JPH0641923Y2 - Delivery device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a delivery device for delivering an object to be conveyed such as a tray, a pallet, and a parts box.

(Prior Art) For example, there is a bread baking facility as shown in FIG. In the figure, 31 is the first floor, 32 is the second floor, and each floor is connected by a blow-out 33. An endless rotating chain conveyor 34 is disposed in the blow-out 33, and the chain conveyor 34 is provided with a plurality of tray receivers 36 on which trays 35 are placed. Second floor 32
Of the tray truck in the left-right direction between the blow-out 33
37a, 37b are arranged, and a worker 38a, for transferring the tray 35 between the tray carriage and the tray receiver 36.
38b is arranged. On the other hand, on the first-floor floor 31, an oven 39 for baking bread, belt conveyors 40a and 40b for loading and unloading the tray 35 into the oven 39, and the tray 35 on the tray receiver 36 are pushed to the belt conveyor 40. Pusher 41 and is arranged.

In such bread baking equipment, first, a tray carriage 37a containing a large number of trays 35 is carried into one of the second floors 32,
The operator 38a makes trays one by one from the tray cart 37a.
35 is pulled out (separated) and placed on the tray receiver 36 of the chain conveyor 34. The tray 35 placed on the tray receiver 36 is moved to the first floor 31 by moving the chain conveyor 34.
Where it is pushed out to the pusher 41 and is conveyed to the belt conveyor.
It is transferred to 40a and further carried into the oven 39. Then, the tray 35 that has undergone the baking treatment in the oven 39 is carried out by being placed on the belt conveyor 40b in the right direction in the figure, transferred to the ascending tray receiver 36, and reaches the other side of the second floor 32, where It is taken out from the tray receiver 36 by the worker 38b and stored in the tray carriage 37b.

By the way, in the above-described baking equipment, the number of trays 35 to be processed becomes enormous (usually 10,000 or more per day), and even if the workers 38a and 38b process them alternately, There has been a problem that the labor load on each worker is remarkably high, and moreover, mental fatigue increases due to repetition of simple work.

Therefore, in place of the workers 38a, 38b, for example, as shown in FIG. 8, a multi-axis robot 45 is arranged, and the robot hand 46 is provided with a tray receiving jig 47 to transfer the tray 35. There is an idea to do it automatically.

(Problems to be Solved by the Invention) However, according to the aspect of using the robot 45, a relatively large space is required for turning the robot hand 46, and a space between the tray carriage 37a (37b) and the chain conveyor 34 is required. However, the cycle time is extended due to the complicated operation of the robot hand 46, and the installation cost is high.

For example, as shown in Japanese Utility Model Laid-Open No. 62-161960, there is a conveying device in which a pallet is placed on a table that can move in three axis directions, and its use can be considered, but the movement of the table is flat. Therefore, it cannot be applied to the delivery of trays that require complicated movements as described above.

The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to reduce the installation space and to enable high-speed delivery, which has a wide range of application An object is to provide a delivery device.

(Means for Solving the Problems) In order to solve the above problems, the present invention arranges a gate-shaped unit main body so as to be movable between a carry-in station and a carry-out station, and has both legs of the gate-shaped unit main body. A support frame is bridged via an elevating mechanism, and a slide body is slidably attached along the support frame. The slide body extends in the moving direction of the gate-shaped unit body and has a flat upper surface. A fork and a slider that moves along the longitudinal direction of the fork are provided side by side, and a fixing claw protruding from the upper surface of the fork is provided at one end of the slider located on the carry-in station side, and the other end is provided. In the above, a movable claw capable of projecting and retracting is projected from the upper surface of the fork.

(Operation) Since the present invention is configured in this way, it has the following operations. That is, a support frame is bridged between both legs of a gate-shaped unit body that can be moved between a carry-in station and a carry-out station via an elevating mechanism, and a slide body is slidably attached along the support frame, A fork having a flat upper surface extending in the moving direction of the gate-shaped unit main body and a slider moving along the longitudinal direction of the fork are arranged in parallel on the sliding body. In both cases, the gate-shaped unit body moves in the direction between the loading and unloading stations, the sliding body that slides on the support frame moves in a direction orthogonal to the direction in which the gate-shaped unit body moves, and the support frame moves up and down. The slider can be further independently moved in the moving direction of the gate-shaped unit body.

