JP6452893B1 - Pallet transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pallet transfer device which prevents positional deviation of stacked pallets without performing any processing for transferring pallets (including containers and trays).
In a pallet transfer device 100 that grips a pallet 25b placed on a conveyor 27b and transfers the pallet 25b to the conveyor 27c, before the pallet 25b is gripped, a pallet position shift first correction program 45b or a pallet position shift 2 The correction program 45c was executed to correct the positional deviation of the pallet 25b.
[Selection] FIG.

Description

  In the present invention, an empty pallet (including an empty container and an empty tray) is inserted, and parts and products are mounted on the empty pallet, and the pallet on which the parts and products are mounted is transferred to another position or processed. The present invention relates to a pallet transfer device that inputs a pallet (including a container and a tray) on which a product is mounted, processes the processed product, and then transfers the pallet on which the processed product is mounted to another position.

Conventionally, an empty pallet is loaded, parts and products are loaded on the empty pallet, a pallet loaded with parts and products is transferred to another position, and a pallet loaded with workpieces is loaded. There is known a pallet transfer device that processes a workpiece and then transfers a pallet on which the workpiece is mounted to another position.

For example, in Patent Document 1, a tray 400 on which workpieces are mounted is placed in the input chamber 100, and an article to be processed mounted on the tray 400 is processed in the work chamber 300, and then processed products are processed there. Describes an automatic tray changer that transports a tray 400 loaded with a discharge tray 200 and discharges it from the discharge chamber 200 (see FIG. 1 and the like).

JP-A-8-318447

However, in the automatic tray changer described in Patent Document 1, the tray 400 is disposed on both sides of the input chamber 100 and is transported on the trail portion 110 to which a plurality of rotatable rollers 111 are attached. There is a problem that the position of the tray 400 is shifted during the transfer.

Therefore, in the automatic tray changer described in Patent Document 1, in order to reliably lift the tray 400 by the first lifting means, it is necessary to surround the stacked trays 400 with a panel or the like. There was a problem that the direction was restricted.

The present invention has been made in response to the above-described problems of the prior art, and prevents pallet (including containers and trays) from being transported without any misalignment of stacked pallets. An object is to provide a transfer device.

In order to solve the above-described problem, a first aspect of the present invention is a pallet transfer device that grips a pallet placed on a first mounting table and transfers the pallet to the second mounting table. Pallet position correcting means for correcting the position of the pallet before gripping is provided.

According to a second aspect of the present invention, in the pallet transfer device according to the first aspect, the pallet position correcting means includes a base portion, two arm portions extending from the base portion in a direction intersecting the base portion, It is characterized in that it is made by moving a housing composed of a pair of gripping parts arranged on the arm part and facing the other arm from the upper part of the pallet downward.

According to a third aspect of the present invention, in the pallet transfer device according to the first aspect, the base portion, two arm portions extending from the base portion in a direction intersecting the base portion, and each arm portion are arranged. A pair of gripping portions disposed opposite to the arm, a first moving means capable of moving the gripping portion in the longitudinal direction of the base portion, and a first moving means capable of moving the gripping portion in the longitudinal direction of the arm portion. The pallet position correcting means contacts and separates the grip portion from the pallet by the first moving means and / or the second moving means.

  According to a fourth aspect of the present invention, in the pallet transfer apparatus according to the third aspect, the first moving means and / or the second moving means are mounted on the first mounting table. The contact and separation with the pallet is performed a plurality of times.

  Further, according to a fifth aspect of the present invention, in the pallet transfer device according to any one of the second to fourth aspects, the grip portion includes a first flat plate extending in a longitudinal direction of the arm portion, The second flat plate is formed continuously from the end of the first flat plate in the direction of the end of the arm portion and intersects the obtuse angle with the first flat plate.

According to a sixth aspect of the present invention, in the pallet transfer device according to the fifth aspect, the gripping portion is formed continuously downward from an end portion of the second flat plate, and the second flat plate A third flat plate intersecting with an obtuse angle is provided.

Further, according to a seventh aspect of the present invention, in the pallet transfer device according to the fifth aspect or the sixth aspect, the grip portion extends substantially horizontally from the first flat plate and extends downward from the tip thereof. A pallet support portion having a generally square shape is provided.

According to an eighth aspect of the present invention, in the pallet transfer apparatus according to any one of the first to seventh aspects, the pallet position correcting means includes pallet information reading means for reading pallet information from the pallet. Is characterized in that the position of the pallet is corrected based on the pallet information read by the pallet information reading means.

According to a ninth aspect of the present invention, in the pallet transfer apparatus according to the eighth aspect, the pallet information reading means is disposed on the first mounting table.

Further, a tenth aspect of the present invention is the pallet transfer device according to the eighth aspect or the ninth aspect, further comprising pallet information changing means capable of changing a combination of the type of the pallet and the pallet information, The pallet information reading means reads the pallet information based on the type of the pallet changed by the pallet information changing means.

According to the first aspect of the present invention, in the pallet transfer device that grips the pallet placed on the first mounting table and transfers it to the second mounting table, the position of the pallet before gripping the pallet. Pallet position correction means is provided to correct the pallet so that the pallet position can be corrected and corrected even if the pallet position is misaligned when gripping the pallet without any processing of the pallet transfer. The effect which can be hold | gripped reliably is produced.

Further, according to the second aspect of the present invention, in the pallet transfer device according to the first aspect, the pallet position correcting means includes a base, two arm portions extending from the base to the direction intersecting the base, Since the casing composed of a pair of grips disposed on the arm and facing the other arm is moved downward from the top of the pallet, no processing is performed on the pallet transfer. Even if the position of the pallet is misaligned when gripping the pallet without applying, there is an effect that the position of the pallet is corrected and the pallet can be securely gripped.

Further, according to the third aspect of the present invention, in the pallet transfer device of the first aspect, the base portion, the two arm portions extending in the direction intersecting the base portion from the base portion, and each arm portion are arranged, A pair of gripping portions disposed opposite to the other arm; a first moving means capable of moving the gripping portion in the longitudinal direction of the base portion; and a second moving mechanism capable of moving the gripping portion in the longitudinal direction of the arm portion. And the pallet position correcting means causes the gripping portion to contact and separate from the pallet by the first moving means and / or the second moving means, so that the position of the pallet is greatly displaced when gripping the pallet. Even if it is, the position of the pallet can be corrected and the pallet can be securely gripped.

According to the fourth aspect of the present invention, in the pallet transfer device according to the third aspect, the first moving means and / or the second moving means includes a pallet placed on the first placing table, Since the contact and separation are performed a plurality of times, even if the position of the pallet is misaligned when the pallet is gripped, the position of the pallet is further corrected, and the pallet can be securely gripped.

