JPH0388624A - Transfer device for taking out article and its method - Google Patents

Abstract

PURPOSE: To remove out an object incapable of being gripped from above from a base even if the base plate is secured against slipping by tilting respective objects to be removed by taking the ridge line of the bottom on the opposite side to the free end surface, and removing them. CONSTITUTION: An operation head 16 is operated toward the free end surface of a box 18 to be removed from a pallet, a piston rod 21 is extended, and a sucker 23 is brought into contact with the box 18 and fixed through a connecting part 27 by suction. Next, a piston rod 35 of the previously extended operating cylinder 34 is retreated, and a tilting arm 20 is turned along a guide curved part 31 by taking the ridge line 30 of the bottom of the box 18. Since suction force is applied to the sucker 23 to be brought into contact with the box 18, the box 18 is simultaneously tilted by taking the ridge line 30 as the center, and a wedge-shaped clearance is formed between the bottom surface of the box 18 and a non-slipping part 25. Next, the rod 21 is extended, the box 18 is drawn onto a fork 24, the rod 35 is stretched to lower the arm 20, and the box is placed onto the fork 24.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a method for removing an object from a substrate, in particular a rectangular object, preferably a cardboard box, in particular an object from a bag formed of a plurality of identical objects. Regarding.

Furthermore, the present invention provides a method for removing an object from a substrate, in particular:
A conveying device, preferably a pallet removal device, for carrying out the method according to claim 1 is also claimed as an independent claim for this purpose.

Objects, especially rectangular objects such as cardboard boxes, are often stacked on pallets to form bags. To prevent the bags from slipping when stacked on pallets, inserts are often sandwiched between the bags, and the debris is stopped by the high coefficient of friction of the inserts, the so-called cleats.

This insert is used in particular when the objects to be stacked are cardboard boxes without a lid, ie with an open top, which replaces the lid of the cardboard box.

Problems arise when such stacked objects are mechanically removed from the substrate. Objects placed on a substrate are often removed from the substrate by grasping and lifting the object from above. However, this is not possible if the object cannot be grasped from above, such as a cardboard box without a lid, which is so unstable that it is impossible to grasp the edge of the box.

Particularly if a non-slip board is used to prevent cargo from collapsing, it may be difficult to push objects off the board.
Sometimes it's impossible.

Therefore, an object of the present invention is to provide a method that allows objects to be taken out from a substrate, especially objects that cannot be grasped from above, even when the substrate is made of a material with high frictional resistance to prevent slipping. That's true.

This object is achieved according to the invention by a method characterized in that the object to be removed is tilted about the bottom edge opposite its free end face as a fulcrum and then removed.

For example, objects that cannot be grasped from above and are relatively unstable, such as a cardboard box with an open mouth, can be easily removed from the top of the non-slip plate by using the method of the present invention. This is possible with the method of the present invention,
First, the object is tilted using the two sides, or ridge lines, of its bottom as fulcrums, and this allows it to grip the bottom of the box, or to reduce the adhesive area of the bottom, thereby reducing the frictional resistance when sliding. .

When tilted, the objects are only in contact with the objects on the outside of the bag with at least the 19 free end faces. For example, in the case of an open cardboard box, the instability is relatively small since it can be accessed from its sides and the box is tilted.

Tilting an object can be done in various ways; for example, by applying pressure above the height of the center of gravity of the object, one side can be raised and tilted.

This tilted object can also be removed in various ways, for example by grasping the bottom of the box or by sliding it.

Using the method of the invention, preferably the object is lifted as a whole at several points immediately after it has been tilted.

The tilting causes the object to be partially lifted and then e.g.
In order to transfer it to a conveying device, for example a conveyor, it can be lifted as a whole at the bottom or, via an intermediate movement, finally as a whole.

Before lifting, the object is preferably first held at its bottom. This is because even if the object is unstable, such as an open sign, it can be reliably raised by having a bottom.

