JPH02239068A - Device for translocating package - Google Patents

Abstract

PURPOSE:To convert the posture of a package into its original posture or an inverted posture by rotatably supporting chuck members for holding the outer periphery of the package on the mutually opposite front end portions of operating arms and providing the rotating means thereof. CONSTITUTION:After a cone package P is pulled off from a tray with its outer periphery being held by chuck members 50, 50, a rotary cylinder 53 is operated in the advancing process of operating arms 30, 30 and the chuck members 50, 50 are 180 deg. inverted to convert the cone package P into an inverted posture. Then, the operating arms 30, 30 which convertingly hold the package P are extended out onto an arranging conveyor to translocate same onto an inverting peg in an inverted posture. Thereby, the cone package P which is transferred from a winder can be arranged on an arranging conveyor in a normally erect posture in one process or in an inversely erect posture in the following process, by the use of a translocating device 15.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a package transfer device that can invert and transfer a package.

[Prior art] When valetizing packages wound up with a winder, if the packages are cone-shaped, inserting the packages in an upright position and an inverted position alternately increases filling efficiency and improves the loading condition. Stabilize. At this time, it is necessary to invert a part of the cone package that was transferred in the royal position and change the position to an inverted position. Conventionally, such work usually relies on manual labor. However, manual work forces workers to put in a lot of hard work. Therefore, as a special automatic device,
Publication No. 7321 proposes a box packing robot equipped with a reversing device.

[Problem M to be Solved by the Invention] However, in the above robot system, the packages that are arranged in a royal position on the alignment conveyor are once transferred to a reversing device and reversed, and then the packages are changed to an inverted position by the reversing device. The packages that have been placed in an upright position and the packages that are arranged in an upright position on the alignment conveyor are lifted into separate ceiling moving frames, transferred, and packed into boxes, which increases the size and complexity of the equipment and reduces the operating efficiency of the system. I can't improve much.

On the other hand, the ceiling self-propelled trolley is equipped with a chuck device that can hold the cone package in either the upright or upside down position, the ceiling self-propelled trolley is equipped with a transfer means for transporting the package from the wine goo to the inspection station, and a transport means for transporting the package after inspection to a predetermined position. A rational system is being developed that can also be used as a barretizing means for packing boxes in a staggered arrangement. This system has a function that when transferring cone packages after inspection to the alignment conveyor that transfers them to the overhead self-propelled cart, some of them are inverted to an inverted position, while the rest are transferred while remaining in an upright position. There must be. However, conventional devices cannot meet this purpose.

The present invention provides a new and useful package transfer device that has the functions required by the above-mentioned valetizing system.

[Means for Solving the Problems] The package transfer device of the present invention has a pair of actuating arms connected to each other so as to be freely openable and closable, and arranged to be able to freely swing up and down and move forward and backward, and to A chuck member that grips the outer periphery of the package is rotatably supported at the opposing tip portions of the arm, and a rotating means is provided for rotating the chuck member.

[Operation] In this transfer device, when the gap between the actuating arms is closed,
A pair of chuck members pivotally supported at the tip grip the outer conical surface of the cone package.

In this state, if you swing the operating arm and move it forward and backward,
The package can be transferred in the forward and backward direction of the actuation arm, and when the gap between the actuation arms is opened at a predetermined position, the package can be released and transferred. When the cone package is transferred, the rotating means is driven to invert the chuck member, and the cone package is transferred from an upright position to an inverted position.

[Example] EMBODIMENT OF THE INVENTION Hereinafter, one Example of this invention is illustrated and described.

FIG. 1 illustrates the layout of a package valetizing system incorporating a package transfer device according to the present invention.

Therefore, we will first explain the outline of the palletizing system,
This will clarify the significance of this device.

In this system, automatic winders 1 with units arranged side by side are installed on one side of the floor, and on the other side there is an inspection station 2 for inspecting the cone packages P wound up by each winder 1, and an inspection station 2 for inspecting the packages P after inspection. A valetizing station 3 is arranged for stacking and transporting or shipping to the next process. In this system, an overhead rail 4 is provided in a closed loop at a predetermined position, and an appropriate number of overhead self-propelled carts 7 (in the illustrated example, one stand)
It is run. That is, directly below the track of the ceiling self-propelled cart 7 are the vicinity of the package delivery end 5a of the conveyor 5 attached to each winder 1, the conveyor 6 for carrying in the packages P at the inspection station 2, and the package P at the inspection station 2 as well. The alignment conveyor 8 and the loading position of the packages P at the valetizing station 3 are located.

