JPH05319598A - Storage carrying-out device of plate member and method thereof - Google Patents

Abstract

PURPOSE:To provide a storage carrying-out device of plate member, which can continuously and surely carry plate member out one by one. CONSTITUTION:A storage carrying-out device of plate member is provided with an approximately vertical wall surface 112 on which a plate member A is leaned obliquely, a storage carrier means 120, by which the plate member A is stored and retained while it is leaned obliquely on the wall surface 112, to carry it to the side of the wall surface 112, and a carrier means (carrier jaw) 150 for carrying a plate member closest to the wall surface side separated by separating means 140, 141, along the wall surface 112 out to a next working process. A leaning force alleviating means 200 is also provided, which is brought from below into a gap between the plate member closest to the wall surface and the plate member second closest to the wall surface, to hold the plate member second closest to the wall surface, and by which the leaning force of the plate member second closest to the wall surface 112 is alleviated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate-shaped member carrying-out apparatus and a carrying-out method for temporarily carrying out a plurality of supplied plate-shaped members and carrying them out one by one to the next step.

[0002]

2. Description of the Related Art Heretofore, as a storage and unloading device for this kind of plate-shaped member, there has been known a device for storing and holding a plurality of plate-shaped members in a vertically stacked state and carrying them out one by one to the next step. , Some are sequentially carried out from the upper side, and some are sequentially carried out from the lower side. However, the one that is sequentially carried out from the upper side must be carried out after all the stored plate-shaped members have been carried out.
There is a drawback that the plate-shaped member cannot be replenished anew and the plate-shaped member is unloaded intermittently. Therefore, when it is necessary to continuously carry out the plate-shaped member,
The ones that are carried out sequentially from the bottom are used.

[0003]

However, in a plate-shaped member storage / removal device for sequentially carrying out plate-shaped members from the lower side, the weight of the upper-side plate-shaped member is added to the lowest plate-shaped member to be carried out. Since it takes a lot of time, it is difficult to carry out the plate member, and when carrying it out, the plate member is damaged, and in the case of a plate member such as corrugated cardboard, it depends on the weight of the upper plate member. There was a problem that the corrugated corrugated plate was crushed. Therefore, a device for holding the upper plate-shaped member has been developed, but a device capable of sequentially moving the plate-shaped member to the lower side while surely holding the upper plate-shaped member is still being developed. The reality is that there is none. Therefore, there is a problem in that the plate-shaped member cannot be continuously and reliably carried out.

The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a plate-shaped member storage / removal device that can continuously and reliably carry out plate-shaped members. It is in.

[0005]

In order to achieve the above object, the present invention relates to a substantially vertical wall surface on which a plate member is leaned diagonally, and a storage and holding state in which the plate member leans diagonally on the wall surface. In addition, the storage transport means for transporting to the wall surface side and the outermost wall surface side plate-like member provided on the wall surface side and located on the most wall surface side are drawn to the wall surface side to be substantially vertical, whereby the outermost wall surface side plate member And a quasi wall surface side plate member adjacent to the outermost wall surface side plate member, and a separation means for separating the outermost wall surface side plate member from the quasi wall surface side plate member by the clearance, and the separation means. Is a plate-shaped member storage and unloading device that carries out the outermost wall surface side plate-shaped member to the next step along the wall surface, and between the outermost wall surface side plate-shaped member and the quasi wall surface side plate-shaped member. Intrudes into the gap from below And holding the semi-wall plate shaped member, quasi wall plate shaped member is characterized in that a YadorikiKake force relieving means for relieving a force rests against the wall surface.

[0006]

In the invention configured as described above, the plate-shaped members are horizontally arranged and stored in a standing state, and the stored plate-shaped members are sequentially moved to the wall surface side to form the plate-shaped members on the wall surface side. The members, that is, the plate-like members on the outermost wall surface side, are made substantially vertical one by one and carried out to the next step. Then, at the time of unloading, the leaning force relaxing means is caused to enter the gap formed between the outermost wall surface side plate-like member and the quasi wall surface side plate-like member to hold the quasi wall surface side plate-like member,
The quasi wall surface side plate member relaxes the force leaning against the outermost wall surface side plate member. Therefore, the outermost wall side plate member can be smoothly carried out to the next step. Therefore, the plate-shaped members can be reliably carried out one by one to the next process without damaging them. Moreover, since only the force leaning obliquely acts on the plate-shaped member, the corrugate of the plate-shaped member such as corrugated cardboard is not crushed.

When the storage amount of the plate-shaped member decreases, the plate-shaped member is newly replenished by leaning against the existing plate-shaped member. As a result, the plate-shaped members can be sequentially carried out while being replenished. That is,
The plate member can be continuously carried out to the next step.

Further, when replenishing the plate-like members, the plate-like members are arranged in a standing state in a horizontal direction so that they are replenished, for example, the plate-like members which are vertically stacked are sequentially arranged from the lower side. In the conventional case of carrying out, the plate-shaped member is replenished by carrying it to a high position and then feeding it, but it is extremely laborious to carry the plate-shaped member to a high position and load it. The plate-shaped member can be easily replenished without the need for the work requiring the work.

Moreover, in the conventional case, the dust attached to the plate member scatters due to the impact of dropping when the plate member is thrown in, but since it is not necessary to throw in the plate member, dust may also scatter. Absent. Further, since the plate-shaped members are horizontally arranged and stored in an upright state, it is possible to randomly store the plate-shaped members having different sizes, and to carry out the plate-shaped member of a size desired to be carried out earlier. It is possible to make an interruption between the plate-shaped members at the positions and take out the plate-shaped members that are no longer needed.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

In FIGS. 1 to 4, reference numeral 1 denotes a plate-shaped member storage / unloading device which stores the plate-shaped member A and sequentially carries out the plate-shaped member A to the next step Y. , The wall 110 is provided, and the wall 1
A storage / conveyance unit 120 that stores and conveys the plate-shaped member A toward 10 is provided. The plate-shaped member A is a corrugated plate-shaped body having a box shape when assembled, and is formed by bending the left and right side edges and stacking two sheets.

As shown in FIG. 1, the wall body 110 has a skeleton composed of a wall portion frame 111. The wall portion frame 111 has a flat wall surface 112 obtained by smoothly polishing the surface of a stainless plate. Mounted vertically. Further, the storage / conveyance means 120 uses the bed frame 12
The bed frame 121 is provided with three belt conveyors 122 that extend horizontally in a direction orthogonal to the wall surface 112. The belt conveyor 122 is formed by winding a conveyor belt 124 around each of three drive rollers 123 connected to the same drive shaft.

The drive rollers 123 are located below the wall surface 112 and are arranged in parallel with the wall surface 112. The conveyor belts 124 are held so that their conveyor surfaces 124a extend in the horizontal direction. There is. Then, the transport surface 124
The surface of a is formed of a material having a large friction coefficient such as rubber.

The bed frame 121 is provided with a guide bar 125 on the side of the next process Y side. The guide bar 125 has a guide surface 125 a extending parallel to the conveyance direction of the belt conveyor 122.
By a, the side edges on the next process Y side of the plurality of plate-shaped members A leaning against the wall surface 112 and stored on the belt conveyor 122 are aligned.

Further, as shown in FIGS. 1 and 2, below the wall surface 112, from the position directly below the wall surface 112, the respective conveyor belts 12 are wound around the respective drive rollers 123.
A flat plate 130 is provided which is close to the surface of No. 4 and extends horizontally in the Y direction of the next step. The flat plate 130 is formed of a stainless steel plate having one surface serving as an upper surface smoothly polished, and the wall surface 1 is located directly below the wall surface 112.
A guide side surface 131 flush with 12 is provided. Also,
On the flat plate 130, at a position corresponding to the gap between the drive rollers 123, the concave groove 13 having a width substantially equal to the gap is formed.
2 is formed.

Then, the second groove 132 from the next process Y side
As shown in FIG. 2 and FIG.
Tip position detection sensor 13 that detects the plate-shaped member A1 on the second side
3 is provided. This tip position detection sensor 133
Is provided close to the end surface of the drive roller 123 on the most next process Y side so as not to interfere with the movement of the plate-like claw 220 described later. As shown in FIG. 3, the tip position detection sensor 133 is capable of moving its installation position in a direction in which it comes in contact with and separates from the wall surface 112, and is the most wall surface side plate member immediately before the transfer belt 124 is transferred to the flat plate 130. A1 is detected and a signal for stopping the belt conveyor 122 is issued.

At this time, the outermost wall surface side plate member A1 is held in a state where the edge portion of the lower surface on the side opposite to the wall surface 112 is in contact with the conveyor belt 124, whereby the lower surface is flat plate 13.
It is slightly floating above 0. As shown in FIGS. 1 to 3, the outermost wall-side plate-shaped member A1 is drawn toward the wall surface 112 by a first suction cup (separation means, adsorption means) 140 and a second suction cup (separation means) 141. It has become.

The first suction cup 140 and the second suction cup 141
Is normally the space 11 between the wall surface 112 and the flat plate 130.
3 is located inside the wall surface 112, and when the outermost wall side plate member A1 is pulled toward the wall surface 112,
The wall surface side plate-like member A1 protruding outward from the space 113
The outermost wall-side plate-shaped member A1 is attracted to the wall surface 112 side when it is adsorbed to the surface of the plate and returns to the space 113 again.

The first suction cup 140 is the guide bar 1
It is located on the side of 25 and is fixed in the direction along the wall surface 112. The second suction cup 141 is attached to a carry-out claw (carry-out means) 150 described later, and moves together with the carry-out claw 150. However, the second suction cup 141 has the elastic member 14 on the carry-out claw 150.
2 (see FIG. 3), and the wall surface 112 is attached to the carry-out claw 150 within the elastic range of the elastic member 142.
Can be relatively moved in the width direction (that is, the direction of carrying out to the next process Y).

The carry-out claw 150 is carried out by pushing the most wall surface side plate-shaped member A1 toward the next process Y side while sliding on the flat plate 130, and is flush with the wall surface 112 in the space 113. The exposed palm portion 150a and this palm portion 1
It is formed of a claw portion 150b having a U-shaped cross section that protrudes from the side edge of the opposite side of 50a and bends so as to hold the side edge portion of the plate member A1 on the outermost wall surface side. This carry-out claw 150
Are attached to the linear bearing 151 and the ball screw 152 via the palm portion 150a.

The linear bearing 151 has a carry-out pawl 150.
Is guided movably in the width direction of the wall surface 112, and the ball screw 152 rotates the screw rod 153 to rotate the carry-out pawl 150 and the linear bearing 151.
It is designed to move in a straight line along. The screw rod 153 is adapted to be driven by a servo motor 154, and the servo motor 154 uses the absolute encoder 1 for determining the position of the carry-out pawl 150 on the screw rod 153 from the rotation angle of the screw rod 153.
55 is provided.

This absolute encoder 155 is
The position of a side edge detection sensor (side edge detection means) 156, which will be described later, provided on the carry-out claw 150 is located at the guide surface 12 of the guide bar 125.
5A is set as a zero point, and the length from the guide surface 125a to the side edge detection sensor 156 can be constantly measured. Therefore, if the side edge detection sensor 156 detects the position of the side edge of the plate-shaped member A in the opposite unloading direction, the value of the absolute encoder 155 at that time corresponds to the width of the plate-shaped member A. That is, by the side edge detection sensor 156, the ball screw 152, the servo motor 154 and the absolute encoder 155,
The width dimension detecting means of the plate member A1 is configured.

As shown in FIG. 8, the side edge detecting sensor 156 is provided at the tip of the rod of the side edge detecting air cylinder 157 attached to the back side of the claw portion 150b.
This side edge detection sensor 156 carries out the outermost wall surface side plate member A1 pulled to the wall surface 112 side by the carry-out claw 150,
When returning to the carry-out start position again, the next most wall surface side plate member A
The side edge on the side opposite to the unloading side of No. 1 is detected. In the side edge detecting air cylinder 157, when the rod is extended, the side edge detecting sensor 156 is brought close to the outermost wall surface side plate member A1, and the side edge detecting sensor 156 causes the thickness of the outermost wall surface side plate member A1. It is designed to detect changes.

That is, the side edge detecting air cylinder 157.
The side edge detection sensor 156 by extending the rod of
The light emitted from the side edge detection sensor 156 is reflected by the outermost wall side plate-like member A1 and returns even when the outermost wall side plate-like member A1 may be separated by about ½ of its thickness. It is designed to catch Therefore, even when the width of the quasi wall surface side plate member A2 adjacent to the wall surface side plate member A1 is wider than the width of the wall surface side plate member A1, the side edge detection sensor 156 detects the side edge of the wall surface side plate member A1. Can be detected. In addition, the palm part 150a includes
A side edge holding sensor 158 for detecting that the side edge of the plate member A is held by the claw portion 150b is provided.

Further, below the flat plate 130, a leaning force alleviating means 200 for alleviating the leaning force of the plate member A toward the wall surface 112 is provided. Leaning force relaxing means 200
As shown in FIG. 3, the swing frame 2 is swingably provided on the upper beam 114 located immediately below the wall surface 112.
10 and the flat plate 13 provided on the swing frame 210.
And a plate-like claw 220 protruding upward from each groove 132 of 0.

The swing frame 210 is shown in FIGS. 3, 5, and 9.
As shown in FIG. 10, three basic columns 211 extending in the vertical direction, a first connecting beam 212 connecting the lower ends of the respective basic columns 211, and the vicinity of the lower ends of the respective basic columns 211 are provided. It has the 2nd connection beam 213 connected. Each of the basic columns 211 is provided with a rail 214 that guides the plate-shaped claw 220 in the vertical direction. As shown in FIGS. 3 and 9, in the swing frame 210, the upper part of the central column 211 is connected to the upper bracket 115 provided on the upper beam 114 via a pin 215. In addition, the lower part of the central basic pillar 211 is shown in FIGS.
As shown in 0, it is connected to the rod of the rocking cylinder 116. The swing cylinder 116 is configured by an air cylinder, and is rotatably provided via a pin 119 to a lower bracket 118 provided on a lower beam 117 located below the upper beam 114.

The plate-like claws 220 provided on each of the basic columns 211 are integrally formed by a connecting member 221, and the tip ends of the plate-like claws 220 are, as shown in FIG. 3 and FIG. A slanted notch surface 220 on the surface facing away from the wall surface 112
a is formed. Each plate-shaped claw 2 is provided on the notch surface 220a.
A pressing member 230 that presses the plate-shaped member A from below when the 20 is projected upward from the flat plate 130 is provided.

As shown in FIGS. 6 and 7, the pressing member 230 is provided with a horizontally oriented pin 231 provided at the vertical center of the notch surface 220a, and is rotatable about the pin 231. The pressing plate 232 is provided, and a torsion coil spring 233 is provided to urge the pressing plate 232 so that its tip end contacts the tip end of the notch surface 220a. The pressing plate 232 is formed of a stainless polishing plate, has a vertically long rectangular flat plate surface 232a along the cutout surface 220a, and is curved in a circular arc shape from the peripheral edge of the flat plate surface 232a. The peripheral surface portion 232b is formed so as to surround the peripheral portion of the surface 220a.

Further, as shown in FIGS. 3 and 5, the swing frame 210 is provided with an elevating cylinder 240 for elevating the plate-like claw 220 along the rail 214. The elevating cylinder 240 is composed of a rodless air cylinder, and the external moving body 241 moves in association with the piston in the cylinder.

The external moving body 241 has an upper stopper 242.
Also, the stroke is limited by the lower stopper 243, and the plate-shaped pawl 220 located at the center is connected to the external moving body 241. The lower end of the elevating cylinder 240 is held by the lower end holding bracket 216 provided on the first connecting beam 212, and the upper peripheral surface of the elevating cylinder 240 is held by the peripheral surface holding bracket 217 that is stretched over the left and right basic columns 211. ing.

Further, as shown in FIG. 1, the wall surface 112 is provided with a vertically long image sensor (height dimension detecting means) 160 for detecting the height of the plate member A1 on the outermost wall surface side, and at random. When the short plate-like member A among the plate-like members A having the height becomes the wall surface side plate member A1, the inclination of the short wall surface plate member A1 is changed to the tall plate member A. Inclination adjusting means 170 is provided to match the inclination of. In the inclination adjusting means 170, the image sensor 160 is configured such that the plate member A1 closest to the wall surface is particularly short and that the plate member A behind this plate member A is in contact with the wall surface 112. When detected by
The rod 171 is projected so that the most wall surface side plate-shaped member A1 is aligned with the inclination of the rear tall plate-shaped member A.

However, the inclination adjusting means 170 is constituted by an air cylinder, and a small amount of the plate-shaped member A is used.
Since only a very small thrust for adjusting the inclination of the corrugated board is generated, the corrugated board-shaped member A is not damaged. Further, the inclination adjusting means 170 uses the first and second suction cups 140 and 141 to move the plate member A to the wall surface 112.
When pulled to the side, the rod 171 is stored in the wall surface 112.

Next, the operation of the above configuration will be described.

In the plate-shaped member storage and unloading device 1 configured as described above, the plate-shaped member A is attached to the substantially vertical wall surface 112.
The wall 112 is stored while leaning against
After being moved to the side of the wall surface 112, the one closest to the wall surface 112 side is sequentially drawn toward the wall surface 112 side to be separated, and then carried out to the next step Y along the wall surface 112. This procedure is shown in FIGS.
Will be described in detail with reference to.

First, a plurality of plate-shaped members A are placed on the storage / conveying means 120 so as to lean against the wall surface 112 at an angle. At this time, the plate-shaped members A having different dimensions may be randomly supplied. However, the side edge of the plate-shaped member A on the carry-out side is brought into contact with the guide surface 125a of the guide bar 125 to align the side edge of the plate-shaped member A on the carry-out side.

Then, as shown in step SP1 of FIG. 11, the belt conveyor 122 is activated to convey the entire plate member A to the wall surface 112 side. Then, the lower surface of the plate member A1 closest to the wall surface moves to the wall surface 112 side, and the lower surface is detected by the tip position detection sensor 133. In step SP2, it is determined whether or not the tip position detection sensor 133 has detected the lower surface of the wall surface side plate-shaped member A1. If it is determined that the detection has been performed, the process proceeds to step SP3, and the belt conveyor 122 is stopped.

The outermost wall side plate member A1 at this time is shown in FIG.
As shown in FIG. 7, the edge of the lower surface on the side opposite to the wall surface 112 is held in contact with the conveyor belt 124, and the lower surface thereof has the flat plate 130.
It is slightly floating above. At this time, the position of the upper edge of the plate-shaped member A which is in contact with the wall surface 112 is
The image sensor 160 detects by scanning from below. Thereby, when it is recognized that the plate-shaped member A1 on the outermost wall surface has a particularly short height and the plate-shaped member A is taller on the rear side, the rod 171 is protruded from the tilt adjusting means 170 to move the plate-shaped member A1 on the rearmost surface to the rear side. Then, the inclination of the plate-shaped member A1 on the outermost wall surface side is adjusted to the inclination of the tall plate-shaped member A, and then the process proceeds to step SP4.

If it cannot be recognized that the tall plate-shaped member A is located behind the outermost wall-side plate-shaped member A1, the rod 171 is not pushed out and step SP4 is performed.
Proceed to. In step SP4, the first and second suction cups 14
0 and 141 project from the space 113 and are adsorbed to the surface of the most wall surface side plate-shaped member A1, and the plate-shaped member A1 is attached to the wall surface 112.
Pull to the side. Then, the outermost wall surface side plate-shaped member A1 comes into contact with the wall surface 112 and the guide side surface 131 to be verticalized, and a triangular gap is formed between the adjacent wall surface side plate-shaped member A2. At this time, the height of the outermost wall side plate-shaped member A1 is measured again by the image sensor 160, and this height dimension is stored in the control device (not shown). As a result, the accurate height of the wall surface side plate member A1 is recorded.

Then, the process proceeds to step SP5 and the carry-out claw 1
50 in the carrying-out direction to the next process Y side, and
The side edge of the outermost wall side plate member A1 is held by b. At this time, the first and second suction cups 140 and 141 are connected to the plate member A1.
Since the pick-up claw 150 continues to attract the elastic member 14,
It moves against the elastic force of 2, and the claw portion 150b holds the side edge portion of the outermost wall side plate member A1. Then, in step SP6, it is determined whether or not the side edge holding sensor 158 has detected the side edge of the outermost wall surface side plate-shaped member A1, and if so, the first and second suction cups 140, 141 are detected.
After stopping the suction of No. 7, the process proceeds to Step 7 of FIG.

At step SP7, the lifting cylinder 240
Is activated to raise the plate-like claw 220. Then,
The plate-shaped claw 220 is arranged along the inner surface of the quasi wall surface side plate-shaped member A2.
Goes up. Then, the flat plate surface 232 of the pressing plate 232.
When the upper end of a reaches a position slightly higher than 1/2 of the height of the quasi wall surface side plate member A2, the lifting cylinder 240 is stopped and the plate claw 220 is held at that position.

Then, as shown in step SP8, when the rod of the swing cylinder 116 is contracted, the swing frame 2
The entire 10 swings around the pin 215, and the pressing plate 2
32 moves to the quasi wall surface side plate member A2 side. Then, the pressing plate 232 rotates about the pin 231 and
The entire flat plate surface 232a of the pressing plate member A232 comes into close contact with the quasi wall surface side plate member A2 and presses the quasi wall surface side plate member A2 toward the side opposite the wall surface 112. As a result, the upper end portion of the quasi wall surface side plate member A2 is slightly separated from the outermost wall surface side plate member A1.

In this state, the outermost wall side plate member A1 is on standby until the time when it is carried out to the next step Y. Then, when the time comes to carry out to the next process Y, the carry-out pawl 150 is moved in the carry-out direction to the next process Y as shown in step SP9, and the most wall surface side plate-shaped member A1 is carried to the next process Y. After carrying out, as shown in step SP10, the rod of the swing cylinder 116 is extended, the pressing member 230 is moved to the wall surface 112 side, and the pressing plate 232 is separated from the quasi wall surface side plate member A2, and then to step SP11. As shown, the lifting cylinder 2
40 is activated to lower the plate-like claw 220.

Then, as shown in step SP12, the belt conveyor 122 is activated to move the plate member A to the wall surface 112 side. Then, as shown in step SP13, when the front end position detection sensor 133 detects the quasi wall surface side plate-shaped member A2, the process proceeds to step SP14 and the belt conveyor 122 is stopped. As a result, the plate member A, which has been the quasi wall surface side plate member A2 until now, becomes the outermost wall surface side plate member A1.

Next, as shown in step SP15 of FIG. 13, after the rod of the side edge detecting air cylinder 157 is extended, the side edge detecting sensor 156 is used to remove the side edge of the outermost wall side plate member A1 on the side opposite to the unloading side. While detecting, the carry-out claw 150 is moved to the opposite carry-out side. Then, as shown in step SP16, when the side edge detection sensor 156 detects the side edge of the outermost wall surface side plate member A1, the claw portion 150b is used to move the outermost wall surface side plate member A1.
After the carry-out claw 150 moves to a position where the side edge of the carry-out claw 150 can be held, the carry-out claw 150 stops as shown in step SP17.

However, the value of the absolute encoder 157 when the side edge detection sensor 156 detects the side edge of the outermost wall surface side plate member A1 is read as the width dimension of the outermost wall surface side plate member A1 and stored in the control device. Further, since the height of the plate member A1 on the outermost wall surface is also measured by the image sensor 160 and stored in the control device, the size of the plate member A sequentially carried out to the next step Y is completely controlled.

After the carry-out pawl 150 is stopped in step 17, the position of the upper edge portion of the plate-like member A which is in contact with the wall surface 112 is detected by scanning the image sensor 160 from below. Thereby, when it is recognized that the plate-shaped member A1 on the outermost wall surface has a particularly short height and the plate-shaped member A is taller on the rear side, the rod 171 is protruded from the tilt adjusting means 170 to move the plate-shaped member A1 on the rearmost surface to the rear side. And the inclination of the plate member A1 on the outermost wall surface side is adjusted to the inclination of the tall plate member A. However, if there is no tall plate member A behind the outermost wall plate member A1, the rod 171 is not projected.

When the carry-out work is further continued, the process moves from step SP18 to step SP4 and the above-mentioned steps SP4 to SP18 are repeated to carry out the plate-like member A sequentially to the next process Y.
In addition, the plate-shaped members A stored on the belt conveyor 122
When the value decreases, the plate-shaped member A can be continuously carried out to the next step Y by newly supplying the plate-shaped member A.

According to the plate-shaped member storage / transporting apparatus 1 configured as described above, the first and second suction cups 140, 141 are provided.
As a result, the outermost wall surface side plate-shaped member A1 is pulled toward the wall surface 112 side, so that only the outermost wall surface side plate-shaped member A1 can be reliably pulled toward the wall surface 112 side and made vertical. Since the lower surface of the outermost wall plate member A1 floats from the flat plate 130 at the start of drawing the outermost wall plate member A1, friction between the lower surface of the outermost plate member A1 and the flat plate 130 when pulling. Does not occur. Therefore,
The most wall surface side plate member A1 can be smoothly drawn to the wall surface 112 side.

