JP6360383B2 - Single workpiece picking device - Google Patents

Description

  The present invention relates to a workpiece picking device that lifts a top workpiece of a plurality of plate-like workpieces stacked in a vertical direction apart from others in a horizontal posture, for example, plate material processing The present invention relates to a workpiece picking device installed to supply a workpiece to a machine.

  One type of workpiece picking device of this type is one in which a workpiece held by a suction device is lifted by a chain type lifting mechanism, and FIGS. 7 to 10 show an example thereof.

  FIG. 7 is a perspective view showing the overall configuration of the single-sheet pick-up device.

  As shown in FIG. 7, this single-sheet pick-up device includes a gantry 101 having a lower pallet portion 102 on which a plurality of plate-like workpieces W stacked in the vertical direction are placed, and one stool installed on the upper stage of the gantry 101. A sheet taking device main body 110.

  The single-sheet pick-up device main body 110 includes a suction mechanism 160 that sucks and holds the uppermost one workpiece W among the plurality of rectangular plate-like workpieces W stacked on the pallet unit 102, and the suction mechanism. A chain-type lifting mechanism 110A that suspends and supports 160 and lifts it. The single-sheet pick-up device can lift a single workpiece W held by suction by the suction mechanism 160 in a horizontal position apart from the others, and in this state, it can be transferred to a workpiece conveyance mechanism (not shown). It has become.

  FIG. 8 is a side view showing the configuration of the single-sheet pickup apparatus main body 110 removed from the gantry 101, and FIGS. 9 and 10 are side views schematically showing the main configuration of the single-sheet pickup apparatus of FIG. .

  As shown in FIG. 8, the suction mechanism 160 has a plurality of downwards so that the rectangular plate-like workpiece W can be stably sucked and held in a balanced manner in a rectangular subframe 161 corresponding to the shape of the workpiece W. This adsorber (adsorption means) 162 is provided.

  The suction mechanism 160 is provided immediately above the pallet unit 102, and a lifting mechanism 110 </ b> A that supports the suction mechanism 160 so as to be lifted and lowered is provided above the suction mechanism 160.

  As shown in FIG. 8, the elevating mechanism 110 </ b> A includes a main frame 111 having a rectangular shape in plan view that extends in the horizontal direction. The main frame 111 is disposed at a position near the first direction X1 in the horizontal direction and a position near the second direction X2 opposite to the main frame 111 and spaced apart from each other, and extends the axis lines L1 and L2 in the horizontal direction. A first shaft 121 and a second shaft 122 that are parallel to each other are provided.

  A first sprocket 131 and a second sprocket 132 that rotate around the axis of the first shaft 121 and the second shaft 122 are disposed on both ends of the first shaft 121 and the second shaft 122, respectively. In addition, a third shaft 123 is provided in parallel in the vicinity of the first shaft 121 of the main frame 111, and a third sprocket 133 is disposed on the third shaft 123 so as to be freely rotated around its axis L3. Has been. In addition, a fourth shaft 124 is provided in parallel in the vicinity of the second shaft 122 of the main frame 111, and a fourth sprocket 134 is arranged on the fourth shaft 124 so as to be freely rotated around its axis L4. Has been.

  The third shaft 123 is arranged one step below the first shaft 121, and the upper height of the third sprocket 133 is set to be close to the lower height of the first sprocket 131. . Further, the fourth shaft 124 is disposed at a position closer to the first direction X1 than the second shaft 122, and the height of the upper portion of the fourth sprocket 134 is the height of the upper end of the second sprocket 132. It is set to be close.

  Between the first sprocket 131 and the second sprocket 132, an endless first chain CH1 is wound in parallel. In the vicinity of the second shaft 122, the second sprocket 132 is rotationally driven through the second shaft 122, whereby the first chain CH1 is moved in one direction (clockwise direction in FIG. 8) and the other direction (see FIG. A driving mechanism (such as a driving motor) 180 that rotates in the counterclockwise direction (8) is provided.

  The first chain CH1 has two upper and lower linear movement units CH1A and CH1B that move in opposite directions. The upper and lower linear movement units CH1A and CH1B each have a rotational motion of the first chain CH1. Chain joints (corresponding to block members) 141 and 142 that linearly move in the first direction X1 and the second direction X2 (moving at equal distances in opposite directions) are provided. Hereinafter, description will be made with reference to FIGS. 9 and 10 together.

  The base end E2 of the second chain CH2 for raising and lowering is connected to the lower chain joint 142. The second chain CH2 extends in the first direction X1 from the lower chain joint 142 to which the base end E2 is connected, and is a third sprocket that is rotatably driven by a position near the first direction X1. The tip E1 is hung vertically downward at a position near the first direction X1 by being hung from above by 133.