Further, according to the fifth aspect of the present invention, in the pallet transfer device according to any one of the second to fourth aspects, the gripping portion includes a first flat plate extending in the longitudinal direction of the arm portion, Since the second flat plate is formed continuously from the end of the first flat plate in the direction of the end of the arm portion and intersects the obtuse angle with the first flat plate, the second mode to the second In addition to the effect of the pallet transfer device according to any one of the fourth aspect, even when the pallet is misaligned when gripping the pallet, the pallet position is further corrected by the second flat plate, The effect which can be hold | gripped reliably is produced.

According to the sixth aspect of the present invention, in the pallet transfer device according to the fifth aspect, the gripping portion is continuously formed downward from the end of the second flat plate, and is obtuse with the second flat plate. In addition to the effect of the pad transfer device of the fifth aspect, even if the position of the pallet is misaligned when gripping the pallet by moving the gripping device from above, The position of the pallet is further corrected, and the pallet can be securely gripped.

Furthermore, according to the seventh aspect of the present invention, in the pallet transfer device according to the fifth aspect or the sixth aspect, the gripping portion extends substantially horizontally from the first flat plate and extends downward from the tip thereof. Since the substantially pallet-shaped pallet support portion is provided, in addition to the effect of the pad transfer device of the fifth aspect, the position of the pallet is shifted when the gripping device is moved from above to grip the pallet. However, the position of the pallet can be further corrected, and the pallet can be securely held.

Moreover, according to the pallet transfer device of the eighth aspect of the present invention, the pallet transfer device according to any one of the first to seventh aspects, further comprising pallet information reading means for reading pallet information from the pallet, Since the pallet position correcting means corrects the position of the pallet based on the pallet information read by the pallet information reading means, in addition to the effects of the pallet transfer device of the first to seventh aspects, the size of the pallet is Even if it is automatically read and the position of the pallet is shifted, there is an effect that the position of the pallet is automatically corrected and the pallet can be securely gripped.

According to the pallet transfer device of the ninth aspect of the present invention, in the pallet transfer device of the eighth aspect, since the pallet information reading means is arranged on the first mounting table, In addition to the effects of the pallet transfer device, the pallet size is automatically read without increasing the pallet transfer device, and even if the pallet position is misaligned, the pallet position is automatically corrected to The effect which can be hold | gripped reliably is produced.

Furthermore, according to the pallet transfer device of the tenth aspect of the present invention, in the pallet transfer device of the eighth aspect or the ninth aspect, the pallet information changing means capable of changing the combination of the pallet type and the pallet information. The pallet information reading means reads the pallet information based on the type of pallet changed by the pallet information changing means, so even when the specification of the pallet used or the pallet standard etc. is changed The user of the system can easily cope with this, and even if the position of the pallet is misaligned, there is an effect that the position of the pallet is automatically corrected and the pallet can be securely gripped.

It is a front view of the pallet transfer apparatus of 1st Embodiment of this invention. It is a perspective view of the pallet transfer apparatus of 1st Embodiment. It is a left view of the pallet transfer apparatus of 1st Embodiment. It is a block diagram of the control circuit which controls the pallet transfer apparatus of 1st Embodiment. It is a front view of the hook unit of 2nd Embodiment. It is the perspective view which showed the state which the hook unit of 2nd Embodiment gripped the pallet. It is a perspective view of the hook nail | claw (gripping part) of 3rd Embodiment. It is a top view of the hook nail | claw (gripping part) of 3rd Embodiment. It is a front view of the hook nail | claw (gripping part) of 3rd Embodiment. It is the top view which showed the state which the hook unit hold | gripped the big pallet. It is the top view which showed the state which the hook unit hold | gripped the small pallet. It is a perspective view of the hook nail | claw (gripping part) of 4th Embodiment. It is a side view of the hook nail | claw (gripping part) of 4th Embodiment. It is a front view of the hook nail | claw (gripping part) of 4th Embodiment. It is a flowchart of a pallet position shift first correction program. It is explanatory drawing which showed a mode that a hook unit raises within a pallet transfer apparatus by a pallet position shift 1st correction program. It is explanatory drawing which showed a mode that a hook unit descend | falls in a pallet transfer apparatus by a pallet position shift 1st correction program. It is a flowchart of a pallet position shift second correction program. It is the 1st top view showing a mode before a hook unit corrects a position shift of a pallet in a pallet transfer device by a pallet position shift 2nd correction program. It is the top view which showed the mode after the hook unit correct | amended the position shift of the pallet within a pallet transfer apparatus by the pallet position shift 2nd correction program. It is the 2nd top view showing a mode before a hook unit corrects a position shift of a pallet in a pallet transfer device by a pallet position shift 2nd amendment program.

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

(First embodiment)
First, a first embodiment of the present invention will be described.

FIG. 1 is a front view of a pallet transfer device according to a first embodiment of the present invention, FIG. 2 is a perspective view of the pallet transfer device according to the first embodiment, and FIG. 3 is a pallet transfer according to the first embodiment. FIG. 4 is a left side view of the apparatus, and FIG. 4 is a block diagram of a control circuit that controls the pallet transfer apparatus of the first embodiment.

As shown in FIGS. 1 and 2, the pallet transfer device 100 according to the present embodiment sequentially moves the empty pallet loaded from the left side toward the right side toward FIG. 1 and puts parts or products into the empty pallet on the way. After that, it is discharged from the right side.

The pallet transfer device 100 of the present embodiment is arranged on three bases 22a, 22b, and 22d arranged in the left-right direction toward FIG. 1, a conveyor 27a arranged on the base 22a, and the base 22b. Conveyor 27b (corresponding to "first mounting table" of the present invention) and conveyor 27c (corresponding to "second mounting table" of the present invention), and a conveyor disposed on the base 22d. 27d.

In addition, the pallet transfer device 100 of the present embodiment includes a frame 20 connected to the base 22b, a slide bar 29 extending in the left-right direction toward the FIG. The Z-axis 21 is movable in the left-right direction on the bar 29, and the hook unit 1 is movable in the vertical direction with respect to the Z-axis 21.

1 and 2, five pallets 25a are stacked on the conveyor 27a, one pallet 25b is placed on the conveyor 27b, and four pallets 25b are placed on the conveyor 27c. The base pallet 25c (note that the pallet 25c originally stores parts or products, but the parts and products stored in the pallet 25c are not shown in FIG. 2). .

On the conveyor 27d, five pallets 25d (parts or products are originally stored in the pallet 25d, but in FIG. 2, the parts and products stored in the pallet 25d are illustrated. Is not laminated).

  The conveyor 27a is a conveyor system composed of a plastic belt, and the pallet 25a stacked on the conveyor 27a is adjacent to the right side of the conveyor 27a as viewed in the drawing by the rotation of the power motor 31a arranged on the left side of the drawing. It can be transferred to the conveyor 27b.

