JPH022509Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a plate gripping device that has a single-sheet pick-up function, and more specifically, it suctions and floats the topmost sheet of stacked plates or plates placed on a table or conveyor. This invention relates to a plate gripping device that transfers the edges of a plate to upper and lower gripping claws and supplies the plate to a plate processing machine.

Conventionally, when a single plate is fed to a plate processing machine using an industrial robot, if there are many plates stacked on top of each other, or if the plates are on a table or belt conveyor, the edges of the plate must be gripped vertically. Since this cannot be done all at once, either the edge of the plate should be made to protrude from the table using a vacuum pad or magnetic adsorption device, or the upper and lower gripping claws should move beyond the edge and approach the center of the plate as shown in Figure 1. The method used was to move it to the top of the auxiliary table 1 where it can be held and then grasp it again.

The conventional methods described above are inefficient and require complicated robots or use two single-function robots, resulting in many problems such as high costs and increased floor space.

The present invention has been made to overcome the above problems, and preferred embodiments thereof will be described in detail below with reference to the drawings.

FIG. 1 shows a state in which an industrial robot 3, which is a conventional plate material transfer device, attracts and floats one of the stacked plates 5 and places it on an auxiliary table 1. In this case, in order to feed the plate material to the plate material processing machine 7, it is difficult to position the plate material deep into the center of the plate material processing machine 7 using a gripping means that sucks the center of the plate material, so it is difficult to feed the plate material up and down near the edge of the plate material. It was necessary to re-grip it.

Figures 2 to 7 show one embodiment of the present invention, in which a general plate material gripping part 9 is attached to a horizontal support rod 11 of a thick-walled pipe at the tip of the robot 3 so as to be slidable and fixed in position. Yes, multiple plate gripping parts 9
are usually used at the same time.

As is clear from Figures 4, 6, and 7, robot 3
The tip horizontal support rod 11 has a key groove 13 and a key 1.
5. Split sleeve 17 by split sleeve 17
A fixed bracket 19, which serves as the lower half of the pipe, is fixedly attached, and as the horizontal support rod 11, which is a thick-walled pipe, rotates, the fixed bracket 19 also rotates integrally with the horizontal support rod.

Further, a fluid pressure cylinder 21 is provided at the lower end of the fixed bracket 19 in a direction perpendicular to the horizontal support rod 11, and four wheels 23 are provided at the lower end of the fluid pressure cylinder.

The piston 25 of the fluid pressure cylinder 21 as a driving device moves left and right by the fluid pressure from the fluid supply/discharge hole 27, and the piston rod 29 penetrates the cylinder cap 31 and moves toward the robot body side (the right side in Fig. 2). It is extending.

On the other hand, the clamp plate 37 is equipped with a movable upper gripping claw 33 constituting the plate material gripping section 9 described above, a support arm device 35 for preventing the plate material from hanging at the lower end, and a fixed lower gripping claw 37' at the tip. A guide rail 39 that slides on the upper surface of the four wheels is fixed, and a connecting column 41 connected to the right end of the piston rod described above is provided at the end of the robot body side (the right end in FIG. 2, etc.). are combined with.

As best shown in FIG. 4, a fluid pressure cylinder 45 as a driving device is fixed upwardly to the clamp plate 37, and its piston 47 receives fluid pressure from a fluid supply/discharge hole 49. The piston rod 53, which slides up and down and pierces the cylinder cap 51, is rotatably moved around a pin 57 at the upper end of a bracket 55 provided on the cylinder side wall.
9 and the roller 61 to perform the action of gripping and releasing the movable gripping claws.

In FIG. 4, the clamp plate 37 is provided along with the fluid pressure cylinder 45 when gripping a single plate (the figure shows a plate with a double-folded tip). A gauge block 63 is shown which defines the edge width.

As shown in FIGS. 2, 3, 4, and 6, angle-shaped brackets 65 are attached to the left and right sides of the fixed bracket 19, and as is clear from FIGS. A large angled bracket 67 is located beyond the above-mentioned 2
It is attached to a small angle-shaped bracket 65.

As is clear from FIGS. 2 and 3, a bracket 71 for supporting the right end of a fluid pressure cylinder 69 as a drive device is provided on one side of the large angular bracket 67 parallel to the horizontal support rod 11. hand,
A fluid pressure cylinder 69 is swingable around the shaft pin 73.

Rod 7 of piston 75 of hydraulic cylinder 69
7 is connected to the arm member 81 with a pin 83 at the left end passing through the cylinder cap 79.
is rotatable around a stud 85 attached to the angled bracket 67 described above.

The left end of the arm member 81 is machined into a tubular shape, and has a slider 87 that slides by engaging with the inner wall of the tube, and a bending link 91 connected to the slider 87 by a pin 89 as shown in FIG. It is rotatably attached to the bracket 67 with a stud 93.