  As shown in FIG. 9, the lower chain joint 142 moves in the second direction X2 when the first chain CH1 rotates in the RA direction, and as shown in FIG. 10, the first chain CH1 When it rotates in the RB direction, it moves in the first direction X1. Therefore, the tip E1 of the second chain CH2 rises when the first chain CH1 rotates in the RA direction as shown in FIG. 9, and the first chain CH2 rotates in the RB direction as shown in FIG. To descend.

  A base end E2 of the third chain CH3 for lifting is connected to the upper chain joint 141. The third chain CH3 is extended in the second direction X2 from the upper chain joint 141 to which the base end E2 is connected, and is a fourth sprocket 134 that is rotatably driven by a position near the second direction X2. The tip E1 hangs vertically downward at a position near the second direction X2.

  As shown in FIG. 9, the upper chain joint 141 moves in the first direction X1 when the first chain CH1 rotates in the RA direction, and as shown in FIG. When it rotates in the direction, it moves in the second direction X2. Therefore, the tip E1 of the third chain CH2 rises when the first chain CH1 rotates in the RA direction as shown in FIG. 9, and the first chain CH2 rotates in the RB direction as shown in FIG. To descend.

  The first sprocket 131, the second sprocket 132, the third sprocket 133, the fourth sprocket 134, the first chain CH 1, the second chain CH 2, and the third chain CH 3 constitute a set of chain mechanisms CHK- 1. As shown in FIG. 7, two sets of this chain mechanism CHK-1 are arranged at intervals in the directions of the axes L1 and L2 of the first shaft 121 and the second shaft 122.

  Then, the tips E1 of the second chain CH2 and the third chain CH3 of the two sets of chain mechanisms CHK-1 are respectively positioned in the vicinity of the four corner portions of the rectangular subframe 161 constituting the suction mechanism 160. By being connected, the suction mechanism 160 is suspended and supported by the second chain CH2 and the third chain CH3 of the lifting mechanism 110A. Therefore, the suction mechanism 160 rises when the first chain CH1 rotates in the RA direction as shown in FIG. 9, and descends when the first chain CH2 rotates in the RB direction as shown in FIG. .

  In addition, the lifting mechanism 110A is provided with limit switches LS1 and LS2 as detection means for detecting the rotational position of the first chain CH1, that is, the lifting position of the suction mechanism 160, and the upper chain joint 141 is connected to the upper chain joint 141. A dog 148 is provided as a detected portion for the limit switches LS1 and LS2.

  As a result, as shown in FIG. 10, when the suction mechanism 160 reaches the lower limit, the dog 148 hits the limit switch LS1, the drive of the first chain CH1 is stopped, and the suction mechanism 160 is stopped at the lower limit. The Further, as shown in FIG. 9, when the suction mechanism 160 reaches the ascending limit, the dog 148 hits the limit switch LS2, the drive of the first chain CH1 is stopped, and the positioning of the suction mechanism 160 is stopped at the ascending limit. .

  When working using this single-sheet pick-up device, as shown in FIG. 10, first, the first chain CH1 is rotated in the RB direction, and the suction mechanism 160 is lowered. Then, the suction mechanism 160 is stopped at the lower limit, and the suction unit 162 of the suction mechanism 160 is operated, whereby the uppermost workpiece W among the stacked workpieces W is suctioned and held by the suction unit 162.

  Next, in this state, as shown in FIG. 9, the first chain CH1 is rotated in the RA direction to raise the suction mechanism 160. Then, the suction mechanism 160 is stopped at the ascending limit, and in this state, the workpiece W is delivered to a workpiece conveyance mechanism (not shown). Thereafter, by repeating this, the stacked workpieces W can be sequentially sent to the supply destination one by one.

  In addition, as a conventional example of this kind of single-sheet pick-up device, it is not a single-sheet pick-up device using the above-described chain-type lifting mechanism. An example of a single picking device that lifts a plate-like workpiece held by suction is shown. Further, Patent Document 2 discloses an example of a workpiece transfer device in which a workpiece holding unit is suspended and supported via a wire rope instead of a chain.

JP-A-11-255338 Japanese Utility Model Publication No. 5-37873

  By the way, in the single-chip apparatus shown in FIGS. 7 to 10, the dog 148 as the detected portion for the limit switches LS1 and LS2 is provided in the chain joint 141 of the first chain CH1, but the first chain CH1. Since the linear movement part CH1A is not restrained at all, the dog 148 shakes or vibrates during driving, and the contact with the limit switches LS1 and LS2 becomes unstable. As a result, the suction mechanism 160 moves up and down. It has been found that the stability and reliability of the stop position may be impaired.