The conveyor 27b is also a conveyor system composed of a plastic belt, and the pallet 25b stacked on the conveyor 27b is adjacent to the right side of the conveyor 27b in the drawing by the rotation of the power motor 31b arranged on the left side of the drawing. It can be transferred to the conveyor 27c.

The conveyor 27b is provided with a pallet identification sensor 60 for detecting pallet information of pallets 25b stacked on the conveyor 27b described later.

In the present embodiment, the pallet identification sensor 60 is disposed on the conveyor 27b, but is not necessarily disposed on the conveyor 27b. For example, the pallet identification sensor 60 may be disposed on the Z-axis 21, and the pallet identification sensor 60 may be disposed in the vicinity of the pallet 25 b with other fixtures.

However, if the pallet identification sensor 60 is arranged in the conveyor 27b, the pallet gripping system 100 itself is not increased.

Further, the conveyor 27c is also a plastic belt conveyor system, and the pallet 25c stacked on the conveyor 27c is moved to the right side of the conveyor 27c by the rotation of the power motor 31c arranged on the left side of the drawing. It can be transferred to the adjacent conveyor 27d.

Further, the conveyor 27d is also a plastic belt conveyor system, and the pallet 25d stacked on the conveyor 27d is discharged from the right side toward the drawing of the conveyor 27d by the rotation of the power motor 31d arranged on the left side as viewed in the drawing. Is possible.

The Z-axis 21 is movable in the left-right direction on the slide bar 29 by the rotation of the timing belt wound around the motor shaft of the Z-axis slide drive motor 23.

  Further, the hook unit 1 is movable in the vertical direction toward the drawing by the rotation of a chain (not shown) wound around the motor shaft of the hook unit vertical drive motor 30 disposed at the lower end of the Z-axis 21. It is.

  A hook unit upper limit sensor 50 for restricting the upward movement of the hook unit 1 is disposed on the Z axis 21.

  As shown in FIG. 3, an operation panel 55 is disposed in the vicinity of the slide bar 29 of the pallet transfer device 100 to input size information of the pallets stacked on the conveyor, or a pallet position shift first described later. This is used when operating the correction program and the palette position shift second correction program.

In addition, the operation panel 55 accommodates a control circuit that controls the operation of the pallet transfer apparatus 100 of the present embodiment.

Next, a block diagram of a control circuit that controls the pallet transfer device 100 of the present embodiment will be described.

4, the control circuit of the pallet transfer device 100 is connected to a CPU (Central Processing Unit) 40, a RAM (Random Access Memory) 43 connected to the CPU 40 so as to be able to input / output, and to the CPU 40 so as to be able to input / output. ROM (Read Only Memory) 45, a drive circuit 41 connected to the CPU 40, a pallet presence / absence detection sensor 10, a hook unit upper limit sensor 50, a pallet detection sensor 2, a pallet identification sensor 60 and an operation described later connected to the CPU 40 A panel 55.

  The RAM 43 includes a pallet data table 43a that stores pallet information such as pallet size, and the ROM 45 includes a pallet transfer device control program 45a that controls the overall operation of the pallet transfer device 100 of the present embodiment and a pallet position shift described later. Pallet position misalignment first correction program 45b (corresponding to "pallet position correcting means" of the present invention) and pallet position misalignment second correction program 45c (corresponding to "pallet position correcting means" of the present invention) A pallet identification program 45d for reading pallet information from a pallet described later and a pallet data change program 45e for changing a pallet data table 43a described later are provided.

  The drive circuit 41 includes an arm portion opening / closing drive motor 5 that opens and closes an arm portion of the hook unit 1 described later, a hook claw opening / closing drive motor 3 that opens and closes a hook claw of the hook unit 1 described later, and a Z-axis slide drive. The motor 23 and the hook unit vertical drive motor 30 are driven.

  In the pallet transfer device 100 described above, first, when the user stacks the pallets 25a on the conveyor 27a arranged on the base 22a, inputs the pallet size on the operation panel 55, and presses the start button. The conveyor 27a and the conveyor 27b rotate simultaneously to transfer the pallet 25a to the conveyor 27b (becomes the pallet 25b).

  When the pallet 25b is transferred to the conveyor 27b, the pallet identification program 45d is executed, and the pallet 25b transferred to the conveyor 27b is pasted to the lower surface of the pallet 25b by the pallet identification sensor 60 arranged on the conveyor 27b. A bar code (not shown) is read and pallet information of the pallet 25 b is stored in the RAM 43.

  In this embodiment, a barcode is attached to the lower surface of the pallet 25b. However, the present invention is not limited to this. For example, an IC tag may be inserted on the lower surface of the pallet 25b, and colored paper is attached. It can be anything, as long as it is for identifying the pallet.

  In the present embodiment, the barcode is attached to the lower surface of the pallet 25b. This is based on the position of the pallet identification sensor 60. Therefore, the barcode attachment position depends on the position of the pallet identification sensor 60. Can be changed.

  The pallet identification sensor 60, the RAM 43, and the pallet identification program 45c correspond to the “pallet information reading unit” of the present invention.

  In the pallet transfer device 100 described above, first, when the user stacks the pallets 25a on the conveyor 27a arranged on the base 22a, inputs the pallet size on the operation panel 55, and presses the start button. The conveyor 27a and the conveyor 27b rotate simultaneously to transfer the pallet 25a to the conveyor 27b (becomes the pallet 25b).

  Next, (1) the hook unit 1 grips the uppermost pallet 25b among the pallets 25b stacked on the conveyor 27b, and ascends by the rotation of the hook unit vertical drive motor 30; By the rotation of the motor 23, the slide bar 29 moves rightward together with the Z axis 21.

(2) The hook unit 1 holds the pallet 25b, and after the parts or products are accommodated inside the pallet 25b, the hook unit 1 lowers the pallet 25b by rotating the hook unit vertical drive motor 30 (pallet 25c).

Here, (3) when the pallet 25b stacked on the conveyor 27b disappears, the pallet 25a, the pallet 25c and the pallet 25d are simultaneously transferred to a conveyor adjacent to the right side or discharged from the right side of the conveyor.

  When the pallet 25b is transferred to the conveyor 27b, the pallet transfer device 100 repeats the operations (1) to (3) again until the pallet 25a is removed from the conveyor 27a. Repeat the operation.

  In the present embodiment, the pallet gripping system 100 reads the pallet information of the pallet 25b by the pallet identification sensor 60, but the user of the pallet gripping system 100 uses the operation panel 55 to display the pallet information such as the pallet size. May be entered directly.

  However, when the pallet information of the pallet 25b is read by the pallet identification sensor 60, the pallet information can be automatically read by the pallet identification program 45d, and time can be saved.

