring 20.

又、左右方向用の把持部A1xについては、詳細な図示は省略するが、前記移動部材19を、シリンダチューブ後端側では、前記取り付け板21を前記連結部材3に接続することにより取り付け、シリンダロッド先端側では、前記取り付け板21を前記一対の空圧シリンダ2xのシリンダロッドの先端部に接続することにより取り付けてある。
そして、シリンダチューブ後端側の移動部材19の把持部材接続板26に前記把持部材1xを接続し、シリンダロッド先端側の移動部材19の把持部材接続板26に前記左右方向移動架台11を接続してある。
つまり、前記一対の把持部材1x夫々を、前記移動部材19に、前記接近離間方向に移動自在な状態で且つ前記コイルバネ20により前記接近側に付勢した状態で接続してある。
Although the detailed illustration of the left and right gripping part A1x is omitted, the moving member 19 is mounted on the rear end side of the cylinder tube by connecting the mounting plate 21 to the connecting member 3, and the cylinder. On the rod tip side, the attachment plate 21 is attached by connecting it to the tip of the cylinder rod of the pair of pneumatic cylinders 2x.
Then, the gripping member 1x is connected to the gripping member connection plate 26 of the moving member 19 on the rear end side of the cylinder tube, and the left-right moving platform 11 is connected to the gripping member connection plate 26 of the moving member 19 on the tip side of the cylinder rod. It is.
That is, each of the pair of gripping members 1x is connected to the moving member 19 while being movable in the approaching / separating direction and biased toward the approaching side by the coil spring 20.

そして、前記空圧シリンダ2のシリンダロッドを収縮させて前記一対の把持部材1を接近させるように作動させると、前記一対の把持部材1の少なくとも一方が物品群に当接しておらず、前記把持部材1が物品群に対して押圧作用しない状態の間は、図8の(イ)に示すように、前記コイルバネ20の付勢力により、前記リニアブッシュ24の物品群側のウレタンワッシャ25と前記取り付け板21とが当接した状態となり、前記一対の把持部材1が物品群の両側方に当接した状態で前記空圧シリンダ2のシリンダロッドが前記コイルバネ20の付勢力に抗して収縮すると、図8の(ロ)に示すように、前記各移動部材19が前記接近側に移動して、前記各移動部材19の前記受板22がリニアブッシュ24の物品群側とは反対側のウレタンワッシャ25に当接する状態となる。
つまり、前述のように、前記一対の把持部材1が物品群の両側方に当接した状態で前記空圧シリンダ2のシリンダロッドが前記コイルバネ20の付勢力に抗して収縮して、図8の(ロ)に示すように、前記各移動部材19が前記接近側に移動することは、換言すれば、前記各移動部材19に前記接近離間方向に移動自在に支持されている前記各把持部材1が前記各移動部材19に対して前記コイルバネ20の付勢力に抗して後退することであり、前記各移動部材19の前記受板22がリニアブッシュ24の物品群側とは反対側のウレタンワッシャ25に当接する状態が、前記各把持部材1が前記押圧状態判別位置にまで前記コイルバネ20の付勢力に抗して後退した状態である。
When the cylinder rod of the pneumatic cylinder 2 is contracted to operate the pair of gripping members 1 so that at least one of the pair of gripping members 1 is not in contact with the article group, the gripping During the state in which the member 1 does not act on the article group, the urethane washer 25 on the article group side of the linear bush 24 and the attachment are applied by the biasing force of the coil spring 20 as shown in FIG. When the cylinder rod of the pneumatic cylinder 2 contracts against the urging force of the coil spring 20 with the plate 21 in contact with the pair of gripping members 1 in contact with both sides of the article group, As shown in FIG. 8B, each moving member 19 moves to the approaching side, and the receiving plate 22 of each moving member 19 is urethane on the side opposite to the article group side of the linear bush 24. The abutting state Ssha 25.
That is, as described above, the cylinder rod of the pneumatic cylinder 2 contracts against the biasing force of the coil spring 20 in a state where the pair of gripping members 1 are in contact with both sides of the article group. As shown in (b), the movement of the moving members 19 toward the approaching side means that the holding members are supported by the moving members 19 so as to be movable in the approaching / separating direction. 1 is that the moving member 19 moves backward against the urging force of the coil spring 20, and the receiving plate 22 of each moving member 19 is urethane on the side opposite to the article group side of the linear bush 24. The state in contact with the washer 25 is a state in which each gripping member 1 is retracted against the urging force of the coil spring 20 to the pressed state determination position.

図7及び図8に示すように、被検出板29を前記受板22に取り付け、前記近接センサ28を、前記移動部材19が物品群側に移動して前記リニアブッシュ24の物品群側とは反対側のウレタンワッシャ25に当接すると、つまり、前記各把持部材1が前記押圧状態判別位置にまで前記コイルバネ20の付勢力に抗して後退すると、前記被検出板29により検出動作するように設けてある。
つまり、前記押圧状態検出部A2は、前記移動部材19、前記コイルバネ20、前記リニアブッシュ24、前記ウレタンワッシャ25、前記近接センサ28及び前記被検出板29等にて構成してある。
As shown in FIGS. 7 and 8, the detected plate 29 is attached to the receiving plate 22, and the proximity sensor 28 is moved from the article group side of the linear bush 24 by moving the moving member 19 to the article group side. When the gripping member 1 comes into contact with the opposite urethane washer 25, that is, when each of the gripping members 1 moves back to the pressing state determination position against the urging force of the coil spring 20, the detection plate 29 performs a detection operation. It is provided.
That is, the pressed state detection unit A2 is configured by the moving member 19, the coil spring 20, the linear bush 24, the urethane washer 25, the proximity sensor 28, the detection plate 29, and the like.

