JPH0692451A - Plate member handling device and transport of plate member - Google Patents

Abstract

PURPOSE:To transfer the plate member such as plate glass which is laid in erection form, safely, surely, in a short time. CONSTITUTION:The top edge supporting part 22 of a lower part arm 4 is shifted to the position of the lower part gap between the plate member units laid on a laying board by shifting a fixed frame 2. A tiltable frame 3 is tilted by a prescribed angle, and adjusted to the tilt of the laid plate member. The upper part arm 5 is lowered, and the upper edge part of a plate member unit 1 is nipped between the top edge holding part 37 of the upper part arm 5 and the tiltable frame 3. Then, the tiltable frame 3 is returned to a vertical state. The fixed frame 2 is raised, and the lower part of the plate member unit 1 is supported by the supporting part 22 of the upper part arm 4. In this state, the plate member unit 1 is transported to a prescribed position by shifting the fixed frame 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate material handling device for transferring a plate material such as a plate glass to a stand table at a storage location or for delivering the plate material to a stand table at another place, and particularly for transferring the plate material. It is about improving efficiency.

[0002]

2. Description of the Related Art When a plate having a large outer dimension and a heavy weight, for example, a plate glass, is stored, a plurality of plate glasses having the same size are set as one unit, and the packing is sandwiched one unit at a time and leaned against a standing stand in a storage place for storage. is doing.
When the stored glass sheets are transported to another place, the glass sheets having a required size are sequentially transferred from the standing table for storage to the transportation table.

When transferring the leaned flat glass, for example, JP-A-50-49314 and JP-A-52-14596 are used.
As disclosed in No. 0 and Japanese Utility Model Laid-Open No. 1-111681, a plate glass is held by one unit by a suspending and holding tool and lifted and moved to a predetermined position. As disclosed in Japanese Patent Publication No. 2003-242242, a suction device attached to a vertically suspended frame sucks plate glasses one by one and moves them to a predetermined position.

[0004]

When the suspending and holding tool is used as described above, the plate glass that is leaned against
It is necessary for a human operator to manually hold the object with a suspension tool. However, in order to handle reliably and safely in a short time because of the small distance between the glass units and the smooth glass surface,
It required a great deal of skill for the worker. Especially when different sizes are mixed and leaned against each other, handling is not easy and it takes a lot of time.

Further, when the plate glass is adsorbed and transferred, since only one sheet can be transferred at a time, it takes a lot of time for transfer, and the work efficiency when transferring many plate glasses is very poor. It was

The present invention has been made to solve the above drawbacks, and is a plate material handling device and a plate material that can safely and reliably transfer a plate material such as a plate glass that is leaning against it, and transfer it in a short time. The purpose of the present invention is to obtain a method of carrying.

[0007]

A plate material handling device according to the present invention has a fixed frame, a tilting frame, a lower arm and an upper arm, and the fixed frame conveys the plate material. The tilting frame leans the plate material on a stand for a predetermined angle and raises the leaned plate material, and the lower end is a fixed frame. Is rotatably supported at the bottom of both ends of
The upper end is connected to the fixed frame through a tilting mechanism, and the lower arm holds the lower ends of a plurality of plate materials.
It has an upward protruding portion at its tip, is attached to the lower ends of both ends of the fixed frame, and the upper arm holds the upper ends of a plurality of plate materials, and has a downward protruding portion at its tip. Then
It is characterized in that it is attached to both ends of the tilting frame so as to be able to move up and down.

A tilting mechanism for connecting the upper end of the tilting frame to the fixed frame may be attached to the fixed frame so as to be rotatable.

Further, it is preferable that the lower arm is attached to the fixed frame so as to be movable back and forth, and the upper arm is attached to the tilting frame so as to be movable back and forth.

Further, it is desirable that the lower arm and the upper arm have gap detecting means for detecting the clearance position between the units of the plate material.

The gap detecting means includes a lower arm and an upper arm.
A rotary arm that rotates in a plane perpendicular to the forward direction of the arm and that rotates in the front-back direction of the lower arm and the upper arm, and the rotational position of the rotary arm are detected. It is preferable to have a rotation position detection sensor and a position detection sensor for detecting the tilting position of the rotation arm in the front-rear direction.

In the plate material conveying method according to the present invention, the upper end portion of one unit of the plate material is sandwiched and held while suppressing the inclined surface of the plate material leaning against each unit, and the upper end portion is held. It is characterized in that the upper part of one unit of the plate material is rotated and caused, and the lower end part of the one unit of the plate material is sandwiched and supported to be conveyed.

