JP6765135B2 - Stacking device - Google Patents

Description

The present invention relates to a work stacking device for stacking workpieces such as bound corrugated cardboard sheets.

In order to efficiently stack the bound corrugated cardboard sheets on the pallet by the robot, a stacking device for pre-stacking the corrugated cardboard sheets before being transported by the robot has been conventionally known. For example, in Patent Document 1, a conveyor for receiving a work, a stacker for transporting the work received in the receiving area to an upper grip position, and a stacker horizontally advanced to a position lower than the grip position (stacking position). A feed conveyor comprising a holding bracket for holding the work is disclosed.

In this feed conveyor, as shown in FIG. 6A, the work W1 conveyed by the conveyors 50a and 50b and received in the receiving area is supported by the support plates 51a and 51b of the stacker, and is shown in FIG. 6B. As shown, it rises to the gripping position together with the support plates 51a and 51b. Then, as shown in FIG. 6 (c), the holding brackets 52a and 52b advance to the stacking position below the gripping position, the support plates 51a and 51b are lowered, and the work W1 moves the holding brackets 52a and 52b. Transferred to. When the support plates 51a and 51b are further lowered and a new work W2 is received in the receiving area, the holding brackets 52a and 52b are retracted and the two works W1 and W2 are stepped as shown in FIG. 6D. It is supported by the support plates 51a and 51b in a stacked state. After that, the stacked workpieces W1 and W2 rise to the gripping position together with the support plates 51a and 51b, and can be gripped by the robot.

Japanese Unexamined Patent Publication No. 2005-82304

However, since the conventional feed conveyor is configured such that the holding brackets 52a and 52b move back and forth in the horizontal direction, when the work W1 is supported by the holding brackets 52a and 52b, the work W1 is supported by the support plates 51a and 51b. Is once raised to a position slightly exceeding the height position (stacking position) of the holding brackets 52a and 52b, then the holding brackets 52a and 52b are advanced, and then the work W1 is lowered and placed on the holding brackets 52a and 52b. This time is a time loss because it needs to be done. Further, since the stacked works W1 and W2 are held by the support plates 51a and 51b at the gripping position, the support plates 51a and 51b cannot be lowered until they are gripped by the robot, and are newly transported to the receiving area. It takes a long time for the support plates 51a and 51b to support the work. For these reasons, the conventional stacking device may not be able to handle the rapid stacking of workpieces.

Therefore, an object of the present invention is to provide a stacking device capable of quickly stacking conveyed workpieces.

The object of the present invention is a transporting means for transporting a work to a receiving position, a pair of supporting means having support portions for vertically movable support on both sides of the work transported to the receiving position, and a pair of the supports. The holding means includes a pair of holding means for holding the work raised by the means at a predetermined discharge height, the holding means has a holding portion capable of advancing and retreating in a direction inclined with respect to the vertical direction, and the work is a support portion. This is achieved by a stacking device configured such that the holding portion abuts on the lower surface of the work when advancing while being supported by .

In this stacking device, the support portion is preferably movable in the horizontal direction to a position where it does not interfere with the work.

According to the present invention, it is possible to provide a stacking device capable of quickly stacking conveyed workpieces.

It is a top view of the stacking apparatus which concerns on one Embodiment of this invention. It is a schematic side view which shows the main part of the stacking apparatus shown in FIG. It is a schematic front view which shows the main part of the stacking apparatus shown in FIG. It is operation explanatory drawing of the stacking apparatus shown in FIG. It is another operation explanatory drawing of the stacking apparatus shown in FIG. It is operation explanatory drawing of the conventional apparatus.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a plan view of a stacking device according to an embodiment of the present invention. As shown in FIG. 1, the stacking device 1 includes a transport device 10 for transporting workpieces and a pair of lifting devices 2a and 2b arranged on both sides of the transport device 10 in the transport direction.

