JPH01242320A - Loading device - Google Patents

Abstract

PURPOSE:To simplify and lighten a holding body in a device for loading onto a pallet, etc., by providing a carry-in portion and a loading portion on the revolving course of a revolvable articulated system robot having a holding body with a plurality of horizontal fingers and providing a rectangular coordinate robot on the loading portion. CONSTITUTION:In a carry-in position P1, the horizontal fingers 15 of a holding body 16 are inserted below an article W by an articulated robot 11 to hold the article W with the holding body 16. Then, the robot 11 is revolved to convey the article W to a loading position P2. By driving the robot 11 and/or a rectangular coordinate system robot 21, the fingers 15 of the holding body 16 are crossed with vertical fingers 27 to insert the vertical finger 27 to the rear of the article W. Then, by retracting the horizontal fingers 15 while advancing the vertical finger 27, the article is translocated onto the vertical fingers 27 to be placed on a pallet P. Thereby, the holding body can be simplified and lightened.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a loading device for loading articles onto a pallet or the like in multiple stages.

(Prior Art) In a conventional loading device, a holder for holding an article at a carry-in position and moving it to a loading position was developed in Japanese Utility Model Application Publication No. 59-1596.
Publication No. 34, Japanese Utility Model Publication No. 60-61274 jj Zenkan Publication, Japanese Patent Publication No. 61-229721, Japanese Patent Publication No. 62-47771
There are various types of products as shown in Japanese Patent Publication No. 60-209438, etc., but all of them have mechanisms for aligning, positioning, and fixing items, It was equipped with a mechanism for releasing and unloading items, and was also equipped with a drive source to drive these mechanisms.

(Problems to be Solved by the Invention) As mentioned above, the holding body of the conventional loading device is equipped with various mechanisms and driving sources therefor, so the structure is complicated and the weight is heavy. .

The present invention has been developed in view of these points, and is an object of the present invention to load goods using a sturdy and lightweight holding body.

[Structure of the invention]

(Means for solving one problem) The loading device of the present invention includes a base 12 provided with a main body 13 that can be rotated horizontally, and a multi-joint arm 14 that can be bent vertically on this main body 13. An orthogonal coordinate system in which a multi-jointed first robot 11, a horizontal guide 24 that can move up and down in the vertical direction is provided on the vertical guide 23, and a pair of transverse bodies 25 and 26 that are movable in the horizontal direction are provided on the horizontal guide 24. A second robot 21 of the multi-joint system is set around the main body 13 of the first robot 11 of the multi-joint system, and a loading position p1 of the article W and a loading position p2 of the article W are set. At the lower end of the multi-joint arm 14 of the robot 11, a holder 16 having a plurality of parallel horizontal fingers 15 that is inserted under the article W at the carry-in position p1 and scoops up the article W is provided so as to be pivotable in the horizontal direction, In addition, the vertical guide 23 of the second robot 21 in the orthogonal coordinate system is
A pair of transverse bodies 25 and 26 of this second robot 21 are provided adjacent to the loading position p2 of the JW.
A plurality of horizontal fingers 1 of the holding body 16 moved to 2
A plurality of upwardly facing parallel vertical fingers 27 which are intersectedly combined with 5 and inserted into the rear of the item W on the horizontal fingers 15 are arranged in parallel in a direction intersecting the moving direction of the transversal body 25.26. It is.

(Function) In the loading device of the present invention, the horizontal finger 15 of the holder 16 is moved by the first robot 11 at the carry-in position p1.
is inserted into the lower part of the item W, scoops up the item W and moves it to the loading position D2, and at the loading position p2, the first robot 11 and/or the second robot 21
, the horizontal finger 15 and the vertical finger 21 of the holder 16 are combined in a crosswise manner, the vertical finger 27 is inserted into the rear of the item W on the horizontal finger 15, and the horizontal finger 15 is retracted or the vertical finger 27 is advanced. and move the item W on the horizontal finger 15 to the vertical finger 2.
It will be dropped off at 7.

(Embodiment) An embodiment of the loading device of the present invention will be described with reference to the drawings.

