JPH03111340A - Palletizer - Google Patents

Abstract

PURPOSE:To construct a palletizer in light weight and accomplish high speed transfer of a moving body by forming a vertical transfer mechanism in the condition as collapses in pantograph form wherein one end is borne at the moving body and the other end borne at a chucking mechanism, and making expansion and contraction by a driving means. CONSTITUTION:Links 80, 82, 84, 86, 88, 90 are combined in pantograph form capable of being collapsed to constitute a link mechanism 34. Those of the links 80, 82 are apart borne on a slider 74 and meshed with gears 96, 98. In the same manner the lowermost links 88, 90 are borne at a chucking mechanism 32. A drum 108 driven by a motor is furnished in the upper part of a spool 74 for winding of belts 118, 120, whose other ends are fixed to a rod and inserted in cylinders 126, 128 of the chucking mechanism 32. Accordingly the belts 118, 120 move up and down with regular or reverse rotations of motor, respectively, and the chucking mechanism 32 also moves up and down parallelly while its link mechanism is expanded or contracted. This allows constructing in light weight and also provides possibility of high speed transfer of moving body 74.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a palletizer.

(Conventional technology) A conventional palletizer will be explained with reference to FIG.

Reference numeral 200 denotes a first slider, which is slidable in the direction of arrow Z along a first rail 202 suspended in the air by a first motor (not shown).

204 is a second slider which is a moving body, and is provided on the first slider 200, and is arranged in a direction perpendicular to the first rail 202 (in a direction perpendicular to the paper surface of FIG. 4).
A second motor 208 allows the device to slide on the rail 206 of the device.

This constitutes an X-Y drive mechanism that allows the second slider 204 to move within one horizontal plane.

210 is a vertical movement block, and the second slider 204
It is suspended by an arm 212 extending from the main body, and is movable in the vertical direction (arrow Y) via a third motor 214. A chuck mechanism 2 is provided at the lower end of the vertical movement block 210.
16 is provided, and is capable of gripping and opening an object to be transported (not shown) such as a box.

By moving the second slider 204, the chuck mechanism 21
6 is determined, and the vertical position of the chuck mechanism 216 is determined by the vertical movement of the vertical movement block 210. Therefore, by moving the chuck mechanism 216 in the horizontal and vertical directions, the gripped object can be transported.

(Problems to be Solved by the Invention) However, conventional palletizers have the following problems. Since the vertically movable block 210 is a block body, its weight is large, and the support mechanism such as the arm 212 is also large. Also, if the vertical movement block 21 is heavy, the third motor 21
4 also requires a motor with large output. Further, there is a problem that when the load weight increases, the moving speeds of the second slider 204 and the first slider 200 do not increase. Increasing the speed requires a large motor, which is uneconomical.

Further, there is a problem that a considerable amount of space X is required for vertical movement of the vertical movement block 210, and the range of vertical movement is limited in a place where the ceiling 218 is low.

Another problem is that the wiring and piping 220 may sag depending on the position of the movable parts such as the first slider 200, and the sagging parts may become entangled with the movable parts.

Accordingly, an object of the present invention is to provide a palletizer that is lightweight and capable of high-speed movement, requires less space above, and can prevent wiring, piping, etc. from becoming entangled.

(Means for solving problems) In order to solve the above problems, the present invention includes the following configuration.

In other words, the X-
In the palletizer, the palletizer includes a Y drive mechanism, a chuck mechanism for gripping a conveyed object, and a vertical movement mechanism provided on the movable body for vertically moving the chuck mechanism, wherein the vertical movement mechanism has one end. It is characterized by comprising a pantograph-shaped foldable link mechanism which is pivoted to the movable body and whose other end is pivoted to the chuck mechanism, and a link drive means for extending and contracting the link mechanism. In particular, in the palletizer, the link driving means includes a spool provided on the movable body or chuck mechanism, a motor for rotating the spool, one end fixed to the spool, and the other end fixed to the chuck mechanism or movable body. It is characterized by being a long member that is fixed to the spool and can be wound onto the spool as the spool rotates, and the two links at the uppermost end and/or the lowermost end of the pantograph-shaped link mechanism. The pieces are pivoted apart from each other, gears are disposed on the pivoted parts of the two link pieces, and the gears are in mesh with each other, and the movable body and/or the chuck mechanism are provided. The X-Y drive mechanism is provided with an engaging portion that engages each other or the chuck mechanism or the movable body to prevent the chuck mechanism from swinging when the link mechanism is shortened; is made up of a combination of a plurality of hollow pipes, one end is pivoted to the moving body, the other end is pivoted to a fixed part of the X-Y drive mechanism, and has a pipe link mechanism that can be bent in a horizontal plane. The present invention is characterized in that wiring, piping, etc. are inserted into the pipes constituting the pipe link mechanism.

