JPH0627765U - Glass plate transfer device - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] A glass plate transfer device that adsorbs and supports a large glass plate leaning against it and the interleaf paper behind it, and removes the interleaf paper during transfer. I will provide a. A device for adsorbing and supporting a front glass plate leaning on a suction pad 11 arranged on a frame 7 fixed to an arm 4 and moving the front glass plate in the in-plane direction of the frame 7 from one side of its periphery, A rocking motor 18 having a shaft 17 orthogonal to the rod 16 is arranged at the tip of a pair of front and rear movement rods 16 protruding toward the glass plate in front of the facing surface, and the shaft 17 is oriented in the same direction as the suction pad 11. Provide a suction tool.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a glass plate transfer device in which suction removal of a slip sheet is incorporated in suction support transfer of a large glass plate leaning against a sandwich sheet.

[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, and in Japanese Patent Application No. 3-106374 filed by the applicant of the present application, a frame provided with a suction pad for adsorbing and supporting a glass plate on an arm that is rotatable and reciprocable by a robot. Mounted on the glass plate, and provided with a pressing member which can be approached from one side of the frame in the in-plane direction of the frame and protrudes forward, and a glass plate transfer device provided with a suction member movable back and forth from the pressing member. Proposed.

[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 Since there is a problem that reliable delivery is difficult due to the inclination of glass and plate glass, the Japanese Patent Application No. 3-106374 is intended for vehicles with relatively small transferred glass plates. Since it is intended for laminated glass plates on pallets where the interleaving paper sticks out further, it cannot be used if the interleaving paper does not protrude beyond the bottom edge of the large boxed glass plate, that is, the glass plate. The large interleaf paper adsorbed and supported by the adsorbing member creates a bent portion in the adsorbing portion, and the root of the bent portion is separated from the adsorbing member due to the weight of the interleaving paper and the wind pressure during movement, and is separated from the adsorbing member due to a decrease in suction force due to leakage. Then there was a problem in the collection of interleaving paper.

[0004]

[Means for solving problems]

 The present invention has been made in view of such a problem, and for the purpose of providing a device that enables collection of interleaving paper while a glass plate is being transferred by a robot, it is leaned against the interleaving paper and stacked. An arm that can swivel or move back and forth is arranged at a position facing the glass plate, and a plurality of suction pads are arranged on a frame attached to the arm to transfer the glass plate for sucking and supporting the foremost glass plate. In the mounting device, the frame can be moved in and out from one side of the frame in the in-plane direction, and is rotated orthogonally to the pair of front and rear movement rod tips projecting toward the glass plate in front of the frame. Provided is a glass plate transfer device in which a swinging motor having a free shaft is arranged, and a suction tool in the same direction as the suction pad is provided on the shaft.

The swing motor refers to a rotary actuator that rotates within a certain angle.

[0006]

[Action]

 The lower edge of the interleaf paper sandwiched between the front and rear glass plates is exposed when the glass plate is adsorbed and supported by the adsorption pad and the robot arm is slightly raised, and the lower edge of the interleaf paper is moved up and down. The suction rod is attached to the front-rear moving rod through a swinging motor and aspirated, and the suction rod is moved downward by 90 ° or downward by 180 ° when the swinging motor operates. After turning, if the suction of the interleaf sheet is released at a predetermined position while the arm is moving backward while supporting both the glass plate and the interleaf sheet by suction, the interleaf sheet is detached from the suction tool, and further, a predetermined amount. After moving the arm to the position, if the suction action of the suction pad is released, the glass plate can be moved to the target location, but the interleaf sheet sucked by the rotating suction tool eliminates the bent portion due to the self-weight of the interleaf sheet. To prevent leakage due to detachment from the suction tool. The moving speed can be increased by actual support.

[0007]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a partially cutaway assembly perspective view showing a main part of the present invention, and FIG. 2 is a schematic view of a partly cutaway main part showing immediately after a transfer device faces a glass plate and adsorbs a slip sheet. FIG. 3 is a side view, and FIG. 3 is a schematic side view showing the state of the suction tool and the interleaving paper immediately after moving from the position of FIG.

A glass plate 1 and an interleaving paper 2 are alternately laminated in a wooden box 23, and a robot (not shown) is installed near the wooden box standing on a pallet 3 and the robot is arranged on the robot to be universal. A frame 7 framed by vertical members 5, 5 and horizontal members 6, 6 is attached to and detached from the tip of an arm 4 having a pivotable bending portion via a seat 9 that is fixed to the center beams 8 , 8, 8 '. A plurality of suction pads which are freely mounted and which face the frontmost glass plate to be placed on the pallet 3 via the pedestals 10, 10, ... And are connected to the suction hose 21 at the four corners of the frame. 11 is provided.

