JPH0614155U - Glass plate transfer device - Google Patents

Abstract

(57) [Summary] [Object] To provide a glass plate transfer device for adsorbing and supporting a glass plate leaning on a pallet and a slip sheet behind it, and removing the slip sheet during transfer. A device for adsorbing and supporting a front glass plate on a pallet by a suction pad arranged on a frame fixed to an arm, capable of moving forward and backward from one side of the frame in the in-plane direction and forward. A projecting pressure contact member, a pressing member that is detachable from the pressure contact member and protrudes forward of the press contact member are provided, and the press contact member is provided with a suction member that is movable back and forth from the front end of the pressure contact member to contact and adsorb the interleaf sheet. The edge of the interleaf paper protruding from the lower end or the side edge of the glass plate is fixed.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a glass plate transfer device that incorporates suction removal of a slip sheet into a suction support transfer of a glass sheet that is leaning against a pallet with a slip sheet sandwiched therebetween.

[0002]

[Prior art]

 When a glass sheet leaning against a pallet with a slip sheet sandwiched therebetween is transferred to another device such as a conveyor, the slip sheet is removed and the sheet is transferred. For example, Japanese Patent Publication No. 52-43300 discloses the prior art. A reversing arm is provided between the pallet and the conveyor, and the plate glass on the pallet is adsorbed together with the interleaving paper by the suction plate provided on the reversing arm, and then the arm is rotated 180 ° to combine it on the conveyor. Disclosed is a sheet-like peeling and collecting device in which a plate glass is transferred so that the paper faces down, and a sheet body that overlaps the plate body that collects the slip sheet is collected by a slip sheet peeling guide mechanism provided at the end of the conveyor. Japanese Patent Application Laid-Open No. 57-4836 proposed by the applicant of the present invention discloses an adsorbing device for adsorbing an upper end portion of a sheet material projecting above a superposing plate body in which a sheet material is inserted from above at a front end of taking out the superposing plate body. , A sheet material collecting device inserted between superposed plate bodies, which has a transfer device that supports an adsorption tool and moves the adsorbed sheet material upward and then transfers it to a sheet material collection position, and JP-A-2-225225. In the gazette, a swinging arm of a feeding device that reciprocates between a pallet and another device is provided with a main suction plate for sucking plate glass and a sub-suction device for sucking interleaf paper that operates independently of this main suction plate. A plate glass insertion device provided with a suction plate is disclosed.

[0003]

[Problems to be solved by the device]

 In the technology described in Japanese Patent Publication No. 52-43300, the interleaving paper and the plate glass that are leaning against each other are adsorbed and rotated by the reversing arm to be delivered to the conveyor, so that the interleaving paper that is the lower surface is caused by its own weight. There is a problem that bending and the like may occur, and there is a concern that reliable collection is possible. In the case of JP-A-57-4836, the device becomes large because the suction device for the sheet material and the interleaving paper are provided separately. However, the interlocking of the device has a problem that a complicated control system is required, and the one disclosed in Japanese Patent Laid-Open No. 2-225225 has a suction plate provided on a moving body rather than a main suction plate that sucks plate glass from above the interleaving paper. Although only the plate glass is delivered and the interleaving paper is adsorbed and separated by the sub-suction plate, in addition to the complicated structure of two units that deliver and transfer the plate glass, the transfer from the main suction plate to the suction plate is rare. Thymin I have had a reliable delivery is a difficult problem by and sheet glass inclination, etc. of.

[0004]

[Means for solving problems]

 The present invention has been made in view of such problems, and for the purpose of providing a device that enables collection of interleaving paper during the transfer of glass plates by a robot, the present invention is leaned against a pallet together with interleaving paper. A frame is attached to the arm that can rotate and the direction of the robot installed near the glass plates to be stacked, and the suction plate placed on the frame supports and transfers the front glass plate to transfer the glass plate. In the device, a pressure contact member is provided which can move forward and backward from one side of the frame in the in-plane direction of the frame facing the front glass plate and projects forward, and the pressure contact member is movable back and forth from its front end. Provided is a glass plate transfer device in which an adsorbing member is arranged, and in addition, a pressing member projecting forward from the pressing member is detachably arranged.

[0005]

[Action]

 The glass plate is sucked and supported by the suction pad, and the robot arm moves slightly upward, and the press-contact member lowers to press and fix the edge of the interleaving paper that protrudes from the lower end of the glass plate. The suction member that protrudes to the rising portion of the interleaving paper that is exposed to the outside and the suction action supports the interleaving paper by the suction action, and releases the suction of the suction member at a predetermined position during the predetermined route movement of the arm. If the sheet is pressed, the interleaving paper is separated from the suction member, further moved to a predetermined position, and the suction action of the suction pad is released, the glass plate is transferred to the target location.

