JPH03243527A - Ingot piling device, reversal mechanism for foot shaped ingot, and pinchedly holding mechanism for ingot - Google Patents

Abstract

PURPOSE:To improve efficiency for piling ingots by piling ingots carried from respective right and left carrying conveyors on respective right and left carrying out conveyors in a prescribed arrangement by the use of a multiple shaft general purpose robot, and reversing foot shaped ingots. CONSTITUTION:Foot shaped ingots 2 having continuous upward teeth are carried to ingot pinchedly holding positions 20 with carrying conveyors 17, the ingot 2 on the right side conveyor 17 carried early is detected with a sensor, and the ingot 2 is pinchedly held with the piling claw bodies 7 after swinging the arm 6 of a multiple shaft general purpose robot 1. Nextly, the claw bodies 7 is returned to original position and the arm 6 is swung to return to original state, hereafter, the ingot 2 in once placed on a reversal table 15 and separated from the claw bodies 7. Nextly, the ingot 2 is pinchedly held with the claw bodies 7 from the underside, reversed by rotation of the claw bodies 7, and some pieces of ingot 2 are arranged in a decided condition of only the lowermost step on a piling position 21 of a right side carrying out conveyor 19. Nextly, by same means flat ingots are piled on the respective ingots 2.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is a small-scale ingot that automatically stacks formed flat ingots and foot-shaped ingots so that they can be easily transported and packed. JP-A-62-2000, which was already proposed by the present applicant, relates to an ingot stacking device, its foot-shaped ingot reversing mechanism, and its ingot clamping mechanism.
This relates to an improvement of Publication No. 7564.

(Prior Art) That is, the conventional ingot stacking device disclosed in Japanese Patent Application Laid-Open No. 62-207564 has a stacking claw for each ingot on a pedestal, which is movable in the front and rear directions via a claw moving mechanism. An ingot stacking machine is formed on this claw moving mechanism, and the ingot stacking machine is provided with a foot-shaped ingot reversing claw so that it can be held and reversed via an oil supply mechanism and a reversing moving mechanism. one ingot transport conveyor is installed in a predetermined position so as to face forward, one ingot transport conveyor is arranged long forward in the front lower part of the reversing claw, and one ingot conveyor is installed in the rear lower part of the stacking claw body. The configuration was such that the delivery conveyor was placed long towards the rear.

Then, the foot-shaped ingots, whose teeth are shaped upward due to manufacturing reasons, are conveyed to the ingot clamping position by one ingot conveyor, where the reversing claws operate the oil feeding mechanism and the reversing movement mechanism. The foot-shaped ingots are swung downward through the ingots to clamp and invert them, and the inverted foot-shaped ingots are moved rearward through the claw moving mechanism to a predetermined arrangement at the ingot stacking position on the ingot delivery conveyor. Only the bottom row is sequentially arranged, and the flat ingots conveyed from the ingot conveyor are placed on top of the foot-shaped ingots arranged in a predetermined arrangement at the ingot stacking position of this ingot carry-out conveyor by moving the stacking claw body back and forth. They were stacked sequentially in an array.

(Problem to be Solved by the Invention) However, there is a problem that the 1.
Each ingot on the ingot transport conveyor is simply stacked in a predetermined arrangement on one ingot transport conveyor, which is disposed long backwards behind the stacking claw body. Not only does this reduce the efficiency of the upper work, but the stacking claws for each ingot are provided on the stand so that they can be moved back and forth via a claw moving mechanism, and the foot-shaped ingot stacking claws are mounted on this claw moving mechanism. Since the reversing claws are provided so that they can be clamped and reversed via the oil feeding mechanism and the reversing movement mechanism, each ingot on one ingot transport conveyor can only be clamped or not clamped by the reversing claws and the stacking claw body. Therefore, it was not possible to reliably clamp and non-clamp each ingot on the plurality of ingot transport conveyors, and it was also not possible to accurately detect malfunctions in clamping each ingot.