To explain the operation of the entire system, the conveyor 5 attached to each winder 1 is tilted forward in a sideways posture P. The cone package P conveyed to the conveyor discharge end 5a is reversed by a transfer device 9 installed at the conveyor discharge end 5a, and is placed in an upright position P^ on a beg provided on an alignment conveyor 10 located directly below the rail 4. They are inserted and aligned at predetermined intervals. The cone packages P transferred to the alignment conveyor 10 are gripped by a chuck device installed on a lifting platform (not shown) vertically installed on the ceiling self-propelled cart 7 and transferred to the inspection station 2.
is transferred to the tray 11 on the carrying-in conveyor 6 while maintaining the upright posture PA. Then, the corn package P placed on the conveyor 6 is transferred to the conveyor 1 along with the tray 11.
2 and passes through an inspection device 13, and only those that pass the inspection are guided to a stock conveyor 14. In the stock conveyor 14, a package transfer device 15 disposed near the stock conveyor 14 transfers the cone packages P inserted in the tray 11 in the upright posture PA to the pegs on the alignment conveyor 8 adjacent in parallel. Align. At this time, the package transfer device 15 transfers the cone package P
In one stroke, the robot is transferred to the royal posture PA, and in the next stroke, it is transferred to the inverted posture Pa, which is reversed by 180 degrees. In this way, the cone packages P transferred to the alignment conveyor 8 are gripped again by the overhead self-propelled cart 7 that has transferred the packages P from the winder 1 to the inspection station 2, and are movably moved at the valetizing station 3. The pallets 17 placed on the trolleys 16 are loaded at predetermined loading positions. At this time,
The ceiling self-propelled cart 7 first sequentially loads the packages P arranged in the upright posture P on the alignment conveyor 8, and then loads the packages P arranged in the inverted posture Pa on the alignment conveyor 8 therebetween. By loading sequentially,
Packages P can be stacked efficiently.

In Fig. 1, 18 is a support for the rail 4, 19 is a stock conveyor for warber creel packages, and 2
0 indicates a return conveyor for empty trays 11, 21 indicates a cleaning device, and 22 indicates a stock conveyor for empty trays 11.

In addition, 23 is a pallet 17 (bottom plate 17a, partition plate 17b
A ceiling self-propelled truck 25 that runs on an overhead rail 24 placed above the platform transfers the pallet 17 onto the truck 16. 26 indicates the support of the rail 24.

The above-mentioned valetizing system has a feature that the overhead self-propelled cart 7 can be used both as a means for transporting the cone packages P and as a means for stacking them, thereby improving system efficiency.

2 to 4 show details of the package transfer device 15 according to the present invention described above.

As shown in FIGS. 2 and 3, this device has a pair of actuating arms 30, 30 arranged in parallel and opposite each other, and guide shafts 31, 32 extending orthogonally through the proximal end sides. A cylinder 33 that expands and contracts in the width direction is interposed between the opposing surfaces of the guide shafts 31 and 32 to connect them so that they can be freely opened and closed. The operating arms 30, 30 have base frames 34 fixedly installed above and below the guide shafts 31, 32, and the base frames 34 extend rearward. And the actuating arm 30
, 30, the base frame 34 has its base end portions 34a, 3.4.
A pivot 38 is rotatably supported via bearings 37, 37 on the upper ends of support arms 36, 36 tilted from the base 35 at a. The support arms 36, 36 have lower end portions rotatably supported by a shaft 40 on the lower frame 35a of the base 35 via bearings 39, 39 at the front portion.

A cylinder 41 that extends and contracts in the vertical direction is installed in a base frame 34 that is integral with the operating arms 30, 30 and in the middle of the support arms 36, 36 in an upright position.

Specifically, a bracket 42 is installed on the inner surface of the midway part of the support arms 36, 36, and the cylinder 4 is attached to this bracket 42.
1 is swingably connected to the base frame 34 via the mounting member 43, while the cylinder rod 41a protruding from the other end is connected to the base frame 34.
It is swingably connected to the center of the lower surface of the body via a mounting member 44.