In FIGS. 1 to 3, 11 is a vertically articulated first robot, and this first robot 11 has a base 1.
A main body 13 that can be rotated horizontally is provided on the robot 2, and a multi-joint arm 14 that can be bent vertically is provided on this main body 13, and the tip of the multi-joint arm 14 of the first robot 11]. is provided with a holder 16 having a plurality of parallel horizontal fingers 15 so as to be pivotable in the horizontal direction, and whether the holder 16 rotates itself, the main body 13 pivots, or the multi-jointed arm 14 bends. It always maintains the same posture, and its horizontal fingers 15 are kept horizontal.

In this embodiment, the horizontal fingers 15 are each a lower horizontal portion of the L-shaped member 11.

Reference numeral 21 denotes a second robot in a Cartesian coordinate system, and this second robot 21 has a vertical guide 23 erected on a base 22.
This vertical guide 23 is provided with a horizontal guide 24 that is vertically movable, and this horizontal guide 24 is provided with a pair of horizontally movable transverse bodies 25 and 26. A plurality of parallel vertical fingers 27 facing upward are disposed on the pair of transverse bodies 25 and 26 .
They are arranged in parallel in one direction that intersects the moving direction of No. 26.

Then, the article W is carried into a loading position p1 and the article W is stacked at a forward stacking position p2 around the main body 13 of the vertically articulated first robot 11, that is, within the operating range a of the holder 16 attached to its articulated arm 14. is set, and a vertical guide 23 of the second robot 21 in the orthogonal coordinate system is erected outside the loading position p2 of the article W, and its transverse body 25.
26 is disposed at the loading position p2 for the article W, a roller conveyor 31 for carrying the article W is disposed at the carry-in position D1, and a pallet for loading the article W is disposed at the loading position 〇2. A roller conveyor 32 is provided to convey p.

Two stoppers 33 and 34 are provided at the tip of the roller conveyor 31, one stopper 33 positions the article W at the carry-in position 1pl, and the other stopper 34 positions the article W at the carry-in position p1. At a certain time, the subsequent item W is stopped, and when there is no item W at the carry-in position p1, the subsequent item W is allowed to pass.

Further, a plurality of notches 35 are formed at least on one side of the tip of the roller conveyor 31.
The horizontal finger 15 of the holder 16 can be inserted between the rollers 36, that is, below the article W on the rollers 36.

Next, the zero motion of this embodiment will be explained.

In this embodiment, the article W is a plurality of unbound cardboard sheets tied together, and the article W is conveyed from the left side in FIG. Further, the barrels 1 to p are conveyed by a roller conveyor 32 from the left side in FIG. 1 to a loading position p2, and are positioned by a stopper (not shown).

Then, the first robot 11 moves the horizontal finger 15 of the holding body 16 through the notch 35 to the carry-in position 1pl.
Insert it into the bottom of the item W, and as it is, horizontal Noinga-1
At step 5, the item W is scooped up and moved to the loading position p2.

At the loading position p2, as shown in FIGS. 4, 8 and 9, the second robot 21 loads each transverse body 25.2.
The vertical fingers 27 on one of the transverse bodies 25 are kept on standby on both sides of the position where the goods W are scheduled to be loaded, and are held by the first robot 11 against the inside of the vertical fingers 27 on one of the transverse bodies 25. The body 16 is lowered while being rotated in a predetermined direction, the horizontal fingers 15 and the vertical fingers 21 are combined in a crosswise manner, and the vertical fingers ~27 are inserted into the rear part of the item W on the horizontal fingers 15.

After that, as shown in FIGS. 5 and 10, the first D-bot 11 moves the holder 1G horizontally to the outside of the loading position p2, and moves the horizontal finger 15 behind the vertical finger 27. At this time, the horizontal finger 15
The upper item W is locked with the vertical finger 27, and the item W is transferred from the horizontal finger 15 to the pallet p or already on the pallet p.
It is unloaded onto the goods W on the lower tier that are loaded on top.

