JPH0543613B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a workpiece transfer device used for palletizing finished tubes, which are final products, mainly in a cathode ray tube manufacturing factory.

[Prior Art] At a manufacturing factory for television cathode ray tubes, in order to ship finished tubes, which are the final products, a predetermined number of tubes are regularly loaded onto pallets, and then
Packing work is carried out. In this palletizing work (palletizing), it is required to stack the finished pipes as closely as possible to improve transportation efficiency. However, there are many types of cathode ray tubes, and the external size varies greatly depending on the type of tube, so the stacking intervals and stacking patterns have to be changed for each type of tube. Furthermore, since cathode ray tubes are fragile products made of glass, cushioning materials had to be used when they were loaded.
For this reason, the palletizing work of this type of finished pipe has conventionally been carried out exclusively by hand.

[Problems to be solved by the invention] However, since cathode ray tubes are made of glass, the weight of larger tubes increases further, and since they are fragile products, the pallet stacking work is extremely difficult. Since this is a lot of work, there has been an increasing demand for automation of this type of work.

This invention was made with these points in mind, and is a workpiece transfer system that can safely and automatically stack all types of cathode ray tubes and achieve the desired stacking spacing and pattern. The purpose is to provide equipment.

[Means for Solving the Problems] In order to achieve the above object, the present invention suspends a frame from a carrier that travels back and forth, left and right, through a rotating lift unit, and this frame has a A pair of workpiece gripping units are installed, whose installation width can be adjusted wide or narrow by a servo mechanism, and each workpiece gripping unit has a rotary actuator at the bottom of each unit, and a pair of finger pieces that face each other and hold both ends of the workpiece. and a pinion is fixed to the rotating shaft of the rotary actuator, and the finger piece has a rack that engages with the pinion to open and close the pair of finger pieces when the actuator is actuated, The invention is characterized in that it has a workpiece steady rest pad, and the steady rest pad is supported by a cylinder mechanism so as to be extendable and retractable below the frame.

[Embodiment] Before specifically explaining one embodiment of the present invention, first, the workpieces handled by this transfer device and their respective states of supply, loading, and unloading will be briefly explained.

First, in FIG. 8, reference numeral 100 indicates a cathode ray tube. This cathode ray tube 100 has a reinforcing band fastened to the connecting portion between the panel portion and the funnel portion, and mounting fittings 101 that protrude radially are formed at the four corners of the panel portion. This mounting bracket has holes 102 for inserting bolts, pins, etc.
is formed.

After this cathode ray tube 100 is made into a finished product as described above on an assembly line, it is supplied to a pallet loading station 201 by a carry-in conveyor 200 as shown in FIGS. 1 and 2. This station 201 includes a reversing device 202 that communicates with the carrying-in conveyor 200 and raises the cathode ray tube 100 to a desired vertical position, and a transfer device of the present invention that receives the cathode ray tube 100 from the reversing device 202 and transfers it onto the packing pallet 300. 203 and a lifter 2 for raising and lowering the packing pallet 300
04 is provided. Further, a discharge conveyor 205 communicating with the lifter 204 is provided at the front of the station 201. A packing pallet 300 is provided with pads 301 for fixing a predetermined number of cathode ray tubes 100 regularly and in a cushioning manner. This buffer pad 301 has a plurality of fitting portions 302 formed on both or one side thereof, as shown in FIG. 10, as an example, corresponding to the loading pattern of cathode ray tubes. The transfer device 203 of the present invention grasps and transports the cathode ray tubes 100 received from the reversing device 202 to a predetermined position using the mounting brackets 101 at the corners, and places one cathode ray tube 100 in the fitting part 302 in the buffer pad 301 on the packing pallet. Insert it one by one. The packing pallets 300 loaded in this way are stacked in three stages as shown in FIG. 11, for example, and then packaged in a cardboard box, tied with a band, and carried out by the conveyor 205.

At the top of the loading station 201 are the first and second
As shown in the figure, guide members 206 and 207 for moving the transfer device 203 of the present invention in the Y direction, which is the work supply direction, and in the X direction, which is orthogonal thereto.
A carrier 208 traveling in the X direction and the Y direction is mounted on this guide member. Further, this carrier is provided with an elevating and rotating unit 209 for raising, lowering, and rotating the transfer device 203, and the transfer device of the present invention is suspended from the end of the rotating shaft of this rotating unit.