Therefore, the present invention was created in order to solve the above-mentioned problems, and it is possible to significantly improve the efficiency of stacking each ingot, and also to make it possible to clamp and not clamp each ingot. The present invention provides an ingot stacking device, its foot-shaped ingot reversing mechanism, and its ingot clamping mechanism, which can perform the process reliably, accurately detect malfunctions in clamping each ingot, and fully automate the ingot casting process. This is what we provide.

(Means for Solving the Problems) In order to achieve the above-mentioned objects, the ingot stacking device of the present invention has an ingot stacking device that is rotatably supported on a base so as to be able to swing in the circumferential direction and to be rotatable. a pillar; an arm rotatably supported on the upper end of the pillar;
A multi-axis general-purpose robot for stacking foot-shaped ingots and flat-shaped ingots is equipped with a stacking claw body that is vertically swingable and rotatably supported at the tip of the arm. A plurality of ingot transport conveyors are arranged facing each other in series at appropriate intervals below both sides of the arm, and each of the stacking claws is mounted on the rear side of the base. A control panel for controlling the swinging position of the clamping claws and sensors for detecting each ingot on each of the ingot transport conveyors using a computer is provided, and furthermore, a control panel is installed on both sides of the base and the control panel to control the swinging position of the clamping claws and the sensors for detecting each ingot on the ingot transport conveyor. A plurality of ingot carry-out conveyors for stacking and carrying out the sandwiched ingots in a predetermined arrangement are arranged in parallel and facing each other at appropriate intervals.

In addition, in the foot-shaped ingot reversing mechanism of the ingot stacking device, the foot-shaped ingot is placed below the front side of the stacking claw body at the tip of the arm of the multi-axis general-purpose robot, and then the foot-shaped ingot is gripped again from below. It is equipped with an inversion table for inversion.

Furthermore, in the ingot clamping mechanism of the ingot stacking device, the stacking claw body of the multi-axis general-purpose robot has a support plate with a plurality of fixed claws fixed at appropriate intervals at one end and a support plate for holding each ingot at the other end. Approximately central portions in the vertical direction of a plurality of clamping claws are swingably supported, and the upper end of each clamping claw is swingably connected to a hydraulic cylinder.

(Operation) By using the above-mentioned technical means, first, foot-shaped ingots in which the teeth have been formed with upwards due to manufacturing reasons are conveyed to an ingot clamping position by a plurality of ingot conveyors, and then For example, a sensor detects the foot-shaped ingot on the right ingot conveyor that was transported earlier, and this is controlled by the computer on the control panel, and the arm of the multi-axis general-purpose robot moves to the right side via the support. After swinging approximately 45 degrees to the top and swinging downward, the stacking claw swings to the right and clamps the foot-shaped ingot. Next, the stacking claw holding the foot-shaped ingot is swung to the left and returned to its original position, and then the arm is swung upward and swung approximately 45 degrees to the left. After returning to the original position, the arm is swung downward to temporarily place the foot-shaped ingot on the reversing table, and the foot-shaped ingot is separated from the stacking claw body. Next, after swinging the arm slightly upward, the stacking claw body is rotated 180 degrees.
After rotating the arm 180 degrees, the arm is swung downward to grip the foot-shaped ingot from below with the stacking claw body, and after swinging the arm upward, the stacking claw body is rotated 180 degrees to collect the foot-shaped ingot. Invert the ingot. Subsequently, the arm is swung approximately 90 degrees to the right and then swung downward, and several foot-shaped ingots are arranged in a predetermined arrangement at the ingot stacking position on the right ingot delivery conveyor, only at the lowest level. Similarly, the foot-shaped ingots that are transported next, for example, on the left-hand ingot transport conveyor, are arranged in a predetermined arrangement at the ingot stacking position on the left-hand ingot transport conveyor. Then, using the same method as arranging the foot-shaped ingots mentioned above,
The flat ingots conveyed from the right ingot conveyor 17 are sequentially stacked in a predetermined array on each of the foot-shaped ingots arranged in a predetermined array at the ingot stacking position of the right ingot carry-out conveyor. On each foot-shaped ingot arranged in a predetermined array at the ingot stacking position, the flat ingots conveyed from the left ingot conveyor are sequentially stacked in a predetermined array.