次に、前記押圧作動状態と前記押圧解除作動状態とに切り換えるべく、前記空圧シリンダ2にて前記一対の把持部材1を接近側と離間側とに切り換えて移動させるための構成について説明する。
図9に示すように、前記左右方向用の把持部A1xの一対の空圧シリンダ2xを同時に伸張作動状態と収縮作動状態とに切り換える左右方向用制御弁30と、その左右方向用制御弁30に供給する空気の圧力を調節する左右方向用圧力調整器31と、前記前後方向用の把持部A1yの一対の空圧シリンダ2yを同時に伸張作動状態と収縮作動状態とに切り換える前後方向用制御弁32と、その前後方向用制御弁32に供給する空気の圧力を調節する前後方向用圧力調整器33とを設けてある。
そして、前記コントローラ34により、前記押圧作動状態と前記押圧解除作動状態とに切り換えるべく前記2台の把持部A1夫々の前記空圧シリンダ2の作動を制御するように、前記左右方向用制御弁30、前記左右方向用圧力調整器31、前記前後方向用制御弁32及び前記前後方向用圧力調整器33夫々の作動を制御するようになっている。
尚、以下の説明では、前記左右方向用制御弁30及び前記前後方向用制御弁32において、前記空圧シリンダ2を伸張作動状態に切り換えるための操作状態を伸張用操作状態と、前記空圧シリンダ2を収縮作動状態に切り換えるための操作状態を収縮用操作状態と夫々記載する。
Next, a configuration for moving the pair of gripping members 1 between the approaching side and the separating side in the pneumatic cylinder 2 in order to switch between the pressing operation state and the pressing release operation state will be described.
As shown in FIG. 9, the left-right control valve 30 that switches the pair of pneumatic cylinders 2x of the left-right gripping portion A1x simultaneously between the expansion operation state and the contraction operation state, and the left-right control valve 30 A pressure regulator 31 for adjusting the pressure of the air to be supplied and a control valve 32 for the front / rear direction that switches the pair of pneumatic cylinders 2y of the gripping part A1y for the front / rear direction simultaneously between the expansion operation state and the contraction operation state. And a front-rear direction pressure regulator 33 that adjusts the pressure of the air supplied to the front-rear direction control valve 32.
Then, the controller 34 controls the operation of the pneumatic cylinder 2 of each of the two gripping portions A1 so as to switch between the pressing operation state and the pressing release operation state. The operation of each of the pressure controller 31 for the left-right direction, the control valve 32 for the front-rear direction, and the pressure regulator 33 for the front-rear direction is controlled.
In the following description, in the left-right control valve 30 and the front-rear direction control valve 32, the operation state for switching the pneumatic cylinder 2 to the expansion operation state is referred to as the expansion operation state, and the pneumatic cylinder. An operation state for switching 2 to the contraction operation state is referred to as a contraction operation state.

説明を加えると、コンプレッサ等のエア源35から供給される圧縮空気を導く主空気路36を2本の把持用空気路37に分岐し、一方の把持用空気路37の途中に前記左右方向用圧力調整器31を設け、先端に前記左右方向用制御弁30を接続し、他方の把持用空気路37の途中に前記前後方向用圧力調整器33を設け、先端に前記前後方向用制御弁32を接続し、前記左右方向用制御弁30と前記一対の左右方向用の空圧シリンダ2xとを、及び、前記前後方向用制御弁32と前記一対の前後方向用の空圧シリンダ2yとを夫々切換用空気路38にて接続してある。
左右方向用の空圧シリンダ2xに対する把持用空気路37には、その左右方向用の空圧シリンダ2xへの供給空気の圧力を増圧する増圧弁39を設けてある。
In other words, the main air passage 36 that guides the compressed air supplied from the air source 35 such as a compressor is branched into two gripping air passages 37, and the left and right direction air passages 37 are placed in the middle of one gripping air passage 37. A pressure regulator 31 is provided, the left-right control valve 30 is connected to the tip, the front-rear pressure regulator 33 is provided in the middle of the other gripping air passage 37, and the front-rear control valve 32 is provided at the tip. The left and right control valve 30 and the pair of left and right pneumatic cylinders 2x, and the front and rear direction control valve 32 and the pair of front and rear pneumatic cylinders 2y, respectively. A switching air passage 38 is connected.
The gripping air passage 37 for the left-right direction pneumatic cylinder 2x is provided with a pressure increasing valve 39 for increasing the pressure of the supply air to the left-right direction pneumatic cylinder 2x.

前記主空気路36には、エアタンク40、エアフィルタ41、前記主空気路36を通流する空気の圧力が所定の圧力以上になると作動する圧力スイッチ42、残圧排出弁43を設けてある。
尚、図9中、44は、詳細は後述する物品処理設備の移載装置E用の移載用空圧シリンダであり、45はその移載用空圧シリンダを伸張作動状態と収縮作動状態とに切り換える移載用制御弁である。
The main air passage 36 is provided with an air tank 40, an air filter 41, a pressure switch 42 that operates when the pressure of the air flowing through the main air passage 36 becomes a predetermined pressure or more, and a residual pressure discharge valve 43.
In FIG. 9, reference numeral 44 denotes a transfer pneumatic cylinder for a transfer device E of an article processing facility, the details of which will be described later, and reference numeral 45 denotes an extension operation state and a contraction operation state of the transfer pneumatic cylinder. This is a transfer control valve for switching to.

次に、前記コントローラ34について説明を加える。
前記コントローラ34は、物品群を把持する把持指令が指令されると、前記一対の把持部材1にて物品群を把持するために押圧する把持用押圧力よりも低い整列用押圧力にて、前記2台の把持部A1夫々の前記空圧シリンダ2を同時に前記押圧作動状態に作動させた後、前記2台の把持部A1夫々の前記空圧シリンダ2を同時に前記押圧解除作動状態に作動させる整列処理を実行し、続いて、前記把持用押圧力にて前記2台の把持部A1夫々の前記空圧シリンダ2を同時に前記押圧作動状態に作動させる把持処理を実行するように構成してある。
ちなみに、前記把持指令は、図示を省略するが、把持対象の物品群を位置させる物品群配置位置、即ち、開き状態にある4個の把持部材1の内側空間における把持対象の物品群の存否を検出する物品検出手段の検出情報、把持対象の物品群を前記物品群配置位置に移送する移送装置(例えば、後述する昇降装置C)の制御情報、あるいは、人為操作式の指令手段の指令情報等に基づいて指令されることになる。
Next, the controller 34 will be described.
When a gripping command for gripping an article group is instructed, the controller 34 is configured with the alignment pressing force lower than the gripping pressing force pressed to grip the article group with the pair of gripping members 1. Alignment in which the pneumatic cylinders 2 of the two gripping portions A1 are simultaneously operated in the pressing operation state, and then the pneumatic cylinders 2 of the two gripping portions A1 are simultaneously operated in the pressing release operating state. The process is executed, and subsequently, the gripping process of simultaneously operating the pneumatic cylinders 2 of the two gripping portions A1 to the pressing operation state with the gripping pressing force is performed.
Incidentally, although not shown in the figure, the grip command indicates whether or not there is an article group placement position where the article group to be gripped is located, that is, whether or not there is an article group to be gripped in the inner space of the four gripping members 1 in the open state. Detection information of the article detection means to be detected, control information of a transfer device (for example, an elevating device C described later) for transferring an article group to be grasped to the article group arrangement position, or command information of an artificially operated command means, etc. Will be commanded based on