As is clear from Fig. 5, bent link 9
1, a support member 97 is provided in a horizontal state at the sliding end of the arm member 81 and bending link 91 shown in FIG. 3 via a Z-shaped bracket 95,
A vacuum cup 99 and a sensor bar 101 as an adsorption/holding device are attached to this.

The vacuum cup 99 has a pipe (not shown) at its upper end for sucking air, and is equipped with a coil spring that contacts the plate material and allows it to rise.

The apparatus of this embodiment further includes a support arm device 35 that prevents the plate material from hanging during transportation.

As clearly shown in FIGS. 3 and 6, a substrate 105 with a downwardly directed shaft 103 located approximately in the center of the fixing bracket 19 is fixed to the clamp plate 37, and is fixed to the clamp plate 37. A support arm 109 extending leftward via a bearing 107 is rotatably provided.

Further, a groove-shaped bracket 111 is fixed to the lower surface of the movable upper gripping claw 33 at the left end of the clamp plate 37 at the position where it comes into contact with the clamp plate.
A bearing 113 is provided at the flange portion at the lower end.

Further, a gear 115 coaxial with the shaft rod 103 is fixed to the support arm 109 at a position below the fixed bracket 19, and is attached to the piston rod 119 of the fluid pressure cylinder 117 shown in FIGS. The rack plate 121 is engaged with the rack plate 121.

The apparatus of the embodiment described in detail above operates as described below.

First, the fluid pressure cylinder 21 provided under the fixed bracket 19 is activated to position the clamp plate 37 to the rightmost end, and the fluid pressure cylinder 45 on the clamp plate 37 is activated to move the tip of the movable upper gripping claw 33 to the clamp plate. 37, and actuated the hydraulic cylinder 117 attached to the bottom surface of the rightmost end of the clamp plate 37 to rotate the support arm 109 counterclockwise in FIG. 2, and move the horizontal support rod 11 of the robot 3. For example, a vacuum cup 99, which is a suction device, is brought into contact with the topmost one of the stacked plates.

Next, the robot 3 moves the horizontal support rod 11 toward the robot main body while raising the horizontal support rod 11, so that a gap is created between the topmost board and the second and subsequent boards below, and the robot 3 is pulled out close to the robot main body. Make it. In this state, temporarily stop the movement of robot 3,
The hydraulic cylinder 21 is actuated to move the clamp plate 37 to the left, and when the edge of the plate comes into contact with the gauge block 63, the hydraulic cylinder 45 is actuated to move the movable upper gripping claw 33 near the edge of the plate. and a fixed lower gripping claw 3 provided on the clamp plate 37.
7'. As shown in FIG. 2, when viewed in plan view, the movable upper gripping claw 33 and the vacuum cup 99
There is a gap between them so that they do not interfere with each other. Next, after releasing the negative pressure in the vacuum cup, the fluid pressure cylinder 69 is actuated to raise the arm member 81 to the position indicated by the two-dot chain line in FIG.

After that, the robot 3 starts its operation and can directly transfer the plate material to the plate processing machine 7, but if the plate material is thin, it may hang down due to its own weight at a position far from the clamp plate 37, and the plate material may be suspended from the sensor bar. 101, the hydraulic cylinder 117 is actuated to rotate the support arm clockwise in FIG. 2, and as shown in FIG.
It moves to a position that coincides with the longitudinal center of No. 3 and supports the plate material.

That is, using the apparatus of this embodiment, a step of suctioning and levitating at least one plate material on the uppermost stage;
a step of moving a gripper that grips the board material that is floating by suction up and down to a position beyond the edge of the board material;
The process includes the process of gripping the plate material with the upper and lower gripping bodies, by sucking and floating near the edge of the topmost sheet of the stacked plate materials or the plate materials on the table or conveyor, and using the gripping bodies corresponding to the lower gripping claws. By creating a gap for insertion and switching to gripping, it is now possible to grip a plate and transport it all at once to the depths of a plate processing machine.

8 and 9 show another example, and the parts other than the vacuum cup 99 and the horizontal support rod 11 at the tip of the robot 3 will be explained using new symbols.

That is, there is a base plate 123 which is fixed to the horizontal support rod 11 at any position changeable in the horizontal direction, and horizontal guide bars 125 are installed above and below this base plate 123, which corresponds to the fixed bracket 19.

A slide plate 129 is provided which holds the same number of guide bushes 127 that engage with the guide bar 125 and are slidable.
The tip of a piston rod 133 of a fluid pressure cylinder 131 provided at the center of the cylinder 9 is fixed to the base plate.

A vacuum cup 99, a support body 139 of a pivot pin 137 of a link 135, and a fluid pressure cylinder 1 are attached to the slide plate 129 by an appropriate means such as welding.
A frame body 145 as a support member having a arm 143 supporting the upper part of the frame 41 is constructed and fixed.

The upper end of the link 135 is connected to the lower end of the piston rod of the fluid pressure cylinder 141, and a lower movable gripping claw 147 is provided at the lower end so as to be able to tilt slightly.

