JPH10279066A - Transfer handle of non-bound laminated sheet - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transfer non-bound laminated sheets which are the sheets like corrugated fiberboard sheets, only deposited and not bound, and can be scattered without disturbing the arranged condition, and provide various loading patterns when the sheets are laminated on a pallet. SOLUTION: An L-shaped plate 7 which is advanced/retracted in the horizontal direction so as to support a lower part of one end part of laminated sheets A, and an I-shaped plate 8 which are opposite to the L-shaped plate 7 and abutted on an end face of the other end part of the laminated sheets A, are provided perpendicular to a body 6 of a transfer hand 2, and the laminated sheets A are held thereby. A pressing plate 9 which is elevated relative to the laminated sheets A and presses an upper surface of the laminated sheets A when it is lowered, is provided perpendicularly at the position corresponding to an upper part of a horizontal receiving part 7a at a lower end part of the L-shaped plate 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-bundled laminate for use in stacking unbundled laminated sheets that have only been deposited but not bound, such as corrugated cardboard sheets for wrap round cases. The present invention relates to a sheet transfer hand.

[0002]

2. Description of the Related Art When stacking unbundled laminated sheets on a pallet, a predetermined number of laminated sheets 101 are stacked together as shown in FIG.
0, which is L-shaped and moves back and forth in the horizontal direction.
The sheet was held and transported by the holding plates 101.

However, according to this method, the laminated sheet 1
21 is not bound by a string or the like, and unless the speed is reduced, the laminated sheet 101 may be displaced as shown in FIG. Further, when the laminated sheet 101 is lowered, the holding plates 102 on both sides are retracted and dropped, so that in order to prevent the displacement at that time, the holding plate 102 is moved closer to the release position more precisely in millimeters, and then the holding plate 102 is retracted. Needed. For this reason, for example, a height detection device,
High precision equipment was indispensable.

[0004] Furthermore, there is a disadvantage that the number of stacking patterns (arranged types of laminated sheets) to be stacked on the pallet 103 is extremely small. That is, since the L-shaped holding plates 102 need to be retracted when the laminated sheet 101 is lowered, when the L-shaped holding plates 102 are to be stacked side by side, as shown in FIG. Is an essential condition. In order to minimize this inconvenience, the length of the receiving portion 102a at the lower end of the holding plate 102 may be set to be short, but in this case, the sense of stability of the laminated sheet 101 on the holding plate 102 deteriorates. It becomes easy to shift.

[0005]

SUMMARY OF THE INVENTION Therefore, the present invention is capable of transferring and unloading unbound laminated sheets that are likely to be displaced from each other while keeping their ends aligned. An object of the present invention is to provide a hand for transferring a non-bundled laminated sheet that can also obtain a stow pattern.

Means for achieving this is a transfer hand for a non-bundled laminated sheet for holding a non-bundled laminated sheet in which a predetermined number of sheet materials are deposited and transferring it to a predetermined position. An L-shaped plate which advances and retreats in a horizontal direction to support a lower portion of one end thereof, and an I-shaped plate which faces the L-shaped plate and abuts on an end face of the other end of the laminated sheet.
And the length of the horizontal receiving portion at the lower end of the L-shaped plate is set to be longer, for example, about ３ to の of the holding width. It is a transfer hand.

In order to surely prevent the displacement of the laminated sheet, the laminated sheet is moved up and down to a position corresponding to a position above the horizontal receiving portion at the lower end of the L-shaped plate. It is preferable that a pressing plate for pressing the upper surface of the device is vertically provided from the main body.

[0008] Another means is a transfer hand for a non-bundled laminated sheet for holding a non-bundled laminated sheet in which a predetermined number of sheet materials are deposited and transferring it to a predetermined position. An L-shaped plate which advances and retreats in a horizontal direction so as to support a lower portion of one end, and a lower and upper part of the L-shaped plate which rises and lowers with respect to the laminated sheet at a position corresponding to a horizontal receiving portion, and the laminated sheet when descending And a pressing hand plate for pressing the upper surface of the L-shaped plate, and the length of the horizontal receiving portion at the lower end of the L-shaped plate is set to be longer.