又、前記コントローラ34は、前記左右方向用の空圧シリンダ2xについて設けた一対の近接センサ28のいずれもがオンすると、即ち、前記一対の近接センサ28により前記左右方向用の把持部材1xが前記押圧状態判別位置にまで後退したことが検出されると、前記左右方向用の空圧シリンダ2xが前記押圧作動状態であると判別し、且つ、前記前後方向用の空圧シリンダ2yについて設けた一対の近接センサ28のいずれもがオンすると、即ち、前記一対の近接センサ28により前記前後方向用の把持部材1yが前記押圧状態判別位置にまで後退したことが検出されると、前記前後方向用の空圧シリンダ2yが前記押圧作動状態であると判別するように構成してある。   Further, the controller 34 turns on both of the pair of proximity sensors 28 provided for the left-right pneumatic cylinder 2x, that is, the pair of proximity sensors 28 causes the gripping member 1x for the left-right direction to be When it is detected that the retracted position has reached the pressing state determination position, it is determined that the left-right pneumatic cylinder 2x is in the pressing operation state, and a pair provided for the front-rear pneumatic cylinder 2y. When the proximity sensor 28 is turned on, that is, when it is detected by the pair of proximity sensors 28 that the holding member 1y for the front-rear direction has moved back to the pressed state determination position, the front-rear direction sensor 28 is used. The pneumatic cylinder 2y is configured to be determined to be in the pressing operation state.

前記コントローラ34には、予め、前記一対の把持部材1にて物品群を把持するための設定把持用空気圧、及び、その設定把持用空気圧よりも低い設定整列用空気圧を記憶させてある。
そして、前記コントローラ34により、前記左右方向用制御弁30を前記収縮用操作状態に切り換え、且つ、前記左右方向用圧力調整器31をその排出空気の圧力が前記設定整列用空気圧になるように調節すると、前記左右方向用圧力調整器31から調圧されて排出される空気が前記増圧弁39にて増圧されて、前記設定整列用空気圧よりも高圧の空気が前記左右方向用制御弁30を通じて前記一対の左右方向用の空圧シリンダ2xに供給されて、前記一対の左右方向用の空圧シリンダ2xが収縮して、前記一対の左右方向用の把持部材1xが接近することになり、前記一対の左右方向用の空圧シリンダ2xが、前記一対の左右方向用の把持部材1xにて物品群を把持するために押圧する左右方向把持用押圧力よりも低い左右方向整列用押圧力にて前記押圧作動状態に作動することになる。
又、前記コントローラ34により、前記前後方向用制御弁32を前記収縮用操作状態に切り換え、且つ、前記前後方向用圧力調整器33をその排出空気の圧力が前記設定整列用空気圧になるように調節すると、前記設定整列用空気圧の空気が前記前後方向用制御弁32を通じて前記一対の前後方向用の空圧シリンダ2yに供給されて、前記一対の前後方向用の空圧シリンダ2yが収縮して、前記一対の前後方向用の把持部材1yが接近することになり、前記一対の前後方向用の空圧シリンダ2yが、前記一対の前後方向用の把持部材1yにて物品群を把持するために押圧する前後方向把持用押圧力よりも低い前後方向整列用押圧力にて前記押圧作動状態に作動することになる。
The controller 34 stores in advance a set gripping air pressure for gripping an article group by the pair of gripping members 1 and a set alignment air pressure lower than the set gripping air pressure.
Then, the controller 34 switches the left-right control valve 30 to the contracting operation state, and adjusts the left-right pressure regulator 31 so that the pressure of the discharged air becomes the set alignment air pressure. Then, the air pressure-adjusted and discharged from the left-right pressure regulator 31 is increased by the pressure-increasing valve 39, and air having a pressure higher than the set alignment air pressure passes through the left-right direction control valve 30. When the pair of left and right pneumatic cylinders 2x are supplied to the pair of left and right pneumatic cylinders 2x, the pair of left and right pneumatic cylinders 2x contract, and the pair of left and right gripping members 1x approach, The pair of left and right pneumatic cylinders 2x are pressed in the left and right direction, which is lower than the left and right gripping pressure that is pressed to grip the article group by the pair of left and right gripping members 1x. It will operate in the pressing operation state at.
Further, the controller 34 switches the front-rear direction control valve 32 to the contracting operation state, and adjusts the front-rear direction pressure regulator 33 so that the pressure of the discharged air becomes the set alignment air pressure. Then, the air of the set alignment air pressure is supplied to the pair of front and rear pneumatic cylinders 2y through the front and rear direction control valve 32, and the pair of front and rear pneumatic cylinders 2y contracts, The pair of front-rear direction gripping members 1y approach, and the pair of front-rear direction pneumatic cylinders 2y press to grip the group of articles with the pair of front-rear direction gripping members 1y. The pressing operation state is activated with a longitudinal alignment pressing force lower than the longitudinal gripping pressure.

又、前記コントローラ34により、前記左右方向用制御弁30を前記収縮用操作状態に切り換え、且つ、前記左右方向用圧力調整器31をその排出空気の圧力が前記設定把持用空気圧になるように調節すると、前記左右方向用圧力調整器31から調圧されて排出される空気が前記増圧弁39にて増圧されて、前記設定把持用空気圧よりも高圧の空気が前記左右方向用制御弁30を通じて前記一対の左右方向用の空圧シリンダ2xに供給されて、前記一対の左右方向用の空圧シリンダ2xが収縮して、前記一対の把持部材1xが接近することになり、前記一対の左右方向用の空圧シリンダ2xが、前記左右方向把持用押圧力にて前記押圧作動状態に作動することになる。
又、前記コントローラ34により、前記前後方向用制御弁32を前記収縮用操作状態に切り換え、且つ、前記前後方向用圧力調整器33をその排出空気の圧力が前記設定把持用空気圧になるように調節すると、前記設定把持用空気圧の空気が前記前後方向用制御弁32を通じて前記一対の前後方向用の空圧シリンダ2yに供給されて、前記一対の前後方向用の空圧シリンダ2yが収縮して、前記一対の把持部材1yが接近することになり、前記一対の前後方向用の空圧シリンダ2yが、前記前後方向把持用押圧力にて前記押圧作動状態に作動することになる。
Further, the controller 34 switches the left / right direction control valve 30 to the contracting operation state, and adjusts the left / right direction pressure regulator 31 so that the pressure of the discharged air becomes the set gripping air pressure. Then, the air pressure-adjusted and discharged from the left-right pressure regulator 31 is increased by the pressure-increasing valve 39, and air having a pressure higher than the set gripping air pressure passes through the left-right direction control valve 30. The pair of left and right pneumatic cylinders 2x are supplied to the pair of left and right pneumatic cylinders 2x to be contracted, so that the pair of gripping members 1x approach, and the pair of left and right pneumatic cylinders 2x The pneumatic cylinder 2x for operation is operated in the pressing operation state by the pressing force for gripping in the left-right direction.
Further, the controller 34 switches the front-rear direction control valve 32 to the contracting operation state, and adjusts the front-rear direction pressure regulator 33 so that the pressure of the discharged air becomes the set gripping air pressure. Then, the set gripping air pressure air is supplied to the pair of front-rear direction pneumatic cylinders 2y through the front-rear direction control valve 32, and the pair of front-rear direction pneumatic cylinders 2y contracts, The pair of gripping members 1y approach each other, and the pair of front-rear direction pneumatic cylinders 2y operate in the pressing operation state by the front-rear direction gripping pressing force.