  In view of the above circumstances, an object of the present invention is to provide a single-shot device that can improve the stability and reliability of the lifting / lowering stop position of the suction mechanism by preventing the chain from shaking and vibrating. To do.

  In order to solve the above-described problem, the workpiece single picking device according to the first aspect of the present invention suctions and holds the uppermost one of the plurality of plate-like workpieces stacked in the vertical direction from above. A workpiece picking device that has a suction mechanism that lifts and lifts the suction mechanism, and lifts one workpiece that is sucked and held by the suction mechanism in a horizontal position apart from the other. The mechanism is horizontally supported by a main frame extending in the horizontal direction, supported by the main frame, spaced apart from the first direction in the horizontal direction and a position in the second direction opposite thereto. The first axis and the second axis extending in the direction and parallel to each other, and arranged on both ends of the first axis and the second axis, respectively, and rotate around the axis of the first axis and the second axis The first sprocket and Two sprockets, an endless first chain wound in parallel between the first sprocket and the second sprocket, a drive mechanism for rotationally driving the first chain in one direction and the other direction, A block that is fixed to at least one of the two upper and lower linear moving parts of one chain and linearly moves in the first direction and the second direction as the first chain rotates. A member, a guide rail provided on the main frame so as to guide the linear movement of the block member, and a base end connected to the block member, and rotatably disposed at a position near the first direction. By hanging around the third sprocket from above, the tip is suspended vertically downward at a position near the first direction, and the tip is lowered by rotating the first chain in one direction, A second chain whose tip is raised by rotating the first chain in the other direction, and a fourth chain whose base end is connected to the block member and is rotatably disposed at a position near the second direction. As the sprocket is hung from above, the tip hangs vertically downward at a position near the second direction, and when the first chain rotates in one direction, the tip descends, and the first A third chain whose tip rises as the chain rotates in the other direction, and the positions of the suction mechanism subframes extending in the horizontal direction and spaced apart from each other in the first direction The tip of the second chain and the tip of the third chain are connected to the position near the second direction, respectively, and the suction mechanism is suspended and supported by the chain of the lifting mechanism. And

  According to a second aspect of the present invention, there is provided a single workpiece picking apparatus according to the first aspect, in which the block member guided by the guide rail is detected by the detection means for detecting the rotational position of the first chain. A portion is provided.

  The invention according to claim 3 is the one-piece workpiece picking apparatus according to claim 1 or 2, wherein the block member is configured as a bar-like member long in a direction parallel to the first axis and the second axis. Two guide rails are arranged at intervals in the longitudinal direction of the block member so as to guide two points spaced in the longitudinal direction of the block member configured as the bar-shaped member, A chain mechanism including a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, a first chain, a second chain, and a third chain as a set is an axis of the first shaft and the second shaft. A plurality of sets are arranged at intervals in the direction, and the suspension support position of the frame of the adsorption mechanism by the respective ends of the second chain and the third chain is at least four points in the horizontal plane. Characterized in that it is set up.

  According to a fourth aspect of the present invention, there is provided a workpiece picking apparatus according to the third aspect, wherein a sub-frame of the suction mechanism has a rectangular shape in a plan view, and two sets of the plurality of sets of chain mechanisms. The tip ends of the second chain and the third chain in the chain mechanism are connected to positions near the four corners of the frame of the suction mechanism.

  According to a fifth aspect of the present invention, there is provided the single-working apparatus for a workpiece according to the fourth aspect, wherein the tips of the second chain and the third chain are connected to a subframe of the suction mechanism via a height adjusting mechanism. The four corners are connected to positions near the four corners.

  The invention of claim 6 is the one-piece workpiece picking apparatus according to any one of claims 1 to 5, wherein the block member is one of upper and lower two linearly moving portions of the first chain. And the third sprocket is supported in a freely rotatable manner on the first shaft, the fourth sprocket is supported in a freely rotatable manner on the second shaft, and A fifth sprocket is supported on the first shaft so as to be driven to rotate, and the second chain is an upper side of the third sprocket supported on the first shaft from a base end connected to the block member. And the third sprocket is hung from above on the third sprocket so as to hang vertically downward, and the third chain extends from the base end connected to the block member to the first sprocket. Extended in the same direction as the two chains Then, it is hung from above the fifth sprocket supported on the first shaft and extended obliquely upward toward the upper side of the fourth sprocket supported on the second shaft in the opposite direction. Then, the tip of the fourth sprocket is suspended vertically downward by being hung around the fourth sprocket.

