JPH09110166A - Interleaf feed device utilizing robot at stacking articles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid expansion of a setting space for feeding an interleaf, simplify constitution, and sufficiently exhibit the function as a robot by pinchedly holding an interleaf with the clamp mechanism of a robot hand after separating one by one accumulated interleaves on an interleaf placing base, and thereafter placing the sheet on stacked articles. SOLUTION: An elevatable frame 1 is brought down, one of interleaves (p) stacked on an interleaf placing base H is sucked by a suction element (q), and the elevatable frame L is elevated into stand-by state up to the height of an article W on which the interleaf (p) is placed. During stand-by of the elevatable frame L, the articles W are stacked up to the prescribed height by the stacking work of articles W by a robot hand Rh, and when they are stacked to the prescribed height, the stacking work is interrupted, a robot R is moved to the interleaf stand-by position, and the interleaf is pinchedly held with a clamp mechanism Y. Thereafter the robot R is moved to the position of the stacked articles W, the interleaf (p) is faced to the article W from the directly over side, and let fall and placed on the article W by separating operation of the clamp mechanism Y. After placing it, the robot R begins a stacking work, and the suction element (q) sucks the interleaf (p).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unexpected load of articles such as equipment tool storage boxes, drug storage boxes, grain storage bags, cement bags, sand bags, etc. The use of a robot intervenes a slip sheet for preventing collapse to prevent the work space from unnecessarily expanding, while the slip sheet is easily placed at a desired stack height. The present invention relates to an interleaf paper feeding device using a robot that can be followed and supplied and that can fully utilize the functions of the robot when stacking articles.

[0002]

2. Description of the Related Art Conventionally, when supplying interleaving paper for preventing a load collapse of articles stacked in a predetermined number of stages on a pallet, for example, as shown in FIGS.
A cylinder 3 is supported upright on the tip of a substantially L-shaped support 2 which is placed and erected on one side of the interleaving paper stand 1.
Holding piece 5 attached to the lower end of piston rod 4 that moves up and down with respect to
Support pieces 6 and 6 are fixed on both sides of the support piece 6, the tips of the support pieces 6 and 6 are bent downward, and conical or hemispherical adsorbents 7 made of an elastic material such as sponge are attached to the lower ends thereof. Attached, interleaving paper 8 accumulated below the interleaving paper stand 1
After adsorbing the uppermost one of the above by the adsorber 7, the piston rod 4 is lifted to wait and hold it at a predetermined position as shown in FIGS.

FIG. 1 is a side view of an elevating frame 11 mounted on an inverted U-shaped interleaf paper feeder 10 standing upright on a floor board 9 so as to be vertically movable.
A pair of linear motion guide rails 12, 1 as seen in 5, 17
2 is fixed / projected, and these linear motion guide rails 12, 1
Linear motion guide block 1 slidably fitted to each of 2
A reversible prime mover 15 such as an electric motor is attached to a lower portion of a traverse frame 14 provided with 3 and 13, and a drive shaft 1 of the prime mover 15 is mounted.
The pinion 17 fixed to the tip of 6 is fitted into a rack 18 installed / fixed on one side of the elevating frame 11, and the prime mover 15
The traverse frame 14 can be moved in the left-right direction (indicated by an arrow) in FIG. 13 via the pinion 17 and the rack 18 by driving. Regarding the lifting means of the lifting frame 11, (00
07) and (0008).

A clamp mechanism Y for controlling the sandwiching of the interleaving paper 8 will be described with reference to FIGS.
Ports 20 ₁ and 20 ₂ for fluid supply are provided on both sides of the rotary cylinder 19 fixed to one side (right side in FIG. 16) around the axis l-l in the longitudinal direction, and these ports 20 ₁ and 20 ₂ are provided. connect via line to the storage tank (not shown) ₂ each, (the childゝrightmost) end to the rotating cylinder 19 attached to the blade (illustrated not) 21 on both sides of the rotary shaft and interior of the port 20 to the blades
In Figure 16 fluid supply from ₁ or 20 ₂ be to counterclockwise or rotated clockwise, the separation of the slip sheet 8 from the clamping plate 23 of the clamping plates 22 and 23 each other or pinching or clamping plate 22 The interleaving paper 8 can be detached.

