JPH0420428A - Article transshipping device - Google Patents

Abstract

PURPOSE:To shift and turn a chuck horizontally by one driving mechanism by mounting a slide member and a holding mechanism on a support member which is mounted on a frame body reciprocating along a guide mechanism and connecting the slide member to a cam member along the guide mechanism. CONSTITUTION:A guide mechanism 2 is consisting of struts 3 and a guide shaft 4, and a frame body 5 fitted to the guide shaft 4 is reciprocated by a fluid cylinder 6. Two pairs of holding mechanisms 7 are rotatively mounted on the frame body 5, cam followers 23, (25) are provided above a support member 8 of the holding mechanisms 7, cam members 24, 25 with which the cam followers 23, (25) come in contact are fitted to the struts 3, 25 in the horizontal state. Cam surfaces 24a, 25a of the cam members 24, 25 are formed so that the support member 8 turns in the direction (V) when the support member 8 is shifted by the fluid cylinder 6 in the direction (U) together with the frame body 5, and then the support member 8 horizontally turns by 90 deg. when it is shifted to a predetermined transshipment position (B).

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention is a stacking device that allows articles to be stacked at a predetermined position by moving the holding R bucket in the horizontal direction while rotating the article at a predetermined angle. It is related to the device.

(Prior art) Articles such as trays on which weaving parts, electrical appliance parts, hat parts, bottles, etc. are placed, transported by a conveyor or chute, etc., are placed in a packaging box, a heat treatment device, Or, place it in a shaking device horizontally to the direction of conveyance.
When reloading with 0° rotation, use a reloading device with a chuck attached to the tip of an arm that moves up and down vertically and rotates horizontally, or a frame that moves horizontally. A reloading device is used in which a chuck is rotatably mounted.

(Problems to be Solved by the Invention) In the above-mentioned transshipment device, there are a drive 1fi for transporting the article to a predetermined position, a drive 1fi for rotating the article in a predetermined direction, and the like. In addition to requiring a control device such as the above, the structure is complicated, making machining, assembly, repair, and other operations difficult.

(Objective) The first object of the present invention is to be able to move the chuck in the horizontal direction and rotate it in the horizontal direction using one drive mechanism, thereby simplifying the configuration of the reloading device.

The second purpose is to enable loading and unloading of articles to be performed at the same time using a single reloading device.

A third purpose is to allow articles to be transshipped horizontally without the need for rotation at a predetermined angle.

(Means for Solving the Problems) In order to achieve the first object, the transloading device of the present invention has the following features:
A support member is rotatably attached to a frame that can reciprocate horizontally along the kite mechanism, and a sliding member and a gripping mechanism that can be raised and lowered are respectively attached to the support member, and the support member is attached to a frame body that can reciprocate horizontally along the kite mechanism. The sliding contact member is in contact with a cam member installed at the same time.

In order to achieve the second objective, the transshipment device of the present invention has the following features:
In order to achieve the third purpose, the pair of gripping mechanisms are rotatably mounted on the frame body at a predetermined interval. It is configured to be rotated.

(Example) The configuration of the article reloading device of the present invention will be explained based on the drawings.

The reloading device of the present invention includes a support member 8 rotatably mounted on a frame 5 that moves horizontally along the kite mechanism 2.
and a gripping mechanism 7 attached to the support member 8 so as to be able to move up and down, and the conveyor, rotor, etc.
The article 50 transported to the predetermined reloading position <A) is gripped by the gripper 117, and while the article 50 is moved horizontally along the kite a1112, the gripping mechanism 7 is moved horizontally by 90 degrees.
The container is rotated and transported to a predetermined reloading position (B) of a heat treatment device (not shown) or a shaking device for reloading.

The above-mentioned kite mechanism 2 includes a support 3 installed on the machine base 1,
The hook is constituted by a kite shaft 4 passed horizontally to the support 3. A frame 5 is fitted onto the kite shaft 4 and is reciprocated by a fluid cylinder 6, and two gripping mechanisms 7 are rotatably attached to the frame 5.