Next, the structure of the transfer device of the present invention will be explained in detail based on the drawings. Fig. 3 is an enlarged front view of the transfer device, Fig. 4 is a plan view, Fig. 5 is a sectional view taken along line B-B in Fig. 3, and Fig. 6 is a sectional view taken along line C-C in Fig. 3. . In the figure, reference numeral 1 denotes a frame body suspended from the end of the rotating shaft 210 of the rotating unit 209, and this main body is framed to form a rectangular shape and is held horizontally at the end of the rotating shaft. Reference numerals 2 and 3 designate a pair of front and rear ball screws that are horizontally supported on the frame body 1, and these ball screws 2 and 3 are driven in opposite directions by pinions 4 and 5 that are attached to one end of the ball screws so as to mesh with each other. It is composed of 6 and 7 are front and rear guide shafts installed parallel to the ball screws 2 and 3, and the guide shafts 6 and 7 support a pair of left and right movable bases 9 and 10 via linear ball bearings 8,
Further, ball nuts 11 are provided in both bases, and these nuts 11 are engaged with the ball screws 2 and 3. 12 is a motor bracket attached to the lower part of the frame body 1, 13 is a DC servo motor supported by this bracket, 14 is a pulley attached to the motor output shaft, and 15 is a ball screw 2 on the drive side.
The pulley 16 attached to the pulley is a timing belt stretched between both pulleys. The pair of movable bases 9 and 10 are configured to move toward or away from each other via a ball screw and a nut when the servo motor 13 is operated.
Incidentally, reference numerals 17 and 18 indicate traverse restriction stoppers on movable bases attached to the guide shafts 6 and 7.

A rack and pinion mechanism is provided at the lower part of the movable bases 9 and 10, and a workpiece gripping unit 19 having fingers that open and close is suspended by this mechanism.
The gripping units 19 will be explained below. Each of the gripping units 19 is attached via a balance adjusting means 20 provided on the lower surface of the base. The balance adjusting means 20 includes a shaft 22 inserted into a bearing plate 21 projecting downward from a movable base.
A pair of adjustment springs 23, 23 are fitted to the shaft 22 with the bearing plate 21 in between, and adjustment screws 24, 24 are inserted into both ends of the shaft 20 to press the adjustment spring 23, and the adjustment screws are engaged with each other. It has a matching actuator mounting bracket 25, etc.
A rotary actuator 26 is suspended from this mounting bracket 25, and finger mounting plates 2 are mounted on both sides of the rotary actuator 26.
7 and 27 are fixed. A pair of finger pieces 29, 29 are attached to the lower part of this mounting plate 27, and racks 31, 31 that engage with a pinion 30 fixed to the output shaft of the rotary actuator 26 are formed at the upper portions of opposing parts of these pieces. There is. This rack is guided by a guide rod 32 suspended horizontally on the mounting plate 27, and the finger pieces 29, 29
open and close. The finger pieces 29, 29 are provided with a pin 33 and an insertion hole 34 for the pin at the lower part of the opposing surfaces. This pin 33 is connected to the metal fittings 101 that protrude from the four corners of the workpiece 100 mentioned above.
It is provided to be inserted into the hole 102 of. Reference numeral 35 is a sensor that detects the stroke end of the rack, and 36 is a workpiece sensor that is turned on when it comes into contact with the workpiece detection plate 36'. Also code 3
Reference numerals 7 and 37 designate a pair of tension metal fittings on both sides of the adjustment shaft 22, which are made up of bolts that protrude from the movable bases 9 and 10 toward the actuator 26, and their tips are made of rubber and are attached to the top surface of the actuator 26. It is brought into contact with stoppers 38, 38.

A workpiece steadying mechanism 39 having the following structure is attached to the lower center of the frame body 1. That is, the steady-stop mechanism 39 consists of a fluid cylinder 40 suspended from the lower part of the main body 1, and a pair of left-right and right-hand steady pads 41 provided at the ends of the fluid cylinder 40. The steady pad is made of a soft material such as rubber and is attached to the lower surface of the plate 42. plate 4
2 is attached to the tip of a piston rod 43 of the cylinder 40, and is configured so that it can rise or fall as the rod expands and contracts, thereby bringing the steady pad 41 into pressure contact with the upper surface of the workpiece 100. Incidentally, reference numeral 44 is a guide plate attached to the cylinder 40, and 45 is a guide rod provided upright on the plate 42, which is inserted into a guide hole provided in the guide plate to prevent rotation of the steady pad.