When the pressing plate is provided, in order to surely prevent the displacement of the laminated sheet, an auxiliary pressing the upper surface of the laminated sheet when the transfer hand releases the laminated sheet and lifts the laminated sheet. It is preferable to provide a pressing means.

Further, in order to quickly retract the L-shaped plate to realize a smooth and accurate operation, the pressing plate is moved up and down by an air cylinder, and when the L-shaped plate is retracted, the air is temporarily stopped. It is preferable to turn off the solenoid valve of the cylinder so that the cylinder is pressed only by the weight of the pressing plate.

[0011]

[Operation and effect] That is, according to the structure of claim 1,
The laminated sheet advances and retreats in the horizontal direction, and the floating portion at the lower end is, for example, about one third to one half of the sheet holding width.
It is held by a longer L-shaped plate and an opposite I-shaped plate. That is, one end of the laminated sheet is supported in a stable state by aligning the end faces thereof with the L-shaped plate, and the other end of the laminated sheet is held by aligning the end faces thereof with the I-shaped plate. That is, one end is supported in a stable state, and the other end is in contact with the I-shaped plate so as to maintain the state, so that even unbound laminated sheets can be stably transferred.

In addition, since one of the laminated sheets is constituted by an I-shaped plate, one of the laminated sheets falling from the release position is guided, so that even if dropped from a slightly higher position, the alignment state is not disturbed. . For this reason, it is not necessary to strictly manage the release height unlike the related art, and the configuration can be simplified.

[0013] Further, since one side is constituted by an I-shaped plate as described above, only the L-shaped plate needs to be retracted when the laminated sheet is lowered. By controlling the retreating direction and the stacking order, Thus, it is possible to obtain a stowage pattern that cannot be obtained conventionally. In addition, the gap between the laminated sheets to be arranged may be as large as the width of the I-shaped plate, which greatly contributes to obtaining a stable and beautiful package.

In particular, when a pressing plate for pressing the upper surface of the laminated sheet when lowered is provided, the upper surface of the transfer sheet can be pressed by the pressing plate when the laminated sheet is transferred. Thus, the sense of stability of the laminated sheet on the L-shaped plate is improved, and even if the transport speed is increased, the laminated sheet is not displaced and can be reliably transported without disturbing the alignment state.

According to the third aspect of the present invention, the laminated sheet is
It moves back and forth in the horizontal direction, and the lower end receiving portion presses the upper surface of the laminated sheet when it is lowered, with the L-shaped plate set longer, for example, about か ら to の of the holding width of the sheet. Since the laminated sheet is held by the pressing plate, one end of the laminated sheet is strongly held. In other words, since one end is supported in a stable state, compared to the conventional case where the lower part of the laminated sheet is simply transported in a locked state,
Can be transported stably.

According to the fourth aspect of the present invention, when the transfer hand releases the laminated sheet and rises, the auxiliary pressing means descends and presses the upper surface of the laminated sheet. Even in the unlikely event that the upper part of the laminated sheet is peeled off and the alignment state is disturbed due to, for example, it can be prevented beforehand, and the effect of preventing the displacement of the laminated sheet can be further ensured. it can.

According to the fifth aspect of the present invention, when the L-shaped plate is retracted and the laminated sheet is released, the pressing force is applied only by the weight of the pressing plate. It can be quickly removed without disturbing the alignment state. For this reason, smooth and accurate work can be performed.

[0018]

An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows a non-bundled laminated sheet A in which a predetermined number of sheets are stacked.
A stacking robot 1 (hereinafter, referred to as a robot) for stacking (hereinafter, referred to as a laminated sheet) on a pallet P
The transfer hand 2 is attached to the distal end of the arm 3 via a mounting member 4. In the robot 1, the upper part turns and the distal end of the arm 3 is moved back and forth and up and down in a predetermined range, and the transfer hand 2 is rotated in the horizontal direction by the motor 5.