Using the method of the invention, preferably the object is first tilted and then pulled out slightly from the substrate, regardless of whether the object is subsequently lifted.

The method of the invention further comprises a tilting device which is applied to the free end face of the object to tilt the object and fix it, preferably by suction. Since at least the outermost object of the bag has 19 free end surfaces that can be touched, it is always possible to apply the tilting device as described above, and by sequentially removing the outermost object, the entire bag can be removed. It can be processed.

As mentioned above, an object can be tilted by applying a horizontal pressure above the height of the center of gravity of the object or by applying a vertical lift force to the side of the object. Preferably, this tilting device pivots as a whole on an arc about one edge of the base of the object, preferably without any other moving elements, so that the object to be removed is rotated and tilted around the base. This allows the removal operation to be carried out extremely carefully.

Using the method of the invention, individual objects can be removed from the substrate, but it is also possible to remove a plurality of objects, preferably two objects, at the same time.

The conveyance device according to the invention comprises a tilting organ which can be applied to the free end face of the object to be removed, the area of which said organ can be applied to the object being movable by a vertical component; The invention is characterized by a take-out device that takes out the object from the substrate.

With this conveying device according to the invention, this tilting mechanism is applied to the free end face of the object to be removed and the object is tilted, even if this object is placed on a non-slip plate and the object itself is of an unstable structure. Even if it is an object, the object can be taken out in a simple form by a taking out device.

Preferably, this tilting mechanism pivots on an arc about the tilting edge of the bottom of the object opposite the free end face of the object, so that the object is first tilted slightly before it is moved in any other way. do.

Preferably, this pivoting of the tilting organ, in the case of the device according to the invention, comprises an arcuate pivoting guide for the tilting organ and a drive for moving the tilting organ along said pivoting guide, preferably in a reciprocating motion. The action is carried out by the cylinder. In this case, the tilting device is preferably constructed as a tilting arm, which arm is mounted in a pivot guide with guide curves extending on both sides of said arm. For example, this guide curve is a guide groove or a recess into which, for example, a bottle engages or a running roller runs.

A further feature of the conveying device according to the invention is that the suction organ has at least 19 suction cups in the part that is applied to the object, the suction cups being in the form of a simple suction cup, e.g. This suction cup, which is made of plastic, for example, and which is preferably connected to the pump via an air pipe and which can also be made of a rigid material, is switched on and off as required.

The conveying device according to the invention can have multiple tilting devices for multiple objects, preferably two tilting devices are provided next to each other so that multiple objects can be simultaneously removed in the same form.

In nineteen embodiments of the conveying device according to the invention, the tilting device itself is made as an ejection device, ie a separate ejection device is not required. In this case, the tilting device can be moved back and forth in the horizontal direction, preferably at right angles to the tilting edge of the object, by means of a double-acting action cylinder.

By using the tilting device in this way, the object to be removed can not only be tilted, but also completely or partially pulled or pushed down from the substrate in any direction. In this case, the object can also be rotated at right angles to the tilting edge.

This is also possible if a non-slip plate is used, which means that the object is no longer flat and touches the substrate only at its slanted corners, and this slanted object has no adhesive area against the substrate. This is because there is less frictional resistance.

The next feature of the invention provides a support surface for supporting the object to be removed. In this case, this support surface is preferably placed or can be placed below the tilting device so that it is approximately flush with the bottom of the object. Preferably, a tilting device allows objects to be drawn onto the support surface. However, this support surface can be part of a separate removal device, preferably by means of a working cylinder with double-acting action, allowing it to be moved back and forth under the tilted object.

Preferably, this support surface can be moved up and down as part of a tilting device. This may be because the support surface is a component of another extraction device such that the tilted object, the bottom of which is supported by this support surface, is lifted from the substrate, or the tilting device is a component of another extraction device such that the tilted object, the bottom of which is supported by this support surface, is lifted from the substrate. to the supporting surface, or
In either case, it is advantageous to further transport the removed object.