Next, after the holding body 16 is moved to the carry-in position p1 by the first robot 11, the holding body 16 is moved to the carry-in position p1 in the same manner as described above.
The first item W is scooped up by the horizontal finger 15 and moved to the loading position p2, and the holding body 1 is scooped up by the horizontal finger 15 and moved to the loading position p2, and
6 is rotated in a predetermined direction, the horizontal finger 15 and the vertical finger 27 are combined in a crosswise manner, and the vertical finger 2 is attached to the rear of the item W on the horizontal finger 15.
7, as shown in FIG. 6, the holder 16 is moved horizontally to the outside of the loading position up2, the horizontal finger 15 is retreated behind the vertical finger 27, and the item W is placed first in the package. Unload the item next to the item W.

After that, as shown in FIG. 7, the second robot 21 moved the vertical fingers 21 on each of the transverse bodies 25 and 26 horizontally toward the loading position p2, and transferred the cargo in two steps. Arrange the items W for one stage.

Then, by repeating such operations, the items W are loaded onto the pallet p in multiple stages, and once the items have been loaded to a predetermined number of stages, the pallet p loaded with the items W is transferred to the loading position by the roller conveyor 32. At the same time, the new empty pallet p is transported and positioned to the loading position p2, and the next item W is loaded.

〔Effect of the invention〕

As described above, according to the present invention, at the loading position of the goods, the first robot inserts the horizontal fingers of the holder under the goods, scoops up the goods, moves them to the loading position, and unloads the goods. In the loading position, the first robot and/or the second robot intersect the horizontal and vertical fingers of the holder and insert the vertical fingers into the rear of the items on the horizontal fingers, and Since the item on the horizontal finger is lowered by the vertical finger by moving backward or moving the vertical finger forward, the holding body of the first robot used for picking up and moving the item only needs to have a horizontal finger for picking up; Since there is no need for a power source for the horizontal fingers, the M4 structure of the holder is heavy and the weight of the holder can be reduced.

[Brief explanation of the drawing]

The figures show an embodiment of the stack II of the present invention, in which Fig. 1 is a plan view thereof, Fig. 2 is a front view thereof, and Fig. 3 is a side view thereof.
Figures 4 to 7 are explanatory diagrams of the operation, and each (
A) is a plan view of a part, ■ is a front view of a part, Fig. 8 is an enlarged view of a part of Fig. 4 (E9), Fig. 9 is a side view of Fig. 8, and Fig. 10 is an enlarged view of a part of E9. This is an enlarged view of a part of Fig. 5 (2). 11.. First robot, 12.. Base, 13φ main body, 14.. Multi-rIA joint 7-m, 15.. Horizontal Noinger, 16. ...Holding body, 21..Second robot, 23.
・Vertical guide, 24...Horizontal guide, 25.26...Transverse body, 27...Vertical finger, W...Item, pl...
Loading position, p2... Loading position. Figure 9 (A) 〆2j
(A)
Me2bu rod IO diagram

Claims (1)

[Claims] (1) A first multi-jointed robot with a main body that can rotate horizontally on the base and a multi-joint arm that can bend vertically on the main body, and a horizontal robot that can move vertically up and down on a vertical guide. A second robot having an orthogonal coordinate system is provided with a guide and a pair of horizontally movable transverse bodies is provided on the horizontal guide, and the article is carried around the main body of the first multi-jointed robot. The position and the loading position of the goods are set, and a holder having a plurality of parallel horizontal fingers that is inserted under the goods at the carrying position and scoops up the goods is placed horizontally at the lower end of the multi-jointed arm of this first robot. A vertical guide of the second robot in the orthogonal coordinate system is provided adjacent to the loading position of the article, and a pair of transverse bodies of the second robot are provided with the vertical guide of the second robot in the Cartesian coordinate system so as to be able to rotate in the direction of the loading position. A plurality of parallel vertical fingers facing upward are intersected with the plurality of horizontal fingers of the holder and inserted into the rear of the item on the horizontal fingers, arranged in a direction transverse to the direction of movement of the transversal body. A loading device featuring: