JPH054296B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a loading device for loading articles onto a pallet or the like in a plurality of stages.

(Prior art) In conventional loading devices, the holding body that holds the items at the carry-in position and moves them to the loading position is
59-159634, Japanese Utility Model Publication No. 60-61274, Japanese Patent Publication No. 61-229721, Japanese Patent Publication No. 62-47771,
There are various types as shown in Japanese Patent Application Laid-Open No. 60-209438, etc., but all of them have mechanisms for aligning, positioning, and fixing items, and mechanisms for releasing items. It was equipped with a mechanism for lifting and lowering the aircraft, and was also equipped with a drive source to drive these mechanisms.

(Problems to be Solved by the Invention) As mentioned above, the holding body of the conventional loading device is equipped with various mechanisms and drive sources for the mechanism, so the structure is complicated and the weight is heavy. .

The present invention has been made in view of these points, and is an object of the present invention to load items using a simple and lightweight holder.

[Structure of the invention]

(Means for Solving the Problem) The loading device of the present invention includes a base 12 provided with a horizontally pivotable main body 13, and a multi-jointed main body 13 provided with a vertically bendable multi-jointed arm 14. The first robot 11 of the system and the vertical guide 23
A horizontal guide 24 that can be raised and lowered in the vertical direction is provided,
This horizontal guide 24 is equipped with a second robot 21 of an orthogonal coordinate system in which a pair of horizontally movable transverse bodies 25 and 26 are provided, and the main body 13 of the first robot 11 of the multi-joint system is A carry-in position p1 for the item w and a loading position p2 for the item w are set around the area, and the multi-joint arm 14 of this first robot 11
A holder 16 having a plurality of parallel horizontal fingers 15 that is inserted under the lower part of the item w at the carry-in position p1 and scoops up the item w is provided at the lower tip of the holder 16 so as to be pivotable in the horizontal direction. 2. The vertical guide 23 of the robot 21 is the product w.
The horizontal fingers 15 of the holding body 16 moved to the loading position p2 are intersected with the pair of transverse bodies 25 and 26 of the second robot 21. A plurality of parallel vertical fingers 27 facing upward are inserted into the rear of the item w on the horizontal fingers 15 and are arranged in parallel in a direction intersecting the moving direction of the transverse bodies 25 and 26.

(Function) In the loading device of the present invention, the first robot 11 inserts the horizontal fingers 15 of the holder 16 into the lower part of the item w at the carry-in position p1, scoops up the item w, and returns it to the loading position. p2, and at the loading position p2, the first robot 11 and/or the second robot 21 combine the horizontal fingers 15 and vertical fingers 27 of the holder 16 in a crosswise manner to load the items on the horizontal fingers 15. Insert the vertical finger 27 into the rear part of w,
The horizontal finger 15 is moved backward or the vertical finger 27 is moved forward, and the item w on the horizontal finger 15 is lowered by the vertical finger 27.

(Embodiment) An embodiment of the loading device of the present invention will be described with reference to the drawings.

In FIGS. 1 to 3, 11 is a vertically articulated first robot.
1 has a main body 13 that can be rotated horizontally on a base 12, and a multi-joint arm 14 that can be bent vertically is provided on this main body 13. A holder 16 having a plurality of parallel horizontal fingers 15 is provided at the lower part of the tip so as to be pivotable in the horizontal direction. The robot always maintains the same posture, and its horizontal fingers 15 are kept horizontal.

In addition, in this embodiment, the horizontal finger 15
are the lower horizontal portions of the L-shaped member 17, respectively.

Reference numeral 21 denotes a second robot in the orthogonal coordinate system.This second robot 21 has a vertical guide 23 erected on a base 22, and a horizontal guide 24 that can move up and down in the vertical direction is provided on this vertical guide 23. A pair of transverse bodies 2 movable in the horizontal direction on a horizontal guide 24
5, 26, this second robot 2
A plurality of parallel vertical fingers 27 facing upward are disposed on the pair of transverse bodies 25 and 26 of 1.
They are arranged in parallel in a direction intersecting the moving direction of 26.

Then, the first robot 1 of the vertical multi-joint system
1's main body 13, that is, its multi-jointed arm 14
A carry-in position p1 of the article w and a loading position p2 of the article w are set within the operating range a of the holder 16 attached to the The vertical guide 23 of the second robot 21 is erected, and its transverse bodies 25 and 26 are arranged at a loading position p2 for the goods w, and a roller conveyor 3 for carrying the goods w is placed at the carry-in position p1.
1 is disposed, and a roller conveyor 32 for conveying a pallet p for loading goods w is disposed at the loading position p2.

Note that there are 2 parts at the tip of the roller conveyor 31.
Two stoppers 33 and 34 are provided, and one stopper 33 positions the article w at the carry-in position p1,
The other stopper 34 stops the subsequent item w when the item w is at the carry-in position p1, and
When there is no item w at No. 1, the subsequent item w is allowed to pass through.

Further, a plurality of cutouts 35 are formed at least on one side of the tip of the roller conveyor 31,
The horizontal finger 15 of the holder 16 can be inserted between the notch 35 and the roller 36, that is, under the article w on the roller 36.

Next, the operation of this embodiment will be explained.

In this embodiment, the item w is a plurality of stacked unbound cardboard sheets, and the item w is conveyed by a roller conveyor 31 from the left side in FIG. Further, the pallet p is conveyed by the roller conveyor 32 from the left side in FIG. 1 to the loading position p2, and is positioned by a stopper (not shown).

Then, the first robot 11 moves the holding body 1
The horizontal fingers 15 of No. 6 are inserted into the lower part of the item w at the carry-in position p1 through the notch 35, and the item w is scooped up by the horizontal fingers 15 and moved to the loading position p2.

At the loading position p2, Figs. 4, 8 and 9
As shown in the figure, the second robot 21 keeps the vertical fingers 27 on each of the transverse bodies 25 and 26 on standby on both sides of the position where the goods w are scheduled to be loaded, and the vertical fingers 27 on one of the transverse bodies 25 vertical finger 2
7 by the first robot 11,
The holding body 16 is rotated in a predetermined direction and lowered, the horizontal fingers 15 and the vertical fingers 27 are combined in a crosswise manner, and the vertical fingers 27 are inserted into the rear of the item w on the horizontal fingers 15.

After that, as shown in FIGS. 5 and 10, the first robot 11 moves the holding body 16 horizontally to the outside of the loading position p2, and the horizontal finger 1
5 is retreated behind the vertical finger 27, and at this time, the item w on the horizontal finger 15 is locked with the vertical finger 27, and the item w is moved back from the horizontal finger 5.
From there, it is unloaded onto the pallet p or the lower item w already loaded on the pallet p.

Then, the first robot 11 removes the holding body 1.
6 to the carry-in position p1, the article w at the carry-in position p1 is moved to the horizontal finger 15 in the same manner as above.
scoop it up and move it to the loading position p2, then lower it with the holding body 16 rotated in a predetermined direction against the inside of the vertical finger 27 on the other traversing body 26 of the second robot 21, and move it horizontally. finger 15
After inserting the vertical finger 27 into the rear part of the item w on the horizontal finger 15 by intersecting the vertical fingers 27 and 27, as shown in FIG. , the horizontal finger 15 is moved back to the rear of the vertical finger 27, and the item w is unloaded next to the item w that was unloaded earlier.

After this, as shown in FIG. 7, the second robot 21 moves the vertical fingers 27 on each of the transverse bodies 25 and 26 horizontally toward the loading position p2, and transfers the cargo in two steps. Arrange the items w for one row.

Then, by repeating such operations, the items w are stacked on the pallet p in multiple stages, and when the items are loaded on the predetermined tiers, the roller conveyor 32 moves the pallet p loaded with the items w to the loading position. At the same time as carrying out to the right of p2, a new empty pallet p
is transported to the loading position p2 and positioned, and the next item w is loaded.

〔Effect of the invention〕

As described above, according to the present invention, at the loading position of the goods, the first robot inserts the horizontal fingers of the holder under the goods, scoops up the goods, moves them to the loading position, and unloads the goods. At the stacking position, the first robot and/or the second robot intersect the horizontal and vertical fingers of the holder, insert the vertical finger into the rear of the item on the horizontal finger, and retract the horizontal finger. Since the item on the horizontal finger is lowered with the vertical finger by moving the vertical finger forward, the holder of the first robot used for picking up and moving the item only needs to have a horizontal finger for picking up the item. Since there is no need for a drive source for the horizontal fingers, the structure of the holder is simple and the weight of the holder can be reduced.

[Brief explanation of drawings]

The figures show an embodiment of the loading device of the present invention, in which Fig. 1 is a plan view thereof, Fig. 2 is a front view thereof, Fig. 3 is a side view thereof, and Figs. 4 to 7 are explanations of its operation. In each figure, A is a partial plan view, B is a partial front view, FIG. 8 is an enlarged view of a portion of FIG. 4 B, FIG. 9 is a side view of FIG. 8, and FIG. FIG. 10 is an enlarged view of a portion of FIG. 5B. 11...First robot, 12...Base, 1
3...Main body, 14...Multi-joint arm, 15...Horizontal finger, 16...Holding body, 21...Second robot, 23...Vertical guide, 24...Horizontal guide, 25, 26...Transverse movement Body, 27... Vertical finger, w... Goods, p1... Loading position, p2...
...Loading position.

Claims (1)

[Claims] 1. A horizontally pivotable main body is provided on the base,
The main body is equipped with a multi-joint arm that can be bent in the vertical direction, and the vertical guide is equipped with a horizontal guide that can move up and down in the vertical direction. a second robot with a Cartesian coordinate system provided with a transverse body, and setting an article loading position and an article loading position around the main body of the multi-jointed first robot,
At the lower end of the multi-jointed arm of the first robot, a holder having a plurality of parallel horizontal fingers that is inserted under the article at the carry-in position and scoops up the article is provided so as to be rotatable in the horizontal direction, and the orthogonal coordinate system A vertical guide of a second robot is provided adjacent to the article loading position, and the pair of transverse bodies of the second robot are provided with vertical guides intersecting with a plurality of horizontal fingers of the holding body moved to the loading position. A loading device characterized in that a plurality of parallel vertical fingers facing upward are arranged in parallel in a direction intersecting the direction of movement of a traversing body, which are inserted in combination into the rear of an article on the horizontal fingers.