又、前記コントローラ34により、前記左右方向用制御弁30を前記伸張用操作状態に切り換えると、前記一対の左右方向用の空圧シリンダ2xが伸張して、前記一対の把持部材1xが離間することになり、前記一対の左右方向用の空圧シリンダ2xが前記押圧解除作動状態に作動することになる。
又、前記コントローラ34により、前記前後方向用制御弁32を前記伸張用操作状態に切り換えると、前記一対の前後方向用の空圧シリンダ2yが伸張して、前記一対の把持部材1yが離間することになり、前記一対の前後方向用の空圧シリンダ2yが前記押圧解除作動状態に作動することになる。
When the controller 34 switches the left / right control valve 30 to the extension operation state, the pair of left / right pneumatic cylinders 2x extend and the pair of gripping members 1x separate. Thus, the pair of left and right pneumatic cylinders 2x operate in the pressing release operating state.
Further, when the controller 34 switches the front / rear direction control valve 32 to the extension operation state, the pair of front / rear direction pneumatic cylinders 2y are extended, and the pair of gripping members 1y are separated. Thus, the pair of front and rear pneumatic cylinders 2y are operated in the pressing release operating state.

図10に基づいて、前記コントローラ34の制御動作について説明を加える。
前記コントローラ34は、図10の(イ)に示すように、把持対象の物品群が前記物品群配置位置に位置して、前記把持指令が指令されると、前記左右方向用制御弁30及び前記前後方向用制御弁32を同時に前記収縮用操作状態に切り換え、且つ、前記左右方向用圧力調整器31及び前記前後方向用圧力調整器33をその排出空気の圧力が前記設定整列用空気圧になるように調節することにより、前記一対の左右方向用の空圧シリンダ2xを前記左右方向整列用押圧力にて、前記一対の前後方向用の空圧シリンダ2yを前記前後方向整列用押圧力にて、夫々同時に前記押圧作動状態に作動させ、その状態で、4個の前記近接センサ28の全てがオン状態になって、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yのいずれもが前記押圧作動状態であると判別すると、前記左右方向用制御弁30及び前記前後方向用制御弁32を同時に前記伸張用操作状態に切り換えることにより、前記一対の左右方向用の空圧シリンダ2x及び前記一対の前後方向用の空圧シリンダ2yを同時に前記押圧解除作動状態に作動させて、前記整列処理を実行する。
Based on FIG. 10, the control operation of the controller 34 will be described.
As shown in FIG. 10 (a), the controller 34, when the article group to be grasped is positioned at the article group arrangement position and the grip command is instructed, The front-rear direction control valve 32 is simultaneously switched to the contracting operation state, and the left-right direction pressure regulator 31 and the front-rear direction pressure regulator 33 are set so that the discharge air pressure becomes the set alignment air pressure. By adjusting the pair of left and right pneumatic cylinders 2x with the pressing force for alignment in the left and right direction and the pair of pneumatic cylinders 2y with the pressing force for alignment in the front and rear direction. Each of the four proximity sensors 28 is turned on at the same time in the pressing operation state, and the left and right pneumatic cylinders 2x and the front and rear pneumatic cylinders 2y are turned on. When it is determined that both are in the pressing operation state, the pair of left and right pneumatic cylinders are switched by simultaneously switching the left and right direction control valve 30 and the front and rear direction control valve 32 to the extension operation state. 2x and the pair of front and rear pneumatic cylinders 2y are simultaneously operated to the pressing release operating state to execute the alignment process.

すると、図10の(ロ)に示すように、物品群が、前記左右方向用の一対の把持部材1xにより前記左右方向把持用押圧力よりも低い前記左右方向整列用押圧力にて、前記前後方向用の一対の把持部材1yにより前記前後方向把持用押圧力よりも低い前記前後方向整列用押圧力にて、同時に押圧された後、図10の(ハ)に示すように、前記左右方向用の一対の把持部材1x及び前記前後方向用の一対の把持部材1yが夫々開くことになり、物品群が不揃い状態となっていても整列されることになる。   Then, as shown in FIG. 10B, the front and back of the article group is moved by the pair of holding members 1x for the left and right direction at the pressing force for alignment in the left and right direction lower than the pressing force for holding in the left and right direction. After being simultaneously pressed by the pair of holding members 1y for direction with the pressing force for alignment in the front-rear direction lower than the pressing force for holding in the front-rear direction, as shown in FIG. The pair of gripping members 1x and the pair of gripping members 1y for the front-rear direction are opened, and the articles are aligned even if they are in an irregular state.