Further, by making the outermost wall side plate member A1 vertical, the outermost wall side plate member A1 and other plate members A1.
Since a triangular gap is formed between the plate member A1 and the plate member A1, the plate member A1 on the outermost wall surface side can be completely separated from the other plate members A. Therefore, only the plate member A1 on the outermost wall surface can be surely processed in the next step. Can be shipped to. Moreover, the force from the other plate-shaped member A leaning on the outermost wall-side plate-shaped member A1 can be reduced by the leaning force reducing means 200.
It is possible to smoothly carry out the plate member A1 on the outermost wall surface side with a small force without damaging it. Moreover, it is possible to prevent the corrugated plate-shaped member A, which is a corrugated board, from being crushed.

However, in this embodiment, since the quasi wall surface side plate member A2 is completely separated from the outermost wall surface side plate member A1 by the leaning force relaxing means 112, for example, the plate member A shown in FIG. Even if there is a stepped portion Aa formed in the overlapped portion as shown in FIG. 5, a slit Ab for forming a lid of a cardboard box or the like as shown in FIG. 15, or if a hook or staple is exposed. When carrying out, the step Aa, the slit Ab, the hook, etc. are engaged with each other and the carrying out becomes impossible, or the hook or staple is caught and the outermost wall side plate member A1 or the quasi wall surface side plate member A2 is damaged. It is possible to prevent the sticking.

Further, the plate member A is attached to the belt conveyor 12
When replenishing to the upper side, since the belt conveyor 122 extends in the horizontal direction, for example, in the conventional case in which the vertically stacked plate-like members are sequentially carried out from the lower side, the plate-like members are moved to a higher position. Although the plate-shaped member is replenished by carrying it and then putting it in, it is not necessary to perform such extremely labor-intensive work of carrying the plate-shaped member to a high position in this way, and it is easy to carry out the plate-shaped member. A can be replenished, and since it is not necessary to insert the plate-shaped member as in the conventional case, it is possible to prevent the dust attached to the plate-shaped member A from being scattered due to the impact of the drop at the time of insertion. ..

Since the plate-shaped members A are vertically arranged and stored, the plate-shaped members A having different sizes are stored.
Can be stored at random, and the plate-shaped member A desired to be carried out can be interrupted between the plate-shaped members A at the position to be carried out first, or the plate-shaped member A that is no longer needed can be taken out. It is possible and can be used very conveniently and practically.

In the next step Y with the plate-shaped member A standing upright,
Since it has been carried out, the plate-shaped member A can be labeled and printed in the upright state also in the next step Y. Therefore, it is possible to reduce the space in the plan view of the transport path, and the next step Y
It is possible to reduce the space in plan view for printing and labeling in the above.

In the above embodiment, the wall surface 112
Although an example in which the plate-shaped member A is installed vertically is shown, the wall surface 112 is slightly slanted so that the upper end portion thereof is located on the side opposite to the storage conveyance means 120 so that the plate-shaped member A is stable in a state of being in close contact with the wall surface 112. It goes without saying that it may be installed at an angle.

Further, the leaning force alleviating means 200 contracts the rod of the rocking cylinder 116 so that the pushing plate 23 is pressed.
2 is moved to the side opposite to the wall surface 112, whereby the quasi-wall surface side plate 2 is separated from the outermost wall surface side plate member A1. However, the leaning force alleviating means 200 simply raises the plate claw 220. Alternatively, the pressing plate 232 may be applied to the quasi wall surface side plate member A2 to reduce the force of the quasi wall surface side plate member A2 leaning on the outermost wall surface side plate member A1.

Further, although the wall surface 112 is not provided with a leaning force detecting means for detecting the leaning force of the plate member A leaning against, the leaning force detecting means (not shown) for detecting the leaning force. Needless to say, it may be provided. As the leaning force detecting means, for example, the four corners of the wall surface 112 may be held from the back side by a load cell to detect the force leaning on the wall surface 112, or the wall surface 112 with the upper end portion as a fulcrum. It may be installed so that it can be swung freely, and the intermediate position in the up-down direction of the wall surface 112 is held from the back side by a pressure switch, so that the leaning force that has reached a certain level or more can be detected by the pressure switch. ..

As described above, when the leaning force detecting means is provided, it is judged in step SP6 of FIG. 11 whether or not the side edge holding sensor 158 has detected the side edge of the outermost wall side plate member A1. At the same time, the leaning force detecting means 112
The leaning force acting on is detected. Then, when the detected leaning force is larger than the leaning force allowable value which is input in advance to the control device, step SP7 shown in FIG.
If the detected leaning force is smaller than the allowable leaning force, the following operation is performed as it is, and if the detected leaning force is smaller, step SP7,
Instead of executing step SP8, the process directly proceeds to step SP9, and the outermost wall side plate-shaped member A1 is unloaded by the unloading claw 150.
Then, the process proceeds to step SP12 without executing steps SP10 and SP11.

That is, when the detected leaning force is smaller than the allowable leaning force, the outermost wall side plate member A1 is carried out without operating the leaning force relaxing means 200. Therefore, in the case of having the leaning force detecting means, there is an advantage that the carry-out interval of the plate-shaped member A can be shortened by the amount that the leaning force relaxing means 200 is not operated.
However, the allowable value of the leaning force is set to such a value that the outermost wall surface side plate-shaped member A1 can be sufficiently carried out to the next step against the frictional force or the like generated by the leaning force.