FIG. 2 is a side view of the transfer hand 2, FIG. 3 is a perspective view of the transfer hand 2, and FIG. That is, the transfer hand 2 has a rectangular frame-shaped hand body 6, an L-shaped plate 7 that advances and retreats in a horizontal direction to support the lower part of one end of the laminated sheet A, and an L-shaped plate 7 that faces the L-shaped plate 7. An I-shaped plate 8 which extends and retreats in the horizontal direction so as to contact the end face of the other end of the sheet A is vertically provided. Further, a pressing plate 9 which rises and falls with respect to the held laminated sheet A and presses the upper surface of the laminated sheet A when descending is also vertically provided at a position corresponding to above the receiving portion 7a of the L-shaped plate 7. .

The L-shaped plate 7 is provided with three receiving members 11 at a lower end of a plate body 10 formed with a hanging piece 10b from one side of a rectangular mounting piece 10a, with an appropriate width interval therebetween. It is fixed by leaving it open, and is formed in a substantially L-shape as a whole. The horizontal portion of the receiving member 11 (receiving portion 7
a) The length is the width (holding width) of the laminated sheet A to be held.
However, unlike the case of simply locking, for example, about one third to one half, the length is set to be longer so as to be supported. The interval between the receiving members 11 is the thickness of the laminated sheet A.
At the supply position (see FIG. 11).

The L-shaped plate 7 is a plate body 1
The runner 12 is fixed to the hand main body 6 via a runner 12 fixed to the mounting piece 10a at the upper end of the main body 0 and a guide rail 13 fixed to one side of the lower surface of the hand main body 6. The horizontal movement of the L-shaped plate 7 is performed by a first cylinder 14 for movement which is fixed inside the hand body 6.

The L-shaped plate 7 contacts the end face of one end of the laminated sheet A at the forward position of the L-shaped plate 7 and has only a horizontal receiving portion 7a at the lower end of the L-shaped plate 7. The restriction plate member 15 that allows the intrusion of the intrusion is subordinated.

This regulating plate member 15 is attached to the mounting piece 1 at the upper end.
A notch 15c is formed on the lower end edge of the restricting piece 15b so that only the receiving portion 7a of the L-shaped plate 7 can enter therethrough. The fixing may be performed directly on the lower surface of the hand body 6.

The I-shaped plate 8 is fixed to the mounting piece 8a in a shape in which a contact piece 8b that comes into contact with the end face of the other end of the laminated sheet A is vertically provided from one side of the rectangular mounting piece 8a. It is attached to the hand body 6 via a runner 16 and a guide rail 17 fixed to the other side of the lower surface of the hand body 6 so as to be able to advance and retreat. The reciprocation is performed by a reciprocating second cylinder 18 fixed inside the hand body 6.

The I-shaped plate 8 and the L
In order to advance and retreat the letter-shaped plate 7, a pulse motor or the like may be used instead of the air cylinder. Higher speed can be achieved.

The pressing plate 9 is provided with a guide-elevating first cylinder 19 fixed to both sides of the hand body 6.
Is provided vertically below the hand main body 6 through the base. The pressing plate 9 has a rectangular shape, and its thickness is set so as to have an appropriate weight. The material is preferably aluminum.

On both sides of the pressing plate 9 descending to a predetermined position corresponding to the thickness of the laminated sheet A to be held, a pressing pad 20b as an auxiliary pressing means is further provided.
Is stored and held. This is because when the transfer hand 2 releases the laminated sheet A and rises, the upper surface of the laminated sheet A is pressed to prevent the alignment state of the laminated sheet A from being disturbed when the transfer hand 2 is raised. In the operation, the piston rod 20a of the second cylinder 20 for raising and lowering protrudes from the lower surface of the pressing plate 9 in synchronization with the raising of the pressing plate 9, and presses the upper surface of the laminated sheet A with the pressing pad 20b at the tip. . As the auxiliary pressing means, for example, jetting air may be used.