This support surface can be made in the form of a fork.

According to a further feature of the invention, the tilting organ and its support surface belong to the working head (16) of the conveying device, allowing this device to move uniformly and preferably as part of a robot. It can be assembled. This allows this conveying device to be used very resiliently and to be easily refitted with the working head according to the invention. In particular, the movement of the head allows the retrieved object to be freely transported in any shape and even to hard-to-reach places. For example, the removed object can be carried, rotated, slid, and placed at different heights, all of which are performed by the action head 1.
Achieved in 9.

In this connection, this feature can be used in reverse, using the retrieval device as a loading device and bagging the articles with the same care and precision as the retrieval.

For the maneuverability of the conveying device, the working head can preferably be pivoted about the axis of the vertical head. In nineteen embodiments of this device, a head is provided at the free end of the carrying arm, which articulates by preferably three vertical axes, including the head axis, and which enables this movement even in confined spaces. The working head can be used to transport objects from 19 locations to another within the working range of the transport arm.

Embodiment FIG. 1 is a plan view of a transport device in the form of a robot It according to the invention.

This carrying device has a carrying arm 12, which articulates by three vertical axes 13, 14, 15, the movement of which is indicated in the figure by double-headed arrows and dash-dot lines.

Among the shafts of this carrying arm 12, the head shaft 15 is
6 vertical pivot axes by means of which individual objects are removed from the pallet 17. The items placed on the barre throat are rectangular cardboard boxes L8 whose tops can be opened and are stacked on top of each other in groups. Inserts with high frictional resistance, so-called cleats, are placed between the stacks of this group.

The working head 16 removes the cardboard boxes 18 from the pallet L7 two at a time and transfers them to the conveyor belt 19.
It is lowered into the specified position above. Due to the articulation of the carrying arm 12, this carrying can be carried out within a limited range.

The working head 16 has two tilting devices constructed as tilting arms 20, each of which is provided for removing one cardboard box 18. The tilting arm has a piston rod 2L that moves in and out of a working cylinder 22 that performs double action.

A suction cup 23 is attached to the free end of the piston rod 21 of the tilting arm 20.
is provided, which is applied with a suction bow to the cardboard box I8 to be taken out and fixed thereto. Tilting arm 20
Beneath the working head 16 has a support surface made as a fork 24 onto which the cardboard box 18 to be removed is removed by retracting the piston rod 21 of the tilting arm 20.
is brought out.

In the following drawings, the same reference numerals are used for the same structural parts as in FIG. 1.

FIG. 2 shows a side view of the working head 16 of the conveying device in detail.

In FIG. 2, a cleat 25 is shown between the back 26 of the cardboard box 18. The anti-slip 25 is made of corrugated paper, and both sides thereof are coated with an anti-slip coating to prevent the cardboard box from slipping. The suction cup 23 of the working head 16 is made as a suction cup and the connection 27 to the air pipe
have. The piston rod 21 with the suction cup 23 attached thereto can move in and out in the direction of the double-headed arrow 28. The entire tilting arm 20 can pivot in the direction of the double-headed arrow 29 about the bottom ridge 30 opposite the side of the cardboard box 18 against which the suction cup 13 is applied. For this pivoting, the tilting arm 20 is guided in an arcuate guide curve. This guide curve 31 is the fourth part in the basic frame 32 of the working head 16. The running roller 33 of the tilting arm 20 runs within this guide curve section 31. Tilting arm 20
In order to move the line along the guide curve 31, a double-acting working cylinder 34 is provided in the base frame 32, one end of which is attached to the base frame 32 and the other free end acts on the tilting arm 20 in a joint motion.

This guide curve 31 is shaped exactly according to the length of the extended piston rod and the depth of the cardboard box 18 to be removed.
These are designed to extend in the radial direction centered on the bottom ridgeline 30 of the cardboard ff1L8 to be taken out.

