JPH0330346Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) This invention is useful for transferring, transporting, and other handling of plate-like workpieces, such as front roof rails, rear roof rails, and sill inner panels as automobile body parts. The present invention relates to a plate-like workpiece lifting device suitable for use in gripping and taking out plate-like workpieces one by one.

(Prior Art) A conventionally known lifting device applied to an autoloader for transporting plate-shaped works stored in a stacked state in a magazine to a predetermined position one by one is shown in FIG. There are some things shown below. (A similar example is JP-A-57-
There is one disclosed in Publication No. 130871. ) In the figure, 1 indicates a magazine, 2 a magazine truck to which a plurality of magazines 1 are fixed, and 3 a running wheel attached to the magazine truck 2 via a bracket.

Here, the running wheels 3 are engaged with a rail 4 that is substantially channel-shaped, and act to ensure smooth running movement of the magazine cart 2 along a predetermined movement path. , is provided by a truck shift cylinder 5 having one end connected to the rail side and the other end connected to the magazine truck side.

In addition, each magazine 1 that is fixed on the magazine cart 2 and stores plate-like workpieces is spaced apart from the plate-like workpiece 6 arranged in the width direction of the magazine cart 2 to accommodate the workpieces. Two pairs of work guides 7, 7 that can contact each side of the workpiece 6 are provided spaced apart in the width direction of the cart 2, and between these two pairs of work guides, on the cart, Workpiece receivers 8, 8 spaced apart in the width direction are fixed, and other workpiece guides 9, 9 are further spaced apart and opposed to the magazine cart 2 in the width direction, and can touch respective end surfaces of the workpiece 6.
Each magazine 1 has sufficient work stack space to store plate-like works 6 of the same or different types as required.

On the other hand, the autoloader 10 of this example transports the plate-like workpieces 6 stored in the required magazines 1 one by one to a predetermined position, and then delivers the plate-like workpieces 6 to a presetter or other device.
is the work guide 11 and this guide rail 11
A carrier 12 that travels along the carrier 12, an elevating cylinder 14 that moves the bracket 13 up and down with respect to the carrier 12, and an elevating cylinder 14 that is provided on the bracket 13 and spaced apart in the length direction of the plate-like work 6. It is composed of two pairs of vacuum cups 15 that protrude toward the back side, and an approach switch 16 for workpiece detection that is also attached to the bracket 13 and protrudes toward the back side. Each of the vacuum cups 15 is connected to a vacuum pump via a flexible hose (not shown).

When the autoloader 10 takes out the plate-shaped workpieces 6 one by one from the magazine 1, for example, the magazine cart 2 is moved according to the type of the workpieces 6 in each magazine to pick up the required plate-shaped workpieces. 6 is positioned below the autoloader 10, the cylinder 14 of the loader 10 is actuated to move two pairs of vacuum cups 15 that are separated in the length direction of the workpiece 6.
It is lowered until it comes into close contact with the surface of the plate-like workpiece 6, as shown in FIG. 4, which shows a cross section along the line. Here, the lowering of the vacuum cup 15 is stopped by transmitting a signal from the proximity switch 16 to the lifting cylinder 14 to stop its operation.

Thereafter, a vacuum pump (not shown) is operated to vacuum-adsorb all the vacuum cups 15 onto the plate-shaped workpiece 6, and by restarting the cylinder 14, one plate-shaped workpiece 6 is vacuum-adsorbed. 15, and further,
By moving the carrier 12 along the guide rail 11 to bring the plate-shaped work 6 to a predetermined position, the operation of taking out one plate-shaped work 6 from the magazine 1 is completed.

The plate-like workpiece 6 taken out from the magazine 1 in this way is delivered to a predetermined location by the subsequent operation of the cylinder 14, introduction of atmospheric pressure into the vacuum cup, and the like. Both the work of taking out the shaped work 6 and the work of delivering it are completed.

Also, here, the autoloader 10 as described above is used.
As shown in FIG. 5, there is another known adsorption device applied to the vacuum cup, in which an electromagnet 17 is attached instead of the vacuum cup. The electromagnetic attraction to the plate-like workpiece 6 and the release thereof are brought about by energizing the workpiece 6 and stopping the energization thereto.