  The invention according to claim 7 is the one-piece workpiece picking apparatus according to any one of claims 1 to 5, wherein the block members are arranged on the upper and lower linear moving portions of the first chain. Each one is fixed, the guide rail is provided so as to guide at least one of the two block members, and the proximal end of the second chain is fixed to one of the two block members. The base end of the third chain is fixed to the other of the two block members.

  The invention according to claim 8 is the workpiece picking apparatus according to any one of claims 1, 3 and 6, wherein the third sprocket is rotatably driven by a position near the first direction. The fourth sprocket is arranged so as to be freely rotated in accordance with a position near the second direction.

  According to the first aspect of the present invention, since the guide rail for guiding the horizontal movement of the block member is provided on the main frame, it is possible to prevent the first chain from shaking and vibrating due to the lifting and lowering operation of the suction mechanism. Can do. Accordingly, it is possible to eliminate erroneous detection of the lift position due to unnecessary chain swing and vibration, and to increase the stopping accuracy of the lift mechanism.

  According to invention of Claim 2, the stop position of a block member is controlled by stopping rotation of a 1st chain according to the signal when a detection means detects the to-be-detected part provided in the block member. This makes it possible to control the lifting / lowering stop position of the suction mechanism supported by being suspended by the second chain and the third chain. At this time, since the horizontal movement of the block member is guided by the guide rail, the first chain can be prevented from shaking and vibrating, and the detection accuracy of the detected portion by the detecting means can be increased.

  For example, the detection means is a limit switch, the detected part is a limit switch dog, the block member is a chain joint, and the chain joint is provided with a limit switch dog. If the first chain swings or vibrates as the suction mechanism moves up and down, the dog also swings or vibrates, which makes the contact of the dog against the limit switch unstable. there is a possibility. If it does so, there exists a possibility that stability and reliability of the raising / lowering stop position of an adsorption | suction mechanism may be impaired. In this respect, in this invention, since the guide rail guides the movement of the block member, the first chain can be prevented from shaking and vibrating, so that the stability and reliability of the suction stop position of the suction mechanism can be improved. Can be planned.

  According to the invention of claim 3, the block member configured as a long bar-like member can be guided and supported in a stable posture by the two guide rails. Further, by using the bar-shaped block member, each chain of the plurality of sets of chain mechanisms can be easily fixed to the block member. That is, a plurality of sets of chain mechanisms can be arranged with a reasonable layout. The adsorption mechanism can be lifted and lowered in a stable posture by hanging and supporting the frame of the adsorption mechanism with four or more chains of a plurality of sets of chain mechanisms.

  According to the invention of claim 4, since the sub-frame of the suction mechanism has a rectangular shape in plan view, the rectangular flat plate-like workpiece can be stably sucked and supported. In addition, since the positions near the four corners of the sub-frame of the suction mechanism are suspended and supported by the chain, the suction mechanism can be maintained in a stable horizontal posture. Therefore, a single workpiece can be lifted in a stable posture.

  According to the fifth aspect of the present invention, since the height adjustment mechanism is interposed in the portion where the suction mechanism is suspended and supported by the chain, the suspension posture of the suction mechanism can be finely adjusted.

  According to the invention of claim 6, since the five sprockets are arranged on two shafts in a concentrated manner, the configuration can be simplified while reducing the number of parts, the assemblability is improved, and the cost is reduced. It can contribute to reduction.

  According to the seventh and eighth aspects of the invention, it is possible to simplify the way of hanging the chain. Moreover, it can be realized by a simple improvement of the conventional product.