The details of the gripping mechanism 7 are as shown in FIGS.
10 is a support member rotatably attached to the support member 8, and 10 is a shaft body attached to the support member 8 by a bearing 11 so as to be movable in the vertical direction. A bracket 12 is integrally attached to the lower end of the shaft body 10. A fluid cylinder 13 is attached to the support member 8, and the end of the piston rod is connected to the bracket 12. When the piston rod moves in and out, the bracket 1'2 moves up and down in the vertical direction. As shown in FIGS. 3 and 4, 14.16 is a shaft mounted on the bracket 12 with a bearing so that it can move freely in the horizontal direction, and the end of the diagnostic shaft 14 has a claw 1.
5, the end of the shaft 16 is provided with a claw 17 that faces one direction.

A connecting plate 20 is screwed to the other end of the shaft 14, and a connecting plate 19 is screwed to the other 41 parts of the shaft 16. A fluid cylinder 18 is attached to one of the connecting plates, and a fluid cylinder 18 is attached to the connecting plate 20. The screws 1 and 1 are screwed at the ends of the rod, respectively.

Reference numeral 21 designates an elastic body such as synthetic rubber that is fitted onto the shaft body 14 so as to be located between the plaquettes 1 to 12 and the connecting plate 20;
Reference numeral 2 denotes an elastic body made of synthetic rubber or the like that is fitted onto the shaft body 16 so as to be located between the brackets 1 to 12 and one connecting plate. Therefore, when the fluid cylinder 18 operates and the piston rod protrudes, it is moved together with the connecting plate 20 in the direction of the shaft body 14 and the claw 15 (A), and when the connecting plate 20 comes into contact with the elastic body 21 and stops at that position. , the shaft body 16 and the claw 17 are moved together with the connecting plate 19 in the (b) direction, and one connecting plate is moved to the elastic body 22.
The claws come into contact with and stop at that position, and the claws are opened so that the article 50 can be grasped. Contrary to the above, when the piston rod is retracted, the shaft body 14 together with the connecting plate 20
When the claw 15 is moved in the (B) direction and the end of the claw 15 comes into contact with the bracket 12 and stops at that position, the shaft 16 and the claw 17 are moved together with one connecting plate (A). direction, and the end of the claw 15 is attached to the bracket 12.
It comes into contact with and stops in that position, and the claws are in a closed state.

The above-mentioned gripping mechanisms 7 can each be operated independently, and in the same reloading position, the claws 15 of one of the gripping mechanisms
．． 17 in the open state, the claw 15 of the other gripper 'Js7
．． 17 can be placed in a closed state.

Therefore, at the same reloading position, the gripping operation of the article 50 and the release operation of the gripped article 50 can be performed simultaneously.

A cam follower 23 is attached to the upper surface of the support member 8 of the grip a ellipse 7, and is arranged at a predetermined interval so as to be located on the same axis as the claws 15 and 17.

Reference numeral 24 denotes a first cam member that is horizontally attached to the support column 26, and is brought into contact with the cam follower 23 attached to the support member 8 on one side 7 of the grip R.

25 is a second cam member attached to the support column 3 in a horizontal state, and is housed in the support member 8 of the other gripping mechanism 7.
The cam follower 23, which is curved, comes into contact with the cam follower 23.

Instead of the cam follower 23 described above, a structure in which a bearing link is not attached to the shaft body, or a sliding contact member such as a synthetic resin piece integrally attached to the support member 8 can be used.

The above-mentioned first cam member 24 and second cam member 25 are arranged so that the support member 8 and the frame body 5 are
As shown in the figure, when the support member 8 moves in the (C) direction, the support member 8 rotates in the (A) direction, and when it moves to the predetermined reloading position (B), the support member 8 rotates 90 degrees in the horizontal direction. The cam surfaces 24a and 25a that the cam follower 23 comes into contact with so as to
is formed.

That is, from the rotation axis of the support member 8 to the cam surfaces 24a, 2
l up to 5a? It is formed so that the g distance gradually decreases.

As shown in FIG. 2, 27 is an actuating piece that is attached to protrude in the moving direction (D) of the frame 5, and 28 is an actuating piece that is attached to protrude in the moving direction (C). It is. Two are detectors attached to pillar 3;
30 is a detector attached to the kite shaft 4. The above-mentioned frame 5 moves and the actuating pieces 27 and 28 activate the detector 2.
When 9.30 is activated, the operation of the fluid cylinder 6 is stopped and the movement range of the frame 5 is controlled.