That is, a multi-axis general-purpose robot is used to sequentially stack the ingots transported from the right ingot transport conveyor in a predetermined array on the right ingot transport conveyor, and to unload the ingots transported from the left ingot transport conveyor to the left ingot transport conveyor. The foot-shaped ingots are stacked one after another in a predetermined arrangement on the conveyor, and furthermore, the foot-shaped ingots are once placed and held again from below so that the foot-shaped ingots can be turned over, and each ingot is held between them. At this time, each clamping claw of the stacking claw body is controlled by computer control on the control panel, limit switches, etc. via a hydraulic cylinder to clamp each ingot at the outermost side when not clamping each ingot, and at the middle side when each ingot is clamped. It is designed to swing to three positions including the innermost position in the event of a malfunction.

(Example) An example of the present invention will be described below based on the drawings.

In FIGS. 1 to 3, reference numeral 1 denotes a foot-shaped ingot 2 in the shape of a clog and a flat ingot 3 in the shape of a rectangular parallelepiped, which are successively molded. This multi-axis general-purpose robot 1 is a multi-axis general-purpose robot for stacking objects.The multi-axis general-purpose robot 1 has a support 5 supported on a base 4 so as to be able to swing freely in the circumferential direction and to rotate freely, and an arm at the upper end of the support 5. 6 is pivotally supported so as to be able to swing vertically and freely rotate,
At the tip of this arm 6, a stacking claw body 7 for stacking each ingot 2.3 is formed so as to be swingable vertically and rotatably supported.

As shown in FIGS. 4 and 5, the stacking claw body 7 of the multi-axis general-purpose robot 1 has four downwardly facing fixing claws 8 fixed to one end thereof at appropriate intervals, and the other end of the support plate 9. Approximately the center in the vertical direction of two clamping claws 10 for clamping each ingot 2.3 is swingably supported by shaft pins 11 at appropriate intervals, and the upper end of each clamping claw 10 and a hydraulic cylinder 12 and the shaft pin 13
It is formed to be swingably connected at. Each of the gripping claws 10 holds each ingot 2,
3, the outermost position when the ingots 2 and 3 are not clamped, the intermediate position when the ingots 2 and 3 are clamped, and the innermost position when a malfunction occurs when the ingots 2 and 3 are not clamped.

The multi-axis general-purpose robot 1 formed in this way is connected to the arm 6.
The multi-axis general-purpose robot 1 has a mounting plate 14 for placing both ends of the foot-shaped ingot 2 on both sides below the front side of the stacking claw body 7 at the tip of the arm 6 of the multi-axis general-purpose robot 1. A reversing table 15 for reversing the foot-shaped ingot 2 is disposed, and two chains such as chain conveyors each having four chains 16 arranged in parallel at appropriate intervals are installed below both sides of the arm 6 of the multi-axis general-purpose robot 1. The ingot conveyors 17 are arranged facing each other in series at appropriate intervals, and the base 4 of the multi-axis general-purpose robot 1 is
On the rear side, a control panel 18 is provided that uses a computer to control the swinging positions of the clamping claws 10 and sensors (not shown) for detecting the ingots 2 and 3 on the ingot conveyor 17. Furthermore, the base 4 of the multi-axis general-purpose robot 1
On both sides of the control panel 18, there are two ingot carry-out conveyors 1 that stack the foot-shaped ingots 2 and flat-shaped ingots 3 held by the stacking claws 7 in a predetermined arrangement and carry them out.
9 are arranged in parallel and facing each other at appropriate intervals so as to be slightly higher than the ingot conveyor 17.

