JPH0352785Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] This invention is an article transfer method that grasps an article placed at a certain position, lifts it, and moves it horizontally to another position. The present invention relates to an article gripping hand used in an apparatus, and particularly to a hand for an article transfer apparatus that is preferably used when the article is a large number of stacked sheets of paper.

[Conventional technology]

2. Description of the Related Art Conventionally, an article transfer device as shown in FIG. 1, for example, has been known. This article transfer device is
It has a structure in which a main body 1 is erected on a rotary table 3 rotatably provided on a fixed base 2, and an arm 4 is attached to the main body 1 so as to be movable up and down. A hand 5 is provided at the tip of the arm 4 to grasp the article to be transferred, and the hand 5 can be moved to any position between the position shown by the solid line and the position shown by the dotted line by expanding and contracting the arm. Since the entire arm 4 can move up and down, the hand 5 can also move up and down. Such an article transfer device has a predetermined degree of freedom and can operate within this degree of freedom, and the operation is controlled by a computer. In this sense, such an article transfer device:
It can be said to be a type of robot for transporting goods.

As illustrated in FIG. 1, this article transfer device is used for printing paper made of paper having a certain degree of planar rigidity, such as corrugated cardboard or paperboard, which has been printed in the printing process line A. is discharged onto the printed matter table 6, and a large number of sheets of laminated paper P are stacked on this printed matter table 6 (see Fig. 2).
In some cases, the printed matter is transferred onto the printed matter table 7 adjacent to the processing line B in order to be supplied to the processing line B, which is the next process. In this case, the operation of the article transfer device is to grasp the laminated paper P with the hand 5, lift it by raising the arm 4, and place it on the printed matter table 7 by rotating the rotary table 3 approximately 90 degrees counterclockwise. The transfer of the laminated paper P is completed by moving the hand 5 to a position where the arm 4 is lowered, and then releasing the grip on the hand 5.

[Problems to be solved by the present invention]

At this time, since the article to be transferred is a stack of paper such as cardboard, the configuration of the hand 5 must be devised.

That is, when transporting the laminated paper P, characteristics such as preventing each paper from shifting and losing its shape during transport, preventing damage to the surface of the paper, and being able to withstand a certain amount of weight are required. is required of the hand.

This invention was made in response to the above-mentioned requirements, and provides a hand for an article transfer device that can grip articles, particularly laminated paper, well.

Note that the purpose of this invention lies in the hand, and the article transfer device itself is not limited to the configuration illustrated in Figure 1, but may have other configurations such as one that transfers along a rail installed above. Of course, it is good to have some.

[Specific measures to solve the problem]

This invention will be explained in detail below based on an embodiment shown in the drawings in which a laminated paper consisting of many sheets of cardboard is used as an article to be transported.

FIG. 2 is a perspective view of the hand according to this invention, and FIG. 3 is an explanatory diagram showing details of the grip plate.

In the figure, the entire hand is designated by the reference numeral 5, and this hand 5 is connected to the tip of the arm 4 of the article transfer device by a frame 11. Frame body 11
has support plates 12 on both sides thereof with a gap sufficiently wider than the width of the article to be transferred (laminated paper P in this case).

A movable plate 20 is attached to the inside of each support plate 12 so as to be movable toward each other and away from each other using an air cylinder 14. In addition,
The four guide shafts 16 are composed of two movable plates 2 that are moved by the operation of the respective air cylinders 14.
0 is provided to move accurately and stably in a predetermined direction.

A mounting plate 22 projecting horizontally is provided on the inner surface of each movable plate 20, and a cylinder 26 for moving the cam 38 up and down is mounted on the upper surface of each mounting plate 22.

A gripping plate 30 extending downward is attached to the lower side of the mounting plate 22, and a mounting plate 31 is fixedly attached to both sides of the lower end of each gripping plate 30 with screws 32. In between, a support plate 34 is connected to the third
It is mounted so that it can rotate within the range marked ←→ in Figure B. This support plate 34 is pushed inward (to the side that grips the laminated paper P) by a spring 50.

As shown in FIG. 3, this support plate 34 has a rounded flat support surface 35 on its upper surface, and the laminated paper P is received on this support surface 35.
(See Figure 3).

A portion of the center portion that abuts the cam 38 is cut obliquely to provide a contact point 36 that slides with the cam 38.

The operation of this support plate 34 is best illustrated in FIGS. 3A and 3B. That is, each gripping plate 30 has a support plate 34 and a cam 38 connected to the cylinder 26 via a rod 42, and the support plate 34 is pushed inwardly by a spring 50 as described above, so that the contact point 36 is It is in pressure contact with the cam 38 surface.