A detection piece 31 is vertically movably attached to the bracket 12, and an actuation piece 32 is integrally attached to the upper end. 33 is the bracket lift 12 and the detection piece 31
A spring is installed between the detection pieces 31 and constantly presses the detection piece 31 downward. 34 is a detector attached to the bracket 12, and when the fluid cylinder 13 is activated and the bracket 12 is lowered and the article 50 is at a predetermined reloading position, the detection piece 31 comes into contact and stops at that position, and the bracket 12 When lowered to a predetermined position, the detector 34 is actuated by the actuating piece 32 to detect the presence of the article 50, and the fluid cylinder 18 is actuated to perform a gripping operation for the article 50. Then, the fluid cylinder 13 is operated to retract the screws 1 to 1 and the rods, and the bracket 12 is returned to the standby position. In addition, if the preset number of articles 50 has not been transported to the transshipment position (A), an alarm or the like (not shown) is activated to notify the operator, or the transshipment device is stopped. .

The operation of the fluid cylinders 6.13.18 described above is controlled by a control device (not shown) such as a microcomputer.

When transshipping the articles 50 using the above-mentioned transshipment device, the order of transshipment operations of the articles, the operating timing of the fluid cylinders 6, 13, 18, etc. are set and input in advance to a control device (not shown).

Further, a predetermined number of articles 50 are placed on a supply unit such as a loader. Once these preparations are complete, the control device (not shown)
Activate. Then, when the loader (not shown) is activated and the articles 50 are pushed out one by one and transported to a predetermined reloading position (A), the fluid cylinder 13 on the loading operation side is activated and the piston rod protrudes. , the pawls 15.17 are lowered together with the bracket 12. The bracket 12
is lowered to a predetermined position, and the detector 3 is detected by the detection piece 31.
4 is activated, the fluid cylinder 18 is activated, the piston rod is retracted, and the shaft body 14 and pawl 1 are connected together with the connecting plate 20.
5 in the (b) direction, then the shaft body 16 together with the connecting plate 19
and the claw 17 moves in the direction (A), and the article 50 is moved to the claw 15.1.
7. Then, the fluid cylinder 13 is actuated, the piston rod is retracted, and together with the bracket 12, the article 50 gripped by the claws 15, 17 is raised to the standby position.

On the other hand, in the other gripper 7, the fluid cylinder 13 and the like are not operated, the bracket 12 is in a standby position, the piston rod of the fluid cylinder 18 is protruding, and the claws 15 and 17 are in an open state.

When the article 50 is gripped by the above-described operation, the fluid cylinder 6 is actuated to move the frame 5 in the direction (C) in FIG. 2, and the cam follower 23 comes into contact with the cam surface 24a of the first cam member 24. Move while rotating. At this time, the distance from the cam surface 24a or the rotation axis of the support member 8 to the cam surface 24at gradually decreases, and since it is formed in a state parallel to the kite shaft 4 from a predetermined position, the frame 5 moves. Accordingly, the support member 8 rotates in the (toward) direction.

When the support member 8 moves to a predetermined position and the pair of cam followers 23 abut against the cam surface 23a, the support member 8
is rotated 90° horizontally. Then, the frame body 5 continues to move, and the actuating piece 27 causes the detector 30 to move.
When activated, the fluid cylinder 6 is activated and the frame 5 is immediately stopped at that position. Then, the fluid cylinder 13
is actuated, the piston rod protrudes, and when the article 50 held by the claws 15 and 17 together with the bracket 12 is lowered to a predetermined position U (B) in a heat treatment equipment (not shown) or in a shaking treatment equipment, the fluid is released. When the cylinder 18 operates, the screws 1 to 1 and the rods protrude, and together with the connecting plate 20, the shaft 1
4 and the claw 15 are moved in the (a) direction, and then the shaft body 16 and the claw 17 together with one connecting plate are moved in the (b) direction to release the grip on the article 50. and nail 15.17 from article 50
When released, the fluid cylinder 13 is actuated, the piston rod is retracted, and the claws 15 and 17 are returned to the standby position together with the bracket 12. Then, the fluid cylinder 6 is activated, and the gripping mechanism 7 is returned to the reloading position (A) together with the frame 5, and the next article 50 is gripped.