The transport device 10 is composed of, for example, a belt conveyor, and horizontally transports a work W such as corrugated cardboard bound by the binding device 100 to a receiving position R. A shutter 14 and a pair of pushers 16a and 16b are arranged on the upstream side of the transport device 10 in the transport direction. When the work W is detected by a sensor (not shown) in front of the shutter 14, the pair of pushers 16a and 16b Advances from both sides to adjust the position of the work W in the width direction, and then the shutter 14 is lowered to introduce the work W into the transport device 10.

The elevating devices 2a and 2b include support devices 20a and 20b and holding devices 30a and 30b inside the casings 8a and 8b. The support devices 20a and 20b include a plurality of support portions 21a and 21b that support the work W and move it up and down between the reception height and the discharge height. Further, the holding devices 30a and 30b are provided with a plurality of holding portions 31a and 31b for holding the work W at a predetermined discharge height. Notches 9a and 9b are formed in the upper portions of the casings 8a and 8b, and the support portions 21a and 21b and the holding portions 31a and 31b can be infested via the notches 9a and 9b. The distance between the pair of lifting devices 2a and 2b facing each other can be adjusted according to the width of the work W, and while the central portion of the work W is supported by the transport device 10, the rollers 12 provided in the lifting devices 2a and 2b Both sides of the work W can be movably supported.

2 and 3 show a schematic configuration of one of the lifting devices 2a, FIG. 2 is a schematic side view of the inside of the lifting device 2a as viewed in the direction of arrow A in FIG. 1, and FIG. 3 is a schematic side view of the lifting device 2a. It is a schematic front view which looked at the inside in the direction of arrow B of FIG. As shown in FIGS. 2 and 3, the support device 20a is supported by a vertical movement cylinder 22a such as an air cylinder attached to the bottom plate 3 of the lifting device and a vertical movement cylinder 22a so as to be vertically movable. The bracket 23a is provided with a horizontally moving cylinder 24a such as an air cylinder fixed to the bracket 23a, and a support bar 25a movably supported by the horizontally moving cylinder 24a. The support bar 25a is arranged so as to extend along the transport direction of the transport device 10, and the plurality of support portions 21a described above are attached to each other at intervals. The upper surface of each support portion 21a on which the work is mounted is formed horizontally, and the support portions 21a are arranged so as to have substantially the same height. By providing the support device 20a with the above configuration, the support portion 21a can be moved in the vertical direction and the horizontal direction.

The holding device 30a includes an inclined cylinder 33a attached to an inclined plate 5a extending obliquely upward from an upright plate 4a standing up from the bottom plate 3, and a bracket 34a supported by the inclined cylinder 33a. The plurality of holding portions 31a described above are arranged on the bracket 34a at intervals along the transport direction of the transport means 10, and are arranged in the vertical direction so as to advance diagonally upward and abut on the lower surface of the work W. On the other hand, it is possible to move forward and backward in the direction of inclination. The contact surface of the holding portion 31a with the work W is formed horizontally, and an engaging block 32a that engages with the side surface of the work W is provided on the base side of the contact surface.

Since the configuration of the support device 20b and the holding device 30b included in the other lifting device 2b is the same as the support device 20a and the holding device 30a included in the one lifting device 2a described above, the description thereof will be omitted. The support devices 20a and 20b can support both sides of the work W in the transport direction so as to be able to move up and down, and the holding devices 30a and 30b can hold both sides of the work W in the transport direction.

Further, as shown in FIGS. 1 and 3, the stacking device 1 of the present embodiment includes an auxiliary device 40 arranged adjacent to the transport device 10. The auxiliary device 40 includes a vertical movement cylinder 42 attached to the bottom plate 3 and a plate-shaped auxiliary member 41 supported by the vertical movement cylinder 42 so as to be vertically movable via a bracket 43. The auxiliary member 41 is arranged in an upright state along the transport direction of the transport device 10, and supports the work W by the pair of support portions 21a and 21b by moving up and down between the pair of support portions 21a and 21b. Can be assisted.

The drive of the pair of support devices 20a and 20b, the pair of holding devices 30a and 30b, and the auxiliary device 40 is controlled by a control device (not shown). When the auxiliary device 40 is operated, the auxiliary member 41 is controlled to move up and down in synchronization with the vertical movement of the pair of support portions 21a and 21b. However, the operation of the auxiliary device 40 is not essential, and the work W can be moved up and down only by the pair of support devices 20a and 20b.

