JPH069796B2 - Equipment for handling goods - Google Patents

Description

TECHNICAL FIELD The present invention relates to an article handling device for taking out an article from a carousel or the like or storing the article in a carousel or the like, and more particularly to a bucket-shaped container. The present invention relates to a device for handling articles suitable for taking in and out.

(Prior Art) As a conventional technology relating to a device for handling an article, there is an actual technique of Shokai 6
The ones described in JP-A No. 0-61209 and JP-A No. 60-64911 are known.

The conventional technique described in the above publication will be described. In Japanese Utility Model Laid-Open No. 60-61209, a lateral guide body is mounted on a rotary table and is guided by the guide body to extend inside and outside the rotary table. There is disclosed a delivery device which is provided with a movable movable clamp device and a drive device for reciprocal movement.

Further, in Japanese Utility Model Laid-Open No. 60-64911, an arm support base reciprocally provided on a rotary table, a drive source capable of reciprocating the arm support base, and a mount attached to the arm support base, It comprises an arm device having a pair of arms capable of widening or narrowing the mutual interval of the opposed free ends, and a drive source capable of operating the arm device, and grips the left and right side surfaces of the container with the pair of arms. A container loading / unloading device is described in which a container can be loaded and unloaded by holding it.

(Problems to be Solved by the Invention) However, the above conventional techniques have the following problems. That is, both the delivery device described in Japanese Utility Model Laid-Open No. 60-61209 and the container loading / unloading device described in Japanese Utility Model Laid-Open No. 60-64911 are both a drive device and a clamp for reciprocating the clamp device. Since the drive device for opening and closing the device is provided independently, the article cannot be smoothly taken in and out, and the control when the article is taken in and out is complicated.

Therefore, an object of the present invention is to provide a device for handling articles which can also open and close a pair of arms by the reciprocating motion of a clamp device.

(Means for Solving the Problem) The present invention provides a clamp device including a pair of arms, and a first drive device for driving the clamp device that reciprocates along a guide.
An endless rotating body, and a second endless rotating body that drives the pair of arms having an article gripper that opens and closes.
Of the endless rotating body is driven by a rotating wheel, and the rotating wheel is connected to the first endless rotating body via a connecting body. The rotating wheel is rotated by the rotation of the first endless rotating body. The above object is achieved by providing an article handling device characterized by being configured to rotate.

It is preferable that the article holding portions of the pair of arms be opened and closed by the rotation of the second endless rotary body via the crank mechanism.

Further, it is preferable that the guide is provided on the turntable.

(Operation) The article handling apparatus of the present invention also opens and closes the article gripping portions of the pair of arms of the clamp device by rotating the first endless rotary body for driving the reciprocating clamp device. , Take out the article from the carousel, or store the article in the carousel or the like.

(Example) Hereinafter, one Example of the article handling apparatus of this invention is described.

FIG. 1 is a plan view showing an embodiment of an apparatus for handling articles according to the present invention, FIG. 2 is an enlarged plan view showing an essential part of the clamp device, FIG. 3 is a mechanism explanatory view thereof, and FIG. Is a diagram for explaining the power system, and in these drawings, (1) is a clamp device including a pair of arms (11), (11), (2) is a guide (3),
First to drive a clamping device (1) that reciprocates along (3)
Endless rotating body, and (4) open and close article holding parts (11a), (11
a) is a second endless rotating body that drives a pair of arms (11), (11), and the second endless rotating body (4) is a rotating wheel (41)
The rotating wheel (41) is connected to the first endless rotating body (2) through the connecting body (42) while being driven by the rotating wheel (41) by rotating the first endless rotating body (2). (41) is configured to rotate, and the article handling apparatus of the present embodiment smoothly takes out a bucket-shaped container (8) as an article of the present invention from a rotary shelf (not shown) or the like, or It is designed to be smoothly stored in a rotating shelf or the like.

Explaining each part in the above embodiment, the clamp device (1) includes a pair of arms (11) and (11) attached to a clamp space (12) described later and guide bearings (12a) and (12a). Clamp base (12) that slides guides (3) and (3) fixed to a frame (6) provided on the turntable (5) and the axis of a rotating wheel (43) described later. Link (11) that rotates together with the rotating wheel (43)
c), rods (11b), (11b) for connecting the links (11c) to the arms (11), (11), and the like, and a crank mechanism, that is, a link ( 11c), the rods (11b) and (11b) to open and close the article gripping parts (11a) and (11a) of the pair of arms (11) and (11) around the fulcrums (11d) and (11d). It has been done. The turntable (5) is provided on an elevating table (not shown) of an elevating device arranged so as to face a loading / unloading port such as a rotary shelf.

Further, the first endless rotating body (2) is a chain stretched over the sprockets (21), (22) fixed to the frame (6), and is connected via the sprocket (21) and the drive chain (23). Drive motor
The clamp is rotated by (24) and the rotation of the first endless rotating body (2) is transmitted to the rotating wheel (41) attached to the clamp base (12) through the connecting body (42). base
The (12) slides along the guides (3) and (3).

The second endless rotating body (4) is a timing belt hung on the rotating wheels (41) and (43) which are timing pulleys fixed to the clamp base (12), and the rotating wheel (41) is By the rotation of the first endless rotating body (2) through the second endless rotating body (4)
Is rotated, and the pair of arms (1
The article gripping parts (11a) and (11a) of 1) and (11) are opened and closed.

Further, (7) is a push plate for pushing the container (8) into a rotary shelf or the like.

Next, an embodiment of taking out and storing an article using the article handling apparatus of the present invention will be described.