[0013]

In the present invention, the fixed frame is moved to move the tip support portion of the lower arm to the position of the lower clearance between the units of the plate material leaned on the stand. In this state, the tilting mechanism tilts the tilting frame by a predetermined angle to match the tilt of the plate material leaning against the tilting frame. The upper arm is lowered, and the upper end of one unit of the plate material is sandwiched between the tip holding portion of the upper arm and the tilting frame. The tilting frame is returned to the vertical position, and one unit of the plate material is held along the tilting frame. The fixed frame is raised by a traverse trolley while the upper part of one unit of the plate material is held between the tilting frame and the upper arm, and the lower part of one unit of the plate material is supported by the support part of the lower arm. . After that, the fixed frame is moved to convey one unit of the plate material to a predetermined position. After being conveyed to a predetermined position, the fixed frame is lowered and the lower part of one unit of the plate material is placed on the stand table at the transfer position. Then, tilt the tilting frame by a predetermined angle and
After tilting the unit, the upper arm is raised, the tilting frame is returned to the vertical position, the lower arm is pulled out from the lower part of the plate material, and the operation of transferring one unit of the plate material to a predetermined position is completed.

When the plate member is held, the tilting mechanism is made rotatable with respect to the fixed frame so that the tilting frame can be completely attached to the plate member even when the plate member is leaning to the left and right. Can be followed.

Further, the lower arm is attached to the fixed frame so as to be movable back and forth, and the upper arm is attached to the tilting frame so as to be movable forward and backward, whereby the thickness of one unit of the plate material is reduced. The tilting frame
Make sure to insert the plate material between the two.

Further, the clearance detecting means provided in the lower arm and the upper arm detects the clearance position between the units of the plate material to accurately determine the supporting portion of the lower arm and the holding portion of the upper arm. Insert it in the gap between the plate units.

When the clearance position is detected, it is confirmed by the rotation position detecting sensor that the rotation arm rotates to a predetermined position, and then the lower arm and the upper arm are retracted to rotate the rotation arm. The position detection sensor detects that one unit of the plate material is being leaned against and the rear surface position of one unit of the plate material is detected. The clearance position can also be detected.

[0018]

1 and 2 show an embodiment of the present invention. FIG. 1 is a front view and FIG. 2 is a side view. As shown in the figure, the handling device 1 has a fixed frame 2, a tilting frame 3, a lower arm 4 and an upper arm 5.

The fixed frame 2 has a substantially inverted U shape with an open bottom.
It consists of a V-shaped frame and is attached to the turning shaft of a traverse trolley (not shown) via guides 6 and expansion joints 7, and is connected to the crane attached to the traverse trolley by wires 8. The tilting frame 3 is also composed of a substantially inverted U-shaped frame body having an opened lower part, the lower ends of the left and right ends are supported by the lower ends of the fixed frame 2 via bearings 9, and the upper end is a fixed frame. It is connected to the tilting mechanism 10 attached to No. 2.

The tilting mechanism 10 is shown in a side sectional view of FIG. 3 and FIG.
As shown in the rear cross-sectional view of FIG. 1, a support frame 12 is attached to the upper part of the fixed frame 2 so as to be horizontally rotatable by a vertical shaft 11, and is vertically rotatable by a horizontal shaft 13 on the support frame 12. A holder 14 attached to the holder 14, a servo motor 15 attached to the holder 14, and a drive screw 16 connected to the servo motor 15 via a gear group and a nut.
A shaft 18 connects a distal end portion of the drive screw 16 and a locking portion 17 rotatably attached to a central portion of an upper end of the tilting frame 3.

As shown in the sectional view of FIG. 5, the lower arm 4 has a support portion 22 protruding upward from the tip of the slide base 21 and a guide portion 2 for sliding the slide base 21.
3, a feed screw 25 connected to a guide nut 24 attached to the slide base 21, a servo motor 26 for rotating the feed screw 25, and a drive transmission portion 27 for transmitting drive to the feed screw 25. And is attached to the lower end portions of both ends of the fixed frame 2.

Further, in the slide base 21, as shown in the sectional view of FIG. 6 and the arrow A view of FIG.
Is provided. The gap detecting means 28 includes, for example, a drive motor 29 including an air motor, a rotary shaft 31 connected to the drive motor 29 via a shaft coupling 30, and a rotary shaft 31.
A rotary arm 33 that is rotatably attached to the front of the slide base 21 in the sliding direction via a shaft 32, and that rotates upward from the horizontal direction to the vertical direction; and a rotary arm 3
The spring 34 for urging 3 in the direction of the rotating shaft 31.
And a rotation position detection sensor 35 for detecting the position when the rotation arm 33 is rotated in the vertical direction as shown in FIG.
A rear surface position detection sensor 36 for detecting the rear surface position of one unit of the plate material by detecting that the rotation arm 33 in the state of being vertically rotated hits the rear surface of the one unit of the plate material that is leaning against it. Have.