A fixing support 24 is provided on the side of the transverse frame 14.
The clamp plate 23 is attached to the tip of the clamp plate 23, and the upper end of the holding rod 26 fixed to the upper end of the clamp plate 23 is inserted into the inverted L-shaped support 27 for fixing one end of the clamp plate 23 to the nut 2
8, the setting position of the holding rod 26 on the support 27 can be adjusted.

The clamp plate 22 whose root is fixed to the rotary shaft 21 with the set screw 29 is attached to the port 2 of the rotary cylinder 19.
The lower end of the clamp plate 23 is brought into contact with and separated from the lower end of the clamp plate 23 by supplying the fluid to O ₁ or 20 ₂ . (See Fig. 16)

The lifting means in the lifting frame 11 is shown in FIGS.
9, a horizontal member 31 is horizontally mounted / fixed near the upper ends of a pair of stanchions 30, 30 which are placed / standing upright on the floor 9, and the reversible electric motor mounted on the horizontal member 31 is mounted on the horizontal member 31. The drive wheel 34 is attached to the drive shaft 33 of the prime mover 32 while the pedestal 3
A driven wheel 37 is attached to the middle of a driven shaft 36, which is rotatably supported by bearing pieces 35, 35 fixed to the upper ends of 0 and 30,
Chain wheels 38, 38 are attached to the respective terminals, and a power transmission element 39 such as a belt or a chain is tensioned and suspended between the drive wheel 34 and the driven wheel 37.

The elevating frame 11 is attached to the lower end of each of the chains 40, 40 suspended on each of the chain wheels 38, 38, and the driven shaft 36 and the chain wheels 38, 38 are rotated by the forward and reverse rotation of the prime mover 32.
The elevating frame 11 can be moved up and down along the guide rails 41, 41 via.

The means for supplying the interleaving paper 8 according to the above-mentioned conventional technique will be described. The uppermost interleaving paper 8 accumulated under the stacking on the interleaving paper stand 1 is adsorbed through the lowering of the piston rod 4.
After adsorbing, the piston rod 4 is lifted to separate and hold it in one piece.

The clamp mechanism Y assembled to the transverse frame 14 attached to the elevating frame 11 is driven by the prime mover 15 to drive the pinion 1
7. After moving to the terminal position (left end in FIG. 12) of one sheet of interleaving paper 8 adsorbed and held by the adsorber 7 via the rack 18, the drive of the prime mover 15 is stopped.

Rotating cylinder 1 set in clamp mechanism Y
Clamping plate 2 with a fluid supply 9 to the example port 20 ₁
2 is rotated to the clamp plate 23 side to sandwich one sheet of interleaving paper 8 between the clamp plates 22 and 23, while the piston rod 4 is lifted to separate the adsorbent 7 from the interleaving sheet 8 and release the adsorption state. .

The prime mover 15 is driven again, and the clamp plates 22,
The transverse frame 14 holding the interleaf 8 at 23 is moved to the standby position u in FIG. 12, and the driving of the prime mover 15 is stopped.

By driving the prime mover 32, the elevating frame 11 suspended by the chains 40, 40 is raised to the height of the article on which the interleaving paper 8 is placed.

After the traverse frame 14 which has been moved and stopped in advance to the standby position u is moved to the position just below where the interleaf 8 is placed by the drive of the royal engraving machine 15, the drive of the motive engine 15 is stopped.

[0015] The rotary clamp plate 23 clamping plate 22 of the cylinder 19, for example a fluid to the port 20 ₂
And the interleaving paper 8 is dropped and placed on the upper surface of the article 42 having a desired number of steps in a free state.

After the slip sheet 8 is released from the clamp mechanism Y, the traverse frame 14 is moved backward by the reverse rotation of the prime mover 15 and is moved to the vicinity of one end (the left end in FIG. 12) of the slip sheet mounting base 1, and then the prime mover 15 is moved. Then, the process waits for the next paper sheet 8 to be adsorbed.

Thus, the slip sheet 8 is placed at a desired position gradually following the repetition of the operations described in (0009) to (0016) as the laminated article becomes higher.