Further, as the plate-shaped member A, a plate-shaped corrugated cardboard having a box shape when assembled is shown, but it may be a simple plate-shaped corrugated cardboard or a plate-shaped member made of another material such as a veneer plate. It goes without saying that it is good.

Further, as shown in FIGS. 16 and 17, the pressing member 230 may be one in which a pressing plate 251 is provided on the notch surface 220a of the plate-like claw 220 via a sponge-like elastic member 250. .. The pressing plate 251 is integrally formed by a rectangular flat plate portion 251a and a peripheral surface portion 251b in which an elastic member is smoothly curved so as to surround 250. The pressing plate 251 has a plate-like claw 22.
It is not fixed to 0, and when the quasi-wall surface side plate member A2 is pressed, it is brought into close contact with the quasi-wall surface side plate member A2 freely.

Further, as the width dimension detecting means, by detecting the position of the side edge of the outermost wall side plate member A1 on the side opposite to the unloading side with reference to the guide surface 125a of the guide bar 125, the outermost wall side plate shape is detected. Although the width dimension of the member A1 is configured to be measured, the width dimension of the outermost wall side plate member A1 is measured by detecting the positions of both side edges of the outermost wall side plate member A1 on the carry-out side and the non-transport side. It may be configured as follows.

In this case, step SP15 in FIG.
Before moving the carry-out pawl 150 to the counter carry-out side, the carry-out pawl 150 is once moved to the carry-out side, and the side edge detection sensor 156 detects the carry-out side edge of the outermost wall side plate-like member A1. The carry-out claw 150 is moved to the opposite carry-out side. And step S
Move to P16. However, the absolute encoder 15
5 from the position where the side edge of the outermost wall side plate member A1 on the carry-out side is detected to the position where the side edge on the opposite side of the outermost wall surface side plate member A1 is detected using an incremental encoder. The number of generated pulses is counted and the width dimension of the plate member A1 closest to the wall surface is calculated from this pulse number.

That is, the lead angle of the threaded rod 153 is set so that one pulse is generated from the incremental encoder when the carry-out claw 150 moves along the threaded rod 153 by 1 mm, for example. Convert the total number of pulses generated from the position where the side edge of the most wall surface side plate member A1 on the unload side is detected to the position where the side edge of the same wall surface side plate member A1 on the opposite side is detected to a unit of 1 mm Then, the width dimension of the outermost wall side plate member A1 is measured.
Of course, by configuring one pulse to correspond to 0.1 mm or 10 mm, the plate-shaped member A can be manufactured with an accuracy of 0.1 mm, an accuracy of 10 mm, and other dimensional accuracy. It may be configured to measure width.

As described above, in the case where the width dimension of the plate member A is measured by measuring the positions of both side edges of the plate member A1 on the outermost wall surface side, the plate member A is the guide bar 1
Even if it is separated from 25, there is an advantage that the dimension of the plate-shaped member A can be accurately measured.

Although the side edge detecting sensor 156 is configured to be attached to the tip of the rod of the side edge detecting air cylinder 157, as shown in FIG. 18, it is attached to the tip of the rod of the side edge detecting air cylinder 157. You may provide in the guide roller structure part 260 provided so that it could expand-contract in the axial direction. That is, the guide roller structure 260 includes a telescopic rod 261 axially movably fitted to the rod of the side edge detection air cylinder 157, a roller bracket 262 provided at the tip of the telescopic rod 261, and an telescopic rod. The roller bracket 2 is provided on the outer peripheral part of the roller 261 and extends in the direction in which the telescopic rod 261 extends.
A coil spring 263 for urging the roller 62 and a roller 264 rotatably held by the roller bracket 262 and rolling while contacting the plate-shaped member A are provided.

The side edge detecting sensor 156 is provided on the roller bracket 262, and is located on the outermost wall side plate member A1.
The side edge of the outermost wall side plate-shaped member A1 is detected by detecting the light emitted back to the plate-shaped member A1 and reflected back. Then, the side edge detection sensor 156 detects the reflected light of the light which reaches the depth of at least ½ of the thickness of the plate member A1 from the surface of the plate member A1 closest to the wall surface, so as to detect the reflected light. The position on 262 is set.

Therefore, even if there is a wide quasi wall surface side plate member A2 adjacent to the wall surface side plate member A1, the roller 264 moves from the wall surface side plate member A1 to the quasi wall surface side plate member A1.
When moving to 2, the side edge detection sensor 156 is in a state in which the reflected light cannot be detected. This state is the most wall surface side plate member A
In this state, the side edge of 1 is detected. The diameter of the roller 264 is the thickness of the outermost wall side plate member A1 so that the roller 264 can easily climb over the surface of the outermost wall surface side plate member A1 from the side edge of the outermost wall surface side plate member A1. Therefore, it is preferable to make it sufficiently large.

When the guide roller structure portion 260 is provided as described above, even if the stop position of the outermost wall surface side plate member A1 varies, the side edge detection sensor 156 and the outermost wall surface side plate member A1 are provided. Since the dimension is constant, it is possible to reliably detect the unloading side edge and the anti-unloading side edge of the outermost wall-side plate-shaped member A1.