(Problems to be Solved by the Invention) However, in such a conventional suction lifting device, whether the vacuum cup 15 or the electromagnet 17 is used, the plate-like workpiece 6 is A suitable flat area is required for suctioning them, and if such a flat area does not exist, there is a problem that it is virtually impossible to transfer or transport plate-shaped workpieces using a suction device. Ta.

Moreover, especially when using the electromagnet 17,
There is a problem that a plurality of plate-like works 6 stacked in the magazine 1 may be simultaneously attracted and taken out. If a positional shift occurs, especially in the case of a plate-like workpiece having a narrow flat area, it becomes extremely difficult to always reliably attract the workpiece to the flat area, and as a result, the workpiece 6 from the magazine 1 There was also the problem that it became impossible to take out.

This invention advantageously solves the problems of the prior art by using fingers that grip the plate-shaped workpiece from the sides instead of vacuum cups, electromagnets, etc. that stick to the surface of the plate-shaped workpiece. Therefore, regardless of whether the plate-shaped workpieces have a flat area or not, the plate-shaped workpieces can be reliably taken out one by one, and even if the stacked plate-shaped workpieces are uneven in the width direction. , by correcting the unevenness of the plate-shaped workpiece using the workpiece guide before gripping the plate-like workpiece with the fingers,
An object of the present invention is to provide a device for lifting a plate-shaped workpiece that can effectively ensure gripping of each plate-shaped workpiece.

(Means for Solving the Problems) A hanger bracket connected to a lifting drive device, grippers attached to both ends of the hanger bracket in the longitudinal direction, and grippers provided on the hanger bracket and protruding downward from the grippers. and a pair of workpiece guides facing each other, the gripper is connected to a pair of fingers, at least one of which is swingable around a fulcrum. The opening/closing driving means that control the opening/closing operation of the tips of the fingers are connected, and the workpiece gripping surfaces provided at the tips of the fingers are gradually expanded downward in the workpiece gripping posture, and the uneven surfaces and The lower end portions of the pair of work guides are provided with respective inclined surfaces that are inclined downwardly and away from each other.

(Function) In this lifting device, a plate-shaped workpiece is gripped from the sides by a pair of fingers of each gripper, so there is no flat surface on the plate-shaped workpiece. In addition, the workpiece gripping surfaces of both fingers gradually expand downward in the workpiece gripping posture, and form serrated or other uneven surfaces. Therefore, if the degree of closure of the fingers is specified at an angle corresponding to the dimensions of the workpiece by gripping a single workpiece, the workpiece gripping surface of the fingers will be tilted with respect to the plane perpendicular to the workpiece. Due to the presence of the gripper, it is not possible to contact the workpieces stacked below the gripped workpiece, and as a result, it is possible to sufficiently ensure that the workpieces can be taken out one by one from the magazine, for example.

Moreover, when taking out plate-shaped workpieces one by one, even if there is a relative positional shift in the width direction of the stacked plurality of plate-shaped workpieces, the workpiece guide will not displace them when they are lowered. , the position of the plate-shaped workpiece is corrected by the inclined surface provided there, and the plate-shaped workpiece is accurately positioned between the respective fingers of each gripper, so that each finger can be used for different workpieces. It is possible to always grasp and lift only the uppermost plate-like workpiece, while reliably preventing it from engaging with the workpiece.

(Example) This invention will be explained below based on illustrated examples.

FIG. 1 is a front view showing a gripper applied to the device according to this invention, and in the figure, 21a, 21
Each b indicates a pair of fingers.

Here, these two fingers 21a, 21b
The fingers 21a, 21b are made swingable in the opening/closing direction of their respective tip portions 21c, 21d by pivotally supporting the intermediate portions of the fingers 21a, 21b to the bracket 23 by pins 22a, 22b, respectively. , each finger 21a, 2
By pivotally connecting a cylinder 24 as an example of an opening/closing drive means to the rear end of 1b in a horizontal position in the figure, it is possible to drive the tips 21c and 21d to open and close as required.