Furthermore, a cylinder 45 that extends and contracts in the front-rear direction is brought into contact with the middle portions of the support arms 36, 36.

Specifically, while the cylinder 45 is swingably fixed at the center of the upper frame 35b of the base 35 via a mounting member 46, a bracket 47 is installed on the rear end surface of the midway part of the support arms 36, 36. A mounting member 48 is attached to this bracket 47.
A cylinder rod 45a projecting forward from the cylinder 45 is swingably connected to the cylinder 45 through the cylinder rod 45a.

Based on such a configuration, the actuating arms 30, 30 can be freely opened and closed apart by the operation of the cylinder 33, and can freely swing up and down via the base frame 34 by the operation of the cylinders 41 and 45, and can be moved back and forth. It is arranged so that it can move forward and backward.

The pair of actuating arms 30, 30 further have chuck members 50, 50 for gripping the outer periphery of the cone package P at opposing tip portions 30a, 30a, rotatably supported by support shafts 51, 51, respectively. are doing. Chuck member 5
0 and 50, a pair of chuck pieces 52 and 52 are attached to the inner surface in the front-rear direction at intervals corresponding to the size of the cone package P to be handled. Each chuck piece 52 is chamfered to have an arcuate cross section, and is provided with a taper corresponding to the outer conical surface of the cone package P in the longitudinal direction.

In this case, as a rotating means for reversing the chuck member 50, a rotary cylinder 5 that can be rotated in forward and reverse directions is provided on the outside of the tip end 30a of the one-sided operating arm 30.
3 is also provided, and the cylinder 53 drives the support shaft 51 of the chuck member 50 on one side, so that the chuck member 50 can be rotated in forward and reverse directions within a range of 180 degrees. Further, the supporting shafts 51, 51 on both sides, the guide shaft 31 (operating arm 3
timing belts 55, 55 are wound around the boots provided on both sides of the timing belts 55, 55, respectively, and the belts 55, 55 and the guide shaft 31 are rotated. As a transmission mechanism, the support shaft 51 (supported by a bearing 56) on the opposite side is rotated, and the chuck members 50, 50 on both sides are rotated synchronously.

Further, reference numeral 57 denotes stoppers disposed on both sides of each chuck member 50, with which the side protrusions 50a of each chuck member 50 come into contact, thereby limiting the forward and reverse reversal phases thereof. In the transfer device 15, when the device is in the non-operating state shown by the solid line in FIG.
The actuating arms 30, 30 are held in a horizontal position. Further, the support arms 36, 36 are provided with support arms 60, 60 that project obliquely upward from the upper frame 35b of the base 35.
The rear end surface comes into contact with the holder, so that it is stably held in a predetermined inclined position. Further, when the actuating arms 30, 30 swing up, a stopper 49 provided at the upper end of the support arm 36 defines the swing angle.

Next, the operation of the above-mentioned transfer device 15 will be explained with reference to FIG. 3.

As shown in FIG. 1, the transfer device 15 is disposed near the stock conveyor 14 to which cone packages P that have passed the inspection device 13 are conveyed, and on the opposite side of the stock conveyor 14, Alignment conveyors 8 are adjacent in parallel.

Therefore, the operating arms 30, 30 of the transfer device 15 move the coming cone package P, which is inserted into the tray 11 in the upright posture P^ and is conveyed on the stock conveyor 14, as indicated by the two-dot chain line in FIG. When the package P waits in the upward swinging position shown in FIG. Grasp the surface. When transferring the package P from this state while maintaining the upright posture PA, extend the cylinder 41, swing up the actuating arms 30, 30, remove the package P from the tray 11, and then move the cylinder 45
When it is extended and oscillated forward together with the support arms 36, 36, it is extended in a horizontal position (indicated by the two-dot chain line in the figure) directly above the alignment conveyor 8. In this state, the cylinder 33
When the opening operation is performed to release the package P, the paper tube with an axial hole 61 of the cone package P is transplanted so as to fit into the upright peg 62a of the alignment conveyor 8 protruding directly below, and the peg 62a The patient can be transferred to the erect PA position.