When not gripping, as shown in FIG. 3A, the cam 38 is in the lowered position by the cylinder 26, and the support plate 34 is retracted despite the pressure of the spring 50; position. Also, when gripping, Fig. 3B
As shown in FIG. 2, the cam 38 is lifted up by the cylinder 26 to a raised position, and the support plate 34 is thereby pushed inwardly by the spring 50, so that it protrudes from the inner surface of the grip plate 30.

This protrusion allows the support surface 35 to receive and hold the laminated paper P.

The configuration of one embodiment of this invention is as described above, and its operation will be explained next.

First, the article transfer device is activated to position the hand 5 directly above the laminated paper P to be transferred. In this state, the position of each moving plate 20 is determined by the reciprocating air cylinder 14 so that the interval between the gripping plates 30 provided on each moving plate 20 is larger than the width of the article. At this time, the support plate 34 of each grip plate 30 is retracted as shown in FIG. 3A.

In this state, the hand 5 descends in the vertical direction,
It stops when the support surface 35 of the support plate 34 reaches a position slightly lower than the lower surface of the laminated paper P.

Thereafter, the air cylinder 14 is operated to slide each moving plate 20 inward, thereby moving the gripping plate 30 to a position where it substantially contacts the side surface of the laminated paper P. Before stopping the gripping plate 30 at this position, the movable plate 20 is made to perform an action of bringing the gripping plate 30 closer to the stacked paper P from both sides and pinching it two or three times, and immediately releasing the pinching pressure. You can let it go. In this case, it becomes possible to align the protruding sheets.

Next, the two cylinders 26 are operated to raise the cam 38 as shown in FIG. 3B, and the support plate 34 of each gripping plate 30 is projected from the inner surface of the gripping plate 30 to the lower surface of the laminated paper P.

This completes the gripping of the laminated paper P by the gripping plate 30 and the support plate 34, and then the article transfer device is driven to cause the hand 5 to ascend, move horizontally,
By applying motion such as rotation, the laminated paper P held by the hand 5 can be transferred to a desired position. After reaching the desired position, by lowering the cam 38 using the two cylinders 26, the support plate 34 can be retracted from the inner surface of the grip plate 30 and the grip can be released.

Note that the above description is an explanation of one embodiment of this invention, and this invention is not limited to the content of the above description in any way.

For example, a case has been described in which the article to be transported is a laminated paper made by stacking papers having a certain degree of rigidity, such as cardboard, but it goes without saying that the present invention can also be applied to other articles.

It should be noted that each of the above-mentioned hand movements can be easily performed by teaching the computer the data and program of the desired movement.

[Effect of idea]

As explained above, according to this invention, it is possible to grip an article accurately and stably, without causing deformation, especially when the article is made of laminated paper, without damaging the surface, and even to a certain extent. It has excellent effects such as being applicable to heavy objects.

Furthermore, since the support plate of the present invention has a sufficiently long portion in contact with the article, it does not damage the surface of the article.

In particular, since the gripping plate of the present invention can have a thin cross-section, it is extremely superior in that it can be easily pushed between punched and laminated laminated sheets of paper that have been stamped on multiple sides, and can grip each laminated sheet individually. It has practical effects.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram of the article transfer device, Figure 2 is a perspective view of the hand according to this invention, and Figure 3 is Figure 2S.
- It is an explanatory diagram of the movement of the support plate expressed in the cross section of S plane, and A shows a non-gripping state, and B shows a gripping state, respectively. 5... Hand, 11... Frame, 12... Support plate, 14, 26... Air cylinder, 16... Guide shaft, 20... Moving plate, 22... Mounting plate, 30... Gripping plate, 31 ...Mounting plate, 33...
Shaft, 34...Support plate, 35...Support surface, 36...
Contact point, 38...cam, 42...rod, 50...
…spring.

Claims (1)

[Scope of utility model registration request] In a hand for a laminated paper transfer device that grasps laminated paper placed at a predetermined position and transfers it to another position, a frame body connected to the laminated paper transfer device and a hand that reciprocates in a direction opposite to the frame body are used. a pair of movable plates that are movably attached; a gripping plate that is attached to each of the movable plates; A long support plate is mounted, the support plate being urged inwardly by a spring, and the gripping plate having a rod with a vertically inclined cam surface, the cam surface extending from the slope of the support plate. The rod is connected to a cylinder and can be raised and lowered, and when gripped, the cam surface rises and the support plate protrudes inward due to the force of the spring, causing the upper surface of the support plate to be rounded. The laminated paper is configured such that the laminated paper is received by a flat supporting surface, and when the paper is not gripped, the cam surface is lowered to a position where the support plate is retracted from the inner surface of the gripping plate including the rod. Hand for transfer device.