In addition, 25 in the figure indicates a stopper fixed to the bracket 23 with a screw or the like, and this stopper 25 is attached to the protrusion surface provided at the intermediate part of the fingers 21a, 21b when the tips 21c, 21d are opened. and those fingers 21a,
21b to the neutral open position.

Further, in this example, mutually opposing workpiece gripping surfaces 21e and 21f are provided on the respective tip portions 21c and 21d fixed to the body portions of the fingers 21a and 21b by screws or the like, and these workpiece gripping surfaces The gripping surfaces 21e and 21f are tapered as a whole toward their tips when the fingers 21a and 21b are in the illustrated workpiece gripping posture, and are, for example, serrated uneven surfaces.

Here, the expansion angle of the workpiece gripping surfaces 21e and 21f is as shown in the figure.
6 is held between them, there is no risk that other workpieces of the same size located below the workpiece 26 will come into contact with the workpiece gripping surfaces 21e, 21f, and the gripping surfaces 21e , 21f are formed by engaging only one plate-shaped workpiece 26 therein. Preferably, the concave portion of the concavo-convex surface is
By making the recess width at the average depth position approximately equal to the plate thickness of the workpiece 6, and also making the recess depth from the tip of the protrusion to the average depth position approximately equal to the plate thickness of the workpiece 6, a plate-like shape can be obtained. To ensure that each work 6 is engaged one by one in each recess, and to effectively prevent the work 6 once engaged in the recess from accidentally falling off therefrom.

Gripping of a plate-shaped workpiece by the gripper configured in this way is accomplished by lowering the gripper to a predetermined position with the fingers 21a and 21b open, and then lowering the gripper to a predetermined position with respect to the workpiece 6 stored in a magazine. 24, the fingers 21a and 21b are closed until their workpiece gripping surfaces 21e and 21f grip the uppermost piece of the plate-shaped workpiece 6.

According to such a closing operation of the fingers 21a and 21b, only the uppermost workpiece 6 among the properly stacked plate-like workpieces 6 engages with the recesses of the respective workpiece gripping surfaces 21e and 21f, and the workpiece Other workpieces 6 located below the uppermost workpiece 6 do not engage or come into contact with the recesses of the gripping surfaces 21e and 21f. There is no such thing as being held at the same time.

Therefore, when the gripper is subsequently raised and moved to a desired position, only the uppermost plate-shaped workpiece 6 will be reliably taken out from the magazine.

FIG. 2 is a perspective view showing an inventive device using the gripper configured as described above.
Plate-shaped hanger bracket 27 having the required length
Each gripper is fixed at the position of its bracket 23 at both ends of the gripper, and protrudes downwardly from the hanger bracket 27.
Two pairs of work guides 28 are provided for positioning the plate-shaped work 26 in its width direction, and on the upper surface of the hanger bracket 27, a lifting cylinder 29 and guide rods 30, 30 similar to those described in FIG. 3 are provided. A device for lifting a plate-like workpiece is constructed by fixing the cylinder-side portion of the lifting cylinder 29 and the guide rod sleeves 31, 31 to, for example, a traveling carrier (not shown).

Here, each of the two work guides 28 which are opposed to each other has a respective inclined surface at the lower end thereof which is inclined downwardly and away from each other. Under the action of both inclined surfaces, the gripper functions to correct the widthwise position of the stacked workpieces, which are uneven in the widthwise direction, when the gripper grips the plate-like workpiece 26.

It goes without saying that this lifting device may be provided with a proximity switch for workpiece detection as described in FIG.

When taking out plate-shaped works 26 from the magazine one by one using such a device, first, the gripper is lowered by the lifting cylinder 29 with the fingers 21a and 21b open, and
Gripping surfaces 21e, 21f of fingers 21a, 21b
When it reaches the workpiece end position, its descent is stopped by the operation of a proximity switch (not shown), and then both fingers 21a and 21b are swung in the closing direction based on the operation of the cylinder 24,
This swinging motion is continued until the uppermost plate-like workpiece 26 is securely held between the gripping surfaces 21e and 21f, and then under the action of the lifting cylinder 29 and the guide rods 30, 30. Both grippers, together with the hanger bracket 27, are raised again.