FIG. 3 shows a cross-section of the working head 16 along line 1--2 in FIG.

This figure 3 shows the structure of the fork 24 and the basic frame 32.
The structure of the guide curve part 31 and the running roller 33 in the figure is clearly shown. This figure also shows two parallel tilting arms 2.
0 are shown connected to each other inside the base frame 32. As a feature, 2 along the guide curve section 31
Only one working cylinder 34 is provided for moving the two tilting arms 20.

FIG. 4 is a cross-sectional view of a portion of the working head 1B taken along line IV--IV in FIG.

This drawing gives an overview of the cross-sectional structure of the working cylinders 22 and 34, in which case the working cylinder 34 is completely retracted and the cardboard box 18 to be removed is tilted about the bottom edge 30. and the working cylinder 22 has been retracted halfway and the cardboard box 18 has been pulled halfway up the fork 24.

FIG. 5 shows the working head 16 seen along the line v-■ in FIG.
shows.

In this drawing, details of the structure of the guide curve 31 and the running roller 33 are shown, and the overall arrangement of the tilting arm 20 within the base frame 32 can be seen. The two tilting arms 20 are connected to each other via a transverse bar 36 to form a one-piece tilting arm, which is driven in pivoting by the working cylinder 34 .

In FIG. 5, the mounting of the head shaft 15 can be seen in position, which in this embodiment is shown as shaft 19, which is connected to the base frame 32 and thus to the working head 16. This is because the entire body can rotate via this shaft.

The transport device according to the invention operates as follows.

As shown in FIGS. 1 and 2, the working head 1B is moved towards the free end face of the cardboard box 18 to be removed from the pallet 17. The piston rod 21 of the piston 22 is extended so that the suction cup 23 rests against the free end face of the cardboard box 18 and is fixed to this side by suction via the connection 27 . Next, the working cylinder 34 is pre-extended.
The piston rod 35 is retracted, and the guide curve 31 is centered on the ridge line 30 at the bottom of the cardboard box 18 to be taken out.
The tilting arm 20 pivots along. Since a suction force is applied to the suction cup 23 that comes into contact with the cardboard box 18, the cardboard box is also tilted around the bottom ridgeline at the same time, and the gap between the model is created between the bottom of the cardboard box and the non-slip 25. It is formed.

As shown in FIG. 4, the piston rod 21 of the working cylinder 22 is then retracted and the cardboard box 18 is pulled onto the fork 24. As soon as the center of gravity of the cardboard box 18 rests on the fork 24, the inclination angle of the cardboard box 18 gradually decreases. When the piston rod 21 is retracted, the tilting arm is lowered by extending the piston rod 35 again. Now, the cardboard box 18 is attached to the fork 2.
placed on top of 4. The suction effect of the suction cups 23 can be shut off, but for safety reasons they can be transported down onto another substrate, for example the conveyor belt 19, while the suction continues.

The transport of the cardboard boxes 18 takes place by movement of the transport rod 16 via the transport arm 12, in particular by pivoting about the axis 15 of the head.

[Brief explanation of drawings]

1 is a plan view of a conveyance device according to the invention, FIG. 2 is a partial side view of the device of FIG. 1, FIG. 3 is a plan view along the line ■-■ in FIG. 2, and FIG. is the line IV- in FIG.
A side view taken along the TV, FIG. 5, is a side view taken along the line V-■ in FIG. 2.