1 is a perspective view showing an overall configuration of a single sheet pick-up device according to an embodiment of the present invention. It is a perspective view which takes out and shows the main body of the same sheet picking apparatus. It is a side view of the main body of the same sheet taking apparatus. It is a side view which shows typically the principal part structure of the main body of the same picking apparatus, and is a figure which shows a state when a suction mechanism is lowered | hung. It is a side view which shows typically the principal part structure of the main body of the same picking apparatus, and is a figure which shows a state when raising an adsorption | suction mechanism. It is a figure which shows the relationship between the guide rail and block member in the main body of the same sheet-taking apparatus, (a) is a side view, (b) is NN arrow sectional drawing of (a). It is a perspective view which shows the whole structure of the conventional single picking apparatus. It is a side view which takes out and shows the main body of the same sheet-taking apparatus. It is a side view which shows typically the principal part structure of the main body of the same picking apparatus, and is a figure which shows a state when raising an adsorption | suction mechanism. It is a side view which shows typically the principal part structure of the main body of the same picking apparatus, and is a figure which shows a state when a suction mechanism is lowered | hung.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing an overall configuration of a single sheet taking device according to the embodiment, FIG. 2 is a perspective view showing a main body of the same piece taking device taken out, and FIG. is there. 4 is a side view schematically showing the configuration of the main part of the main body of the same picking apparatus, a view showing the state when the suction mechanism is lowered, and FIG. 5 is a main part of the main body of the same picking apparatus. FIG. 6 is a side view schematically showing the configuration of the components, and shows a state when the suction mechanism is raised, and FIG. 6 is a diagram showing the relationship between the guide rail and the block member in the main body of the same sheet picking apparatus. FIG. 6A is a side view, and FIG. 6B is a cross-sectional view taken along line NN in FIG.

  As shown in FIG. 1, this single-sheet pick-up device includes a gantry 1 having a lower pallet portion 2 on which a plurality of plate-like workpieces W stacked in the vertical direction are placed, and one installed at the upper tier of the gantry 1. A sheet-taking apparatus main body 10.

  The single-collecting apparatus main body 10 includes a suction mechanism 60 that sucks and holds the uppermost one workpiece W among the plurality of rectangular plate-like workpieces W stacked on the pallet 2, and the suction mechanism 60. And a chain type lifting mechanism 10A that lifts and lowers by supporting and lifting. The single-sheet pick-up device can lift a single workpiece W sucked and held by the sucking mechanism 60 in a horizontal posture away from the others, and in that state, it can be transferred to a workpiece transport mechanism (not shown). It has become.

  As shown in FIGS. 2 and 3, the suction mechanism 60 can stably hold the rectangular plate-shaped workpiece W in a balanced manner on the rectangular sub-frame 61 corresponding to the shape of the workpiece W in a plan view. A plurality of adsorbers (adsorption means) 62 are provided downward.

  The suction mechanism 60 is provided immediately above the pallet 2, and an elevating mechanism 10 </ b> A that supports the suction mechanism 60 so as to be lifted and lowered is provided above the suction mechanism 60.

  As shown in FIG. 3, the lifting mechanism 10 </ b> A has a main frame 11 that is rectangular in plan view and extends in the horizontal direction. As shown in FIG. 2, the main frame 11 is composed of two vertical members 12 extending in the longitudinal direction and two plate-shaped cross members 13 in a rectangular shape. The upper surface portion is configured as a guide rail 50 described later.

  The main frame 11 is arranged at a position near the first direction X1 in the longitudinal direction and at a position near the second direction X2 opposite to the main frame 11 so as to be spaced apart from each other and in the horizontal direction perpendicular to the longitudinal direction. A first shaft 21 and a second shaft 22 extending from L1 and L2 and parallel to each other are provided.

  A first sprocket 31 and a second sprocket 32 that rotate around the axial centers of the first shaft 21 and the second shaft 22 are disposed on both ends of the first shaft 21 and the second shaft 22, respectively. On the first shaft 21, a third sprocket 33 and a fifth sprocket 35 are arranged so as to be driven to rotate, and on the second shaft 22, a fourth sprocket 34 is arranged so as to be driven to rotate.

  Between the first sprocket 31 and the second sprocket 32, an endless first chain CH1 is wound in parallel. The first sprocket 31 is fixed so as to rotate integrally with the first shaft 21, and the end of the first shaft 21 is connected to a drive motor (drive mechanism) 18 via a speed reducer 17 as shown in FIG. 2. It is connected. Accordingly, by rotating the drive motor 18, the first sprocket 31 is rotated via the first shaft 21, thereby causing the first chain CH1 to move in one direction (clockwise direction in FIG. 3) and the other direction ( It can be rotated in the counterclockwise direction of FIG.

  The first chain CH1 is provided with two upper and lower linear movement units CH1A and CH1B, and the upper linear movement unit CH1A includes a first direction X1 and a rotation direction of the first chain CH1. A block member 40 that linearly moves in the second direction X2 is provided.

  The block member 40 is formed of a bar-shaped rectangular pipe member that is long in a direction parallel to the first shaft 21 and the second shaft 22, and as shown in FIG. 6A, one end of the first chain CH1. The (base end E1) is connected to the side wall on the second direction X2 side of the block member 40 via the tension adjusting screw mechanism 41, and the other end (tip E2) of the first chain CH1 is connected to the first end of the block member 40. 1 is directly connected to the side wall on the direction X1 side. Thereby, the block member 40 is being fixed on the linear movement part CH1A of the upper side of 1st chain CH1.