A fixed claw protruding from the upper surface of the fork is projectingly provided at one end of the slider located on the carry-in station side, and a movable claw capable of projecting and retracting from the upper surface of the fork is projectingly provided at the other end thereof. Therefore, the gate-shaped unit main body, the support frame, the sliding body, and the slider are organically moved to each other to move the gate-shaped unit main body together so that the fork and the slider together form a predetermined position of the loading-side station. After moving to the position of, the support frame is raised, the fork and the slider are raised together, and the fixed claw protruding from the upper surface of the fork is hooked on the tray,
Next, move the gate-shaped unit body to the carry-out side, move the fork and slider together, then move the slider alone to the carry-in station side to project the movable pawl onto the top surface of the fork, and then move the slider. It is possible to move the tray alone to the carry-out station side, and carry out the tray to the carry-out station using the flat upper surface of the fork as a guide surface.

(Embodiment) An embodiment of the present invention will be described below with reference to the accompanying drawings. This embodiment shows an application example in which the tray 35 is delivered between the tray carriage 37a and the chain conveyor 33 instead of the worker 38a in the bread baking equipment shown in FIG. The same parts as those shown in FIG. 7 are designated by the same reference numerals, and the description thereof will be omitted here.

In FIG. 1 to FIG. 5, 1 is a gate-shaped unit body,
The unit main body 1 is installed by slidably mounting both legs 1a, 1a on a guide rail 4 on a pair of bases 2 laid on the second floor 32. The pair of bases 2 are
It is arranged so as to connect between the carry-in station A into which the tray carriage 37a is loaded and the carry-out station B in which the chain conveyor 34 is arranged (FIGS. 2 and 3). A traveling motor 4 is fixedly mounted on one of the legs 1a of the unit body 1, and a pinion 5 attached to the output shaft of the traveling motor 4 is meshed with a rack 6 provided on the base 2. . That is, the unit main body 1 includes the traveling motor 4
By rotating the pinion 6 by the operation of, the station A and B can be arbitrarily moved back and forth. Here, for convenience of explanation, the movement to the carry-in station A side will be treated as backward, and the movement to the carry-out station B side will be treated as forward.

On the other hand, guide bars 7 and 7 are projectingly provided on both legs 1a of the unit body 1, and a support frame 8 is bridged between both legs 1a by slidably engaging the guide bars 7 at both ends. ing. Further, the upper beam 1b of the unit body 1 has a lifting motor 9 and a wheel 10 that is driven to rotate by the lifting motor 9.
Are provided, and the support frame 8 is connected to the wheel 10 via ball screws 11. That is, the support frame 8 can be arbitrarily moved up and down along the leg portion 1a by the rotation of the ball screw 11 by the operation of the lifting motor 9. A guide bar 12 is fixed to the support frame 8,
A sliding body 13 is slidably attached to the guide bar 12. The sliding body 13 is connected to a wheel 15 rotatably driven by a traverse motor 14 fixed to one end of the support frame 8 via a ball screw 16, and is supported by the operation of the traverse motor 14 to rotate the ball screw 16. Arbitrarily traverses on the frame 8.

A pair of forks 17 extending in the moving direction of the unit body 1 are fixed to the sliding body 13, and a mount 18 is fixed between the pair of forks 17. A guide bar 19 is bridged in the front-rear direction on the frame 18, and a slider 21 is slidably attached to the guide bar 19 via a linear guide 20 (Fig. 5). The slider 21, as shown in detail in FIGS.
The main body 22 and the engaging portion 23 integrated on the main body 22 are included. The main body 22 of the slider 21 is
It is screwed onto a ball screw 24 which is bridged to a mount 18 so as to be parallel to the guide bar 19. The ball screw 24 has a wheel 25 attached to one end thereof connected to an advancing / retreating motor 26 fixed to the pedestal 18, and the ball screw 24 is rotated by the operation of the motor 26, whereby the slider 21 is mounted on the pedestal 18. It is designed to move back and forth arbitrarily.