  The pallet data table 43a can change a combination of a pallet type (for example, a model number, a standard number, etc.) and pallet information such as a pallet size according to the pallet type by a pallet data change program 45e. is there.

  That is, the user of the pallet gripping system 100 inputs on the operation panel 55 in accordance with the instruction displayed by the pallet data change program 45e, so that the pallet type (for example, model number, standard number, etc.) The combination with pallet information such as pallet size according to the type can be changed.

By doing so, the user of the pallet gripping system 100 can easily cope with the case where the specification of the pallet to be used is changed or the standard of the pallet is changed.

The pallet data table 43a, the operation panel 55, and the pallet data change program 45e correspond to the “pallet information change unit” of the present invention.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

FIG. 5 is a front view of the hook unit of the second embodiment, and FIG. 6 is a perspective view showing a state in which the hook unit of the second embodiment grips the pallet.

5 and 6, the hook unit 1 includes a base portion 11, two L-shaped arm portions 7 a that extend in parallel with the base portion 11, and extend perpendicularly from the end portion to the base portion 11. The arm portion 7b, hook claws 33a and 33b (corresponding to the “gripping portion” of the present invention) disposed on the arm portion 7a, and hook claws 33c and 33d disposed on the arm portion 7b (“gripping portion of the present invention” (Refer to FIG. 13).

  The base 11 has a pallet presence / absence detection sensor 10 for determining whether or not the hook unit 1 is holding the pallet 25b at a central position, and a pallet for detecting the highest pallet position among the stacked pallets. And a detection sensor 2.

  The pallet detection sensor 2 is disposed at the lower end of the lever 18 that extends downward from the hook unit 1 main body in order to prevent the hook unit 1 from contacting the pallet 25b.

  Further, as shown in FIG. 5, an arm portion opening / closing drive motor 5 for changing the interval between the arm portion 7a and the arm portion 7b is mounted on the right rear surface side of the base portion 11 (see FIG. 6).

  A driving pulley (not shown) is inserted into the motor shaft of the arm opening / closing driving motor 5, and a timing belt is wound around the driving pulley in the longitudinal direction of the base 11 (left and right as viewed in FIG. 5). Of the timing belts, the arm portion 7a is fixed to the upper timing belt in FIG. 5, and the arm portion 7b is fixed to the lower timing belt in FIG.

Therefore, when the arm portion opening / closing driving motor 5 rotates, the timing belt rotates, and the arm portion 7a and the arm portion 7b are opened and closed depending on the rotation direction of the timing belt.

A hook claw opening / closing drive motor 3 is disposed below the hook unit 1. A drive pulley 12 is engaged with the motor shaft of the hook claw opening / closing drive motor 3, and one end of a timing belt 15 is wound around the drive pulley 12.

  The other end of the timing belt 15 is wound around a driven pulley 14, and a first drive shaft 16 is inserted and fixed to the central axis of the driven pulley 14.

  The first drive shaft 16 is connected to the first ball spline bearing 26a via the first universal joint 19a and the second drive shaft 17a in the left direction toward FIG. 5, and rotates coaxially with the first ball spline bearing 26a. A timing belt 13a is wound around the pulley.

  Further, the first drive shaft 16 is connected to the second ball spline bearing 26b via the second universal joint 19b and the second drive shaft 17b in the right direction toward FIG. 5, and is coaxial with the second ball spline bearing 26b. A timing belt 13b is wound around a pulley that rotates in a straight line.

  The other end of the timing belt 13a is wound around a pulley P (not shown) rotatably arranged in the arm portion 7a, and another pulley Q (not shown) that rotates coaxially with the pulley P A hook claw opening / closing timing belt 24a is wound.

The hook claw opening / closing timing belt 24a extends in the vertical direction of the arm portion 7a between two pulleys Q and R (not shown) disposed at both ends of the arm portion 7a along the longitudinal direction of the arm portion 7a. The belt is rotatably wound so that the belt is disposed.

  A hook claw 33a and a hook claw 33b (see FIG. 13) are fixed to the hook claw opening / closing timing belt 24a, and the rotation of the hook claw opening / closing driving motor 3 is transmitted to the hook claw opening / closing timing belt 24a. The hook claw 33a and the hook claw 33b are opened and closed by the rotation of the hook claw opening / closing timing belt 24a.

  The first ball spline bearing 26a is fixed to the arm 7a. Even if the arm portion 7a slides on the second drive shaft 17a by the rotation of the arm portion opening / closing driving motor 5, it is for hook claw opening / closing driving. The driving force of the motor 3 can be transmitted to the hook claw 33a and the hook claw 33b.

  Similar to the other end of the timing belt 13a, the other end of the timing belt 13b is wound around a pulley S (not shown) that is rotatably arranged in the arm portion 7b, and rotates separately from the pulley S. A hook claw opening / closing timing belt 24b is wound around the pulley T (not shown).

The hook claw opening / closing timing belt 24b extends in the vertical direction of the arm portion 7b between two pulleys T and U (not shown) disposed at both ends of the arm portion 7b along the longitudinal direction of the arm portion 7b. The belt is rotatably wound so that the belt is disposed.

  Further, the hook claw 33c and the hook claw 33d are fixed to the hook claw opening / closing timing belt 24b, and the rotation of the hook claw opening / closing driving motor 3 is transmitted to the hook claw opening / closing timing belt 24b. The rotation of the timing belt 24b opens and closes the hook claw 33c and the hook claw 33d.

  The second ball spline bearing 26b is also fixed to the arm portion 7b, and even if the arm portion 7b slides on the second drive shaft 17b by the rotation of the arm portion opening / closing drive motor 5, the hook claw opening / closing drive motor. 3 can be transmitted to the hook claw 33c and the hook claw 33d.

As described above, the hook claws 33a, 33b, 33c, and 33d are provided with the drive shaft 16, the first universal joint 19a, the second universal joint 19b, the second drive shaft 17a, and the second drive that extend in the longitudinal direction of the base 11. By rotation of the shaft 17b, the arm portion 7a and the arm portion 7b can move in the longitudinal direction.

The drive shaft 16, the first universal joint 19a, the second universal joint 19b, the second drive shaft 17a, and the second drive shaft 17b extending in the longitudinal direction of the base 11 are disposed below the arm portion 7a and the arm portion 7b. (See FIGS. 5 and 6), even if the width of the pallet becomes longer in the longitudinal direction of the arm portion 7a and the arm portion 7b, the hook claw 33c and the hook claw are between the hook claw 33a and the hook claw 33b. 33d can be set widely, and the pallet can be securely gripped.

  On the other hand, the pallet 25b is gripped by four pallet support portions 37a, 37b, 37c, and 37d described later of the hook claws 33a, 33b, 33c, and 33d (see FIG. 13).

(Third embodiment)
Next, a third embodiment of the present invention will be described.

FIG. 7 is a perspective view of the hook claw (gripping portion) of the third embodiment, FIG. 8 is a plan view of the hook claw (gripping portion) of the third embodiment, and FIG. 9 is the third embodiment. It is a front view of a hook nail (grip part).

FIG. 10 is a plan view showing a state where the hook unit grips a large pallet, and FIG. 11 is a plan view showing a state where the hook unit grips a small pallet.

As shown in FIG. 10, the hook claw 33a, the hook claw 33b, the hook claw 33c, and the hook claw 33d (corresponding to the “gripping portion” of the present invention) are fixed to the arm portion 7a or the arm portion 7b. Although different in basic form, the hook claw 33b fixed to the arm portion 7a will be described as an example.

As shown in FIGS. 7 to 9, the hook claw 33b is formed from a flat plate 38b (corresponding to the “first flat plate” of the present invention) extending in parallel with the longitudinal direction of the arm portion 7a, and an end of the flat plate 38b. The flat plate 39b (corresponding to the “second flat plate” of the present invention) formed continuously in a direction intersecting the obtuse angle α1 with respect to the flat plate 38b.

Further, the flat plate 38b protrudes horizontally from the flat plate 38b, and a pallet support portion 37b for supporting the upper surface of the pallet 25b from below, and three holes 32b and 34b for fixing the hook claw 33b to the arm portion 7a. And 36b are formed.

The flat plate 39b extends horizontally in a direction that forms an obtuse angle α1 with respect to the flat plate 38b, and a flat plate 35b (continuously formed at the lower end of the flat plate 39b in a direction that intersects the obtuse angle α2 with respect to the flat plate 39b. Corresponding to the “third flat plate” of the present invention.

  The hook claws 33a, 33c and 33d have the same shape as the hook claws 33b. For example, the hook claw 33a includes a flat plate 38a (corresponding to a “first flat plate” of the present invention), a flat plate 39a (corresponding to a “second flat plate” of the present invention), a flat plate 35a (“third plate” of the present invention). And a pallet support portion 37a.

  The hook claw 33c includes a flat plate 38c (corresponding to the “first flat plate” of the present invention), a flat plate 39c (corresponding to the “second flat plate” of the present invention), and a flat plate 35c (corresponding to the “third flat plate” of the present invention). ) And a pallet support portion 37c, and the hook claw 33d is formed of a flat plate 38d (corresponding to the “first flat plate” of the present invention) and a flat plate 39d (corresponding to the “second flat plate” of the present invention). Equivalent), a flat plate 35d (corresponding to the "third flat plate" of the present invention) and a pallet support portion 37d (see FIG. 10).

The hook claw 33a, the hook claw 33b, the hook claw 33c, and the hook claw 33d (corresponding to the “gripping part” of the present invention) including the hook claw 33b described above are connected to the hook claw opening / closing drive motor 3 and the arm part opening / closing drive. By rotating the motor 5 for use, the arm 5a and the arm 7b are fixed at a position slightly larger than the size of the pallet 25b.

Here, when the hook unit 1 is slightly lowered by the rotation of the hook unit vertical drive motor 30, the upper surface of the pallet 25b moves along the flat plates 35a, 35b, 35c and 35d. For example, when the position of the pallet 25b is shifted from the normal position, the position shift of the pallet 25b is corrected.

  Thereafter, the hook claws 33a, 33b, 33c and 33d are moved toward the pallet 25b by the rotation of the hook claw opening / closing drive motor 3 and the arm part opening / closing drive motor 5, and the pallet support portions 37a, 37b, 37c and 37d are moved. Is inserted below the upper surface of the pallet 25b to hold the pallet 25b.

The hook unit 1 has hook claws 33a, 33b, 33c and 33d that can move in the longitudinal direction of the base 11 by the rotation of the arm portion opening / closing drive motor 5, and by the rotation of the hook claw opening / closing drive motor 3, Since it can move in the longitudinal direction of the arm portion 7a or the arm portion 7b, even if the size of the pallet 25b changes, there is an effect that each pallet can be securely gripped.

  For example, as shown in FIG. 10, with respect to a relatively large pallet 25b, the space between the arm portion 7a and the arm portion 7b is expanded so that the space between the hook claw 33a and the hook claw 33b and the hook claw 33c and the hook claw 33d is increased. The pallet 25b can be gripped by expanding the gap between the hook claws 33a and 33b and between the hook claws 33c and 33d.

On the other hand, as shown in FIG. 11, with respect to the relatively small pallet 125b, the space between the arm portion 7a and the arm portion 7b is narrowed so that the hook claw 33a and the hook claw 33b and the hook claw 33c and the hook claw 33d are The pallet 125b can be gripped by narrowing the gap and narrowing between the hook claw 33a and the hook claw 33b and between the hook claw 33c and the hook claw 33d.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.

FIG. 12 is a perspective view of a hook claw (gripping portion) of the fourth embodiment, FIG. 13 is a side view of the hook claw (gripping portion) of the fourth embodiment, and FIG. 14 is the fourth embodiment. It is a front view of a hook nail (grip part).

Similarly to the hook claw 33a, the hook claw 33b, the hook claw 33c, and the hook claw 33d, the hook claw 63a, the hook claw 63b, the hook claw 63c, and the hook claw 63d of the present embodiment are also fixed to the arm portion 7a or the arm portion 7b. Although the directions are different, the basic form is the same, so the hook claw 63b fixed to the arm portion 7a will be described as an example.

  The hook claw 63a of this embodiment is the hook claw 33a of the third embodiment, the hook claw 63b of this embodiment is the hook claw 33b of the third embodiment, and the hook claw 63c of this embodiment is the hook of the third embodiment. The claw 33c and the hook claw 63d of this embodiment correspond to the hook claw 33d of the third embodiment, respectively, and the mounting method to the arm portion 7a and the arm portion 7b is the same, so the hook claw of this embodiment 63a, the hook claw 63b, the hook claw 63c, and the hook claw 63d are fixedly attached to the arm portion 7a and the arm portion 7b basically in the same manner as shown in FIGS.

As shown in FIGS. 12 to 14, the hook claw 63b is formed from a flat plate 68b (corresponding to the “first flat plate” of the present invention) extending in parallel with the longitudinal direction of the arm portion 7a and an end of the flat plate 68b. , The flat plate 69b (corresponding to the “second flat plate” of the present invention) formed continuously in the direction intersecting the obtuse angle α3 with respect to the flat plate 68b.

Further, the flat plate 68b is formed with a pallet support portion 67b having a substantially square shape (the angle is an acute angle α5) extending substantially horizontally from the flat plate 68b and extending downward from the tip thereof. Is supported from below.

The flat plate 68b is formed with three holes 62b, 64b and 66b for fixing the hook claw 63b to the arm portion 7a.