Next, the operation of the stacking device 1 described above will be described with reference to FIGS. 4 and 5. First, as shown in FIG. 4A, the first work W1 is conveyed to the receiving position R by the conveying device 10 in a state where the supporting portions 21a and 21b are lowered and the holding portions 31a and 31b are retracted. As shown in FIG. 4B, the support portions 21a and 21b are raised so that the first work W1 has a preset discharge height from the reception height H1 on the transport surface of the transport device 10. Move to H2. Then, as shown in FIG. 4C, the holding portions 31a and 31b advance to hold the first work W1 and the support portions 21a and 21b horizontally move to a position where they do not interfere with the first work W1. ..

Next, as shown in FIG. 5 (a), the second work W2 is conveyed to the receiving position R while the support portions 21a and 21b are lowered, and as shown in FIG. 5 (b), the support portions 21a, The movement of the 21b causes the second work W2 to be supported by the support portions 21a and 21b. At the same time, the holding portions 31a and 31b retract, and the first work W1 falls onto the second work W2. After that, as shown in FIG. 5 (c), the support portions 21a and 21b rise to move the second work W2 to the discharge height H2, and the holding portions 31a and 31b advance to the second work W2. To hold. In this way, the first work W1 and the second work W2 in the stacked state can be held at the discharge height H2 by the holding portions 31a and 31, and palletizing by a robot (not shown) can be performed. After the holding portions 31a and 31b hold the second work W2, the support portions 21a and 21b are lowered in preparation for the transfer of the next work.

Although the contents related to the auxiliary device 40 are omitted in the above operation description, when the auxiliary device 40 is operated, the auxiliary member 41 is moved up and down in synchronization with the vertical movement of the support portions 21a and 21b. Just let me do it.

According to the stacking device 1 of the present embodiment, the holding portions 31a and 31b for holding the work W at a predetermined discharge height H2 are configured to be able to advance and retreat in a direction inclined with respect to the vertical direction. The holding portions 31a and 31b can be brought into contact with the work W while the work W is supported by the discharge height H2 by the portions 21a and 21b. Therefore, unlike the conventional case, it is not necessary to lower the support portions 21a and 21b to hold the work W in the holding portions 31a and 31b, so that the work W can be stacked quickly.

Further, in the stacking device 1 of the present embodiment, since the holding portions 31a and 31b come into contact with the work W from diagonally below, damage to the work W due to contact with the holding portions 31a and 31b can be reliably prevented and the work W can be reliably prevented from being damaged. When the two workpieces W1 and W2 shown in FIGS. 5A and 5B are stacked, the holding portions 31a and 31b retract diagonally downward, so that the impact due to the dropping of the workpiece W1 can be mitigated.

Further, the stacking device 1 of the present embodiment includes the auxiliary member 41 that moves up and down together with the support portions 21a and 21b to support the work W, so that the support portion 21a is provided even if the work W is a wide corrugated cardboard or the like. , It is possible to prevent the work W from being bent in the state of being supported by 21b, and to reliably support the work W. Since the auxiliary member 41 is formed in a plate shape and arranged in an upright state, it can be easily installed even if the space between the pair of support devices 20a and 20b is small.

1 Stacking device 10 Conveying device 20a, 20b Supporting device 21a, 21b Supporting part 30a, 30b Holding device 31a, 31b Holding part 40 Auxiliary device 41 Auxiliary member W work R Accepting position

Claims (2)

A transport means for transporting the work to the receiving position,
A pair of support means having support portions for vertically movable support on both sides of the work transported to the receiving position, and
It is provided with a pair of holding means for holding the work raised by the pair of the supporting means at a predetermined discharge height.
The holding means has a holding portion that can advance and retreat in a direction that is inclined with respect to the vertical direction, so that the holding portion abuts on the lower surface of the work when advancing while the work is supported by the support portion. Constructed stacking device. The stacking device according to claim 1, wherein the support portion can move horizontally to a position where it does not interfere with the work.

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