Although the fluid pressure piping is not shown, the vacuum cup 99 is equipped with a spring 149 and can be raised somewhat by pressure from below, and is provided with a cylindrical fixed upper grip claw 151 that surrounds the vacuum cup. .

Furthermore, a stopper gauge 153 is supported by a support bar 155, protruding leftward from the base plate 123.

In the device of this embodiment, after adsorbing one of the uppermost plates, the vacuum cup 99 is levitated by the horizontal support rod 11 at the tip of the robot body, and the fluid pressure cylinder 1
31 to move the slide plate 129 to the eighth,
9 to the right in FIG. 9 to bring the edge of the plate into contact with the stopper gauge 153, and then move the fluid pressure cylinder 14.
1, the lower movable gripping claw 147 can be rotated to grip the plate material between it and the cylindrical fixed upper gripping claw 151, and the structure is much simpler than that of the first embodiment. It has almost the same functionality.

Although the above explanation does not include a support arm device for preventing the plate material from hanging, this can be easily applied to the second embodiment.

Furthermore, although a vacuum cup is shown as the suction device in both examples, it is clear that the same effect may be obtained with an electromagnetic suction device.

As can be understood from the above description of the embodiments, the gist of the present invention is as stated in the claims for utility model registration. A fixed bracket is attached to the movable support rod, and this fixed bracket has a support member that supports a suction holding device on the tip side that can freely suction and hold the vicinity of the edge of the plate from above. It is installed. The upper gripping claw and the lower gripping claw, which are capable of gripping the vicinity of the edge of the plate material suction-held by the suction holding device from above and below, are attached to the support member or a clamp plate supported by a fixed bracket in contact with and away from the support member. This is what is attached to it. The upper and lower gripping claws are provided so as to be movable relative to the suction action position of the suction holding device in order to avoid interference with the plate material when the suction holding device suctions the plate material.

Therefore, according to the present invention, the vicinity of the edge of the plate can be lifted after the suction holding device sucks and holds the vicinity of the edge of the plate, and for example, in the case of stacked plates, the lower plate can be lifted up. It can be separated from As mentioned above, after the suction holding device sucks and holds the edge of the plate and lifts it, the upper and lower gripping claws grip the edge of the plate, mechanically ensuring that the plate is gripped. It is something that can be done.

As mentioned above, when the suction and holding device suctions and holds the vicinity of the edge of the plate, the upper and lower gripping claws are moved to positions that avoid interference with the plate, so the suction and holding device does not adsorb the plate. It can be easily held. That is, according to the present invention, the suction holding device and the upper and lower gripping claws are both attached to the fixed bracket and are relatively movable. Regardless of whether the plate is placed on a wax or a conveyor, it is possible to easily transfer the plate by gripping the vicinity of the edge of the plate.

In addition, a support arm is provided that can freely support the plate from below when the plate is gripped by the upper and lower gripping claws. Since the plate is movably provided, even if the plate is thin and easily curved, it can be gripped and transferred without bending the plate at the position of the gripping claws.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing a conventional method for grasping a plate having a single-sheet pick-up function, Fig. 2 is a plan view of the first embodiment of the present invention, Fig. 3 is a side view of the same, and Fig. 4 is the same as the second embodiment. 5 is a cross-sectional view of FIG. 3, FIG. 6 is a cross-sectional view of FIG. 2, and FIG. 7 is a cross-sectional view of FIG. The figure is a plan view of another example, and FIG. 9 is a side view of the same. Explanation of symbols representing main parts in the drawings, 11...
...Horizontal support rod, 19...Fixing bracket, 33...
...Movable upper gripping claw, 35...Support arm device, 63...
Gauge block, 81... Arm member, 91... Bent link, 109... Support arm, 115... Gear,
147...Lower movable gripping claw, 151...Fixed upper gripping claw.

Claims (1)

[Scope of utility model registration request] A support member 97, which supports a suction holding device 99 capable of sucking the vicinity of the edge of a plate from above, on its tip side is attached to a fixed bracket 19 attached to a support rod 11 that is movably provided in the plate material transfer device. An upper gripping claw 33 and a lower gripping claw 37', which are capable of gripping the vicinity of the edge of the plate material sucked and held by the suction holding device 99 from above and below, are provided on the support member 97 or adjacent to the support member 97. Clamp plate 37 supported on fixed bracket 19
When the suction holding device 99 adsorbs the plate material, it is attached to the plate material and the upper and lower gripping claws 33, 37'.
In order to avoid interference with the upper and lower gripping claws, the upper and lower gripping claws are provided so as to be movable relative to the suction action position of the suction holding device 99, and the plate material gripped by the upper and lower gripping claws can be supported from below. A support arm 109 is provided,
A plate material take-out device characterized in that this support arm 109 is provided movably between a position in which it supports the plate material and a position in which it avoids supporting the plate material.