In FIG. 3, the transfer hand 2 configured as described above for fixing the mounting member 4 is mounted on the robot 1 as described above on the mounting plate 6a indicated by a virtual line.
For example, it is used in a non-binding laminated sheet stacking apparatus 51 (hereinafter, referred to as an apparatus) as shown in FIG. This device 5
Hereinafter, the operation of the transfer hand 2 will be described along the first process. In this apparatus, as an example, a process of arranging and stacking the laminated sheets A on the pallet P in two rows as shown in FIG.

The apparatus 51 comprises two rows of supply units 52, 52 and 2
The robot 1 is provided so as to be surrounded by these transfer positions 53 and 53. That is, the robot 1 converts the laminated sheet A supplied to the one supply unit 52 into
As shown in FIG. 7, the sheet is transferred to one transfer position 53 and the laminated sheet A supplied to the other supply section 52 is transferred to the other transfer position 53.

The supply section 52 is constituted by a roller conveyor, and comprises a charging section 54, a first alignment section 55, and a second alignment section 56 in order along the transport direction. FIG. 8 shows a state in which the loading section 54 is viewed from the side, and a two-stage stacking device 57 may be attached to the subsequent stage as necessary. As shown in FIG. 9, the two-stage stacking device 57 includes a regulating plate 58 which moves in a horizontal direction by an air cylinder 57a, respectively.
The fork claw plate 59 and the lifting frame 60
The lifting cylinder 61 holds half of a predetermined number of unbundled laminated sheets a which are vertically suspended and conveyed.
Then, when a similar unbound laminated sheet a is conveyed, it is released to form a two-tiered sheet.

The first alignment section 55 and the second alignment section 56 include:
The first aligning unit 55 aligns the width direction of the laminated sheet A, and the second aligning unit 56 aligns the longitudinal direction of the laminated sheet A. Therefore, in the first aligning section 55, as shown in FIG. 10, a guide wall 55a is provided upright on one side of the roller conveyor, and a pressing wall 55b which advances and retreats toward the guide wall 55a is provided on the other side. It is mounted via the pressing cylinder 55c.

In the second aligning section 56, as shown in FIG. 11, the laminated sheet A is provided at the rear end in the conveying direction of the roller conveyor.
A stopper 56a for abutting the front end of the sheet A is mounted, and a pusher 56b for pressing the rear end of the laminated sheet A in contact with the stopper 56a is mounted on the front end in the transport direction so as to be able to move up and down and advance and retreat. In the drawing, reference numeral 56c denotes an elevating cylinder, 56d denotes an elevating plate, and 56e denotes an advancing / retracting cylinder.

The second aligning portion 56 is a holding position of the transfer hand 2, and when the transfer sheet 2 hits the stopper 56a, the transfer sheet 2 is held at a position where the transfer sheet 2 can be held. Elevating means 63 for elevating a predetermined height is mounted below the roller conveyor. The elevating means 63 has a configuration in which four support rod members 63a are arranged between the rollers 56f along the length direction thereof, and these support rod members 63a are raised and lowered by a lifting cylinder 63b. The transfer hand 2 has three receiving members 11 as described above.
Are fixed at predetermined intervals so that the receiving portion 7a of the L-shaped plate 7 is inserted between the four raised support rod members 63a.

The holding by the transfer hand 2 is performed by raising the laminated sheet A abutting against the stopper 56a by the lifting means 63 and causing the receiving portion 7a of the transfer hand 2 to move in synchronization with the vertical alignment by the pressing of the pusher 56b. It is performed by being crowded.

The transfer position 53 is located on pallet transfer conveyors 64 and 65 for transferring the pallets P in different directions. According to the layout, in FIG. 5, one pallet transport conveyor 64 bends the transport direction so as to have a Z-shape and the other pallet transport conveyor 65 has a U-shape, and transports them toward the same unloading site. I have.