After transferring the package P in this way, the operating arm 30
, 30 return to the standby position by the reverse operation to the above, while the cone packages P inserted on the alignment conveyor 8 are transported to a predetermined position by the intermittent transfer of the alignment conveyor 8 in conjunction with the delivery of the packages P. are sorted in order. The alignment conveyor 8 is wound around and rotated around a booby 66 which is driven by a motor 64 housed in a base 63 via a chain 65, and the conveyor belt 67 is provided with the upright bag. 62a, and an inverted beg 62b having a tapered shape for inserting the cone package P in the inverted posture PR are fixed at a predetermined interval.

Next, a case where the cone package P is transferred from the stock conveyor 14 to the alignment conveyor 8 by changing its attitude will be described. In this case, as described above, after the cone package P is gripped by the chuck members 50, 50 and taken out from the tray 11, in the forward movement of the operating arms 30, 30, as shown in FIG. The cylinder 53 is operated to invert the chuck members 50, 50 by 180 degrees. In this way, the cone package P can be converted to the inverted position PR. At this time, both side chuck members 50,
50 are adjusted to rotate synchronously, there is no fear that the surface of the cone package P will be twisted and the outer circumference winding yarn will be disturbed. The actuating arms 30, 30, which have gripped the package P, are extended above the alignment conveyor 8, and the inverted begs 62b protrude from the conveyor belt 67.
Transfer the cone package P to the inverted position PB.

Thereafter, the same operation as in the case of the upright package PA is performed, except that the chuck members 50, 50 are reversed by 180 degrees to return to the original gripping posture.

As described above, if the transfer device 15 according to the present invention is used, the cone packages P transferred from the winder 1 through the inspection device 13 are transferred to the alignment conveyor 8 disposed at the inspection station 2 in a certain step. They can be transferred in the royal posture P^ (see Figure 5 (a)), and in the next step, reversed and transferred to the inverted posture Pi (see Figure 5 cb), so that they can be aligned. Therefore, the ceiling self-propelled trolley 7, which can lift the packages P from the alignment conveyor 8 in either the upright or inverted positions, transports the packages P to the valetization station 3 located on the downstream side of the traveling track in both the upright and inverted positions. The system that sequentially transfers the cone packages P in the posture PR and stacks them alternately in a predetermined arrangement can operate smoothly.In other words, the ceiling self-propelled cart 7 is used both as a means for transferring the cone packages P and as a means for stacking them. A rational system can be realized.

The device-like features of the package transfer device according to the present invention include that it can be constructed compactly with a relatively simple structure, that it can accurately grip and invert corn packages, and that it can transfer corn packages reliably. There are many things that can be mentioned.

In addition to being installed in the system shown in Figure 1, this device has unique utility value as a means for transferring packages between adjacent transfer paths while changing their posture. And the packages we handle are not limited to cone-shaped ones.

[Effects of the Invention] As described above, according to the present invention, the cone package can be transferred from one transfer path to the other transfer path, and the package can be transferred in its original position or inverted. A novel package transfer device is provided which has a function of freely changing the posture even when the posture is tilted.

[Brief explanation of drawings]

1 to 4 show one embodiment of the present invention. FIG. 1 is a plan view of a package valetizing system showing the arrangement of a package transfer device. Figure 2 is a plan view of the package transfer device;
The figure is a side view of the same section. FIG. 4 is a partial side view showing the operation of the main parts. FIGS. 5(a) and 5(b) are rear views of the alignment conveyor showing the transfer state of the package transfer device. P... Corn package, 8... Alignment conveyor, 1
1...Tray, 14...Stock conveyor, 15.
... Package transfer device, 30... Actuation arm,
30a... tip, 33... cylinder, 34...
Base frame, 36... Support arm, 41... Cylinder, 4
5... Cylinder, 50... Chuck member, 53...
・Rotary cylinder, 62a, 62b...Veg.

Claims (1)

[Claims] A pair of actuating arms are connected to each other so that they can be opened and closed at intervals, and are arranged so that they can swing up and down and move forward and backward, and a chuck member that grips the outer periphery of the package can be rotated at the opposing tips of the actuating arms. 1. A package transfer device, comprising a rotating means for rotating the chuck member.