  The guide rail 50 is provided in order to stabilize the linear movement of the block member 40 thus configured as a bar-shaped member. The two wheels 42 of the carriage 43 provided on the block member 40 travel on the guide rail 50 so that the block member 40 can be stably guided.

  Hereinafter, description will be made with reference to FIGS.

  The base end E2 of the second chain CH2 for raising and lowering is connected to the side wall of the block member 40 on the first direction X1 side, along with the connecting portion of the first chain CH1. The second chain CH2 extends from the block member 40 to which the base end E2 is connected in the first direction X1 and is hung from above on the third sprocket 33 that is rotatably driven on the first shaft 21. As a result, the tip E <b> 1 is suspended vertically downward at the position of the third sprocket 33.

  In addition, on the side wall on the first direction X1 side of the block member 40, the base end E2 of the third chain CH3 for raising and lowering is arranged side by side with the connecting portion of the first chain CH1 and the connecting portion of the second chain CH2. It is connected. The third chain CH3 is extended in the first direction X1 from the block member 40 to which the base end E2 is connected, and is then wound around the fifth sprocket 35 supported on the first shaft 21 from above. , Is extended obliquely upward toward the upper side of the fourth sprocket 34 supported on the second shaft 22 in the opposite direction, and then is wound around the fourth sprocket 34 from above, The tip E1 is suspended vertically downward at the position of the fourth sprocket 34.

  As shown in FIG. 6B, the first chain CH1, the second chain CH2, and the third chain CH3 are set at intervals in the longitudinal direction of the block member 40 so as not to interfere with each other. It is arranged so that it can move in a vertical plane.

  As shown in FIG. 4, the block member 40 moves in the first direction X1 when the first chain CH1 rotates in the RA direction. As shown in FIG. 5, the first chain CH1 moves in the RB direction. When it rotates, it moves in the second direction X2. At that time, as described above, the second chain CH2 and the third chain CH3 are wound around, so that the leading end E1 of the second chain CH2 and the leading end E1 of the third chain CH3 become the first chain. CH1 is lowered by rotating in the RA direction as shown in FIG. 4, and the first chain CH2 is raised by rotating in the RB direction as shown in FIG.

  The first sprocket 31, the second sprocket 32, the third sprocket 33, the fourth sprocket 34, the fifth sprocket 35, the first chain CH1, the second chain CH2, and the third chain CH3 described above are A pair of chain mechanisms CHK-2 is configured. As shown in FIG. 2, the chain mechanisms CHK-2 are spaced apart in the directions of the axes L1 and L2 of the first shaft 21 and the second shaft 22, as shown in FIG. A set is arranged.

  And each front-end | tip E1 of 2nd chain CH2 of 3 sets of chain mechanisms CHK-2 and 3rd chain CH3 is each in the vicinity of the four corner parts of the rectangular sub-frame 61 which comprises the adsorption | suction mechanism 60, respectively. They are connected via a height adjustment mechanism (a type for changing the screw tightening position) 65.

  Thereby, the adsorption mechanism 60 is suspended and supported by the second chain CH2 and the third chain CH3 of the lifting mechanism 10A. Accordingly, the suction mechanism 60 is lowered when the first chain CH1 rotates in the RA direction as shown in FIG. 4, and rises when the first chain CH2 rotates in the RB direction as shown in FIG. .

  Further, as shown in FIGS. 4 and 5, the lifting mechanism 10A is provided with limit switches LS1, LS2 as detection means for detecting the rotational position of the first chain CH1, that is, the lifting position of the suction mechanism 60. The block member 40 is provided with a dog 48 as a detected portion for the limit switches LS1 and LS2.

  As a result, as shown in FIG. 4, when the suction mechanism 60 reaches the lower limit, the dog 48 hits the limit switch LS1, the drive of the first chain CH1 is stopped, and the suction mechanism 60 is positioned and held at the lower limit. The Further, as shown in FIG. 5, when the suction mechanism 60 reaches the ascending limit, the dog 48 hits the limit switch LS2, the drive of the first chain CH1 is stopped, and the suction mechanism 60 is positioned and held at the ascending limit. .

  Next, the operation will be described.

  In the case of working with this single-sheet pick-up device, as shown in FIG. 4, first, the first chain CH1 is rotated in the RA direction, and the suction mechanism 60 is lowered. Then, the suction mechanism 60 is stopped at the lower limit, and the suction device 62 of the suction mechanism 60 is operated, whereby the uppermost workpiece W among the stacked workpieces W is suction-held by the suction device 62.