前記コントローラ34は、前記整列処理において、前記一対の左右方向用の空圧シリンダ21x及び前記一対の前後方向用の空圧シリンダ2yを同時に前記押圧解除作動状態に作動させて、4個の前記近接センサ28の全てがオフ状態になると、前記左右方向用制御弁30及び前記前後方向用制御弁32を同時に前記伸張用操作状態に切り換え、且つ、前記左右方向用圧力調整器31及び前記前後方向用圧力調整器33を夫々の排出空気の圧力が前記設定把持用空気圧になるように調節することにより、前記一対の左右方向用の空圧シリンダ2xを前記左右方向把持用押圧力にて、前記一対の前後方向用の空圧シリンダ2yを前記前後方向把持用押圧力にて、夫々同時に前記押圧作動状態に作動させて、前記把持処理を実行する。
そして、前記コントローラ34は、その把持処理では、4個の前記近接センサ28の全てがオン状態になって、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yのいずれもが前記押圧作動状態であると判別すると、物品群の把持が完了したことを判別して、把持している物品群を受け取る側の受け取り準備が終了した時点で、物品の把持を解除する等の次の処理を実行する。
In the alignment process, the controller 34 simultaneously activates the pair of left-right pneumatic cylinders 21x and the pair of front-rear pneumatic cylinders 2y in the pressing release operation state, thereby When all of the sensors 28 are turned off, the left-right control valve 30 and the front-rear direction control valve 32 are simultaneously switched to the extension operation state, and the left-right pressure regulator 31 and the front-rear direction control valve 32 are switched. By adjusting the pressure regulator 33 so that the pressure of each discharge air becomes the set gripping air pressure, the pair of left and right pneumatic cylinders 2x is moved by the left and right gripping pressure. The pneumatic cylinders 2y for the front and rear direction are simultaneously operated to the pressing operation state by the pressing force for the front and rear direction gripping, and the gripping process is executed.
In the gripping process, all of the four proximity sensors 28 are turned on, and both the pneumatic cylinder 2x for the left and right direction and the pneumatic cylinder 2y for the front and rear direction are used in the controller 34. Is determined to be in the pressing operation state, it is determined that the gripping of the article group is completed, and the gripping of the article is released when the reception preparation on the side of receiving the gripping article group is completed. The following processing is executed.

前記把持処理では、図10の(ニ)に示すように、先に実行された整列処理にて整列された物品群が、前記左右方向用の一対の把持部材1xにより前記左右方向把持用押圧力にて、前記前後方向用の一対の把持部材1yにより前記前後方向把持用押圧力にて同時に押圧されて、各物品Wが損傷することなく物品群が適正に把持されることになる。   In the gripping process, as shown in FIG. 10D, the group of articles aligned in the previously performed alignment process is pressed by the pair of gripping members 1x for the left-right direction. Thus, the pair of gripping members 1y for the front-rear direction are simultaneously pressed by the pressing force for gripping in the front-rear direction, and the group of articles is properly gripped without damaging each article W.

次に、図11に基づいて、上述のように構成した把持装置Aを備えて、パレットP上に複数段に積み重ねられた物品群を上位のものから順に段単位で横方向に取り出す物品処理設備について説明する。
この物品処理設備は、搬入用コンベアB上でパレットPを介して搬送される物品群を昇降させる昇降装置Cと、最上段の物品群を把持する前記把持装置Aと、その把持装置Aにて把持される物品群を載置して横方向に取り出すフォーク装置Dと、そのフォーク装置Dに載置された物品群を横方向に押し出して搬出用コンベアF上に移載する移載装置Eとを備えて構成し、前記把持装置Aの前記コントローラ34にて物品処理設備の各種制御を司るように構成してある。
Next, based on FIG. 11, an article processing facility that includes the gripping device A configured as described above and takes out a group of articles stacked in a plurality of stages on the pallet P in a horizontal direction in units from the highest order. Will be described.
This article processing facility includes an elevating device C that lifts and lowers an article group conveyed via a pallet P on the carry-in conveyor B, the gripping apparatus A that holds the uppermost article group, and the gripping apparatus A. A fork device D for placing the article group to be gripped and taking it out in the lateral direction; and a transfer device E for extruding the article group placed on the fork device D in the lateral direction and transferring it onto the carry-out conveyor F; And the controller 34 of the gripping device A is configured to control various types of article processing equipment.

前記昇降装置Cは、マスト51に昇降自在に支持した昇降台52と、この昇降台52を昇降させる昇降用電動モータ53mを備えた昇降用駆動部53等により構成してある。
前記把持装置Aは、前記昇降装置Cの昇降台52の上方に位置させた状態で、前記フレーム4を用いて、前記昇降台52の周囲に立設した架台50に取り付けてある。
The elevating device C includes an elevating platform 52 supported by the mast 51 so as to be movable up and down, and an elevating drive unit 53 including an elevating electric motor 53m that elevates and lowers the elevating platform 52.
The gripping device A is attached to a stand 50 erected around the lifting platform 52 using the frame 4 while being positioned above the lifting platform 52 of the lifting device C.

前記フォーク装置Dと前記搬出用コンベアFとは、前記把持装置Aの前記物品取り出しゲートAgの側方に、物品群の載置面を互いに同高さにして、前記物品取り出しゲートAg側から前記フォーク装置D、前記搬出用コンベアFの順に前記左右方向Xに並べて配設し、前記移載装置Eは、前述のように並ぶ前記フォーク装置D及び前記搬出用コンベアFの上方に配設してある。   The fork device D and the carry-out conveyor F are arranged on the side of the article take-out gate Ag of the gripping device A so that the placement surfaces of the article groups are at the same height from the article take-out gate Ag side. The fork device D and the carry-out conveyor F are arranged in the left-right direction X in this order, and the transfer device E is arranged above the fork device D and the carry-out conveyor F arranged as described above. is there.

前記フォーク装置Dは、前記把持装置Aから物品群を受け取って、前記搬出用コンベアFの側に取り出すものであり、前記把持装置Aの下方の受け取り位置と前記把持装置Aの前記取り出しゲートAgの外側の取り出し位置とにわたって前記左右方向Xに移動操作自在に設けたフォーク部材54、及び、そのフォーク部材54を移動操作するフォーク用電動モータ55mを備えたフォーク用駆動部55等により構成してある。   The fork device D receives a group of articles from the gripping device A and takes them out to the carry-out conveyor F side. The fork device D receives the position below the gripping device A and the take-out gate Ag of the gripping device A. The fork member 54 is provided so as to be movable in the left-right direction X over the outside take-out position, and a fork drive unit 55 provided with a fork electric motor 55m for moving the fork member 54. .