In addition, when the gripper is raised, as is clear from the above, the gripping surfaces 21e,
21f, only the uppermost plate-shaped workpiece 26 is held and lifted. After that, by operating a traveling carrier (not shown), the workpiece 26 can be taken out to a predetermined position as expected. will be held.

In such a series of operations, the work guide 28 moves the plate-shaped work 26 when the gripper descends.
, both fingers 21a of each gripper,
The finger 21 functions to be positioned at the center of the workpiece 21b, and is positioned by the deflection of the workpiece 26 in the width direction and by the air cylinder 24 when the workpiece 26 is lifted and transported.
It functions to sufficiently prevent swings of a and 21b and ensure stable removal of the workpiece 26.

In other words, when the stacked plate-like workpieces 26 are misaligned in the width direction, only the uppermost plate-like workpiece can be reliably gripped under the action of the inclined surface of the workpiece guide 28. This can be ensured by starting the gripping operation of the workpiece 26 by the gripper after accurately correcting the width direction position of each workpiece with respect to the gripper. Due to the misalignment in the width direction, one finger of the gripper touches the uppermost plate-shaped work 26, and the other finger touches the uppermost plate-shaped work 26.
For example, by reliably preventing each of the fingers 21a and 21b from engaging one or two other plate-shaped workpieces located below, both fingers 21a and 21b are engaged with the same uppermost workpiece 26, and only that one workpiece is engaged. can be gripped securely.

This invention has been explained above based on illustrated examples, but
Making only one of a pair of fingers swingable around a fulcrum, changing the fulcrum position of the fingers and the connection position of the opening/closing drive means thereto in various ways as required, e.g. It is also possible to reverse their positions to the illustrated example.

In addition, the opening/closing driving means, which is a cylinder 24 in the illustrated example, may use a gear mechanism, a screw mechanism, etc., and the gripping surface of the fingers may be expanded in a curved shape or other appropriate shape. I can do it,
The uneven shape of the gripping surface can also be changed in various ways as necessary.

(Effect of the invention) Therefore, according to this invention, in particular, the workpiece gripping surface of the fingers is
By expanding downward and creating an uneven surface, it is possible to reliably grip even plate-shaped workpieces that do not have a flat area. By cooperating with the workpiece guide provided to protrude from the side, even if the stacked plate-like workpieces are uneven in the width direction, reliable gripping of the plate-like workpieces one by one is sufficiently ensured. This will bring about great practical benefits.

[Brief explanation of the drawing]

Fig. 1 is a front view showing a gripper applied to the device of this invention, Fig. 2 is a perspective view showing an embodiment of this invention, Fig. 3 is a perspective view illustrating a conventional suction device, and Figs. The figures are enlarged front views illustrating conventional adsorption devices using vacuum cups and electromagnets, respectively. 21a, 21b...finger, 21c, 21d
... Tip part, 21e, 21f ... Work gripping surface,
22a, 22b...pin, 23...bracket,
24... Cylinder, 26... Plate work, 27...
...Hanger bracket, 28...Work guide,
29...Lifting cylinder, 30...Guide rod, 31...Sleeve.

Claims (1)

[Claims for Utility Model Registration] A hanger bracket 27 connected to the lifting drive means 29, respective grippers attached to both longitudinal ends of the hanger bracket, and grippers projecting downward from the hanger bracket. A lifting device comprising a pair of workpiece guides 28 which are provided and are opposed to each other, and the gripper is connected to a pair of two workpiece guides 28, at least one of which is connected to a fulcrum 22.
fingers 21a, which are swingable around a, 22b;
21b, the tip portions 21c, 2 of those fingers.
While connecting the opening/closing driving means 24 that controls the opening/closing operation of the opening/closing operation of the opening/closing device 1d, the work gripping surfaces 21e, 21f provided on the respective tips 21c, 21d are gradually expanded downward in their work gripping postures, A device for lifting a plate-like workpiece, which is constructed by having an uneven surface, and wherein lower end portions of the pair of workpiece guides are provided with respective inclined surfaces that are inclined downwardly and away from each other.