The engaging portion 23 of the slider 21 has a fixed pawl 27 at one end located on the carry-in station A side and a movable pawl 28 at the other end located on the carry-out station B side. The fixed pawl 27 has a length sufficient to engage with a lower corner portion of a tray 35 transferred onto a fork 17, which will be described later, while the movable pawl 28
Has a substantially triangular cross section and is rotatably attached to a bracket 23a protruding from the engaging portion 23 via a shaft 23b. The engaging portion 23 is also provided with a stopper 29 for restricting the rotation of the movable pawl 28 toward the carry-in station A and a spring 30 for normally seating the movable pawl 28 on the stopper 29.
The movable claw 28 rotates in the clockwise direction in FIG. 5 against the urging force of the spring 30 in a state where the tray 35 transferred onto the fork 17 is present on the engaging portion 23, and the tray 35 is rotated. Is allowed to move freely, while it is positioned at a position where it can be engaged with the lower corner of the tray 35 on the fork 17 when seated on the stopper 29.

The operation of the delivery device configured as described above will be described below with reference to FIG.

In FIG. 6, I represents the front end position of the tray carriage 37a loaded into the carry-in station A, II represents the original position of the unit main body 1, and III represents the rear end position of the chain conveyor 34. Although the fork 17 and the slider 21 are shown separately in FIG. 6, both of them are at the same height level as shown in FIG. 4 and the fixed pawl as shown in FIG. 27 and the movable claw 28 in the projecting state project from the upper surface of the fork 17 so as to engage with the end of the tray 35 on the fork 17. This delivery device pulls out the trays 35 one by one from the tray carriage 37a and delivers them to the tray receiver 36 of the chain conveyor 34. At the time of delivery, first, the traveling motor 4 is operated to retract the unit main body 1 from the original position. Then, the fork 17 and the slider 21 are positioned below the tray carriage 37a (). Next, the support frame 8 is slightly raised (about 30 mm, for example) by the operation of the lifting motor 9, and one of the trays 35 is placed on the fork 17 (). At this time, the fixed claw 27 of the slider 21 engages with the lower corner of the rear end of the tray 35, while the movable claw 28 of the slider 21 moves.
Is rotated by being pushed by the tray 35, and is positioned below the tray 35 as shown by a broken line in FIG.

Next, the unit main body 1 is moved forward by reactivating the traveling motor 4. Then, since the fixed claw 27 of the slider 21 is engaged with the lower corner of the tray 35, the tray 35 is moved to the tray carriage 37.
It is pulled out from a and rests on the fork 17 and moves. However, during the forward movement, the slider 21 is moved forward relative to the fork 17 by the operation of the forward / backward motor 26, and the tray 35 is moved to the front end side on the fork 17 (). Further, during the forward movement, the supporting frame 8 is raised by the operation of the lifting motor 9, and the tray is positioned above the carry-out station B as indicated by reference numeral 35-1 in FIG.

At the forward end of the unit main body 1, that is, the fork 17, the slider 21 is retracted by about the length thereof (about 270 mm as an example) by reactivating the advancing / retreating motor 26 ().
Due to this retreat, the movable claw 28 of the slider 21 is released from the weight of the tray 35, is erected by the urging force of the spring 30 (FIG. 5), and is positioned at a position where it can be engaged with the lower corner of the rear end of the tray 35. . On the other hand, after the unit body 1 reaches the forward end, the support frame 8 descends in synchronization with the descending speed of the chain conveyor 34 by the reverse rotation of the lifting motor 9.
Then, during this descent, the slider 21 is advanced by the re-operation of the advancing / retreating motor 26. Then, the movable claw 28 becomes a tray.
The tray 35 is caught on the fork 17, slides on the fork 17, and is pushed out onto the tray receiver 36 of the chain conveyor 34 (), whereby the delivery of one tray 35 is completed.

After that, the trays 35 in the tray carriage 37a are sequentially delivered by repeating the above-mentioned operation. At this time, the traverse motor 14 is operated to cause the sliding body 13 to traverse arbitrarily, thereby making the fork.
The slider 17 and the slider 21 can be moved to a wide range (indicated by diagonal lines in FIG. 1) in the gate shape of the unit main body 1, whereby the transfer of all the trays in the tray carriage 37a is completed.

In the above embodiment, the rack and pinion mechanisms 5 and 6 are used as the means for traveling the unit main body 1.
This running means is arbitrary, for example, it can be pulled by a chain or wire, or both legs 1a of the unit body 1
You may make it self-propelled by attaching a rolling wheel under.
Further, in the above-mentioned embodiment, the lifting means of the support frame 8,
Although the ball screw mechanisms 11, 18, and 24 are used for the traversing means of the sliding body 13, the advancing and retreating means of the slider 21, and the like, other means, for example, a rack and pinion mechanism, a chain drive mechanism or the like can be used instead. .