(Effects of the Invention) In other words, the present invention provides a support column 5 which is rotatably supported on the base 4 so as to be swingable in the circumferential direction, and a support column 5 that is swingable in the vertical direction at the upper end of the support column 5. A foot-shaped ingot 2 comprising an arm 6 which is movably and rotatably supported, and a stacking claw body 7 which is rotatably and vertically swingable at the tip of the arm 6; A multi-axis general-purpose robot 1 for stacking flat ingots 3 is formed, and this multi-axis general-purpose robot 1 is installed at a predetermined position so that the arm 6 faces forward, and the front side of the stacking claw body 7 at the tip of the arm 6 is formed. A reversing table 15 for reversing the foot-shaped ingot 2 is disposed below, and a plurality of ingot conveyors 17 are disposed facing each other in series at appropriate intervals below both sides of the arm 6. On the rear side of 4, the swinging position of each clamping claw 10 of the stacking claw body 7 and each ingot 2.3 on each ingot conveyor 17 are shown.
Control panel 1 that controls detection sensors using a computer
8 is arranged, and furthermore, on both sides of the base 4 and the control panel 18,
By arranging a plurality of ingot carry-out conveyors 19 facing each other in parallel at appropriate intervals for stacking and carrying out the ingots 2.3 held by the stacking claws 7 in a predetermined arrangement, the first As shown in the figure, the foot-shaped ingots 2, in which the teeth 2a are formed upward due to manufacturing reasons, are continuously conveyed to the ingot holding position 20 by a plurality of ingot conveyors 17, where they are transferred to an ingot holding position 20. As shown by the two-dot chain line, the sensor detects the foot-shaped ingot 2 on the right ingot conveyor 17, which was conveyed earlier, and this is controlled by the computer in the control panel 18, and the multi-axis After the arm 6 of the general-purpose robot 1 swings approximately 45 degrees to the right via the support 5 and swings downward,
As shown in FIGS. 4 and 5, the stacking claw body 7 swings to the right and clamps the foot-shaped ingot 2. As shown in FIGS. Subsequently, as shown in FIG.
After the arm 6 swings to the left and returns to its original position, the arm 6 swings upward and swings approximately 45 degrees to the left and returns to its original position. As shown in FIG.
Once placed on top, the foot-shaped ingot 2 is separated from the stacked claw body 7. Next, as shown in FIG. 9, the arm 6 is slightly swung upward, the stacking claw body 7 is rotated 180 degrees, and then the arm 6 is swung downward to move the foot-shaped ingot 2 into the stacking claw. After the body 7 grips the foot-shaped ingot 2 again from below and swings the arm 6 upward, the stacking claw body 7 is rotated 180 degrees to invert the foot-shaped ingot 2. Next, the arm 6 is swung approximately 90 degrees to the right and then swung downwards to release several foot-shaped ingots 2.
are arranged in a predetermined arrangement at the ingot stacking position 21 on the right ingot carry-out conveyor 19, only at the bottom. Similarly, the foot-shaped ingots 2 that are transported next, for example, on the left ingot transport conveyor 17, are arranged in a predetermined arrangement at the ingot stacking position 21 on the left ingot transport conveyor 19, with only the bottom row being arranged. Then, by the same means as for arranging the foot-shaped ingots 2 described above, the foot-shaped ingots 2 arranged in a predetermined arrangement at the ingot stacking position 21 of the right-hand ingot carrying conveyor 19 are placed on top of each foot-shaped ingot 2 from the right-hand ingot transport conveyor 17. The flat ingots 3 that have been transported are stacked one after another in a predetermined array, and on each of the foot-shaped ingots 2 arranged in a predetermined array at the ingot stacking position 21 of the left ingot delivery conveyor 19, there is a stack of flat ingots 3 from the left ingot transport conveyor 17. The transported flat ingots 3 are sequentially stacked in a predetermined array.

Therefore, using the multi-axis general-purpose robot 1, the ingots 2.3 transported from the right ingot transport conveyor 17 are sequentially stacked in a predetermined arrangement on the right ingot transport conveyor 19, and the ingots 2.
The ingots 2.3 transported from the ingots 7 are stacked one after another in a predetermined arrangement on the left ingot delivery conveyor 19, and the foot-shaped ingots 2 can be reversed. The efficiency of stacking work can be significantly improved.