Next, the operation of this transfer device will be described. As explained above, the external size of the cathode ray tube 100 handled by this device differs depending on the tube type. Therefore, the gripping position of the cathode ray tube also differs depending on the tube type.
In the apparatus of the present invention, the distance between the movable bases 9 and 10 can be changed freely between the maximum dimension and the minimum dimension according to the width or narrowness of the cathode ray tube to be gripped by the fingers 29, for example, by using a ball shaft as in the embodiment. and a nut that can be adjusted. First, to explain this point, the finger 29 on the left side of Figure 3 indicates the gripping position when gripping the largest size cathode ray tube handled by this device, and the finger 29 on the right side of the same figure grips the smallest size cathode ray tube handled by this device. It shows the gripping position in case. This position is adjusted using servo motor 1.
3 to rotate the ball screws 2 and 4 in the forward or reverse direction using pulleys, belts, and gears, and by sliding the mounting width of the workpiece gripping unit in the axial direction via the movable bases 9 and 10, it is compatible with the cathode ray tube being handled. Set the left and right movable bases in the appropriate positions.

The fingers 29 below the movable base lock and hold the cathode ray tube by simultaneously gripping the upper two of the metal fittings 101, which are attachments attached to the four corners of the cathode ray tube 100, as shown in FIGS. 3 and 9. Grasping of the metal fitting 101 by the fingers 29 drives the rotary actuator 26 to close the finger piece 29, which has been previously opened by the pinion 30 and the rack 31. finger piece 29
Since a pin 33 for insertion into the hole 102 of the metal fitting 101 is provided at the lower part, the finger is closed after the pin is inserted into the hole 102 of the metal fitting 101. When the metal fitting 101 is securely gripped so as not to come off from the fingers 29, the workpiece sensor 36 is activated to command the next operation. For example, at the loading station 201,
Braun tube 10 held inverted by a reversing device 202
0 moves the left and right fingers 29, 29 as described above.
When gripped by the camera, the cylinder 40 is driven to extend the piston rod 43 and press the anti-shake pad 41 against the upper part of the cathode ray tube with a predetermined pressure. The pad 41 pressed in this way is
Prevents 00 fluctuation.

Next, the frame body 1 is lifted to a predetermined height by the lifting unit mounted on the carrier 208, and then the carrier is moved in the X direction and the packaging pallet 3 is lifted.
The cathode ray tube 100 is transferred onto the 00. As mentioned above, the packaging pallet 300 includes a buffer pad 3 having a plurality of fitting parts 302 for fitting cathode ray tubes.
01 is provided, the rotating unit is driven to rotate the frame main body by the required angle according to the position of the fitting part 302, and then the lifting unit is driven to lower the main body and the fitting part 302 is moved. The cathode ray tube 100 is fitted into the pad 302, and then the finger 29 is opened and the cathode ray tube 100 is stacked on the pad 301. Note that before opening the finger 29, the cylinder 40 is operated to reduce the piston rod and separate the steady pad 41 from the cathode ray tube. Once the pin 33 provided at the bottom of the finger piece has been removed from the metal hole 102, the lifting unit and the rotating unit are operated to return the frame body to its original position, and the carrier 208 is moved to the reversing device 202.
Move up and wait. In this way, palletizing is completed by repeatedly inserting the cathode ray tubes into the buffer pads one by one in a regular manner.

FIG. 12 is a partially enlarged view showing another embodiment of the present invention. In this embodiment, a pin 33 is formed protruding from the opposing surfaces of the finger pieces 29, 29.
is a movable structure that can move in and out at right angles to the opposing surface. That is, a cylinder 46 for pin operation is attached to the upper part of the finger piece, and the movable pin 33 can be freely inserted into and removed from an insertion hole 49 formed in the finger piece 29 via an arm 48 connected to a rod 47 of the cylinder 46. The movable pin operates the cylinder 46 when the finger piece is closed, enters the insertion hole 49 through the finger piece, and is inserted into the hole of the metal fitting 101 held between the finger pieces. Further, when the finger piece is opened, the rod 47 of the cylinder is retracted and the pin 33 is completely retreated from the opposing surface of the finger piece, so that the metal fitting 101 of the workpiece is not caught on the pin 33. In this embodiment, the pin 33 is driven by the cylinder 46, but the invention is not limited to this; for example, a solenoid or a rack pinion may be used to move the pin laterally.

Further, in this embodiment, the workpiece gripping unit 19,
Although a ball screw and a nut are used as means for adjusting the left and right mounting width of 19, the present invention is not limited thereto, and a rack and pinion may also be used.