When removing the container (8) from the carousel, etc., first,
The clamp base (12) at the position shown by the chain double-dashed line in FIG. 1 moves to the position shown by the solid line by the clockwise rotation of the first endless rotating body (2). At this time, since the connecting body (42) is moved from the sprocket (21) to the sprocket (22) by the first endless rotating body (2) which is rotated clockwise, the arms (11), (11) are Article holding part (11a),
With (11a) open, the clamp base (12) moves from left to right in FIG.

Further, the first endless rotating body (2) continuously rotates clockwise, and the connecting body (42) half-circulates the sprocket (22) along the sprocket (22), thereby the clamp base (12). While maintaining a constant position (the position shown by the solid line in FIG. 1), the rotating wheel (41) makes a half rotation, and the second endless rotating body is rotated.
The rotating wheel (43) also makes a half rotation through (4). Therefore, the turning wheel
The link (11c) mounted on the shaft of (43) is rotated 180 °, and the article gripping part (11a) of the pair of arms (11) and (11) is rotated by the movement of the rods (11b) and (11b). , (11a) are closed around fulcrums (11d) and (11d), and the container (8)
Is clamped as shown by the solid line in FIG.

Further, the first endless rotating body (2) continuously rotates clockwise, and the connecting body (42) moves from the sprocket (22) to the sprocket (2).
Since it is moved to 1), the clamp base (12) moves from right to left in FIG. 1 while the pair of arms (11), (11) clamps the container (8), and in FIG. By moving to the position indicated by the dashed line, the container
Remove (8) from the carousel.

When the container (8) is stored (pushed) in a rotary shelf or the like, the first endless rotating body (2) is first rotated counterclockwise, contrary to the above-mentioned taking out of the container (8). Connected body (4
Since 2) is moved from the sprocket (21) to the sprocket (22), the clamp base (12) is from the left in FIG. 1 while the pair of arms (11), (11) clamps the container (8). It moves to the right and pushes the container (8) with the push plate (7) to the position shown by the solid line in FIG.

Further, the first endless rotating body (2) continuously rotates counterclockwise, and the connecting body (42) makes a half turn around the sprocket (22) along the sprocket (22), whereby the clamp base (12). While maintaining a constant position, the rotating wheel (41) rotates half a
The rotating wheel (43) also makes a half rotation through the endless rotating body (4). Therefore, the link (11
c) is rotated by 180 ° and the article gripping part (11a) of the pair of arms (11) and (11) is moved by the movement of the rods (11b) and (11b).
(11a) is opened around fulcrums (11d) and (11d),
Open the container (8).

Further, the clamp base (12) at the position shown by the solid line in FIG. 1 moves to the position shown by the chain double-dashed line by the counterclockwise rotation of the first endless rotating body (2). At this time, the connecting body (42) is the first endless rotating body which is rotated counterclockwise.
Since it is moved from the sprocket (22) to the sprocket (21) by (2), the article gripping parts (11) of the arms (11), (11) are
The clamp base (12) moves from right to left in FIG. 1 with a) and (11a) open.

Since the clamp base (12) is designed to move on the turntable (5), the container removed from the rotary shelf etc. by rotating the turntable (5).
(8) can be discharged in any direction. Further, the container (8) supplied from any direction can be stored in a predetermined position such as a carousel.

Further, since the turntable (5) is configured to be lifted and lowered by an elevating device (not shown), the container (8) can be taken out of the rotary shelf or the like of the desired stage, or the container (8 8) can be stored.

Although the embodiment of the article handling apparatus of the present invention and the embodiment of taking out and storing the article using the article handling apparatus of the present invention have been described above, the present invention is not limited to these. For example, the pair of arms (11), (11) may be opened and closed via a link mechanism using the forward and backward movement of the spindle. Further, the article handling apparatus of the present invention can be applied to the case where the article is taken out of the fixed shelf or the article is stored in the fixed shelf. Further, the articles handled are not limited to the bucket-shaped container (8).

(Effects of the Invention) As described above, the article handling apparatus of the present invention rotates the first endless rotary body for driving the reciprocating clamp apparatus, and thereby the article of the pair of arms of the clamp apparatus. Since the gripping portion can be opened and closed, the article can be smoothly taken out from the rotary shelf or stored in the rotary shelf.

By opening and closing the pair of arms via the crank mechanism, a bucket-shaped container or the like can be reliably clamped.

Since the guide is provided on the turntable, the article can be taken out in any direction or stored in any direction.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of an apparatus for handling articles according to the present invention, FIG. 2 is an enlarged plan view showing an essential part of the clamp device, FIG. 3 is a mechanism explanatory view thereof, and FIG. Is an explanatory view of the power system. (1): Clamping device, (2): First endless rotating body (3): Guide, (4): Second endless rotating body (5): Turntable, (11): Arm (11a): Article Grip, (41): Rotating wheel (42): Connected body

Claims (3)

[Claims] 1. A clamp device including a pair of arms, a first endless rotating body that drives the clamp device that reciprocates along a guide, and a pair that drives the pair of arms that includes an article gripper that opens and closes. Two endless rotating bodies, the second endless rotating body is driven by a rotating wheel, and the rotating wheel is connected to the first endless rotating body via a connecting body. An article handling device, characterized in that the rotating wheel is driven by the rotation of the endless rotating body. 2. The article handling apparatus according to claim 1, wherein the article gripping portions of the pair of arms are opened and closed by rotation of a second endless rotary body via a crank mechanism. 3. The article handling apparatus according to claim 1, wherein the guide is provided on the turntable.