[0069]

According to the present invention, the plate-shaped members are horizontally arranged in the standing state and stored, and the stored plate-shaped members are sequentially moved to the wall surface side so that the plate-shaped members on the wall surface side are removed one by one. It is possible to carry out verticalization one by one and carry out to the next step, and when the storage amount of the plate-shaped member decreases, it is possible to replenish the plate-shaped member by leaning against the existing plate-shaped member. Therefore, the plate member can be continuously carried out to the next step.

Further, since the plate-shaped member can be separated from other plate-shaped members by making the plate-shaped member substantially vertical, only this substantially vertical plate-shaped member can be reliably carried out to the next step. can do. Moreover, at the time of unloading, the leaning force relaxing means is caused to enter the gap formed between the outermost wall surface side plate-shaped member and the quasi wall surface side plate-shaped member to hold the quasi wall surface side plate-shaped member. The force with which the member leans against the outermost wall plate member can be reduced. Therefore, the outermost wall side plate member can be smoothly carried out to the next step. Therefore, the plate-shaped members can be reliably carried out one by one to the next process without damaging them. Moreover, since only the force leaning obliquely acts on the plate-shaped member, the corrugate of the plate-shaped member such as corrugated cardboard is not crushed.

Furthermore, when replenishing the plate-shaped members, the plate-shaped members are arranged in a horizontal state in a standing state, so that, for example, the plate-shaped members stacked vertically are sequentially arranged from the lower side. In the conventional case of carrying out, the plate-shaped member is replenished by carrying it to a high position and then feeding it, but it is extremely laborious to carry the plate-shaped member to a high position and load it. The plate-shaped member can be easily replenished without the need for the work requiring the work.

Moreover, in the conventional case, the dust attached to the plate member scatters due to the impact of dropping when the plate member is thrown in, but since it is not necessary to throw in the plate member, it is possible to prevent dust from scattering. Can be prevented. Then, since the plate-shaped members are horizontally arranged and stored in an upright state, it is possible to randomly store the plate-shaped members having different dimensions, and the position of the plate-shaped member desired to be carried out at an early stage can be stored. It is also possible to make an interruption between the plate-shaped members and remove unnecessary plate-shaped members. Therefore, it can be used in an extremely convenient manner that is practical.

[Brief description of drawings]

FIG. 1 is a perspective view of a plate-shaped member storage / delivery device shown as an embodiment of the present invention.

FIG. 2 is a perspective view of a main part of the storage / transport device.

FIG. 3 is a side view of a main part of the storage / transport device.

FIG. 4 is a plan view of a main part of the storage / transport device.

5 is a view on arrow V in FIG.

FIG. 6 is a side view showing a pressing member of the storage / transport device.

7 is a sectional view taken along line VII-VII of FIG.

FIG. 8 is a plan view showing a side edge detection sensor of the storage / delivery device.

FIG. 9 is a view taken along the line IX-IX in FIG.

10 is a cross-sectional view taken along line XX of FIG.

FIG. 11 is a first flow chart showing an operational sequence of the storage / transport device.
Flow chart.

FIG. 12 is a second flow chart showing a flow of consecutive operational sequences from the first flow chart of FIG.

FIG. 13 is a third flow chart showing the sequence of successive operational sequences from the second flow chart of FIG.

FIG. 14 is a cross-sectional view showing a plate-shaped member having a step portion, which is a plate-shaped member of the storage and carry-out device.

FIG. 15 is a plan view showing a plate-shaped member of the storage and unloading device, which is a corrugated plate-shaped member having a slit.

FIG. 16 is a side view showing another example of the pressing member.

17 is a cross-sectional view taken along the line LL in FIG.

FIG. 18 is a perspective view showing another attachment structure of the side edge detection sensor.

[Explanation of symbols]

 112 Wall Surface 120 Storage and Conveying Means 140, 141 Separating Means (First Sucker, Second Sucker) 150 Unloading Means (Unloading Claw) 200 Leaning Force Relieving Means A Plate Member A1 Outermost Wall Side Plate Member A2 Quasi Wall Side Plate Material Y Next process

Claims (1)

[Claims] 1. A substantially vertical wall surface for leaning a plate member obliquely, and a storage and transport means for transporting to the wall surface side while holding and holding the plate member while leaning diagonally against the wall surface. Provided on the wall surface side, the most wall surface side plate member located closest to the wall surface side is pulled to the wall surface side to be substantially vertical,
As a result, a gap is generated between the outermost wall surface side plate member and the quasi wall surface side plate member adjacent to the outermost wall surface side plate member,
The separating means separates the outermost wall side plate-like member from the quasi wall surface side plate-like member by the gap, and the carrying-out means for carrying out the outermost wall surface side plate-like member separated by the separating means to the next step along the wall surface. A storage and unloading device for a plate-shaped member, which holds the quasi-wall surface side plate-shaped member by penetrating from below into a gap between the outermost wall-side plate-shaped member and the quasi-wall surface-side plate-shaped member, A storage / unloading device for a plate-shaped member, characterized in that leaning force relaxing means for relaxing the leaning force on the wall surface side is provided.