Further, the flat plate 69b extends horizontally in a direction that forms an obtuse angle α3 with respect to the flat plate 68b, and a flat plate 65b (continuously formed in a direction intersecting the obtuse angle α4 with respect to the flat plate 69b at the lower end thereof. Corresponding to the “third flat plate” of the present invention.

  The hook claws 63a, 63c and 63d have the same shape as the hook claws 63b. For example, the hook claw 63a is not shown, but is a flat plate 68a (corresponding to the “first flat plate” of the present invention), a flat plate 69a (corresponding to the “second flat plate” of the present invention), and a flat plate 65a (present invention). And a pallet support portion 67a.

  The hook claw 63c includes a flat plate 68c (corresponding to the “first flat plate” of the present invention), a flat plate 69c (corresponding to the “second flat plate” of the present invention), and a flat plate 65c (“third plate” of the present invention). ) And a pallet support portion 67c. The hook claw 63d includes a flat plate 68d (corresponding to the “first flat plate” of the present invention) and a flat plate 69d (corresponding to the “second flat plate” of the present invention). Equivalent), a flat plate 65d (corresponding to the "third flat plate" of the present invention), and a pallet support portion 67d.

  The hook claw 63a, the hook claw 63b, the hook claw 63c, and the hook claw 63d (corresponding to the “gripping part” of the present invention) including the hook claw 63b described above are connected to the hook claw opening / closing drive motor 3 and the arm part opening / closing drive. By rotating the motor 5 for use, the arm 5a and the arm 7b are fixed at a position slightly larger than the size of the pallet 25b.

Here, when the hook unit 1 is slightly lowered by the rotation of the hook unit vertical drive motor 30, the upper surface of the pallet 25b is along the flat plates 65a, 65b, 65c or 65d or the pallet support portions 67a, 67b, 67c or 67d. Moving. For example, when the position of the pallet 25b is shifted from the normal position, the position shift of the pallet 25b is corrected.

  Thereafter, the hook claws 63a, 63b, 63c and 63d are moved toward the pallet 25b by the rotation of the hook claw opening / closing drive motor 3 and the arm part opening / closing drive motor 5, and the pallet support portions 67a, 67b, 67c and 67d are moved. Is inserted below the upper surface of the pallet 25b to hold the pallet 25b.

The hook unit 1 has hook claws 63 a, 63 b, 63 c, and 63 d that can move in the longitudinal direction of the base portion 11 by the rotation of the arm portion opening / closing drive motor 5, and by the rotation of the hook claw opening / closing drive motor 3, Since it can move in the longitudinal direction of the arm portion 7a or the arm portion 7b, even if the size of the pallet 25b changes, there is an effect that each pallet can be securely gripped.

  For example, as shown in FIG. 10, with respect to a relatively large pallet 25b, the space between the arm portion 7a and the arm portion 7b is expanded so that the hook claw 63a and the hook claw 63b are spaced between the hook claw 63c and the hook claw 63d. The pallet 25b can be gripped by expanding the distance between the hook claw 63a and the hook claw 63b and the distance between the hook claw 63c and the hook claw 63d.

On the other hand, as shown in FIG. 11, with respect to the relatively small pallet 125b, the space between the arm portion 7a and the arm portion 7b is narrowed so that the hook claw 63a and the hook claw 63b and the hook claw 63c and the hook claw 63d The pallet 125b can be gripped by narrowing the gap and narrowing the gap between the hook claw 63a and the hook claw 63b and between the hook claw 63c and the hook claw 63d.

Hereinafter, a method for correcting the positional deviation of the pallet using the pallet transfer device 100 will be described with reference to the drawings.

(First pallet position correction means)
First, the first pallet position correcting means will be described.

FIG. 15 is a flowchart of the pallet position misalignment first correction program, and FIG. 16 is an explanatory diagram showing how the hook unit is raised in the pallet transfer device by the pallet position misalignment first correction program. These are explanatory drawings which showed a mode that a hook unit descend | falls in a pallet transfer apparatus by a pallet position shift 1st correction program.

  Note that the pallet whose position shift is corrected by the pallet position shift correction program 45b is the pallet 125b described above. Further, the first pallet position shift first correction program 45b is stored in the ROM 45 as described above (see FIG. 4).

  In FIG. 15, the pallet position deviation first correction program 45b first determines whether there is a pallet position deviation first correction command based on the data input from the operation panel 55 (S1), and pallet position deviation. If there is a first correction command (S1: Yes), the pallet information read by executing the pallet identification program 45d is obtained from the pallet 25b stacked on the conveyor 27b (S2).

  On the other hand, when there is no pallet position shift first correction command (S1: No), the pallet position shift first correction program 45b is not executed and the program is terminated (S11).

  After obtaining the pallet information (S2), the pallet position misalignment first correction program 45b sets the hook claws 63a (33a), 63b (33b), 63c (33c) and 63d (33d) of the hook unit 1 to the maximum size. After that (S3), as shown in FIG. 16, the hook unit 1 is raised in the direction A (S4), and it is determined whether or not the hook unit upper limit sensor 50 arranged on the upper part of the Z-axis 21 is turned on (S4). S5).

  Here, when the hook unit upper limit sensor 50 is not ON (S5: No), the hook unit 1 is further raised (S4), and when the hook unit upper limit sensor 50 is turned ON (S5: Yes), in S2. After setting the hook claws 63a (33a), 63b (33b), 63c (33c) and 63d (33d) of the hook unit 1 to a predetermined size based on the obtained pallet information (S6), as shown in FIG. The hook unit 1 is lowered in the B direction (S7).

  Then, it is determined whether or not the hook unit 1 has been lowered to the position of the lowest pallet 125b (S9), and if it is determined that the hook unit 1 has not been lowered to the position of the lowest pallet 125b ( S9: No), the hook unit 1 is further lowered (S7).

  On the other hand, if it is determined that the hook unit 1 has been lowered to the position of the lowest pallet 125b (S9: Yes), the pallet position shift first correction program is terminated (S11), and the position shift of the pallet 125b is completed. Is corrected.

Specifically, the hook claws 63a (33a), 63b (63b) of the hook unit 1 are rotated by rotating the hook claw opening / closing driving motor 3 and the arm portion opening / closing driving motor 5 based on the obtained pallet information (S2). 33b), 63c (33c) and 63d (33d) are set to a predetermined size slightly larger than the size of the pallet, and the hook unit 1 is moved from the top to the bottom of the Z-axis 21, thereby correcting the positional deviation of the pallet 125b. Is done.

