JPS5815404B2 - Hansojinobutsu Pinch Yushinkenshiyutsuoyobi Isaijinoichikakuninsouchi - Google Patents

Description

Detailed Description of the Invention This invention detects the center of an article being conveyed, and also detects and confirms whether the article has been taken out and transferred to the center of the conveyor, thereby safely and reliably transferring the article. The invention relates to a device that enables object center detection during transport and position confirmation during transfer.

When goods loaded and conveyed by a transport conveyor are changed or transferred to a different direction in the conveyance direction, if the goods are not received at approximately the center of the take-out conveyor installed at this changeover point, the goods will be Because the center of gravity is biased to one side, there is a tendency for items to fall or fall during transfer, or to fall or fall during transfer on another conveyor following the take-out conveyor, or at the next changeover point.

In addition, when goods are transported to a switching point in order to shorten the transport cycle of goods, it is better to operate the take-out conveyor without stopping the transport conveyor and transfer the goods. Since it is structurally difficult to directly connect and interlock the conveyor with the conveyor, each conveyor is operated by a separate prime mover, so that the articles conveyed by the conveyor are transferred to the center of the take-out conveyor at the switching point. It is necessary to check whether it is transferred correctly.

In view of this, an object of the present invention is to detect the center of the article when it is transported to a switching point, and immediately operate a take-out conveyor that waits below the transport conveyor. It is an object of the present invention to provide an apparatus for detecting the center of an article during transport and for confirming the position during transfer, which is capable of receiving an article almost at the center and simultaneously confirming whether or not the article has been received at that position.

Further, the present invention is provided with an elevating board that moves up and down while moving laterally at approximately the same speed as the transport conveyor by means of a parallel ring in the take-out transfer machine, and furthermore, the elevating board is lower than the running surface of the transport conveyor at its lower limit position. It also has a take-out conveyor located slightly below and whose upper limit position almost coincides with the running surface of the other conveyor, and also has a pair of gripping arms slidably arranged parallel to the conveyor. The clamping arms are connected to each other so that they can slide together, and are linked to follow the lateral movement of the elevator, and each of the clamping arms is equipped with a control transformer (SELSYN) on its support shaft, and is used for transportation. An article on the conveyor is held between a pair of clamping arms, and a pair of cercins detects that the center of the article is located on the center line of the take-out conveyor at the lower limit position of the lift plate, and upon this detection, the lift plate is moved laterally. When the running surface of the take-out conveyor matches the running surface of the transport conveyor and the article is transferred to the take-out conveyor, the center of the article is moved within a predetermined tolerance range with respect to the center line of the take-out conveyor by a pair of cell thins. It is characterized by checking whether or not it exists.

The present invention will be described in detail below based on the drawings.

A lift plate 3 of a take-out transfer machine T that movably supports a chain conveyor 2 constituting the take-out conveyor is installed in the middle of the transport conveyor 1 driven by a prime mover M1 such as an electric motor, and the lift plate 3 is Parallel links, which will be described later, allow the transport conveyor 1 to move laterally at approximately the same speed as the elevator.Furthermore, a conveyor 4.5 is installed in close proximity to the chain conveyor 2, and these chain conveyors 2 ．． The running direction of the conveyors 4, 56 is set to be orthogonal to the running direction of the transport conveyor 10, and the height of the running surface of the chain conveyor 20 at the upper limit position of the lifting board 3 is the same as the height of the running surface of the conveyors 4, 50. On the other hand, the chain conveyor 2 is driven by a prime mover M2 that is operated at the upper limit position of the elevator board 3.

The conveyors 4 and 5 are each driven by a prime mover M3. Driven by M4.

Furthermore, guide pieces 6 and 7 are provided on one side of the conveyor 1 in parallel with the conveyor 1 and on both sides of the pick-up and transfer machine T, and are slidably supported by these guide pieces 6 and 7, respectively, and are mutually connected. Cylinder 10.11 with a built-in spring is attached to the sliding pieces 8 and 9 connected by the connecting rod C, and is fixed to a piston (not shown) that is slidably and tightly fitted into each of these cylinders 10.11. Piston rod 12,
The roots of the clamping arms 14 and 15 are rotatably connected to the tips of the clamping arms 14 and 13, respectively, and a control transformer (
(hereinafter referred to as cersin) 16 and 17 are provided.

Further, these support shafts a and b are set at a point equidistant c]+1 from the center line S-8 of the elevator board 3 when the elevator board 3 is at the lower limit position.

Note that a spring 18 stretched between the rear end of the sliding piece 8 (the left side is the rear and the right side is the front in Figures 1 and 2) and the fixed wall W keeps the sliding pieces 8 and 9 in the rear direction at all times. In addition to pulling and urging, a restraining piece 19 is provided at the rear end of the guide piece 6, and the rear end of the sliding piece 8 comes into contact with the restraining piece 19, thereby normally holding the sliding pieces 8, 9 in a predetermined position. ing.