(Function) By using a foldable link mechanism in the vertical movement mechanism, the weight of the vertical movement mechanism can be reduced. Furthermore, if a windable elongated member is used as the link drive means for driving the link mechanism, the required space above the XY drive mechanism can be narrow. In addition, by forming the end portions of the link mechanism into meshing gears and providing an engaging portion, it is possible to prevent the chuck mechanism from swinging.

Furthermore, by inserting the wiring, piping, etc. into the pipe link mechanism provided in the X-Y drive mechanism, it is possible to prevent the wiring, piping, etc. from sagging or becoming tangled.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the X-Y drive mechanism 10 will be explained with reference to FIG.

11 is a frame, which is a rectangular frame with the center cut out.

12 and 14 are X-axis ball screws, which are arranged parallel to each other in the same plane. The X-axis ball screw 12 is directly driven and rotated by a motor 16 which is an X-axis drive means. Molar cap gear 18 to X-axis ball screw 14
．． The rotational force of the motor 16 is transmitted through a first transmission mechanism including a transmission shaft 20, a transmission shaft 22, and the like. X-axis ball screw 1
The tip end portion (left end portion in the drawing) of 2.14 is pivotally supported by a suitable support frame 36...

Y-axis ball screws 38 and 40 are arranged parallel to each other, in the same plane, and orthogonal to the X-axis ball screws 12 and 14 in substantially the same plane.

The Y-axis ball screw 38 is directly driven and rotated by a motor 42 which is Y-axis driving means. The rotational force of the motor 42 is transmitted to the Y-axis ball screw 40 via a second transmission mechanism consisting of molar gears 44, 46, a transmission shaft 48, and the like. The distal end portions (lower end portions in the drawing) of the Y-axis ball screws 38, 40 are also pivotally supported by appropriate support frames 62...

Reference numerals 64 and 66 designate X-axis drive bodies, which are screwed onto the X-axis ball screws 12.14, respectively, and whose rotation is prevented by an X-axis rod, which will be described later, so that the X-axis ball screws 12.1
4 rotate in the same direction so that they can simultaneously move in the X-axis direction.

Reference numerals 68 and 70 designate X-axis drive bodies, which are screwed into Y-axis ball screws 38 and 40, respectively, and are prevented from rotating by Y-axis rods, which will be described later, so that Y-axis ball screws 38.4
0 can be moved simultaneously in the Y-axis direction by rotating in the same direction.

Reference numeral 72 denotes an X-axis rod, which is arranged parallel to the Y-axis and inserted through a slider 74, which is a moving body, and has both ends fixed to X-axis drive bodies 64 and 66, respectively.

As a result, the slider 74 moves in the X-axis direction as the X-axis drive bodies 64 and 66 whose rotation is prevented by the X-axis rod 72 move in the X-axis direction.

Reference numeral 76 denotes a Y-axis rod, which is arranged parallel to the X-axis, penetrates the slider 74 that is a moving body, and has both ends fixed to Y-axis drive bodies 68 and 70, respectively.

Therefore, the Y-axis rod 76 is connected to the X-axis rod 72 and the slider 74.
Orthogonal internally. The slider 74 also moves in the Y-axis direction as the Y-axis drive body 68,70 whose rotation is prevented by the Y-axis rod 76 moves in the Y-axis direction. This X-axis direction and Y
The combination of axial movements allows the slider 74 to move to any position within the rectangular plane 78. In addition, X
It is preferable to use metal rods having appropriate rigidity and elasticity as the axis rod 72 and the Y-axis rod 76.

24 is a pipe link mechanism, and a hollow aluminum vibe 2
6.28 is pivoted at the intermediate portion 30 so as to be bendable within the same plane. One end of the pipe link mechanism 24 is a slider 74
The other end is pivoted to the frame 11. The pipe link mechanism 24 is configured to have a length that allows the slider 74 to reach any position within the rectangular plane 78. Inside the pipes 26 and 28 are electrical wiring to each motor (described later),
Air piping for driving the chuck mechanism 32 is inserted therethrough.

Next, the vertical movement mechanism will be explained with reference to FIGS. 1 and 2.

34 is a link mechanism, and link pieces 80, 82, 84.
86, 88, and 90 are combined into a foldable pantograph shape. Another set of identical link mechanisms (not shown) is provided in parallel on the opposite side of the drawing with the slider 74 and chuck mechanism 32 in between, and is connected by a beam (not shown). The uppermost ends of link pieces 80 and 82 are spaced apart and pivoted to slider 74. However, gears 96.98 are disposed on both shafts 92.94, and this gear 96.98
They mesh with each other. Similarly, the lowermost ends of link pieces 8 and 90 are spaced apart and pivoted to the chuck mechanism 32. Gears 104 and 106 are disposed on both the same shafts 100 and 102, and these gears 104 and 106 mesh with each other. As mentioned above, gear 96.98 and gear 104.1
06 are engaged with each other in order to prevent the chuck mechanism 32 from swinging when the link mechanism 34 is extended and to ensure the horizontal positional accuracy of the chuck mechanism 32.