  Next, in this state, as shown in FIG. 5, the first chain CH <b> 1 is rotated in the RB direction to raise the suction mechanism 60. Then, the suction mechanism 60 is stopped at the ascending limit, and in this state, the workpiece W is delivered to a workpiece conveyance mechanism (not shown). Thereafter, by repeating this, the stacked workpieces W can be sequentially sent to the supply destination one by one.

  According to the single-sheet pickup apparatus having the above-described configuration, the guide rail 50 for guiding the horizontal movement of the block member 40 is provided on the main frame 11, so the first chain associated with the lifting and lowering operation of the suction mechanism 60. CH1 can be prevented from shaking and vibrating. Accordingly, it is possible to eliminate erroneous detection of the lift position due to unnecessary chain swing or vibration, and to increase the stopping accuracy of the lift mechanism 10A.

  That is, when the block member 40 can be moved without any restriction as in the conventional example, when the first chain CH1 is shaken or vibrated with the lifting / lowering operation of the suction mechanism 60, the dog 48 is also shaken. Since it vibrates, there is a possibility that the contact of the dog 48 with the limit switches LS1, LS2 may become unstable, and as a result, the stability and reliability of the lifting / lowering stop position of the suction mechanism 60 may be impaired. In the single-sheet pick-up device of this embodiment, since the guide rail 50 guides the movement of the block member 40, the first chain CH1 can be prevented from shaking and vibrating, so that the lifting / lowering stop position of the suction mechanism 60 can be stabilized. Improvement in reliability and reliability.

  Further, since the block member 40 configured as a long bar-like member is supported by the two guide rails 50, the block member 40 can be guided and supported in a stable posture. Further, by using the bar-shaped block member 40, the chains CH1, CH2, and CH3 of the plurality of sets of chain mechanisms CHK-2 can be easily fixed to the block member 40 as shown in FIG. 6B. Can do. That is, a plurality of sets of chain mechanisms CHK-2 can be arranged with a reasonable layout.

  Then, the suction mechanism 60 can be lifted and lowered in a stable posture by supporting the sub-frame 61 of the suction mechanism 60 with the four or more chains CH2 and CH3 of the plurality of sets of chain mechanisms CHK-2.

  Moreover, since the sub-frame 61 of the suction mechanism 60 has a rectangular shape in plan view, the rectangular flat plate-like workpiece W can be stably sucked and supported. Further, since the positions near the four corners of the sub-frame 61 of the suction mechanism 60 are supported by being suspended by the chain, the suction mechanism 60 can be maintained in a stable horizontal posture. Therefore, one piece of work W can be lifted in a stable posture.

  In addition, since the height adjustment mechanism 65 is interposed in the portion where the suction mechanism 60 is supported by the chain, the suspension posture of the suction mechanism 60 can be finely adjusted.

  Further, in the single picking device of the present embodiment, the five sprockets 31 to 35 are arranged on the two shafts 21 and 22, so that the configuration can be simplified while reducing the number of parts. Assemblability can be improved and cost can be reduced.

  As another embodiment, a block member may be provided in place of the upper or lower chain joint of the single-sheet pickup apparatus shown in FIGS. 7 to 10 and the block member may be guided by a guide rail. . In such a case, it is possible to simplify the way of hanging the chain. Moreover, it can be realized by a simple improvement of the conventional product.

  Furthermore, in the said embodiment, although the 3rd sprocket and the 4th sprocket were provided so that rotation was driven, these sprockets may be provided so that driving rotation is possible.

W Work 10 Single-sheet picking device main body 10A Lifting mechanism 11 Main frame 18 Drive motor (drive mechanism)
21 1st shaft 22 2nd shaft 31 1st sprocket 32 2nd sprocket 33 3rd sprocket 34 4th sprocket 35 5th sprocket 40 Block member 48 Dog (detected part)
50 Guide rail 60 Adsorption mechanism 61 Subframe 62 Adsorber (adsorption means)
65 Height adjusting mechanism X1 First direction X2 Second direction L1, L2 Axis line CH1 First chain CH1A Upper linear movement part CH1B Lower linear movement part CH2 Second chain CH3 Third chain CHK-2 Chain mechanism E1 End E2 Base end LS1, LS2 Limit switch (detection means)

Claims (8)