[0018]

In the case of supplying interleaving paper to a laminated article in the related art described above, the robot used for laminating the articles at the time of supplying the interleaving paper is placed in a stopped state, and thus is used as a robot. However, there is a drawback in that the position of accumulating the interleaf sheets must be limited to a certain permissible area depending on the setting position of the mount feeder and the like.

In view of the above-mentioned drawbacks, the present invention avoids the expansion of the setting space for supplying interleaving paper, while it is sufficient to provide only the elevating mechanism and the robot functions sufficiently. It is an object of the present invention to improve the work efficiency at the time of supplying interleaving paper and to provide a interleaving paper feeding device using a robot capable of setting the interleaving paper storage position at a desired position when stacking articles.

[0020]

An interleaf sheet feeding device using a robot at the time of stacking articles according to the present invention is an interleaf sheet stacking table for accumulating interleaf sheets, and separating interleaf sheets for each sheet on the interleaf sheet stacking table. rear,
It is attached to the interleaf paper feeder and robot hand that rises and holds at the desired position, and after sandwiching the interleaf paper under the separation,
It is characterized by comprising a clamp mechanism placed on the articles to be laminated.

In the present invention, one sheet of interleaving paper accumulated on the interleaving paper tray is adsorbed by lowering the elevating member of the interleaving paper elevator, and then lifted by the elevating member to place the interleaving paper. Soar up and wait.

While the interleaving paper is on standby, the robot hands stack the articles to a predetermined height in advance by stacking the articles at predetermined positions.

When the articles are stacked at a predetermined height during the stacking, the stacking work is interrupted, the robot is moved to the slip sheet standby position,
The interleaving paper is clamped by the clamping operation of the clamp mechanism.

After sandwiching the interleaving paper, the robot moves to the position of the laminated article, faces the interleaving paper directly above the article, and then drops / places the interleaving paper on the article by separating operation of the clamp mechanism.

After placing the interleaf sheet on the article, the robot starts the article stacking operation again, while the interleaf sheet feeder adsorbs the accumulated interleaf sheet on the interleaf sheet stand.

By repeating the operation described in (0021) to (0025) and gradually inserting a sheet of interleaving paper on the upper surface of the article having the increased number of stacking layers, unexpected collapse of the stacked article can be prevented. It is possible to prevent it.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment according to the present invention will be described below with reference to the accompanying FIGS. 1 to 11. An empty pallet conveyor 52 adjacent to an empty pallet magazine 51 set on a floor board f.
The interleaving paper tray H is connected to the rear of the real pallet conveyor 53 (the upper portion is rearward and the lower portion is frontward in FIG. 11) on the side (left side in FIG. 11) of the interleaving paper tray H. While installing the paper feeder S, the actual pallet conveyor 53
A free roller conveyor 54 is continuously provided on the side of the
An introduction conveyor 55 for introducing articles W is installed in front of the empty pallet conveyor 52 and above the empty pallet magazine 51, and a supply conveyor 56 is continuously provided on the side of the introduction conveyor 55, and the actual pallet conveyor 53 is also provided. Robot R in front of the robot R
It is possible to stack the articles W sent to the real pallet conveyor 53 on the induction pallet 57 in advance, and place and interpose the interleaving paper p on the articles W at a desired stacking height. (See Fig. 3)

[0028] and placed on the support plate 59 attached to the upper end of the pillar 58 upstanding and fixed on the floor panel f a reversible prime mover M ₁ for example electric motor, a chain wheel mounted on the drive shaft 60 prime mover M ₁ A chain c is hung on 61, and holding pieces a ₁ and a ₁ are fixed and upright at the middle and the tip of the elevating frame L projecting from a mounting piece 62 fixed to the lower end of the chain c.
₁ , elastic hemispherical or conical adsorbents q and q are fixed to the lower ends of the supports a ₂ and a ₂ which are mounted orthogonal to ₁ and a _1, and these adsorbents q and q are attached to the interleaving table H. The accumulated interleaving paper p can be adsorbed one by one when the elevating frame L descends.

A rotary shaft 64 is rotatably supported by a pair of bearings b, b set on one side (right side in FIGS. 4 and 5) of the robot hand R _h and attached to the rotary shaft 64. Fork-shaped arm pieces d, d at the tips of the pair of connecting pieces k, k
Are movably connected by a pin p ₁ , and piston rods 65, 65 attached to the arm pieces d, d are respectively lift cylinders Z ₁ , Z
₁ is mounted on the top plate 63 so as to be able to move back and forth, while the elevating cylinders Z ₁ and Z ₁ are mounted on the top plate 63, respectively.
It is rotatably supported by each of the support shafts 66, 66 of e.