According to the first pallet position misalignment correction program, the base 11, the two arms 7a and 7b extending from the base 11 in the direction intersecting the base, and the arm 7a or 7b are arranged and opposed to the other arm. Hook unit 1 (corresponding to the “housing” of the present invention) composed of hook claws 63a (33a), 63b (33b), 63c (33c) and 63d (33d) arranged in a stacked manner is laminated. The pallet position is corrected by moving it downward from the top of the pallet, so even when the pallet is gripped, the pallet position is corrected and the pallet is securely gripped. The effect which can be done is produced.

  In the present embodiment, considering the shortening of the process time, the downward movement from the upper part of the stacked pallets 125b is performed once.

However, if there is a margin in the process time and it is desired to more surely shift the position of the pallet, it is preferable to move the stacked pallets 125b downward from the upper part a plurality of times. Then, even when the position of the pallet is misaligned when gripping the pallet, the position of the pallet can be further corrected and the pallet can be securely gripped.

(Second pallet position correction means)
Next, the second pallet position correcting means will be described.

FIG. 18 is a flowchart of the pallet position misalignment second correction program, and FIG. 19 shows a state before the hook unit corrects the pallet position misalignment in the pallet transfer device by the pallet position misalignment second correction program. FIG. 20 is a plan view showing a state after the hook unit corrects the pallet position shift in the pallet transfer device by the pallet position shift second correction program.

FIG. 21 is a second plan view showing a state before the hook unit corrects the pallet position shift in the pallet transfer device by the pallet position shift second correction program.

  Note that the pallet whose position shift is corrected by the pallet position shift second correction program 45c is the pallet 125b described above. The pallet position misalignment second correction program 45c is stored in the ROM 45 as described above (see FIG. 4).

  In FIG. 18, the pallet position deviation correction program 45c first determines whether or not there is a pallet position deviation correction command based on the data input from the operation panel 55 (S21). If it is (S21: Yes), the pallet information read by executing the pallet identification program 45c is obtained from the pallet 25b stacked on the conveyor 27b (S23).

  On the other hand, if there is no pallet misalignment correction command (S21: No), the pallet misalignment correction program 45b is not executed and the program is terminated (S39).

  After obtaining the pallet information (S23), the pallet misalignment correction program 45c sets the hook unit 1 to the maximum size (S25), and then raises the hook unit 1 in the A direction as shown in FIG. 16 (S27). ), It is determined whether or not the hook unit upper limit sensor 50 arranged at the upper part of the Z-axis 21 is turned on (S29).

  If the hook unit upper limit sensor 50 is not ON (S29: No), the hook unit 1 is further raised (S27). When the hook unit upper limit sensor 50 is ON (S29: Yes), the hook claw With the 33a (63a), 33b (63b), 33c (63c) and 33d (63d) separated from the pallet 125b stacked on the conveyor 27b, the hook unit 1 is lowered in the B direction as shown in FIG. (S31).

  Then, it is determined whether or not the hook unit 1 has been lowered to the position of the lowest pallet 125b (S33), and if it is determined that the hook unit 1 has not been lowered to the position of the lowest pallet 125b ( (S33: No), the hook unit 1 is further lowered (S31).

  On the other hand, when it is determined that the hook unit 1 has been lowered to the position of the lowest pallet 125b (S33: Yes), the positional deviation of the pallet 125b is corrected at the position of the lowest pallet 125b ( S35).

Specifically, as shown in FIG. 19, the hook claw 33a (63a) is rotated by rotating the hook claw opening / closing driving motor 3 and the arm portion opening / closing driving motor 5 based on the obtained pallet information (S23). The hook claw 33d (63d) is moved in the C direction, the hook claw 33b (63b) and the hook claw 33c (63c) are moved in the D direction, and the pallet 125b is moved in the E direction (the longitudinal direction of the arm portion 7a and the arm portion 7b). As shown in FIG. 20, the hook claws 33a (63a), 33b (63b), 33c (63c) and 33d (63d) are brought into contact with the lower side of the upper surface of the pallet 125b and then separated from the pallet 125b. Thus, the positional deviation of the pallet 125b is corrected.

If the position of the pallet 125b is not the position shown in FIG. 19 but is stacked at the position shown in FIG. 21, for example, the hook claw opening / closing drive motor is based on the obtained pallet information (S23). 3 and the arm portion opening / closing drive motor 5 are rotated, as shown in FIG. 21, the hook claw 33a (63a) is in the F direction, the hook claw 33b (63b) is in the G direction, and the hook claw 33c (63c) Is moved in the H direction, the hook claw 33d (63d) is moved in the J direction, the pallet 125b is moved in the K direction, and the hook claws 33a, 33b, 33c and 33d are brought into contact with the lower side of the upper surface of the pallet 125b. Then, the positional deviation of the pallet 125b is corrected as shown in FIG.

  As described above, according to the second pallet misalignment second correction program 45c, it is easily understood that the misalignment of the pallet 125b is corrected no matter where the pallet 125b is located in the hook unit 1. It will be.

Then, it is determined whether or not the hook claws 33a (63a), 33b (63b), 33c (63c) and 33d (63d) have made contact and separation with the pallet 125b a predetermined number of times (S37), and contact with the pallet 125b. If the predetermined number of separations has not been performed (S37: No), the above-described positional deviation correction process (S35) of the pallet 125b is repeated.

On the other hand, when the contact and separation to the pallet 125b have been performed a predetermined number of times (S37: Yes), the program is terminated (S39).

  In the present embodiment, in consideration of shortening the process time, the contact and separation with the pallet 125b are performed once.

However, if there is a margin in the process time and it is desired to ensure the positional displacement of the pallet, the contact and separation with the pallet 125b may be performed a plurality of times. Then, since the contact and separation with the pallet are performed a plurality of times, even if the position of the pallet is misaligned when gripping the pallet, the position of the pallet can be further corrected and the pallet can be securely gripped. .

In the above-described embodiment, the arm portion 7 a and the arm portion 7 b extend perpendicular to the base portion 11. However, the present invention is not limited thereto, and the arm portion 7 a and the arm portion 7 b intersect with the base portion 11. It is sufficient if it extends in the direction to do. However, considering that the shape of the pallet is rectangular, the arm portion 7 a and the arm portion 7 b are preferably orthogonal to the base portion 11.

  In the above-described embodiment, the hook claws 33a, 63a, 33b, 63b, 33c, 63c, 33d and 63d are flat plates 38a, 68a, 38b, 68b, 38c, 68c, 38d and 68d extending in the longitudinal direction of the arm portion. And from the ends of the flat plates 38a, 68a, 38b, 68b, 38c, 68c, 38d and 68d in a direction intersecting the obtuse angle α1 with respect to the flat plates 38a, 68a, 38b, 68b, 38c, 68c, 38d and 68d. The flat plates 39a, 69a, 39b, 69d, 39c, 69c, 39d and 69d formed continuously, and the lower ends of the flat plates 39a, 69a, 39b, 69c, 39c, 69c, 39d and 69d at an obtuse angle α2 with respect to them Flat plates 35a, 65a, 35b, 65b, 35c, 65c, 35d formed continuously in the intersecting direction; However, the present invention is not limited to this.