Further, the scope of application of the present invention is not limited to the mode of the above-mentioned embodiment, and for example, for the tray take-out side of the bread baking equipment shown in FIG. 7, that is, for delivery between the chain conveyor 34 and the tray carriage 37b. Of course, the present invention can also be applied to delivery of other transported objects such as pallets and parts boxes.

(Effects of the Invention) As described in detail above, according to the object transfer device according to the present invention, both legs of the gate-shaped unit body that can move between the carry-in station and the carry-out station B. A support frame is bridged between the parts via an elevating mechanism, and a slide body is slidably attached along the support frame. The slide body extends in the moving direction of the gate-shaped unit body and has a flat upper surface. Since the fork and the slider that moves along the longitudinal direction of the fork are arranged in parallel, the fork and the slide arranged in parallel in the fork both move in the direction between the loading and unloading stations of the gate-shaped unit main body and support frame. The sliding body that slides on the door allows the gate-shaped unit body to move in the direction orthogonal to the moving direction and the support frame to move up and down to move up and down. Space can be saved by the so-called all-four-axis structure in which the gate-shaped unit body is independently slid in the moving direction.

A fixed claw protruding from the upper surface of the fork is projectingly provided at one end of the slider located on the carry-in station side, and a movable claw capable of projecting and retracting from the upper surface of the fork is projectingly provided at the other end thereof. Therefore, the gate-shaped unit main body, the support frame, the sliding body, and the slider are organically moved to each other to move the gate-shaped unit main body together so that the fork and the slider together form a predetermined position of the loading-side station. After moving to the position of, the support frame is raised, the fork and the slider are raised together, and the fixed claw protruding from the upper surface of the fork is hooked on the tray,
Next, move the gate-shaped unit body to the carry-out side, move the fork and slider together, then move the slider alone to the carry-in station side to project the movable pawl onto the top surface of the fork, and then move the slider. It is possible to perform a series of operations of moving only the tray to the unloading station side and unloading the tray to the unloading station with the flat upper surface of the fork as a guide surface in a short time, and to deliver the transferred object in a short time. .

The device has a wide range of application and has a functionally rich structure despite having a simple structure, which is advantageous in that it has a cost advantage over a robot or the like.

[Brief description of drawings]

FIG. 1 is a front view of a device for delivering and receiving objects according to the present invention, FIG. 2 is a side view thereof, FIG. 3 is a plan view thereof, and FIG. 4 is a view taken along the line IV-IV of FIG. Fig. 5 is an enlarged view of the slider according to the present invention, Fig. 6 is an explanatory view showing the operating state of the present delivery device, and Fig. 7 is a pan baking which is one of the objects of the present invention. The equipment is a schematic view, and FIG. 8 is a schematic view showing a mode in which a robot is used as a delivery device. 1 ... Unit body, 4 ... Traveling motor 8 ... Support frame, 9 ... Elevating motor 13 ... Sliding body, 17 ... Fork 21 ... Slider, 26 ... Advancing / retreating motor 27 ... Fixing claw , 28 ...... Movable claw 29 ...... Stopper, 30 ...... Spring A …… Loading station, B …… Unloading station

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Creator Takanobu Maeda 48 Bishamon, Fukuoka Town, Okazaki City, Aichi Prefecture Shibaoka Manufacturing Co., Ltd. (56) References JP-A-63-262307 (JP, A) -8876 (JP, U) Japanese public Sho 49-36314 (JP, B1) Japanese public 52-34114 (JP, B2) Actual public 41-18246 (JP, Y1) Actual public 62-38965 (JP, Y2) )

Claims (1)

[Scope of utility model registration request] 1. A gate-shaped unit main body is movably arranged between a carry-in station and a carry-out station, and a support frame is bridged between both legs of the gate-shaped unit main body through an elevating mechanism, and A sliding body is slidably mounted along a support frame, and a fork having a flat upper surface extending in the moving direction of the gate-shaped unit body and a slider moving along the longitudinal direction of the fork are attached to the sliding body. A fixed claw protruding from the upper surface of the fork is provided at one end of the slider located side by side on the carry-in station side, and a movable claw capable of projecting and retracting with respect to the upper surface of the fork is provided at the other end. A delivery device for an object to be conveyed, which is characterized in that it is projected.