The upper arm 5 has a holding portion 37 projecting downward at the tip thereof, and the holding portion 37 is a slide beam which is moved back and forth by a servo motor 38 like the supporting portion 22 of the lower arm 4. -It is attached to the shoe. In the slide base of the upper arm 5, the same gap detecting means 28 as that provided in the slide base 21 of the lower arm 4 is provided. However, the gap detecting means 28 of the upper arm 5 has a rotating arm 39 which rotates from the horizontal direction to the lower part in the vertical direction.

The upper arm 5 is attached to both end frames of the tilting frame 3 so as to be able to move up and down, and can be raised and lowered by rotation of a feed screw 41 connected to a raising and lowering servo motor 40. It is like this.

With the handling device 1 configured as described above, for example, as shown in FIG. 8, a plurality of sheet glasses of the same size are stored one by one with the packing sandwiched between them at predetermined intervals. The operation of transferring the plate glass from the standing stand 42 at a place to the carrying stand 44 for transportation in units of 43 will be described.

First, the handling device 1 is moved by the traverse trolley in which the fixed frame 2 is suspended. Next, the fixed frame 2 is lowered with the crane provided on the traverse trolley while the front side of the plate glass for conveying the tilting frame 3 side is detected until the position of the standing stand 42 is detected. afterwards,
The fixed frame 2 is moved forward while detecting the position of the groove 45 of the stand table 42, and is arranged at a predetermined position on the front surface of the sheet glass to be conveyed.

Next, with the rotary arm 33 of the gap detecting means 28 of the lower arm 4 being horizontal, the servo motor 26 for back and forth movement is driven to advance the tip support portion 22 and lean it. Fixed frame 2 inserted into the lower part of the plate glass for a certain distance
To position.

In this state, the servomotor 1 of the tilting mechanism 10
The glass unit 4 in which the tilting frame 3 is leaned against the stand 42 by driving 5 to move the drive screw 16 forward.
Tilt according to the inclination of 3. When the tilting frame 3 is tilted according to the tilt of the glass unit 43, the tilting mechanism 10 is pivotally attached to the fixed frame 2 by the shaft 11, so that the glass unit 43 tilts left and right. The tilting frame 3 can be perfectly aligned with the glass unit 43 even when leaning against the glass unit 43. Further, since the lower arm 4 is not attached to the tilting frame 3 that tilts but is attached to the fixed frame 2, the lower arm 4 does not rotate even if the tilting frame 3 is tilted, and the glass is not rotated. The clearance between the units 43 can be made as narrow as necessary to insert the lower arm 4. Therefore, many glass units 43 can be leaned against the stand 42 and stored.

After tilting the tilting frame 3 by a predetermined angle, the upper arm 5 is lifted and lowered with the rotating arm 39 of the gap detecting means 28 of the upper arm 5 being in the horizontal direction. Vomo-
The actuator 40 is driven to lower the holding portion 37 of the upper arm 5 to a predetermined position near the upper end of the glass unit 43. When the upper arm 5 descends to a predetermined position, the servo motor 38 for forward and backward movement is driven to move the upper arm 5 forward. Then, the rotation arm 39 is rotated vertically downward. When the rotating arm 39 is rotated, the holding portion 3
When 7 is not in the clearance of the glass unit 43, the rotating arm 39 contacts the upper part of the glass unit 43. At this time, since the rotation position detecting sensor 35 does not detect that the rotation arm 39 has rotated by a predetermined angle, it can be detected that the holding portion 37 is not in the position of the clearance between the glass units 43. In such a case, the rotary arm 39 is returned to the horizontal position, the servo motor 38 is driven to move the upper arm 5 forward by a certain amount, and then the rotary arm 39 is rotated again. Then, the upper arm 5 is moved forward repeatedly until the rotating position detecting sensor 35 detects that the rotating arm 39 does not hit the upper portion of the glass unit 43 and is rotated substantially vertically. When the rotation position detection sensor 35 detects that the rotation arm 39 has entered the clearance at the upper end portion between the glass units 43 and is completely downward, the servomotor 38 for forward and backward movement is reversed in that state. The upper arm 5 is retracted.
When the upper arm 5 retracts, the rotating arm 39 collides with the rear surface of the glass unit 43 and tilts forward, and the rear surface detection sensor 36 detects that the rotary arm 39 has tilted a certain amount.
When the rear surface position of the rear arm is detected, stop the retreat of the upper arm 5,
The rotating arm 39 is returned to the horizontal state. Then, the holding arm 37 lowers the upper arm 5 until the upper end of the glass unit 43 is caught, and as shown in the side view of FIG.
The upper end of the glass unit 43 is held between the frame 3 and the holding portion 37.