Swing arms 67, 67 are attached to plate-like connecting pieces j, j fixed to the respective ends of the rotary shaft 64, and bearings 68, 67 are provided near the ends of the swing arms 67, 67. 68 spindle g of the clamping cylinder _Z 2, _{Z 2} swingably supported on each of g, these clamping cylinders _Z 2,
The connecting pieces 70, 70 are movably connected to the piston rods 69, 69 that can freely move back and forth to Z ₂ by means of the pin p ₂ , and these connecting pieces 7
The support shafts i, i fixed on the shafts 0, 70 are attached to the swing arms 67, 6 respectively.
Clamp plates 73 fixed to the lower ends of 7 with setscrews S _i ,
73 while rotatably supporting the holding piece 71 of the fixing, fixing the support shaft i, the root portion of the clamp plate 72, 72 to the i setscrew _{s y,} clamping plate 72 in forward and backward of the piston rod 69 , 72 to and from the clamp plates 73, 73.

The means for pinching / moving the article W in the robot hand K _h is described in, for example, Japanese Patent Application No. 182013 of 1995 filed by the applicant of the present application. An endless belt 76 is tensioned and hung between the rotor 74 of the servomotor and the rotor 75 mounted below the top plate 63 while the reversible motor M ₂ fixed on 63 is fixed to the rotor. An endless belt 77 is tensioned and suspended between a roller r ₂ coaxial with 75 and a roller r ₁ set on the side opposite to the prime mover M ₂ , and the belt 77 is
Assembling / suspending the gripping plates y ₁ and y ₂ on the upper and lower surfaces of the driving metal fittings v ₁ and v ₂ at symmetrical positions via a mechanism described later,
Proximity between the grip plates y ₁ and y ₂ (arrow x _{2 in} FIG. 46)
Direction W), the article W is clamped, and the robot hand R _h is rotated to move onto the actual pallet conveyor 53. Then, the grip plates y ₁ and y ₂
The articles W are separated from each other (arrow x ₁ direction in FIGS. 4 and 6).
Can be dropped.

The slide bushes 78 and 79 fixed to the drive fittings v ₁ and v _{2 respectively have} root portions of a pair of parallel arm pieces 80 and 81 fixed to them with set screws S ₁ and S ₂ , respectively. The upper ends of the gripping plates y ₁ and y ₂ are fixed to the tips of the arm pieces 80 and 81 via connecting pieces c ₁ and c _{2, respectively,} by fasteners j ₁ and j ₂ such as bolts and nuts.

The slide bush 78, is attached to each of the hanging pieces 82, 83 fixed and suspended at both ends of the top plate 63, respectively.
A pair of guide rods 84 that slidably and slidably pass through the respective 79
The terminal portion of 85 is fixed, the unnecessary swinging of the arm pieces 80, 81 at the time of advancing and retreating is prevented, and the grip plates y ₁ and y ₂ can be moved linearly at all times.

In the figure, reference numeral 86 is a cable bear, which is used as a guide when wiring or piping is carried out at a moving portion.

In the description of the "embodiment of the invention" described above, when the interleaving paper p is placed on the article W under the lamination, the elevating frame L is lowered, and the adsorbent q accumulates on the interleaving paper placing table H. Adsorb a sheet of paper p.

The elevating frame L is raised and waits up to the height of the article W on which the interleaving paper p is placed while the interleaving paper p is adsorbed and held by the adsorbent q.

The waiting for elevator frame L, the robot hand R _h pair of gripping plates mounted on the y _1, y ₂ of the feed conveyor 56 in a mutual proximity, after clamping the articles W of the integrated, the robot hand R _h times It moves to the actual pallet conveyor 53 and is sequentially stacked.

When the articles W are stacked at a prescribed height in advance, the work of stacking the articles by the robot hand R _h is interrupted, and then the robot hand is placed at the end of the interleaving table H (near the left end in FIGS. 1 and 11). Migrate R _h .