前記移載装置Eは、前記取り出し位置に位置する前記フォーク部材54上の物品群を前記搬出用コンベアF上に押して移載するものであり、下方向きの先端が前記取り出し位置に位置する前記フォーク部材54上の物品群の上面よりも下方で且つ前記フォーク部材54の上面よりも上方に位置する押し作用位置と前記先端が前記フォーク部材54上の物品群の上面よりも上方に位置する退避位置とにわたって上下方向に移動操作自在な押し部材56、その押し部材56を上下方向に移動操作する前記移載用空圧シリンダ44、前記押し部材56と前記移載用空圧シリンダ44とを支持して、前記押し部材56が前記取り出しゲートAgと前記フォーク部材54の先端との間に位置する押し開始位置と前記押し部材56が前記移載用コンベアFの上方に位置する押し終了位置とにわたって前記左右方向Xに移動操作自在な左右方向移動部材57、及び、その左右方向移動部材57を横方向に移動操作する移載用電動モータ58mを備えた移載用駆動部58等を備えて構成してある。   The transfer device E transfers an article group on the fork member 54 located at the take-out position onto the carry-out conveyor F, and the fork whose forward-facing tip is located at the take-out position is used. A pushing action position located below the upper surface of the article group on the member 54 and above the upper face of the fork member 54 and a retreat position where the tip is located above the upper surface of the article group on the fork member 54 A pressing member 56 that can be moved up and down, and the transfer pneumatic cylinder 44 that moves the pressing member 56 in the up and down direction, and the pressing member 56 and the transfer pneumatic cylinder 44 are supported. The pushing start position where the pushing member 56 is located between the take-out gate Ag and the tip of the fork member 54, and the pushing member 56 is the transfer conveyor F. A transfer device provided with a left-right direction moving member 57 that can be moved in the left-right direction X over the push end position located above, and a transfer electric motor 58m that moves the left-right direction moving member 57 in the horizontal direction For example, the drive part 58 etc. are provided.

次に、前記パレットP上に複数段に積み重ねられた物品群を最上段のものから順に段単位で横方向に取り出して前記搬出用コンベアFに移載する一連の物品処理における前記コントローラ34の制御動作について説明する。
図12に示すように、物品処理の開始時は、前記コントローラ34により、最上段の物品群を前記物品群配置位置よりも下方に位置させるように前記昇降用電動モータ53mが作動され、前記物品取り出しゲートAgの把持部材1を前記把持位置に位置させるように前記把持部材昇降用モータ18が作動され、前記二対の把持部材1を開き状態とするように前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yが作動され、前記フォーク部材54を前記取り出し位置に位置させるように前記フォーク用電動モータ55mが作動され、前記押し部材56を前記退避位置に位置させるように前記移載用空圧シリンダ44が作動され、前記左右方向移動部材57を前記押し開始位置に位置させるように前記移載用電動モータ58mが作動された状態となっている。
Next, the control of the controller 34 in a series of article processing in which a group of articles stacked in a plurality of stages on the pallet P is taken out in the horizontal direction in order from the top one and transferred to the carry-out conveyor F. The operation will be described.
As shown in FIG. 12, at the start of article processing, the controller 34 activates the lifting electric motor 53m so that the uppermost article group is positioned below the article group arrangement position. The gripping member raising / lowering motor 18 is operated so as to position the gripping member 1 of the take-out gate Ag at the gripping position, and the left and right pneumatic cylinders 2x so as to open the two pairs of gripping members 1. And the fore-and-aft pneumatic cylinder 2y is actuated, the fork electric motor 55m is actuated to position the fork member 54 at the take-out position, and the push member 56 is located at the retracted position. The transfer pneumatic cylinder 44 is operated, and the transfer electric motor 5 is positioned so that the left-right moving member 57 is positioned at the pushing start position. m is in a state that has been operated.

そして、物品処理開始指令があると、コントローラ34は、図13に示すように、最上段の物品群を前記物品群配置位置に昇降させるように、前記昇降装置Cの昇降用電動モータ53mを作動させ、その昇降装置Cから最上段の物品群を前記物品群配置位置に位置させたことを示す信号を受信すると、前記把持指令が指令されたとして、上述のように前記整列処理、前記把持処理を順に行わせるように、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yを作動させ、前記把持処理において、4個の前記近接センサ28の全てがオン状態になって、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yのいずれもが前記押圧作動状態であると判別して、その押圧作動状態を維持し、前記フォーク装置Dから前記フォーク部材54を前記受け取り位置に位置させたことを示す信号が送信されるのを待つ。   Then, when there is an article processing start command, the controller 34 operates the lifting electric motor 53m of the lifting device C so as to raise and lower the uppermost article group to the article group arrangement position as shown in FIG. When the signal indicating that the uppermost article group is positioned at the article group arrangement position is received from the lifting device C, the alignment process and the gripping process are performed as described above, assuming that the grip command is instructed. Are operated in order, the left and right pneumatic cylinders 2x and the front and rear pneumatic cylinders 2y are operated, and in the gripping process, all the four proximity sensors 28 are turned on. The left and right pneumatic cylinders 2x and the front and rear pneumatic cylinders 2y are both determined to be in the pressing operation state, and the pressing operation state is maintained. Waiting for the location D to a signal indicating that said fork member 54 is positioned at the receiving position is transmitted.

続いて、コントローラ34は、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yに前記把持処理を実行させているときに、前記4個の前記近接センサ28の全てがオン状態になって前記押圧作動状態であることを判別すると、図14に示すように、前記昇降台52を下降させるように前記昇降用電動モータ53mを作動させ、続いて、前記フォーク部材54を前記受け取り位置に位置させるように前記フォーク用電動モータ55mを作動させる。
すると、図14に示すように、前記把持装置Aにて把持されている物品群と前記昇降台52上の最上段の物品群との間の隙間に、前記フォーク部材54が挿入される。
Subsequently, when the controller 34 causes the pneumatic cylinder 2x for the left-right direction and the pneumatic cylinder 2y for the front-rear direction to execute the gripping process, all the four proximity sensors 28 are turned on. When it is determined that it is in the pressing operation state, as shown in FIG. 14, the lifting electric motor 53m is operated to lower the lifting platform 52, and then the fork member 54 is moved to the The fork electric motor 55m is operated so as to be positioned at the receiving position.
Then, as shown in FIG. 14, the fork member 54 is inserted into the gap between the article group gripped by the gripping device A and the uppermost article group on the lifting platform 52.

続いて、前記コントローラ34は、前記フォーク装置Dから前記フォーク部材54を前記受け取り位置に位置させたことを示す信号を受信すると、図15に示すように、前記左右方向用の空圧シリンダ2x及び前記前後方向用の空圧シリンダ2yを同時に前記把持解除作動状態に作動させる。
すると、図15に示すように、前記物品把持装置Aにて把持されていた物品群が前記フォーク部材54上に載置される。
Subsequently, when the controller 34 receives a signal indicating that the fork member 54 has been positioned at the receiving position from the fork device D, as shown in FIG. 15, as shown in FIG. The front and rear pneumatic cylinders 2y are simultaneously operated to the grip release operation state.
Then, as shown in FIG. 15, the group of articles gripped by the article gripping device A is placed on the fork member 54.