An adsorbing mechanism for adsorbing and holding the uppermost one of the plurality of plate-like works stacked in the vertical direction; and an elevating mechanism for raising and lowering the adsorbing mechanism; In a single workpiece picking device that lifts a workpiece held by suction in a horizontal position away from the other,
The lifting mechanism is
A mainframe extending horizontally;
A first frame supported by the main frame and spaced apart from each other at a position near the first direction in the horizontal direction and a position near the second direction opposite to the first direction, and extends in the horizontal direction to be parallel to each other. An axis and a second axis;
A first sprocket and a second sprocket, which are respectively arranged on both end sides of the first shaft and the second shaft, and rotate around the axis of the first shaft and the second shaft;
An endless first chain hung in parallel between the first sprocket and the second sprocket;
A drive mechanism for rotationally driving the first chain in one direction and the other direction;
Fixed to at least one of the two upper and lower linear moving parts of the first chain, and linearly moves in the first direction and the second direction as the first chain rotates. A block member to be
A guide rail provided on the main frame to guide the linear movement of the block member;
A base end is connected to the block member, and the tip end is perpendicular to a position near the first direction by being hung from above on a third sprocket rotatably disposed at a position near the first direction. A second chain that is suspended downward, the tip of the first chain descends by rotating in one direction, and the tip of the first chain rises by rotating in the other direction;
A base end is connected to the block member, and the tip end is perpendicular to a position near the second direction by being wound around a fourth sprocket rotatably disposed at a position near the second direction. A third chain that hangs downward, the tip of the first chain descends as the first chain rotates in one direction, and the tip ascends as the first chain rotates in the other direction;
Consists of
The tip of the second chain and the third chain are positioned at a position closer to the first direction and a position closer to the second direction of the subframes of the suction mechanism extending in the horizontal direction. A single-working apparatus for workpieces, wherein the tips are connected to each other, and the suction mechanism is supported by being suspended by a chain of the lifting mechanism. The workpiece picking device according to claim 1,
An apparatus for picking up a workpiece, wherein the block member guided by the guide rail is provided with a detected portion for detecting means for detecting the rotational position of the first chain. A workpiece picking device according to claim 1 or 2,
The block member is configured as a bar-like member long in a direction parallel to the first axis and the second axis,
Two guide rails are arranged at intervals in the longitudinal direction of the block member so as to guide two points spaced in the longitudinal direction of the block member configured as the bar-shaped member,
A chain mechanism including the first sprocket, the second sprocket, the third sprocket, the fourth sprocket, the first chain, the second chain, and the third chain as a set includes the first shaft and the second shaft. Multiple sets are arranged at intervals in the axial direction,
The workpiece picking apparatus, wherein the suspension support positions of the frame of the suction mechanism by the respective ends of the second chain and the third chain are set to at least four points in a horizontal plane. . A workpiece picking device according to claim 3,
A sub-frame of the suction mechanism has a rectangular shape in plan view, and each tip of the second chain and the third chain in two sets of the chain mechanisms of the plurality of sets of chain mechanisms, A workpiece picking apparatus, wherein the workpiece is connected to positions near four corners of a subframe. A workpiece picking device according to claim 4,
One piece of the workpiece, wherein the tips of the second chain and the third chain are respectively connected to positions in the vicinity of the four corner portions of the frame of the suction mechanism through a height adjusting mechanism. apparatus. A workpiece picking device according to any one of claims 1 to 5,
Only one of the block members is fixed to the upper linear movement part of the upper and lower two linear movement parts of the first chain,
The third sprocket is supported for free rotation on the first shaft, the fourth sprocket is supported for free rotation on the second shaft, and a fifth sprocket is driven for rotation on the first shaft. Freely supported,
The second chain extends from the base end connected to the block member toward the upper side of the third sprocket supported on the first shaft, and then hangs around the third sprocket from above. The tip is drooping vertically downward,
The third chain extends from the base end connected to the block member in the same direction as the second chain, and then hangs around the fifth sprocket supported on the first shaft from above. The tip is extended obliquely upward toward the upper side of the fourth sprocket supported on the second shaft in the opposite direction, and then wound around the fourth sprocket from above. A workpiece picking device, wherein the workpiece is suspended vertically downward. A workpiece picking device according to any one of claims 1 to 5,
The block members are respectively fixed to the upper and lower linear moving parts of the first chain one by one,
The guide rail is provided to guide at least one of the two block members;
A proximal end of the second chain is fixed to one of the two block members;
A workpiece picking apparatus, wherein a base end of the third chain is fixed to the other of the two block members. A workpiece picking device according to any one of claims 1, 3 and 6,
The workpiece is characterized in that the third sprocket is arranged so as to be driven and rotated in a position near the first direction, and the fourth sprocket is arranged so as to be driven and rotated in a position near the second direction. Single piece device.

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