Further, the connecting rod C is engaged with or connected to the elevator plate 3 using, for example, an abutment rod or a link having a long hole,
The connecting culm C, therefore, the image moving piece 8.9 is interlocked with the elevator board 3 so as to release the vertical movement of the elevator board 3, while following the lateral forward movement of the elevator board 3.

In addition, detectors dl, td2, rl, and r2 such as phototubes are provided on both sides of the conveyor 1, making it possible to detect the article g in the transfer area E, so that the article g reaches the line connecting the detectors dl+d2. When the article g enters the transfer area E, the cylinder 11 is actuated and the article g is taken out and transferred to the transfer machine T.
When the detector r1. r2 is activated, making the cylinder 10 operable.

Next, looking at the pick-up transfer machine T, a piston (
A piston rod 20 (not shown) is inserted into the housing V so that it can move forward and backward, and swing arms 21 and 22 are attached to the middle and front end of the piston rod 20, respectively, so that they can only rotate freely.

Furthermore, the swinging arms 21 and 22 have bearings fl fixed at their midpoints to the upper surface of the casing V.

A mounting piece 1 that can be attached to a rotating shaft 23, 24 rotatably supported by f2 and whose upper end can be suspended from the lower surface of the elevator plate 3.
Rotatably attached to each of 1 and 12.

Therefore, the swing arms 21, 22 and the elevator plate 3 form a parallel link, and the elevator plate 3 can move up and down while maintaining parallelism and moving laterally.

Further, a detection piece q whose root portion is fixed to the rotating shaft 23 is made to face a contact point j on the upper surface of the casing V so as to be able to approach and separate from the detection piece q.
comes into contact with the contact j, the center of the elevator plate 3 will be at n−n (described later)
The detector P includes the detection piece q and the contact j.

Note that when the elevator board 3 is at the lower limit position, the running surface of the chain conveyor 20 is positioned below the two ends of the conveyor 1 by a small distance.

n - n is the value of the lift plate 3 when the running surface of the chain conveyor 2 coincides with the running surface of the transport conveyor 10, that is, at the moment when the article g is taken out from the transport conveyor 2 and transferred to the chain conveyor 2 of the transfer machine T. U-U is the center line of the conveyors 4 and 5, t2 is the distance between the center line S-8 and the center line n-n, and the center of the article g is the center line S-n.
8, the cylinder 2 is actuated to issue an elevating command, and when the elevating board 3 reaches the upper limit position and the article g is transferred to the conveyor 4, 5 side, a limit switch (not shown) is activated. ) to issue a descending command to the elevator board 3.

Since this embodiment has the above-described configuration, when the article g is loaded and conveyed on the conveyor 1 and reaches the transfer area E, the detector d1. d2 detects that the article g has entered the transfer area E, and an operation command is sent to the cylinder 11, and the piston rod 13 is pulled to the right in FIG. It rotates in the Y direction as a fulcrum, reaches the position indicated by the dashed line in Figure 1, and waits.

When the article g is further conveyed in the direction and the detector rl+r2 detects the article g, an activation command is sent to the cylinder 10 and the piston rod 12 is pulled to the left, so that the clamping arm 14
rotates in the X direction about the support shaft a.

When the article g is further conveyed with the clamping arm 14 in contact with the rear surface of the article g, the front surface of the article g eventually comes into contact with the clamping arm 15, and the article g is clamped by both clamping arms 14 and 15. Therefore, the support shaft a of the clamping arm 14 and the support shaft of the clamping arm 15 are rotated at the same time, and the sershins 16 and 17 provided at the ends of the support shafts a and b are also rotated. be done.

Then, when the center of the article g reaches the center line 5-si at the lower limit position of the elevator platform 3, the cercins 16 and 17 have a predetermined relationship, and when it is detected that the article g has reached S-8, the take-out and transfer machine Sends an operation command to cylinder 2 of T.

Then, the piston rod 20 moves to the left in FIG. Raise while moving horizontally.

At this time, since the connecting ring C that connects the sliding pieces 8 and 9 having the clamping arms 14 and 15 is integrally interlocked with the elevator board 3 only in the lateral direction, the image moving pieces 8 and 9 are moved by the springs. The gripping arms 14.15 move in accordance with the lateral movement of the lifting plate 3 against the movement of the lifting plate 3, so that the relative positions of the clamping arms 14.15 do not change even when the lifting plate 3 moves, and the relative position of the holding arms 14.15 does not affect the relative relationship of the cersins 16.17. It will not affect you.

When the running surface of the chain conveyor 20 on the lifting platform 3 becomes the same height as the running surface of the transport conveyor 1, the detection piece g fixed to the rotating shaft 23 contacts the contact j and the detector P
is activated.

In this state, that is, when the article g is taken out from the transport conveyor 1 and transferred to the chain conveyor 2 of the transfer machine T, the article g is raised and lowered by 3. Therefore, the position relative to the chain conveyor 2 can be detected visually.