続いて、前記コントローラ34は、図15に示すように、前記物品取り出しゲートAgの前記把持部材1を前記退避位置に上昇させるように前記把持部材昇降用モータ18を作動させ、続いて、図16に示すように、前記フォーク部材54を前記取り出し位置に位置させるように前記フォーク用電動モータ55mを作動させる。
続いて、前記コントローラ34は、図16に示すように、前記押し部材56を前記押し作用位置に位置させるように前記移載用空圧シリンダ44を作動させ、且つ、前記物品取り出しゲートAgの把持部材1を前記把持位置に下降させるように前記把持部材昇降用モータ18を作動させ、続いて、図17に示すように、前記左右方向移動部材57を前記押し終了位置に位置させるように、前記移載用電動モータ58mを作動させる。
すると、図17に示すように、前記フォーク部材54上の物品群が前記押し部材56により押されて前記搬出用コンベアF上に移載されることになる。
続いて、前記コントローラ54は、前記押し部材56を前記退避位置に位置させるように前記移載用空圧シリンダ44を作動させ、且つ、前記左右方向移動部材57を前記押し開始位置に位置させるように前記移載用電動モータ58mを作動させ、以降、物品処理開始指令がある毎に、上述の一連の処理を繰り返す。
Subsequently, as shown in FIG. 15, the controller 34 operates the gripping member raising / lowering motor 18 so as to raise the gripping member 1 of the article take-out gate Ag to the retracted position. As shown, the fork electric motor 55m is operated so that the fork member 54 is positioned at the take-out position.
Subsequently, as shown in FIG. 16, the controller 34 operates the transfer pneumatic cylinder 44 so as to position the pushing member 56 at the pushing action position, and holds the article take-out gate Ag. The gripping member lifting / lowering motor 18 is operated so as to lower the member 1 to the gripping position, and then, as shown in FIG. 17, the left and right direction moving member 57 is positioned at the pushing end position. The transfer electric motor 58m is operated.
Then, as shown in FIG. 17, the group of articles on the fork member 54 is pushed by the pushing member 56 and transferred onto the carry-out conveyor F.
Subsequently, the controller 54 operates the transfer pneumatic cylinder 44 so as to position the push member 56 at the retracted position, and positions the left-right moving member 57 at the push start position. Then, the transfer electric motor 58m is operated, and thereafter, every time there is an article processing start command, the above-described series of processing is repeated.

〔別実施形態〕
次に別実施形態を説明する。
(イ) 把持部A1の具体構成は、上記の実施形態において例示した構成に限定されるものではなく、種々に変更可能である。
例えば、上記の実施形態では、2台の空圧シリンダ2を連結部材3にて連結したが、3台以上の空圧シリンダ2を連結部材3にて連結しても良いし、1台の空圧シリンダ2により構成するようにしても良い。
又、2台の空圧シリンダ2をシリンダロット先端側を互いに反対側に向けた状態で一体的に連結して、各空圧シリンダ2のシリンダロット先端に前記把持部材1を接続しても良い。
[Another embodiment]
Next, another embodiment will be described.
(A) The specific configuration of the gripping portion A1 is not limited to the configuration illustrated in the above embodiment, and can be variously changed.
For example, in the above embodiment, two pneumatic cylinders 2 are connected by the connecting member 3, but three or more pneumatic cylinders 2 may be connected by the connecting member 3, or one empty cylinder may be connected. You may make it comprise with the pressure cylinder 2. FIG.
In addition, two pneumatic cylinders 2 may be integrally connected with the cylinder lot tip side facing each other, and the gripping member 1 may be connected to the cylinder lot tip of each pneumatic cylinder 2. .

) 前記押圧状態検出手段の具体構成としては、上記の実施形態において例示した前記近接センサ28に限定されるものではない。
例えば、前記押圧状態検出手段として、リミットスイッチを、前記把持部材1が前記押圧状態判別位置にまで前記コイルバネ20の付勢力に抗して後退するとオンするように設けても良い。
又、前記押圧状態検出手段として、反射型あるいはフォトインタラプタ型のフォトセンサを、前記把持部材1が前記押圧状態判別位置にまで前記コイルバネ20の付勢力に抗して後退すると検出作動するように設けても良い。
( B ) The specific configuration of the pressing state detection means is not limited to the proximity sensor 28 exemplified in the above embodiment.
For example, a limit switch may be provided as the pressing state detection means so that the limit switch is turned on when the gripping member 1 moves back to the pressing state determination position against the biasing force of the coil spring 20.
Further, as the pressing state detecting means, a reflection type or photo interrupter type photo sensor is provided so as to detect when the gripping member 1 moves back to the pressing state determination position against the urging force of the coil spring 20. May be.

) 上記の実施形態においては、各把持部A1の一対の把持部材1の夫々について、前記押圧検出手段を設ける場合について例示したが、前記一対の把持部材1のうちの一方のみに前記押圧検出手段を設けても良い。 ( C ) In the above embodiment, the case where the pressing detection means is provided for each of the pair of gripping members 1 of each gripping part A1 is illustrated. However, only one of the pair of gripping members 1 performs the pressing. Detection means may be provided.

) 上記の実施形態においては、前記把持部A1として、2台を設ける場合について例示したが、1台だけ設けても良い。 ( D ) In the above-described embodiment, the case where two units are provided as the gripping portion A1 is illustrated, but only one unit may be provided.

) 上記の実施形態においては、平面視で夫々矩形状の複数の物品Wが水平方向に並ぶ物品群を把持する場合について例示したが、複数の物品Wが1列に並ぶ状態の物品群を把持するようにしたりしても良い。 (E) above in the embodiments, a plurality of articles W of each rectangular shape in plan view is exemplified for the case of grasping a group of articles arranged in the horizontal direction, the article states that multiple article W is arranged in a line A group may be held.

) 前記把持部A1の前記アクチュエータの具体構成としては、上記の実施形態において例示した空圧シリンダ2に限定されるものではなく、油圧シリンダや、電動モータでも良い。 (To) specific configuration of the actuator of the gripping portion A1 it is not limited to the pneumatic cylinder 2 illustrated in the above embodiments, and a hydraulic cylinder, or an electric motor.

