JPH0582941U - Glass plate transfer device - Google Patents

Abstract

(57) [Summary] [Objective] The present invention relates to improvement of a device for adsorbing and transferring laminated glass plates vertically stacked on a pallet. [Arrangement] An arm with an operation control function and a plurality of suction pads are provided on the front surface of the tip frame near the glass plate that is leaned against a pallet and laminated, and proximity sensors are dispersed in a triangular shape on the front surface of the frame. Arrange.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an improvement in a device for adsorbing and transferring glass plates vertically stacked on a pallet, and more particularly to controlling the attitude of a frame provided with a suction plate.

[0002]

[Prior Art]

 For transportation and storage of glass plates, multiple glass plates are stacked vertically on a pallet with tilting.For example, the glass plates can be picked up by tilting the glass plate with a suction cup at the end of the robot arm. An angle is set in advance, the frame tilted to the angle is brought close to a glass plate and a suction plate is brought into contact with the frame, and in JP-A-2-225225, a glass plate leaning on a pallet is combined. In a plate glass entry device that picks up paper from one piece of paper and transfers it to another device one by one, this entry device is a main part that adsorbs the plate glass to the tip of a swing arm that reciprocates between the palette and the other device. There is disclosed a plate glass insertion device in which a suction plate and a sub-suction plate for sucking interleaving paper are provided, and the main suction plate and the sub-suction plate are operated independently. Base end of arm The second swing arm is rotatably attached, and the suction portion is rotatably attached to the tip of the second swing arm. The first and second swing arms and the suction portion are independently rotated by a motor. Have been shown to work.

[0003]

[Problems to be solved by the device]

 In both of the former and the latter Japanese Patent Laid-Open No. 2-225225 of the above-mentioned prior art, the suction plate mounted on the frame is tilted in parallel according to the inclination of the glass plate on the pallet, and the suction plate is approached to suck the glass plate. The support arm's operation control function turns or rotates it to transfer it, but the tilt of the frame also causes a fixed rotation operation of the motor etc. by the operation control function built in beforehand and the suction distance between the glass plate and This is due to the combination control that confirms the fluctuation with the proximity sensor.Transferring the glass plate from the pallet repeats certain operations, and during the repetition, the glass plate that comes into close contact with the spacer or interleaving paper is Often, the glass plates of the above are pulled slightly apart by negative pressure and separated from each other. And, there is a problem that results in a falling accident of the glass plate during the transfer.

[0004]

[Means for solving problems]

 The present invention has been made in view of such a problem, and an operation control function is provided in the vicinity of a glass plate which is leaned against a pallet and stacked for the purpose of providing an apparatus having higher reliability in the suction transfer of the glass plate. A glass plate for mounting a provided arm and a frame having an operation control function at its tip, mounting a proximity sensor for positioning and a plurality of suction pads on the frame, and supporting and transferring the glass plate with the suction pads In another transfer device of the above, there is provided a transfer device of a glass plate in which the proximity sensors are dispersed and arranged in a triangular shape.

[0005]

[Action]

 One of the proximity sensors arranged in the shape of a triangle on the front surface of the frame serves as a reference proximity sensor for positioning the frame, and the first proximity sensor above or below the reference proximity sensor and the reference proximity sensor in the vertical edge direction of the frame. The inclination of the suction pad surface and the pallet mounted on the frame can be corrected by correcting the inclination in the left-right direction with the second proximity sensor provided on either the left or right side of the reference proximity sensor and the reference proximity sensor. It is completely parallel to the vertically stacked facing glass plates.

[0006]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic perspective view showing a frame at the tip of an arm with a part cut away, and FIG. 2 is a side view showing a state in which glass plates are stacked on a palette through a spacer.

A frame in which a plurality of suction pads 4, 4, ... and Proximity sensors 5, 6, 7 are arranged side by side near a pallet 3 in which a plurality of glass plates 2 are leaned and stacked via a spacer 1. An arm 8 of a robot (not shown) provided with 9 at its tip sucks and sucks the frontmost glass plate 2 to be stacked on the pallet 3, and the robot 8 swings the arm 8 horizontally and vertically. It incorporates a control function for various movements such as movement, rotation of the frame 9, and tilting of the frame edge vertically and horizontally.

Above the suction pad 4 mounted on the frame 9, there is provided a holder 10 that is close to the spacer 1 made of, for example, a magnetic material and removes the spacer with an electromagnet, and the frame 9 between the suction pads 4, 4 ... The proximity sensors 5, 6, 7 attached to the member generate signals when approaching the glass plate 2 placed on the pallet 3, for example, of ultrasonic type, 5 is a reference, 6 is a first, Reference numeral 7 is a second sensor, and connecting the points of each sensor shows a triangular shape.

The operation of the present invention will be described below. A frame (9) installed on a robot (not shown) near the pallet (3) and operating in accordance with the operation sequence previously incorporated in the robot includes a suction pad (4), a holder (10) and a proximity sensor (5). 6 and 7 face the glass plate 2 to be laminated on the bullet 3 and approach the glass plate 2.

When the frame 9 approaches the glass plate 2, the operation of the arm 8 and the frame 9 is temporarily stopped and positioned by the signal of the reference proximity sensor 5, and when the signal is received again from the next first proximity sensor 6, the frame 8 is operated again. If the vertical surface of 9 is adjusted to match the reference proximity sensor 5, and then the signal from the second proximity sensor 7 is used to adjust the left and right surfaces of the frame 9 to the reference proximity sensor 5 and tilt correction is performed, then the pallet 3 is changed. The surfaces of the leaned glass plate 2 and the suction pads 4, 4 ... Face each other in a completely parallel state.

Subsequently, the holder 10 is operated to remove the spacer 1 placed on the upper edge of the glass plate 2, and the suction pads 4, 4 ... 2 is sucked and separated from the next glass plate placed on the pallet 3 by the operation of the arm 8 and the frame 9, and the glass plate 2 supported by the suction pad 4 is sucked and released on, for example, a conveyer conveyor (not shown). Will be transferred to the place.

The proximity sensors 5, 6 and 7 mounted on the frame 9 may be arranged in a dispersed state rather than in series, and the reference proximity sensor 5 may be installed in any position if it is a dispersed position, and a spacer is used. The proximity sensor to be used may be a high frequency oscillation type, a capacitance type, a photoelectric type, or an ultrasonic type instead of the holder 10 for removing 1 and may be an adsorption holder for removing the interleaving paper between the glass plates 2. Either may be used.

[0013]

[Effect of the device]

 The attitude control of the frame, which has an operation control function and is positioned by the proximity sensor, is corrected each time by a signal transmitted from a plurality of newly provided proximity sensors, so that the suction pad surface to be mounted on the frame and the glass leaning against it. The plate surface and the glass plate are completely horizontal, and a series of automations for transferring glass plates can be carried out safely and reliably by reliable suction support.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a frame at a tip of an arm with a part cut away.

FIG. 2 is a side view showing a state where glass plates are stacked on a pallet via a spacer.

[Explanation of symbols]

 2 ... Glass plate 3 ... Pallet 4 ... Suction pad 5, 6, 7 ... Proximity sensor 8 ... Arm 9 ... Frame

Claims (1)

[Scope of utility model registration request] 1. An arm having an operation control function and a frame having an operation control function at the tip thereof are provided in the vicinity of a glass plate which is leaned against a pallet and laminated, and a positioning proximity sensor and a plurality of suction pads are provided on the frame. A glass plate transfer device that is mounted and supports the glass plate by the suction pad to transfer the glass plate, wherein the proximity sensors are arranged in triangular points in a dispersed manner. .