For the interleaving paper that extends from the left and right ends of the glass plate, a pressing member is attached, the frame is rotated 90 ° left or right, and then the pressure contact member is separated from the frame, and the suction pad is brought into contact with the glass plate to press the pressure contact member. If you bring the glass plate closer to the end face of the glass plate, the pressing member will press and fix the edge of the interleaving paper to the side end of the second glass plate located from the front, and use the suction pad to attach the front glass plate. Part of the interleaving paper is exposed when it is adsorbed and the arm is swung, and the adhering member moves forward to contact the interleaving paper, and the interleaving paper is adsorbed by the adsorbing action. And the glass plate will be transferred to another destination.

[0007]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a partially cutaway perspective view showing an essential part of the present invention, FIG. 2 is a schematic side view of the essential part of the pallet facing a glass plate, and FIG. FIG. 4 is a schematic side view of a main part showing a front interleaving paper, and FIG. 4 is a schematic plan view illustrating another aspect.

A robot (not shown) is installed in the vicinity of a pallet 3 which alternately stacks the interleaving paper 2 protruding from the peripheral edge of the glass plate 1 and the glass plate 1 and stands up, and the robot is universally rotated. A frame 8 framed by vertical members 6, 6 and horizontal members 7, 7 is detachably attached to the tip of an arm 5 having a bending portion 4 via a seat fixed to a center beam 9, and the four corners of the frame are attached to the four corners. A suction pad 10 facing the glass plate 1 placed on the pallet 3 is placed on the surface of the glass plate 1 via a pedestal 11.

As shown in FIG. 2, with the frame 8 facing the glass plate 1 on the pallet 3, the lower surface of the lower horizontal member 7 is below the rear surface of the frame 8 facing the glass plate 1 and opposite to the frame 8. At the front of the pressure contact member 14, a laterally protruding pressure contact member 14 is supported by a pair of guide bars 12 in a suspended manner, and guide members 13, 13 into which the guide bars are loosely fitted are fixed. Further, between the overhanging brackets 15 and 16, there is provided a moving cylinder 17 for moving the pressure contact member 14 closer to the frame 8 along the guide members 13 and 13, and on both sides of the pressure contact member 14 in front of the pressure contact member. If the suction member 18 for exclusively sucking the protruding interleaving paper 2 is fixed to the piston ends of the cylinders 20 and 20 for driving back and forth, it becomes a glass plate transfer device 21 in combination with a robot (not shown). A pair of detachable pressing members 24 projecting forward from the pressure contact member via a mounting base 23 fixed to the pressure contact member 14 are arranged. A simple configuration for screwing on is sufficient.

A receiving box 22 for collecting the interleaving paper 2 is installed on the way of moving the glass plate 1 to a predetermined place. The operation of the present invention will be described below.

For a robot (not shown) installed in the vicinity of the pallet 3 in which the glass plates 1 and the interleaving paper 2 are alternately stacked and placed, the suction pads 10 and 10 are attached to the tip of the arm 5 that makes a universal joint-like movement. A frame 8 for mounting the glass plates is mounted so that the frame 8 faces the glass plate 1 standing on the front row on the pallet 3 in a predetermined direction and position, and the frame 8 is installed in order. When it approaches 1, the suction to the suction pad 10 is activated by a signal from a proximity switch (not shown), and the suction pad suctions the glass plate 1 and pulls it slightly to contact and support the suction cylinder 17. Also operates to lower the piston, and the pressure contact member 14 connected to the piston also moves smoothly without being rocked by the guide member 13 fixed to the frame 8 and the guide rod 12 loosely fitted in the member. When the arm 5 rises slightly while holding this state, the stop of the interleaving paper 2 pushes the edge of the interleaving paper 2 that protrudes from the lower edge of the front surface of the glass plate 1 on the floor rail of the pallet 3. The glass plate 1, which is supported by a frame 8 bent forward on the side of the glass plate 1 via a suction pad 10 and rises vertically, rises while being separated from the closely interleaving interleaving paper 2, and the lower side of the glass plate is a pallet 3. When the lower part of the interleaving paper 2 is exposed by separating from the floor crosspiece, the adsorbing members 18, 18 connected to the suction hoses 19, 19 in the suction state project toward the interleaving paper 2 by the operation of the cylinders 20, 20. Adsorb the interleaving paper.

The transfer device 21, which supports the glass plate 1 and the interleaving paper 2 by suction with the suction pad 10 and the suction member 18, is operated by the operation of the arm 5, the bending section 4, etc. of the robot (not shown) while the arm 5 is rotating. As shown in FIG. 3, when the glass plate 1 is supported horizontally and the suction inside the suction hoses 19, 19 is switched to a slight pressure, the interleaving paper 2 that hangs down on the suction members 18, 18 comes off and is placed at the bottom. Then, the glass plate 1 being sucked by the suction pads 10, 10 ... Is moved to a predetermined position by the operation of the arm 5 and the bending portion 4 and the like, and the suction of the suction pad is released at a desired position. For example, the glass plate 1 is transferred to a predetermined position.