After that, the servo motor 15 of the tilting mechanism 10 is moved.
Is driven to retract the drive screw 16 to return the tilting frame 3 to the vertical position, and the glass unit 43 leaning against the tilting frame 3 is raised. When the glass unit 43 is raised, the lower end of the glass unit 43 is inserted into the standing table 42 and the upper end is sandwiched between the tilting frame 3 and the upper arm 5 to cause a stable operation. Glass unit 4
Can cause 3.

After the tilting frame 3 is returned to the vertical position, the rotating arm 33 of the gap detecting means 28 of the lower arm 4 is rotated in the vertical upward direction so that the rotating arm 33 is moved in the vertical direction. Drive the servo motor 26 until it rotates in the upper direction.
Move 4 forward. Then, when the rotation position detection sensor 35 detects that the rotation arm 33 has entered the clearance at the lower end portion between the glass units 43 and is completely upward, the servo motor 26 is reversed in that state and the lower arm is rotated. -Move 4 back. When the lower arm 4 is retracted, the rotating arm 3
3 hits the rear surface of the glass unit 43, the rear surface detection sensor 36 detects that the lower arm 4 is tilted by a certain amount, and detects the rear surface position of the glass unit 43.
When the supporting portion 22 of the lower arm 4 is positioned at the position of the clearance of the glass unit 43, the lower arm 4 is stopped from retreating and the rotating arm 3 is rotated.
Return 3 to the horizontal state.

After positioning the support portion 22 of the lower arm 4 at the position of the clearance of the glass unit 43, the fixed frame 2 is raised, and the glass portions 43 are supported by the support portions 22 at both ends.
Support the bottom of the.

In this way, the glass unit 43 is moved to the tilting frame 3, the holding portion 37 of the upper arm 5 and the lower arm 4.
Of the upper arm 5 because the gap detecting means 28 having the rotating arms 33 and 39 detect the clearance between the glass units 43 when the optical disc is sandwiched between the supporting portion 22 and the supporting portion 22. 37 and the support portion 22 of the lower arm 4 can be accurately positioned at the position of the gap between the glass units 43. Further, since the position of the gap between the glass units 43 is detected by the gap detecting means 28 having the rotating arms 33 and 39, it is possible to accurately detect the position of the gap of the plate glass where the magnetic sensor or the like cannot be used.

After the glass unit 43 is sandwiched between the tilting frame 3 and the holding portion 37 of the upper arm 5 and the supporting portion 22 of the lower arm 4, the fixed frame 2 is fixed. Cray
While pulling up, the traverse trolley 4
Transport to position 4.

Standing stand 44 for transporting the fixed frame 2
The glass unit 43
The lower end of the is placed on the stand 44. Then, with the lower frame 4 separated from the lower end of the glass unit 43, the tilting frame 3 is tilted at a predetermined angle to expose the rear surface of the glass unit 43 to the spacer, and then the upper arm 5 is raised. Separated from the upper end of the glass unit 43, the upper arm 5
Then, the lower arm 4 is retracted, and the transfer of the glass unit 43 is completed. In this way, since the glass unit 43 made up of a plurality of plate glasses is transported at one time, the plate glasses can be efficiently transferred and placed on the carrying stand 44.

After that, the handling device 1 is moved to transfer the next glass unit 43, and the above operation is repeated.

In the above embodiment, the case where the lower arm 4, the upper arm 5 and the tilting mechanism 10 are moved back and forth by using the servo motor and the feed screw has been described. The lower arm 4 and the like may be moved back and forth by a drive mechanism.

In the above embodiment, the case where the leaning glass unit 43 is transferred is explained, but other plate materials such as leaning wood can also be transferred in the same manner.

[0039]

As described above, according to the present invention, one unit of a leaning plate member is sandwiched by the holding portion of the upper arm in a state where it is placed along the tilting frame. Can be triggered.

Further, since one unit of the plate material is fixed and carried by the tilting frame, the supporting portion of the lower arm and the holding portion of the upper arm, the one unit of the plate material is safely and surely conveyed. The unit can be transported.