In a state where the frame 7 faces the glass plate 1 on the pallet 3, the middle beam 8 ′ and the lower horizontal member 6 are attached to the lower surface of the frame 7 which is the opposite side of the glass plate and is directed downward. Cylinders 13 with vertically movable rods 12 which can be inserted freely are arranged on the left and right sides, and a horizontal cylinder 15 is connected to the tip of the rods via a plate 14, but at the end of the longitudinal rods 16 of the horizontal cylinders. Is provided with a shaft 17 arranged orthogonally to the rod, and is fixed with a swing motor 18 for rotating the shaft within a certain angle, for example, 90 ° or 180 ° in the arrow direction shown in FIG. the end of the shaft 17 in the same direction as the suction pad 11, in the transfer device 22 of the glass sheet a suction device 19 connected to the suction hose 20 is disposed, the work movement of the cylinder 13 and the horizontal cylinder 15 Ri sucker 19 framework was the longitudinal direction of the longitudinal members 5, and for the plane of the frame 7 is moved in an orthogonal shape, rotation of the shaft 17 by further action of swing motor 18, i.e., integral sucker 19 Turn to.

The swing motor 18 uses a commercially available rotary actuator that rotates within a certain angle. The operation of the present invention will be described below.

A robot (not shown) for mounting the transfer device 22 via the arm 4 is installed near the glass plate 1 and the interleaving paper 2 alternately stacked in the wooden box 23 and leaning against the pallet 3. A frame 7 is detachably fixed to the tip of the arm 4 that makes a universal movement, and the suction surfaces of a plurality of suction pads 11, ... Arranged at the four corners of the frame face the glass plate 1 in the front row. , The suction pads 11 ... are pressed against the front glass plate 1 by advancing the arm, and each suction pad 11 suction-supports the glass plate 1 by the suction force from the suction hose 21. When the front glass plate 1 also rises as the arm 4 slightly rises, a slight space is provided between the glass plate 1 and the next glass plate 1 leaning against it, and the interleaving paper 2 in the space is a suction pad. Above glass plate 1 supported by 11 The bottom edge is exposed by the rise.

Subsequently, when the cylinders 13 and 13 and the horizontal cylinders 15 and 15 are interlocked with each other, the upper and lower moving rods 12 and 12 descend, and the forward and backward moving rods 16 and 16 project toward the pallet 3. The suction surfaces of the suction tools 19, 19 arranged via the protrusions also project toward the exposed interleaf sheet, and the suction tools 19, 19 also contact and press against the interleaf sheet, and suction is performed by suction from the suction hoses 20, 20. The rocking motors 18 and 18 operate in conjunction with the support, and the shafts of the motors and the shafts 17 and 17 rotate 90 ° or 180 ° to cause the suction surfaces of the suction tools 19 and 19 to move downward or to the opposite pallet. Rotate in the three directions while holding the lower edge of the interleaving paper 2 by suction.

.., the glass plate 1 and the interleaving paper 2, which are suction-supported by the suction tools 19, 19, move along a predetermined route by the operation of an arm 4 of a robot (not shown). If the suction inside the suction hoses 20 and 20 is switched to a slight pressure during movement, the interleaving paper 2 that hangs down on the suction tools 19 and 19 will come off and fall into a not-shown receiving box installed at the bottom, and the arm 4 that follows will continue to move. The glass plate 1 being sucked by the suction pads 11, 11, ... Is moved to a predetermined position by the movement, and if the suction of the suction pad is released at a desired position, the glass plate 1 is moved to a predetermined position. Since the bent portion 24 of the interleaving paper 2 adsorbed to the suction tool is eliminated by the rotation of the tool 19, it can be prevented from being detached or dropped during the movement, and the movement speed can be increased without limiting the operation speed of the arm 4. Can The collection of the interleaving paper 2 can be reliably performed.

[0014]

[Effect of device]

 The present invention incorporates an interleaving paper suction tool into the transfer mechanism, and by further rotating the suction tool, the separation speed between the large glass plate and the interleaving paper, and the removal and recovery of the interleaving paper are moved during transfer. The practical effect is extremely remarkable, such as being able to perform reliably and efficiently without decelerating, and enabling a series of automation.

[Brief description of drawings]

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

FIG. 2 is a schematic side view of a main part with a part cut away showing a transfer device facing a glass plate and immediately after adsorbing a slip sheet.

FIG. 3 is a schematic side view showing a state of a suction tool and a slip sheet immediately after moving from the position of FIG.

[Explanation of symbols]

1 ・ ・ Glass plate 2 ・ ・ ・ ・ ・ ・ Slip sheet 4 ・ ・ ・ ・ ・ ・ Arm 7・ ・ ・ ・ Frame 11 ・ ・ ・ ・ Suction pad 16 ・ ・ ・ ・ ・ ・Back-and-forth rod 17 ・ ・ ・ ・ ・ ・ Shaft 18 ・ ・ ・ ・ ・ ・ Swing motor 19 ・ ・ ・ ・ Suction tool 22・ ・ ・ ・ Transfer device

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display area // B65H 29/54 9147-3F

Claims (1)

[Scope of utility model registration request] 1. An arm which can be swung or moved back and forth is arranged at a position facing a glass plate which is leaned together with an interleaving paper and laminated, and a plurality of suction pads are arranged on a frame mounted on the arm so that the frontmost glass plate is arranged. In a glass plate transfer device for sucking and supporting and transferring, a pair of front and rear movement rod tips that can move in and out from one side of the frame in the in-plane direction of the frame and project toward the glass plate in front of the frame. A glass plate transfer device, characterized in that a swinging motor having a shaft that can rotate in a direction orthogonal to the rod is provided in the shaft, and a suction tool in the same direction as the suction pad is provided on the shaft. .