Claims (23)

[Claims] (1) In the method of removing an object from a substrate, in particular a rectangular object, preferably a cardboard box, in particular an object from a pack formed of a plurality of objects of the same shape, each object to be removed is opposite to its free end face. A method for taking out an object, characterized in that the object is first tilted using the ridgeline at the bottom of the side as a fulcrum, and then taken out. (2) an object is tilted and then lifted as a whole;
2. A method according to claim 1, characterized in that: (3) the object is held at the bottom before being lifted;
3. A method according to claim 2, characterized in that: (4) After the object is tilted, it is first at least partially pulled out from the substrate.
The method described in any one of 3 to 3. 5. Method according to claim 1, characterized in that a tilting device for tilting the object is applied to the free end face of the object and is fixed, in particular by suction. 6. The method of claim 5, wherein the tilting device pivots as a whole on an arc centered on a tilting edge of the bottom of the object. (7) Claim 1 characterized in that a plurality of objects, preferably two objects arranged next to each other, are taken out at the same time.
6. The method according to any one of 6. (8) For taking out an object from a substrate, especially claim 1
In a conveying device for carrying out the described method, preferably from a pallet, the object to be removed (18
) that can be applied to the free end surface (20)
the area of application of the tilting device to the object (18) can be moved by means of a vertical component; and a retrieval device for removing the tilted object (18) from the substrate (25); A transportation device featuring: (9) The tilting device (20) can rotate on an arc centered on the tilting ridgeline (30) of the bottom of the object (18), and the tilting ridgeline of the bottom is the same as the free end surface of the object (18). 9. Device according to claim 8, characterized in that it is on opposite sides. (10) Arc-shaped turning guide (3) of the tilting device (20)
1), and the tilting device (20) is guided by the rotation guide (31).
9. Device according to claim 8, characterized in that it has a drive, in particular an actuating cylinder (34) with double-acting action, for movement along. (11) The tilting device is made as a tilting arm (20),
This arm (20) has a guiding curved portion (31) extending on both sides thereof.
9. Device according to claim 8, characterized in that it is mounted on the pivot guide (31) having a. (12) The tilting device (20) is an object (18)
12. Any one of claims 8 to 11, characterized in that it has at least one suction cup (23) in the area applied to the pump, which suction cup is preferably connected to the pump via an air pipe (27). The device described in one. (13) Multiple tilting devices for multiple objects (18)
13. Device according to any one of claims 8 to 12, characterized in that: 20), preferably two tilting devices (20) arranged next to each other. (14) The tilting device (20) itself is preferably double-acting, by being movable back and forth in the horizontal direction, preferably in a direction perpendicular to the tilting ridgeline of the object (18). 14. Device according to any one of claims 8 to 13, characterized in that it is constructed as a take-off device by means of a working cylinder (22) for movement. (15) Support surface (24) that supports the object (18) to be taken out
15. A device according to any one of claims 8 to 14, characterized in that: ). (16) The tilting mechanism (2) is arranged such that the support surface (24) is located approximately at the height of the substrate (25) of the object (18).
16. Device according to claim 15, characterized in that it is or can be placed at a sufficient distance under 0). 17. Device according to any one of claims 14 to 16, characterized in that the tilting device (20) is configured to draw the object (18) towards the support surface (24). (18) Said support surface (24) is part of the object (18) retrieval device and is preferably movable back and forth under the tilted object (18) by means of a working cylinder with double-acting action; Claim 8 characterized in that it is possible.
17. The device according to any one of 13 and 15 to 16. 19. Device according to any one of claims 15 to 18, characterized in that the support surface (24) can move up and down as part of a lifting mechanism. (20) Device according to any one of claims 15 to 19, characterized in that the support surface (24) is made in the form of a fork. (21) The tilting device (20) and its support surface (24)
belongs to the working head (16) of said conveying device, characterized in that said device is capable of uniform movement and is preferably assembled, preferably as part of a robot (11). 21. The device according to any one of paragraphs 15 to 20. (22) The working head (16) is connected to the vertical axis (1) of the head.
22. Device according to claim 21, characterized in that it is capable of pivoting around 5). (23) Said working head (16) is provided at the free end of the carrying arm (12), which arm, including its head axis (15), preferably has three vertical axes (13, 14, 15). 23. Device according to claim 22, characterized in that it is articulated.