At the transfer position 53, the pallets P are sent out toward the robot 1 (lateral direction) sequentially from the lowest one of the stacked pallets P. And robot 1
At the point approaching, the transport belts 64a and 65a in the same direction (vertical direction) as the supply unit 52 rise and are transported in the vertical direction. The position slightly conveyed in this direction is the transfer position 53, where the pallet P stops and waits for the transfer of the laminated sheet A by the robot 1. In this state, the robot 1 is driven to perform the stacking operation by the following operation of the transfer hand 2. When the stacking of the laminated sheets A by the robot 1 is completed,
It is sent out to the unloading site.

The operation of the transfer hand 2 will be described with reference to FIGS. First, the laminated sheet A conveyed to the holding position of the transfer hand (the second alignment section 56) (FIG. 12) abuts the front end of the laminated sheet A against the stopper 56a as described above, and then the lifting means having the support rod member 63a. It is raised by 63, and is then aligned in the vertical direction by pressing the pusher 56b. Then, in synchronization with this, the transfer hand 2
Descends with respect to the laminated sheet A having the aligned edges (FIG. 1).
3).

Next, the L-shaped plate 7 and the I-shaped plate 8 are respectively advanced in this order, sandwiching the laminated sheet A, and the pressing plate 9 is lowered by the first cylinder 19 for lifting and lowering in synchronism with this. Press the upper surface of sheet A (FIG. 1)
4).

The robot moves in this state (FIG. 15), and
The pallet P is lowered to a predetermined position on the pallet P waiting at the position 3 (FIG. 16). Then, in the release position, the L-shaped plate 7 is retracted (FIG. 17). At this time, although it depends on the setting of the first cylinder 19 for raising and lowering, it is difficult to pull out the receiving portion 7a while being pressed by the pressing plate 9, so that the solenoid valve of the first cylinder 19 for raising and lowering is temporarily turned off. It is preferable to press only with the weight of the pressing plate 9. Laminated sheet A
This is because they can be quickly removed without disturbing the alignment of the devices, and smooth and accurate work can be performed.

Thereafter, while the transfer hand 2 is raised, the pressing plate 9 is raised to release the pressed state on the laminated sheet A. Then, in synchronization with this, the pressing pad 20b is lowered to press the laminated sheet A. The pressing by the pressing pad 20b is performed until the regulating plate member 15 and the I-shaped plate 8 do not interfere with the laminated sheet A. Thereafter, the I-shaped plate 8 is retracted (FIG. 18) and returned to the original state.

As described above, according to the transfer hand 2, one end of the laminated sheet A is supported in a stable state by the L-shaped plate 7 on which the regulating plate member 15 is dependent and the pressing plate 9, and the other end. Since the I-shaped plate 8 is in contact with the section so as to maintain the state, reliable transfer without disturbing the alignment can be stably performed even with the unbound laminated sheet A.

Further, since one of the laminated sheets A is constituted by the I-shaped plate 8, one of the laminated sheets A falling from the release position is guided, and the alignment state is disturbed even if the laminated sheet A is dropped from a slightly higher position. There is no. For this reason, it is not necessary to strictly manage the release height unlike the related art, and the configuration can be simplified. The setting of the release position is sufficient if necessary data such as the thickness and the stacking height of the sheet material is input to the computer and automatically calculated based on a program.

Auxiliary pressing means (press pad 20b)
Is provided, and when the laminated sheet A is released, the upper surface of the laminated sheet A is pressed. Therefore, even in the unlikely event that the upper part of the laminated sheet A is peeled off due to frictional resistance and the like, the alignment state is disturbed. The effect of preventing the displacement of the laminated sheet A can be further ensured.

Since the stacked sheets A are stacked on the pallet P in two rows as described above, the stacked sheets A are stacked farther from the robot 1 and then stacked closer to the robot 1. Since this operation is performed in order, as shown in FIG. 19, even if the L-shaped plate 7 is retracted, the stacked sheets A stacked earlier do not become an obstacle, and the stacked sheets A
The stacking of various stacking patterns can be performed with only a very small gap formed between the I-shaped plates 8.