On the other hand, while the above-mentioned gripping mechanism is returning to the reloading position (A>), the article 50 loaded in the heat treatment apparatus (not shown) or the shaking apparatus is
etc. are operated to convey it to the take-out position (B'). Then, the sequentially loaded articles 50 are conveyed by the pusher mechanism until they come into contact with the previous article 50, and when a preset number of articles 50 are set at a predetermined position,
Heat treatment or shaking treatment is performed.

After the above-described heat treatment or shaking treatment is completed, the treated article 50 is taken out and the article 50 to be treated is loaded. The loading operation of the article 50 in this operation is the same as described above.

At the same time, the grip R side 7 fluid cylinder 13 force of the loading operation f1711 is activated and the article 50 is lowered, and at the same time, the grip I of the other unloading operation side! The fluid cylinder 13 on the side 7 is operated, the screws 1 to 1 are protruded, and the claws 15 and 17 are lowered together with the bracket 12.

Then, the same operation as the gripping operation of the article 50 at the above-mentioned stacking position (A) is performed to grip the processed article 50. Then, the fluid cylinder 13 is actuated, and the article 50 gripped by the claws I5.17 is raised together with the brackets I to 12 to the standby position.

When the brackets 12 on the loading operation side and the unloading operation side return to the standby position due to the above-mentioned operations, the fluid cylinder 6 is activated and the support member 8 moves in the (d) direction together with the frame 5, and the frame 5 is moved to a predetermined position. When the support member 8 is moved to the position
rotates 90 degrees horizontally and returns to its original position. Then, the detector 29 is activated by the actuating piece 27, and the fluid cylinder 6 is immediately stopped, and the gripping mechanism 7 on the loading operation side is placed in the reloading position (A), and the gripping mechanism 7 on the unloading operation side is placed in the reloading position (A'). Stop at. Then, an operation for releasing the processed article 50 and an operation for grasping the article 50 to be processed are performed.

By repeating the above-described operations, the reloading operation of the article 50 to be processed and the treated article 50 is performed at the same time.

In the embodiment described above, the article 50 is rotated 90 degrees horizontally, but the angle of rotation can be changed by changing the cam surfaces 24a, 25a of the cam members 24,25.

(Effects of the Invention) The article reloading device of the first claim has a support member rotatably attached to a frame that can reciprocate in the horizontal direction along the side of the guide R, and the support member has a sliding member that can be moved up and down. Since the sliding member is in contact with a cam member installed along the guide mechanism, the chuck can be moved horizontally by a single drive mechanism, and the chuck can be moved horizontally by a single drive mechanism. It can be rotated and the configuration of the reloading device can be simplified.

In the second article reloading device, since the pair of gripping mechanisms are rotatably attached to the frame body at a predetermined interval, the single reloading device can perform the loading operation and the unloading operation of the articles at the same time. be able to.

The article reloading device according to claim 3 is configured to be rotated in the horizontal direction while moving from one gripping position to the other gripping position, so that the article can be rotated by a predetermined angle in the horizontal direction. It can be reloaded in the same condition.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing one embodiment of the article reloading device of the present invention. FIG. 2 is a plan view of FIG. 1. FIG. 3 is a Z-Z arrow view of FIG. 2. FIG. 4 is a view taken along the Y arrow in FIG. l Two machines, 2: Guide mechanism, 3, 25: Strut, 4: Guide shaft, 5: Frame, 6, 13.18: Fluid cylinder 7.
7: Gripping mechanism, 8: Support member, 10.14.16: Shaft body, 12. Bracket, 1.5.17: Claw, 19,20:
Connection plate, 2122: Elastic body, 23: Cam follower, 24
:First cam member, 25:Second cam member, 27.2832
゛Action piece, 29, 30, 34: Detector, 31: Detection c, 33 spring,

Claims (1)

[Claims] 1) A support member is rotatably mounted on a frame that can reciprocate horizontally along a guide mechanism, and a sliding member and a gripping mechanism that can be raised and lowered are respectively mounted on the support member. At the same time, the article reloading device is characterized in that the sliding member is brought into contact with a cam member installed along the guide mechanism. 2) The article reloading device according to claim 1, wherein the pair of gripping mechanisms are rotatably mounted on the frame body at a predetermined interval. 3) The article reloading device according to claim 1, wherein the gripping mechanism is configured to be rotated in a horizontal direction while moving from one gripping position to the other gripping position.