Furthermore, since a unit of a plurality of plate materials can be conveyed at one time, it is possible to greatly reduce the transfer time of the plate materials.

Also, when holding the leaned plate material,
By making the tilting mechanism that connects the upper end of the tilting frame to the fixed frame rotatable with respect to the fixed frame,
Even when the plate member is leaning to the left and right and leaning against the plate member, the tilting frame can be perfectly along the plate member, and the plate member can be stably held.

Further, by making the lower arm and the upper arm movable back and forth, it is possible to surely sandwich a unit of plate materials having different thicknesses between the tilting frame.

Further, the gap detecting means provided in the lower arm and the upper arm detects the clearance position between the units of the plate material, so that the supporting portion of the lower arm and the holding portion of the upper arm can be detected. The plate material can be accurately inserted into the gap between the units, and the plate material can be reliably held.

When detecting the clearance position, after confirming that the rotary arm rotates to a predetermined position, the lower arm and the upper arm are retracted to lean the rotary arm. By detecting the hit of one unit of the plate material and detecting the position of the rear surface of the one unit of the plate material, it is possible to accurately detect the clearance position of the plate material such as glass or wood which cannot be used by various sensors.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a side view of the above embodiment.

FIG. 3 is a side sectional view of a tilting mechanism.

FIG. 4 is a rear sectional view of the tilting mechanism.

FIG. 5 is a cross-sectional view of a lower arm.

FIG. 6 is a sectional view of a gap detecting means.

FIG. 7 is a view on arrow A in FIG.

FIG. 8 is an explanatory diagram showing the operation of the above embodiment.

FIG. 9 is a side view showing a holding state of the glass unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Handling device 2 Fixed frame 3 Tilt frame 4 Lower arm 5 Upper arm 10 Tilt mechanism 28 Gap detection means 35 Rotation position detection sensor 36 Rear surface detection sensor

Front Page Continuation (72) Inventor Yasushi Komuro 1-1 Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa Prefecture Asahi Glass Co., Ltd. Keihin Factory (72) Inventor Toshimitsu Tada 2-1-2 Marunouchi, Chiyoda-ku, Tokyo Asahi Glass Co., Ltd. Inside the company (72) Inventor Shinichiro Eto 1-2-2 Marunouchi, Chiyoda-ku, Tokyo Japan Steel Tube Co., Ltd. (72) In-house Takayuki Itami 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Japan Steel Tube Co., Ltd. (72) Inventor Haruki Takeuchi 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd.

Claims (7)

[Claims] 1. A fixed frame, a tilting frame, and a lower frame.
The fixed frame has a frame and an upper arm, and the fixed frame conveys the plate material.The fixed frame is attached to the swivel axis of the traverse trolley so that the plate can be lifted and lowered. It leans up and raises the leaned plate material, the lower end is rotatably supported at the lower ends of both ends of the fixed frame, the upper end is connected to the fixed frame through a tilting mechanism, and the lower arm is It holds the lower ends of a plurality of plate members, has a support portion projecting upward at the tip end, is attached to both lower end portions of both ends of the fixed frame, and the upper arm holds the upper end portions of the plurality of plate members. A plate material handling device for holding, which has a holding portion projecting downward at a tip portion and is attached to both ends of a tilting frame so as to be able to move up and down. 2. The plate material handling device according to claim 1, wherein a tilting mechanism that connects the upper end of the tilting frame to the fixed frame is rotatably attached to the fixed frame. 3. The plate material handling device according to claim 1, wherein the lower arm is attached to the fixed frame so as to be movable back and forth. 4. The plate material handling apparatus according to claim 1, wherein the upper arm is attached to the tilting frame so as to be movable back and forth. 5. The plate material handling apparatus according to claim 3, wherein the lower arm and the upper arm have gap detection means for detecting a clearance position between the units of the plate material. 6. The gap detecting means rotates in a plane perpendicular to the advancing direction of the lower arm and the upper arm, and rotates in the front-back direction of the lower arm and the upper arm. 6. The plate material handling device according to claim 5, further comprising: a rotating arm, a rotating position detecting sensor for detecting a rotating position of the rotating arm, and a position detecting sensor for detecting a tilting position of the rotating arm in the front-rear direction. . 7. The upper end of one unit of the plate material is sandwiched and held while suppressing the surface sloping surface of the plate material leaning against each unit, and the upper part of the one unit of the plate material holding the upper end part is held. A method of transporting a plate material, which is caused by rotating and causing the lower end portion of one unit of the caused plate material to be sandwiched, supported, and transported.