As described above, one of the I-shaped plates 8
Therefore, only the L-shaped plate 7 needs to be retracted when the laminated sheet A is lowered. By controlling the retreating direction and the stacking order, a stacking pattern that cannot be obtained conventionally can be obtained. Obtainable.

The hand main body 2 in the above embodiment corresponds to the main body of the claims, and the pressing pad 20b corresponds to the auxiliary pressing means.

[Brief description of the drawings]

FIG. 1 is a side view of a robot.

FIG. 2 is a side view of a transfer hand.

FIG. 3 is a perspective view of a transfer hand.

FIG. 4 is a partially cutaway side view showing a main part of the transfer hand.

FIG. 5 is a plan view of a non-binding laminated sheet stacking apparatus.

FIG. 6 is a perspective view showing an example of a state in which unbundled laminated sheets are stacked on a pallet.

FIG. 7 is an explanatory diagram of an operation state.

FIG. 8 is a side view of the charging section.

FIG. 9 is a front view of the two-stage stacking device.

FIG. 10 is a plan view of a first alignment unit.

FIG. 11 is a sectional view of a second alignment unit.

FIG. 12 is an explanatory diagram of an operation state.

FIG. 13 is an explanatory diagram of an operation state.

FIG. 14 is an explanatory diagram of an operation state.

FIG. 15 is an explanatory diagram of an operation state.

FIG. 16 is an explanatory diagram of an operation state.

FIG. 17 is an explanatory diagram of an operation state.

FIG. 18 is an explanatory diagram of an operation state.

FIG. 19 is an explanatory diagram of an operation state.

FIG. 20 is a perspective view of a conventional technique.

FIG. 21 is a perspective view showing a conventional problem.

FIG. 22 is a plan view showing a conventional problem.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Stacking robot 2 ... Transfer hand 6 ... Hand main body 7 ... L-shaped plate 7a ... Receiving part 8 ... I-shaped plate 9 ... Press plate 20b ... Press pad A ... Non-bundled laminated sheet

Claims (5)

[Claims] An unbundled laminated sheet transfer hand for holding a unbound laminated sheet in which a predetermined number of sheet materials are deposited and transporting the unbound laminated sheet to a predetermined position, wherein the main body of the transport hand includes one end of the laminated sheet. An L-shaped plate which advances and retreats in the horizontal direction to support the lower part, and an I-shaped plate which faces the L-shaped plate and abuts on the end face of the other end of the laminated sheet are vertically provided, and a lower end of the L-shaped plate is provided. Transfer hand for unbundled laminated sheets with a long horizontal receiving part. 2. A pressing plate, which rises and lowers with respect to the laminated sheet and presses the upper surface of the laminated sheet when descending, is suspended from the main body at a position corresponding to a position above a horizontal receiving portion at the lower end of the L-shaped plate. The transfer hand for a non-bundled laminated sheet according to claim 1 provided. 3. An unbundled laminated sheet transfer hand for holding a unbound laminated sheet in which a predetermined number of sheet materials are deposited and transporting the unbound laminated sheet to a predetermined position, wherein the main body of the transport hand is provided with one end of the laminated sheet. An L-shaped plate which advances and retreats in a horizontal direction to support a lower portion, and a position corresponding to a position above a horizontal receiving portion at a lower end portion of the L-shaped plate moves up and down with respect to the laminated sheet. A transfer hand for a non-bundled laminated sheet, in which a pressing plate to be pressed is vertically provided and a length of a horizontal receiving portion at a lower end portion of the L-shaped plate is set to be longer. 4. The transfer of a non-bundled laminated sheet according to claim 2, wherein said pressing plate is provided with auxiliary pressing means for pressing the upper surface of the laminated sheet when the transfer hand releases the laminated sheet and rises. hand. 5. The pressure plate is lifted and lowered by an air cylinder, and when the L-shaped plate is retracted, the solenoid valve of the air cylinder is once turned off to be pressed only by the weight of the pressure plate. A transfer hand for a non-bundled laminated sheet according to claim 4.