Furthermore, as the stacking claw body 7 of the multi-axis general-purpose robot 1, a support plate 9 has a plurality of fixed claws 8 fixed at appropriate intervals at one end thereof.
At the other end, approximately the center portions in the vertical direction of a plurality of clamping claws 10 for clamping each ingot 2.3 are pivotably supported, and the upper end of each clamping claw 10 and a hydraulic cylinder 12 are pivoted. Since they are freely connected, when clamping each ingot 2, 3, each clamping claw 10 of the stacking claw body 7 is connected to each ingot 2, 3 via the hydraulic cylinder 12 by computer control of the control panel 18, limit switch, etc. Each ingot 2.3 swings to three positions: the outermost position when not clamped, the intermediate position when each ingot 2.3 is clamped, and the innermost position when a malfunction occurs when each ingot 2.3 is not clamped. Not only can the ingots 2 and 3 be pinched and not pinched reliably, but malfunctions such as pinching of the ingots 2 and 3 can be accurately detected.

In addition, in a small-scale ingot casting process, the ingot casting process can be fully automated by using it in combination with an automatic hot water supply machine, an ingot continuous caster, etc.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of the multi-axis general-purpose robot in which the arm is positioned forward when the arm of the multi-axis general-purpose robot is started and the foot-shaped ingot is reversed, and FIG. 3 is a plan view of the multi-axis general-purpose robot in a state in which the arm of the multi-axis general-purpose robot is swung approximately 90 degrees to the right when stacking foot-shaped ingots and flat-shaped ingots; FIG.
The figure is an enlarged front view of the stacking claw body when holding a foot-shaped ingot and a flat-type ingot, Figure 5 is a side view of the same as above, and Figure 6 is a state in which the foot-shaped ingot is held and temporarily placed on the inversion table. An enlarged front view, Fig. 7 is a side view of the same as above, Fig. 8 is an enlarged side view of the foot-shaped ingot once placed on the reversing table, and Fig. 9 is an enlarged side view of the same foot-shaped ingot as above with the stacking claw body. It is a side view of a state where it is pinched again from below and turned over. 1... Multi-axis general-purpose robot, 2... Foot-shaped ingot,
2a... Teeth, 3... Flat ingot, 4... Base, 5... Support, 6... Arm, 7... Stacked claw body,
8... Fixed claw, 9... Support plate, 10... Clamping claw,
11... Axis pin, 12... Hydraulic cylinder 13.
... Axis pin, 14... Placement plate, 15... Inversion table, 1
6... Chain, 17... Ingot transport conveyor, 18... Control panel, 19... Ingot unloading conveyor, 20... Ingot clamping position, 21... Ingot stacking position. Easy 5 Illustration 4 Inpo 17/ Figure 6 Figure 0 Figure 8 Figure 2 (3) 〆4 Figure 7 Figure 9

Claims (1)

[Scope of Claims] 1. A column supported on a base so as to be able to swing circumferentially and rotatably; and a column that is pivotably supported vertically and rotatably at the upper end of the column. A multi-axis general-purpose robot for stacking foot-shaped ingots and flat-shaped ingots, which is equipped with a stacking claw body that is vertically swingable and rotatably supported on the tip of this arm, The arm is installed at a predetermined position so as to face forward, and a plurality of ingot conveyors are arranged facing each other in series at appropriate intervals below both sides of the arm, and the stacking conveyor is placed behind the base. A control panel is provided for controlling the swinging position of each clamping claw of the claw body and a sensor for detecting each ingot on each ingot transport conveyor using a computer, and furthermore, a control panel is provided on both sides of the base and the control panel to control the stacking position. An ingot stacking device characterized in that a plurality of ingot carrying conveyors are arranged facing each other in parallel at appropriate intervals for stacking and carrying out ingots held by claws in a predetermined arrangement. 2. A reversing table is provided below the front side of the stacking claw body at the end of the arm of the multi-axis general-purpose robot, for once placing the foot-shaped ingot and then re-clipping it from below to invert the foot-shaped ingot. Foot-shaped ingot reversing mechanism for ingot stacking equipment. 3. As a stacking claw body of a multi-axis general-purpose robot, a support plate has a plurality of fixed claws fixed at appropriate intervals on one end thereof, and a plurality of clamping claws for holding each ingot are mounted on the other end of the support plate approximately in the vertical direction approximately in the center. An ingot clamping mechanism for an ingot stacking device, characterized in that the upper end of each clamping claw is swingably connected to a hydraulic cylinder.