Next, a link driving means for expanding and contracting the link mechanism 34 will be explained.

Reference numeral 108 denotes a spool (winding drum), which is rotatably provided on support portions 110 and 112 erected on the upper surface of the slider 74.

A motor 114 is fixed to the top surface of the slider 74. The motor 114 can be rotated in forward and reverse directions via current switching means. The output of the motor 114 is transmitted to a worm reducer 116 having a reverse rotation prevention function except when the motor 114 is rotating, and the output of the worm reducer 116 is transmitted to the spool 108.

Reference numerals 118 and 120 indicate a belt which is a long member, and can be wound onto spool 10, and its upper end is attached to spool 1.
08, and the lower end is fixed to a chuck mechanism 32. Therefore, when the motor 114 rotates forward, the spool 1
08 winds up belts 118 and 120. On the other hand, motor 1
14 rotates in the opposite direction, the spool 108 is rotated by the belt 118.1.
Roll out 20. Winding or unwinding of the belts 118, 120 causes the linkage 34 to shorten or expand. In addition to belts 118 and 120, examples of long members include belts 118 and 120,
It is also possible to use wires or chains.

Next, the engaging portions provided on the slider 74 and the chuck mechanism 32 will be described with further reference to FIG. 3.

Reference numerals 122 and 124 indicate rods, which are vertically installed on the lower surface of the slider 74. On the other hand, 126 and 128 are cylindrical portions that are erected on the upper surface of the chuck mechanism 32. Cylinder part 126.1
28 is open at the top and has a hole 130.13 into which a rod 122.124 can be inserted. Cylinder part 126
．． 128 is provided at a position directly below the rods 122 and 124, and when the link mechanism 34 is shortened as shown in FIG.
26.128 into holes 130.132 and engage. This engagement prevents the chuck mechanism 32 from swinging even if the slider 74 moves at high speed with the link mechanism 34 shortened, ensuring horizontal positional accuracy of the chuck mechanism 32 and linking due to the swing of the chuck mechanism 32. Impact forces acting on the mechanism 34 are prevented.

The chuck mechanism 32 is provided with gripping parts 134 and 136 at the lower part thereof, and the gripping parts 134 and 136 can be opened and closed by air sent to an air cylinder (not shown). This opening/closing movement allows the chuck mechanism 32 to grip and release an object to be transported.

The operation of the palletizer configured as above will be explained. First, when moving the chuck mechanism 32 above the conveyed object (not shown), the link mechanism 34 is shortened by rotating the motor 114 in the forward direction and winding the belts 118, 120 onto the spool 108, and the rod 122. 124 and cylinder portions 126 and 128 are inserted and engaged, respectively. Even if the motor 114 is stopped after winding the belts 118 and 120, the spool 108 is prevented from rotating in the reverse direction by the worm reducer 116, so the spool 108 is prevented from rotating in the reverse direction by the weight of the chuck mechanism 32.

This allows the chuck mechanism 32 to remain raised. Chuck mechanism 32 shown in FIG.
Drive the motor 16.42 while it is raised,
The slider 74 is moved at high speed above the target conveyed object. Since the link mechanism 34 is used for the vertical movement mechanism, it is lightweight, and the load on the motors 16 and 42 is also reduced, making it possible to move at high speed. At that time, rod 122.124
Due to the engagement between the cylindrical portions 126 and 128 and the meshing relationship between the gears 96 and 98 and the gears 104 and 106, the link mechanism 34 and the chuck mechanism 32 are prevented from swinging even if the slider 74 moves at high speed.

When the slider 74 moves above the conveyed object, the motor 1
Rotate belt 14 in the opposite direction and attach belt 118.120 to spool 1.
Start from 08. Then, the link mechanism 34 expands due to the weight of the chuck mechanism 32, and the chuck mechanism 32 descends (FIG. 2). When the chuck mechanism 32 reaches the object to be transported, the gripping portions 134 and 136 are closed to grip the object.

When gripping is completed, rotate the motor 114 to remove the belt 11.
8. Wind up the 120 again and lift the transported object. When the chuck mechanism 32 moves up and down, the gears 96, 98 and 1
04 and 106, the link mechanism 34 and the chuck mechanism 32 are prevented from swinging.

Once the object to be transported is lifted, the motor 16.42 is driven to move the slider 74 above the transport location.