In the case of suction of the interleaving paper 2 protruding from the left and right edges of the glass plate 1 as shown in FIG. 4, a pair of pressing members 24 are screwed to the mounting base 23 in advance, and the frame 8 is seen from the arm 5. For example, by rotating 90 ° to the left, the suction members 18, 18 are also moved via the pressure contact member 14, and both the pressing member 24 and the suction member 18 are vertically arranged on the left side of the facing glass 1.

When the forward / rearward movement cylinder 17 is moved forward to move the pressure contact member 14 away from the frame 8, and the frame is moved forward to adsorb the suction butt 10 to the glass plate 1, the pressing member 24 moves to the glass plate 1. The interleaving paper 2 protruding from the side edge is pressed and bent, and the pressing member 24 is held in that state for the backward movement of the perspective movement cylinder 17 and the edge of the interleaving paper 2 with the side end surface of the glass plate 1 second from the front. Pinching and pressing to fix the left and right ends of the interleaving paper 2 covered with the glass sheet, which is fixed together with the movement of the glass sheet 1 by a slight right turn of the arm 5 at the same time as the backward movement of the perspective movement cylinder. The edges are exposed, and the suction members 18, 18 projecting forward by the operation of the cylinder 20 are brought into contact with the interleaf paper 2, and the edges of the interleaf paper 2 are attracted by the suction force of the suction hoses 19, 19. The forward and backward movement of the cylinder 17 When the pressing member 24 releases the left end edge of the interleaf sheet 2 by pressing, the glass plate 1 and the interleaf sheet 2 are sucked and supported by the operation of a robot (not shown) to move to the target position.

The pressing members 24, 24 can be attached and detached very easily by adopting a rod-shaped and screw-fastening method as shown in FIG. 1, but they can be connected in a U-shape without forming a pair of independent members. Alternatively, the connected members may be arranged so as to be movable back and forth.

For the interleaving paper 2, if a slightly thicker and more elastic paper is used, the interleaving paper 2 can be collected more easily without reworking and can be easily reused after being recovered. Since the suction pad 10 and the suction member 18 provided on the frame 8 are arranged in a size according to the size of the glass plate 1, in the case of the glass plates 1 having different sizes, the suction pad 10 and the suction pad 10 are adjusted according to the size. A frame 8 for arranging the member 18 is separately provided, and the one mounted on the end of the arm 5 is detached and replaced, or the vertical member 6, the horizontal member 7 and the middle member 9 are sucked through a mounting jig (not shown). A pad, a suction member that can move back and forth, and a piston of a cylinder that can move forward and backward may be used as the pressure contact member instead of a large or small glass plate.

When the left and right ends of the window glass of the automobile are slanted, the end of the interleaving paper 2 protruding from the lower end of the glass plate 1 is pressed and fixed, or the frame 8 is slanted at the end of the glass side. By turning it, the interleaving paper 2 protruding from the edge can be fixed.

[0018]

[Effect of device]

 The present invention incorporates an interleaving paper presser and an interleaving paper suction means in the transfer mechanism, so that suction and separation of the glass plate and interleaving paper, and further removal and recovery of the interleaving paper can be performed reliably and efficiently during transfer. Its practical effect is extremely remarkable, such as enabling a series of automation.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing an essential part of the present invention.

FIG. 2 is a schematic side view of a main part in which a part facing a glass plate on a pallet is cut away.

FIG. 3 is a schematic side view of a main part showing the slip sheet before being separated from the suction member.

FIG. 4 is a schematic plan view illustrating another aspect.

[Explanation of symbols]

 1 ・ ・ Glass plate 2 ・ ・ ・ ・ ・ ・ Slip sheet 3 ・ ・ ・ ・ ・ ・ Pallet 5 ・ ・ ・ ・ Arm 8 ・ ・ ・ ・ Frame 10 ・ ・ ・ ・ Suction Pad 14 ··· Pressing member 18 ··· Adsorption member 21 ··· Transfer device 24 ··· Pressing member

Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI Technical display location B65H 3/08 G 9148-3F 350 Z 9148-3F

Claims (2)

[Scope of utility model registration request] 1. A frame is mounted on a rotatable arm in the direction of a robot which is installed near a glass plate which is leaned against a pallet and laminated together with interleaving paper, and the frontmost glass plate is attached to the frame by a suction pad. In a glass plate transfer device that supports and transfers the glass plate, a pressure contact member that is movable forward and backward from one side of the frame in the in-plane direction of the frame facing the front glass plate and protrudes forward is provided. A glass plate transfer device in which a pressure-contact member is provided with a suction member that is movable back and forth from its front end. 2. The glass plate transfer device according to claim 1, wherein a pressing member protruding forwardly from the pressure contact member is detachably disposed.