By the forward movement of the piston rods 65, 65 of the lifting cylinders Z ₁ , Z ₂ , the swing arms 67, 67 are rotated from the horizontal position and held vertically.

Next, the clamp plate 72 is rotated counterclockwise by the forward movement (downward in this case) of the piston rods 69, 69 of the clamping cylinders Z ₂ , Z ₂ , and one end of the slip sheet p (the left end in FIG. 1). It is desirable to slightly raise the elevating frame L in order to prevent the breakage of the interleaving paper p from being forcibly separated from the suction element q, while sandwiching between the clamp plates 72 and 73.

After sandwiching the interleaving paper p between the clamp plates 72 and 73,
The robot R itself is moved to an optimum position for placing the slip sheet p, and then the clamp rods 72 of the clamp cylinders Z ₂ , Z ₂ are retracted (in this case, raised) to move the clamp plate 72 clockwise. When rotated, the interleaving paper p is automatically dropped and placed immediately above the article W under the stack. (See Fig. 1)

When the piston rods 65, 65 of the lifting cylinders Z ₁ , Z ₁ are retracted, the swing arms 67, 67 are returned to the horizontal position again. In this state, by starting the work of stacking the articles W on the slip sheet p by the robot hand R _h ,
The articles W are stacked.

By repeating the above steps (0032) to (0039), the stacking of the articles W and the placement of the interleaving paper p on the articles W are alternately performed.

[0044]

According to the present invention, the space occupied by the special-purpose machine for supplying the interleaf sheet is narrower than that of the conventional one, and the interleaf paper feeder itself is only moved up and down, so that the structure is simple.

Conventionally, when the interleaving paper is supplied to the laminated article, the robot has been stationary, so that the robot function is not fully utilized. Since it is equipped with a clamp mechanism, it can perform the functions of the robot well by carrying out the operation of stacking articles and supplying interleaving paper to the articles, contributing to the improvement of work efficiency. Although it was inevitable to select the placement position, it is convenient for the user to use the robot to select the place for placing the article on the interleaving paper.

[Brief description of the drawings]

FIG. 1 is a front view of a main part of an embodiment according to the present invention.

FIG. 2 is a plan view of a main part of the above.

FIG. 3 is a perspective view when a slip sheet is placed on a laminated article.

FIG. 4 is a front view of an enlarged main portion of an IV portion in FIG.

FIG. 5 is an enlarged plan view of an essential part of the above.

FIG. 6 is a main part mechanism of a means for approaching or separating a grip plate.

7 is a view taken along the line VII-VII of FIG.

FIG. 8 is an elevational view of a main part elevating mechanism of an elevating frame in the interleaf paper feeder.

9 is a view taken along the line IX-IX of FIG.

FIG. 10 is a plan view of FIG. 8;

FIG. 11 is a plan view of an arrangement main part of the article processing mechanism.

FIG. 12 is a front view of a main part of a conventional interleaf paper supply mechanism for a laminated article.

FIG. 13 is a plan view of an essential part of the above.

14 is a view taken along the line XIV-XIV in FIG.

FIG. 15 is a front view of an enlarged main part of an XV section in FIG.

FIG. 16 is a view taken along line XVI-XVI in FIG. 15;

17 is a view taken along line XVII-XVII in FIG.

FIG. 18 is a front view of the main part of the lifting mechanism for the lifting frame.

19 is a view taken along the line XIX-XIX in FIG.

[Explanation of symbols]

H Sliding paper stand L Lifting frame R _h Robot hand S Sliding paper feeder W Article Y Clamping mechanism p Sliding paper q Adsorber

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[Procedure amendment]

[Submission date] December 21, 1995

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0043

[Correction method] Change

[Correction contents]

The above

Or

By repeating the above process, the loading of the articles W and the placement of the slip sheet p on the articles W are alternately performed.

Claims (1)

[Claims] 1. An interleaving paper tray for accumulating interleaving papers, which is mounted on an interleaving paper feeder and a robot hand which lifts and holds the interleaving papers on the interleaving papers tray at desired positions after separating the interleaving interleaf papers one by one, and A sandwiching paper feeding device using a robot at the time of stacking articles, which comprises a clamp mechanism that is placed on the stacked articles after the sandwiched slip sheets are sandwiched.