During this movement, the link mechanism 34 is shortened and the rod 12
2.124 and the cylindrical portions 126 and 128, high-speed movement becomes possible. When it reaches the upper part of the conveyance place, motor 1
14 in the opposite direction and let out belts 118 and 120,
The link mechanism 34 is extended to lower the chuck mechanism 32 and the object to be transported. When the object to be transported reaches the storage location, grip part 1
34. Open 136 to release the transported object. Then, it prepares for the next transport. Note that when the slider 74 moves within the rectangular plane 78, the wiring and piping are inside the pipes 26 and 28 that constitute the pipe link mechanism 24, so the wiring and piping will not slack no matter where the slider 74 moves. There is no. Therefore, accidents such as wiring and piping becoming entangled can be prevented. The vertical movement mechanism connects the link mechanism 34 to the belt 118.1.
Since it is configured to move up and down by winding up and unwinding a long member such as 20, the clearance with the ceiling 138 can be considerably smaller than in the past. Although the conventional X-Y drive mechanism shown in FIG. 4 may be used as the X-Y drive mechanism, the X-Y drive mechanism 10 of this embodiment has the advantage that it can be made thinner because only one slider 74 is required.

Various preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-mentioned embodiments. For example, the X-Y drive mechanism 10 does not drive the slider 7 with a pole screw, Of course, many modifications can be made without departing from the spirit of the invention, such as driving by a belt.

(Effects of the Invention) When the palletizer according to the present invention is used, a link mechanism is used for the vertical movement mechanism, so the palletizer can be made lightweight. Therefore, the movable body can be moved at high speed, and work efficiency can be improved. Further, as the weight is reduced, the load placed on the X-Y drive mechanism and the manual link drive can be reduced. Furthermore, if a long member that can be wound onto a spool is used as the link drive means, the space required above the X-Y drive mechanism is small, combined with the fact that the link mechanism is foldable. It can also be installed in a workplace.In addition, claim 3
Alternatively, if configuration 4 is adopted, it is possible to prevent the link mechanism and/or the chuck mechanism from swinging, thereby improving positioning accuracy and preventing damage to the link mechanism.

Furthermore, if the configuration of claim 5 is adopted, it will be possible to prevent accidents such as wiring and piping becoming tangled with movable parts caused by slack in the wiring and piping.

[Brief explanation of drawings]

FIG. 1 shows an example of the palletizer according to the present invention.
A plan view of the Y drive mechanism, Fig. 2 is a partial front view thereof, Fig. 3 is a front view showing a state in which the link mechanism is shortened in Fig. 2, and Fig. 4 is a partial front view showing a conventional palletizer. . 10... X-Y drive mechanism, 24... Pipe rigid mechanism, 32... Chuck mechanism, 34... Link mechanism, 74... Slider, 78... Rectangular plane, 96.98.104. 106...gear, 108...
Spool, 114...Motor, 118.120.
...Belt, 122.124...Rod, 1
26.128... Cylinder part.

Claims (1)

[Scope of Claims] 1. An X-Y drive mechanism for moving the movable body within the same plane, a chuck mechanism for gripping the conveyed object, and a chuck mechanism provided on the movable body that moves the chuck mechanism up and down. In the palletizer, the palletizer has a vertical movement mechanism for moving the palletizer, and the vertical movement mechanism includes a pantograph-like foldable link mechanism having one end pivoted to the moving body and the other end pivoted to the chuck mechanism. A palletizer comprising: a link drive means for expanding and contracting the link mechanism. 2. The link driving means includes a spool provided on the movable body or chuck mechanism, a motor for rotating the spool, one end fixed to the spool, and the other end fixed to the chuck mechanism or movable body. 2. The palletizer according to claim 1, wherein the palletizer is a long member that can be wound onto the spool as the spool rotates. 3. The uppermost end of the pantograph-shaped link mechanism and/or
Or, the two link pieces at the lowest end are spaced apart from each other and are pivoted, gears are arranged on the pivoted parts of the two link pieces, and the gears are in mesh with each other. The palletizer according to claim 1 or 2, characterized in that: 4. An engaging portion is provided on the movable body and/or the chuck mechanism, and engages with each other or the chuck mechanism or the movable body when the link mechanism is shortened to prevent the chuck mechanism from swinging. Claim 1 characterized in that
, 2 or 3. 5. The X-Y drive mechanism is made up of a combination of a plurality of hollow pipes, one end of which is pivoted to the moving body, the other end of which is pivoted to a fixed part of the X-Y drive mechanism, and is arranged in a horizontal plane. 5. The palletizer according to claim 1, wherein a bendable pipe link mechanism is provided, and wiring, piping, etc. are inserted into the pipes constituting the pipe link mechanism.