  For example, the hook claw may not have the flat plates 35a, 65a, 35b, 65b, 35c, 65c, 35d and 65d, and further may not have the flat plates 39a, 69a, 39b, 69c, 39c, 69c, 39d and 69d. Also good. However, in order to correct the positional shift of the pallet, the flat plates 35a, 65a, 35b, 65b, 35c, 65c, 35d and 65d and / or the flat plates 39a, 69a, 39b, 69c, 39c, 69c, 39d and 69d are provided. Is more effective.

(First other invention)
A first mounting table on which a pallet can be mounted, a second mounting table on which a pallet can be mounted, and a pallet mounted on the first mounting table, and the second mounting table. A pallet gripping system comprising a pallet gripping device for transporting, comprising pallet information reading means for reading pallet information from the pallet, wherein the pallet gripping device is based on the pallet information read by the pallet information reading means, A pallet gripping system for gripping the pallet.

(Effect of 1st other invention)
The first other invention grips the first mounting table on which the pallet can be mounted, the second mounting table on which the pallet can be mounted, and the pallet mounted on the first mounting table, A pallet gripping system including a pallet gripping device that transfers to the second mounting table includes pallet information reading means for reading pallet information from the pallet, and the pallet gripping device is based on the pallet information read by the pallet information reading means. Since the pallet is gripped, the size of the pallet is automatically read, and the pallet gripping device can securely grip the pallet.

(Second other invention)
The pallet gripping system according to the first other aspect of the invention, wherein the pallet information reading means is provided on the first mounting table.

(Effect of the second other invention)
In the second other invention, in the first other invention, since the pallet information reading means is provided on the first mounting table, in addition to the effects of the first other invention, there is no trouble in work, The size of the pallet is automatically read, and the pallet gripping device can securely grip the pallet.

(Third other invention)
According to a third other aspect of the present invention, a first mounting table capable of mounting a pallet, a second mounting table capable of mounting a pallet, and a pallet mounted on the first mounting table are gripped. In the pallet gripping system including the pallet gripping device transferred to the second mounting table, the pallet gripping device includes a pallet information changing unit capable of changing a combination of the pallet type and the pallet information. A pallet gripping system for gripping the pallet based on the pallet information changed by the pallet information changing means.

(Effect of the third other invention)
The third other invention is to grip the first mounting table on which the pallet can be mounted, the second mounting table on which the pallet can be mounted, and the pallet mounted on the first mounting table, A pallet gripping system including a pallet gripping device for transferring to a second mounting table includes a pallet information changing unit capable of changing a combination of a pallet type and pallet information. Since the pallet is gripped based on the pallet information changed by the system, even if the specifications of the pallet to be used or the pallet standard is changed, the user of the system can easily cope with it. There is an effect that the pallet can be securely gripped.

DESCRIPTION OF SYMBOLS 1 ... Hook unit 2 ... Pallet detection sensor 3 ... Hook claw opening / closing drive motor 5 ... Arm part opening / closing drive motor 7a, 7b ... Arm part 10 ... Pallet presence detection sensor 11 ... Base 16 ... Drive shafts 17a, 17b ... Second drive shaft 19a ... First universal joint 19b ... Second universal joint 20 ... Frame 21 ... Z axes 22a, 22b , 22d ... base 23 ... Z-axis slide drive motors 25a, 25b, 25c, 25d, 125b ... pallets 27a, 27b, 27c, 27d ... conveyor 27b ... conveyor (first loading) Stand)
27c ... Conveyor (second mounting table)
29 ... Slide bar 30 ... Hook unit vertical drive motors 31a, 31b, 31c, 31d ... Power motors 33a, 33b, 33c, 33d, 63a, 63b, 63c, 63d ... Hook claws (gripping Part)
35a, 35b, 35c, 35d, 65a, 65b, 65c, 65d ... flat plate (third flat plate)
37a, 37b, 37c, 37d, 67a, 67b, 67c, 67d ... Pallet support portions 38a, 38b, 38c, 38d, 68a, 68b, 68c, 68d ... flat plate (first flat plate)
39a, 39b, 39c, 39d, 69a, 69b, 69c, 69d ... flat plate (second flat plate)
43a ... Pallet data table 45b ... Pallet position shift first correction program 45c ... Pallet position shift second correction program 45d ... Pallet identification program 45e ... Pallet data change program 55 ... Control panel 60 ... Pallet identification sensor 100 ... Pallet transfer device

Claims (6)

The base,
Two arm portions extending in a direction intersecting the base portion from the base portion;
Two gripping portions each including a first flat plate that is spaced apart from each arm portion and extends in the longitudinal direction of the arm portion, and a support portion that extends substantially horizontally from the lower portion of the first flat plate;
First moving means capable of moving the grip portion in the longitudinal direction of the base;
A second moving means capable of moving the grip portion in the longitudinal direction of the arm portion;
The pallet placed on the first mounting table is supported by the support portion by moving the gripping portion by the first moving means and / or the second moving means, and a second In the pallet transfer device for transferring to the mounting table,
The gripping portion includes a second flat plate formed continuously from the end of the first flat plate in the direction of the end of the arm portion, and intersecting the first flat plate at an obtuse angle.
By spacing the contact to the pallet by the gripping portion and the first moving means and / or said second moving means, it is possible to correct the position before Symbol pallet placed on the first table A pallet transfer device characterized by that. Third moving means capable of moving the base portion in the vertical direction;
The grip portion includes a third flat plate that intersects the end portion of the second flat plate is formed continuously downward, and the second flat plate and obtuse,
Bei to give a,
The grip portion is brought into contact with and separated from the pallet by the first moving means, the second moving means, and / or the third moving means, so that the pallet placed on the first placing table is moved. position the pallet transfer device according to claim 1, wherein the correctable der Rukoto a. The support portion is a pallet transfer device according to claim 6, characterized in that has a substantially V-shape extending from the tip downwards. A third moving means capable of moving the base portion in the vertical direction;
The support portion has a generally U-shape extending downward from its tip,
The grip portion is brought into contact with and separated from the pallet by the first moving means, the second moving means, and / or the third moving means, so that the pallet placed on the first placing table is moved. The pallet transfer device according to claim 1, wherein the position can be corrected. The first moving means and / or the second moving means can correct the position of the pallet by performing contact and separation a plurality of times with respect to one pallet placed on the first placing table. The pallet transfer device according to claim 1, wherein The first moving means, the second moving means, and / or the third moving means perform contact and separation a plurality of times with respect to one pallet placed on the first placing table. The pallet transfer device according to claim 6, wherein the pallet position can be corrected.

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