[Effects of the Invention] As is clear from the above explanation, according to the present invention, it is possible to freely adjust the left-right spacing of the workpiece gripping unit according to the tube type, making it possible to handle cathode ray tubes of all tube types. A desired stacking spacing pattern can be easily achieved when loading. By the way, to grip a workpiece (a cathode ray tube), use the holes in the mounting brackets provided at the four corners of the workpiece, and insert the pins of a pair of finger pieces that hold both ends of the workpiece into these holes, and then the neck part of the cathode ray tube is held. Since the workpiece is hoisted horizontally, the center of gravity of the workpiece is not fixed, making it unstable and the workpiece tends to wobble unsteadily during movement.
However, according to the present invention, it is possible to reliably prevent the workpiece from swaying during transport by using the presser cylinder having the anti-shake pad, so that the workpiece can be palletized extremely efficiently, which brings about a new industrial effect. .

[Brief explanation of the drawing]

FIG. 1 is a side view of a cathode ray tube packaging device in which the device of the present invention is installed, FIG. 2 is a plan view of the same as above, FIG. 3 is an enlarged front view of the transfer device of the present invention, and FIG. 4 is a plan view.
Figure 5 is a sectional view taken along line B-B in Figure 3, and Figure 6 is a cross-sectional view of Figure 3.
7 is a sectional view taken along line D-D in FIG. 6, FIG. 8 is a schematic perspective view of the cathode ray tube, and FIG. 9 is a schematic diagram showing the state in which the cathode ray tube is gripped by the fingers. FIG. 10 is a schematic plan view showing an example of a cathode ray tube loading pattern, FIG. 11 is a schematic side view showing a packed state of cathode ray tubes, and FIG. 12 is a partially enlarged view showing another embodiment of the present invention. 1... Frame body, 2, 3... Ball screw,
4, 5... Pinion, 6, 7... Guide shaft,
8... Linear ball bearing, 9, 10... Movable base, 11... Ball nut, 12... Motor bracket, 13... DC servo motor, 1
4, 15... Pulley, 16... Timing belt, 17, 18... Stopper, 19... Work gripping unit, 20... Balance adjustment means, 21...
... Bearing plate, 22 ... Shaft, 23 ... Adjustment spring, 24 ... Spring adjustment screw, 25 ... Bracket, 26 ... Rotary actuator, 27 ...
Finger mounting plate, 29... Finger piece, 30
... Pinion, 31 ... Rack, 32 ... Guide rod, 33 ... Pin, 34 ... Hole, 35 ... Rack sensor, 36 ... Work sensor, 37 ... Tension hardware, 38 ... Rubber stopper, 39... Steady stop mechanism, 40... Cylinder, 41... Steady pad, 42... Plate, 43... Piston rod, 44... Guide plate, 45... Guide rod, 46
...Pin actuation cylinder, 47...Rod, 48
...Arm, 49...insertion hole.

Claims (1)

[Scope of Claims] 1. A frame is suspended from a carrier that travels back and forth, left and right, via a rotating lifting unit, and this frame has a pair of mounting widths that can be adjusted wide or narrow by a servo mechanism according to the size of the workpiece. In addition to attaching the workpiece gripping unit, the workpiece gripping unit is equipped with a rotary actuator at the bottom of each unit, and a pair of finger pieces that face each other and hold both ends of the workpiece, and a pinion is attached to the rotation axis of the rotary actuator. while fixing the
The finger piece has a rack that engages with the pinion to open and close the pair of finger pieces when the actuator is operated, and further includes a workpiece steady rest pad at the lower center of the frame, and the steady rest pad is suspended from the cylinder mechanism. A workpiece transfer device characterized in that it is supported and provided so as to be extendable and retractable below a frame. 2. The pair of finger pieces have pins protruding from the lower portions of their opposing surfaces that can be inserted into holes of mounting fittings provided at both ends of the workpiece, and a sensor for detecting the presence or absence of the workpiece. Workpiece transfer device described in section. 3. The workpiece transfer device according to claim 2, wherein the pin is provided so as to be able to protrude and retract from the opposing surface of the finger piece. 4 The work gripping unit provided on the frame is suspended on a pair of movable bases that are traversed in the axial direction by a servo motor, front and rear drive shafts that are rotated in opposite directions by the servo motor, and a nut that engages with the drive shaft. A workpiece transfer device according to claim 1. 5. The workpiece transfer device according to claim 4, wherein the rotary actuator and the pair of finger pieces are supported at a lower part of a movable base via a shaft having a balance adjustment means.