)本発明の物品把持装置Aは、上記の実施形態において例示した構成の物品処理設備以外の種々の構成の物品処理設備において用いることが可能である。
例えば、2台の把持部A1を支持する前記フレーム4を、物品群を把持して受け取る受け取り位置と、その受け取り位置で把持した物品群を移載するための移載位置とにわたって往復移動自在に支持して、前記受け取り位置で物品群を把持した後、前記フレーム4を前記移載位置に移動させて、物品群の把持を解除させるように構成しても良い。
この場合、前記4個の把持部材1のうちの1個を前記把持部材昇降部13にて昇降させる構成、前記フォーク装置D及び前記移載装置Eを省略することが可能となる。
( G ) The article gripping apparatus A of the present invention can be used in article processing facilities having various configurations other than the article processing facility having the configuration exemplified in the above embodiment.
For example, the frame 4 supporting the two gripping portions A1 can be reciprocated freely between a receiving position for gripping and receiving the article group and a transfer position for transferring the article group gripped at the receiving position. After supporting and gripping the article group at the receiving position, the frame 4 may be moved to the transfer position to release the grip of the article group.
In this case, it is possible to omit the configuration in which one of the four gripping members 1 is moved up and down by the gripping member lifting and lowering unit 13, the fork device D, and the transfer device E.

実施形態に係る把持装置の平面図Plan view of a gripping device according to an embodiment 実施形態に係る把持装置の一部切り欠き状態での右側面図Right side view of the gripping device according to the embodiment in a partially cutaway state 実施形態に係る把持装置の一部切り欠き状態での正面図The front view in the partially notched state of the holding | grip apparatus which concerns on embodiment 実施形態に係る把持装置の前後方向の把持部を示す平面図The top view which shows the holding part of the front-back direction of the holding apparatus which concerns on embodiment 実施形態に係る把持装置の把持部を示す一部切り欠き状態での右側面図The right view in the partially notched state which shows the holding part of the holding apparatus which concerns on embodiment 実施形態に係る把持装置の前後方向の把持部を示す一部切り欠き状態での後面図The rear view in the partially notched state which shows the holding part of the front-back direction of the holding | gripping apparatus which concerns on embodiment 実施形態に係る把持装置の前後方向の把持部の押圧状態検出部を示す一部切り欠き状態での後面図The rear view in the partially notched state which shows the press state detection part of the holding part of the front-back direction of the holding apparatus which concerns on embodiment 実施形態に係る把持装置の押圧状態検出部を示す一部切り欠き状態での平面図The top view in the partially notched state which shows the press state detection part of the holding | gripping apparatus which concerns on embodiment 実施形態に係る把持装置の制御構成を示す図The figure which shows the control structure of the holding | gripping apparatus which concerns on embodiment. 実施形態に係る把持装置の作用を説明する図The figure explaining the effect | action of the holding | grip apparatus which concerns on embodiment 実施形態に係る把持装置を備えた物品処理設備の概略正面図Schematic front view of article processing equipment provided with a gripping device according to an embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment 実施形態に係る物品処理設備の作用を説明する図The figure explaining the effect | action of the article processing equipment which concerns on embodiment

符号の説明Explanation of symbols

1 把持部材
2 アクチュエータ
4 基枠
19 移動部材
20 弾性付勢手段
28 押圧状態検出手段
34 制御手段
DESCRIPTION OF SYMBOLS 1 Holding member 2 Actuator 4 Base frame 19 Moving member 20 Elastic biasing means 28 Pressing state detection means 34 Control means

Claims (2)

互いに対向する一対の把持部材を接近離間方向に移動させるアクチュエータと、
前記一対の把持部材を接近側に移動させて物品を両側方から押圧して把持する押圧作動状態と前記一対の把持部材を離間側に移動させて物品の押圧を解除する押圧解除作動状態とに切り換えるように、前記アクチュエータの作動を制御する制御手段とが設けられた物品把持装置であって、
平面視で矩形状の複数の物品が水平方向に並ぶ物品群を把持対象の物品とし、
前記一対の把持部材の少なくとも一方が、前記アクチュエータにて前記接近離間方向に直線移動される移動部材に、前記接近離間方向にスライド移動自在な状態で且つ弾性付勢手段により他方の前記把持部材に接近する接近側に付勢された状態で支持され、
前記把持部材が前記接近離間方向における前記押圧作動状態を判別するための押圧状態判別位置にまで前記移動部材に対して前記弾性付勢手段の付勢力に抗して後退したことを検出する押圧状態検出手段が設けられ、
前記制御手段は、前記押圧状態検出手段により前記把持部材が前記押圧状態判別位置にまで後退したことが検出されることに基づいて、前記押圧作動状態であると判別するように構成され
前記アクチュエータが前記接近離間方向にスライド移動可能なように基枠に支持され、
前記一対の把持部材が、前記アクチュエータに、前記接近離間方向に移動されるよう連係されている物品把持装置。
An actuator for moving a pair of gripping members facing each other in the approaching and separating direction;
A pressing operation state in which the pair of gripping members are moved to the approach side to press and grip the article from both sides, and a press release operation state in which the pair of gripping members are moved to the separation side to release the pressing of the article. An article gripping device provided with a control means for controlling the operation of the actuator so as to switch,
An article group in which a plurality of rectangular articles in a horizontal view are arranged in a horizontal direction is an article to be grasped,
At least one of the pair of gripping members is moved to the moving member that is linearly moved in the approaching / separating direction by the actuator, and is slidably movable in the approaching / separating direction, and the other gripping member by the elastic biasing means. Supported in the state of being biased to the approaching approach,
A pressing state in which it is detected that the gripping member has retreated against the urging force of the elastic urging means with respect to the moving member up to a pressing state determination position for determining the pressing operation state in the approaching / separating direction. Detection means are provided,
The control means is configured to determine that the pressing member is in the pressing operation state based on detection by the pressing state detection means that the gripping member has been retracted to the pressing state determination position .
The actuator is supported by a base frame so as to be slidable in the approaching / separating direction,
The article gripping apparatus in which the pair of gripping members are linked to the actuator so as to be moved in the approaching / separating direction .
前記一対の把持部材の夫々について、前記押圧状態検出手段が設けられ、
前記制御手段が、前記一対の押圧状態検出手段のいずれもが前記把持部材が前記押圧状態判別位置にまで後退したことを検出することに基づいて、前記押圧作動状態であると判別するように構成されている請求項1記載の物品把持装置
The pressing state detection means is provided for each of the pair of gripping members,
The control means is configured to determine that both of the pair of pressing state detection means are in the pressing operation state based on detecting that the gripping member has moved back to the pressing state determination position. The article gripping apparatus according to claim 1 .
JP2003276202A 2003-07-17 2003-07-17 Article gripping device Expired - Fee Related JP4324849B2 (en)

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