If the detected position, that is, the center line of the article g, is within a predetermined tolerance value with respect to the center line n-n of the elevator platform 3, that is, the chain conveyor 2 at that point, the elevator platform 3 will further rise. , the article g is levitated and transferred from the transport conveyor 1 to the chain conveyor 2, and furthermore, the upper limit position, that is, the center line of the elevator plate 3 coincides with the center line of the conveyors 4 and 5, and the chain conveyor 20 running surface When the conveyor 4 and 50 coincide with the running surfaces of the conveyors 4 and 50, the chain conveyor 2 is driven to transfer the article g to the side of the conveyor 4.5.

In addition, when the detected position, that is, the center of the article g is eccentric to the center line n-n by more than a permissible value, an alarm or indicator light (none of which is shown) is activated to notify the abnormal situation. The movement of the article is stopped by immediately stopping the lifting of the elevator platform 3 and the operation of the transport conveyor 1, or by not driving the chain conveyor 2, thereby preventing the article g from falling or tipping.

Note that the elevator plate 3 at the upper limit position will eventually reach its center line s.
When the continuous transition from -s to nn and from nn to u-u is completed, the cylinders 10.11 are actuated in the opposite manner to the above by means of limit switches, etc., and the piston rods 12.
13 return to their original states, and when the article g is transferred to the conveyor 4 by the chain conveyor 2, the cylinder 2 similarly operates in reverse and returns to the position shown by the solid line in FIGS. The elevating plate 3 descends while returning backward, and based on the return of the elevating plate 3, the sliding pieces 8 and 9 having the clamping arms 14 and 15 are moved to a predetermined position where the sliding piece 8 abuts the stopper piece 19 by the spring 18. It then returns and waits for the next part to move forward.

As explained above, according to the present invention, (I) when the elevating platen 3 of the pick-up transfer machine T is at the lower limit position, the sliding pieces 8, 9
By the gripping arms 14 and 15 attached to the gripping arms 14 and 15 coming into contact with the article g from the front and back, the center of the article is rotated by the same angle as the specified rotation angle set on the cercin 16 and 17 attached to the gripping arms. The center line S of the elevator platform 3 which is at the lower limit position due to movement
-8 is detected, and by detecting the enclosure, a command is issued to the lift plate 3 of the pick-up and transfer machine T to raise and In other words, when the article is transferred from the transport conveyor to the take-out conveyor, it is accurately determined whether or not the eccentricity of the center of the article to be weighed by the operation of the celsin is within the predetermined allowable eccentricity. It is detected and confirmed, and only when the amount of eccentricity is within the allowable value, it can be taken out from the conveyor 1 and transferred to the conveyor 2, and then transferred to the other conveyors 4 and 5.
There is no fear of objects tipping over or falling; ■Furthermore, the elevating platen 3 of the pick-up and transfer machine can be raised and lowered while moving laterally at approximately the same speed as the transport conveyor 1 using parallel links 21 and 22, making it especially easy to raise and lower. When the board 3 is raised, the article is taken out from below and the conveyor 2 protrudes above the top surface of the conveyor 1 to place the article, but the article is scooped up from the conveyor without slipping and placed on the conveyor 2. (■Also, since the clamping arms 14 and 15 are connected to each other so that they can slide together and are linked to follow the lateral movement of the lifting board 3, the lifting board 3 can be moved horizontally. Even as it rises, the pair of clamping arms 14 and 15 move laterally in the same way, moving from center line S-8 to n-n and from n-n to u-
Since it moves to u, the center line of the transfer machine is held and the gripping arm follows, and by using Cersin to detect the center of the object, accuracy can be maintained over a long period of time and there are fewer failures. In addition, it is extremely convenient because it is possible to detect the center of the article during transportation and confirm the position of the article during transfer using one device.

In the embodiments of the present invention, chain conveyors may be used as the conveyor group, but roller conveyors may also be used.
Furthermore, although a cylinder is used to raise and lower the lifting platform of the pick-up and transfer machine, an electric motor may also be used.

[Brief explanation of drawings]

The drawings are diagrams showing an embodiment of the present invention, and FIG. 1 is a plan view, and FIG. 2 is an explanatory diagram showing the operating state of the pick-up and transfer machine.
Figure 3 is a view from the ■-■ line in Figure 1, and Figure 4 is the TV shown in Figure 1.
-IV line sectional view. 1...Conveyance conveyor, 2...Takeout conveyor, 3
... Lifting board, 4, 5... Other conveyor, 14, 15
...Pinching arm, 16,17...Sersin, 21,22
...Parallel link, a, b... Support shaft, g... Article,
E...Transfer area, T...Take-out transfer machine, n-n, S
-8...Center line.

Claims (1)

[Claims] 1. In a pick-up transfer machine that transfers rabbits from a transport conveyor to another conveyor in a different transport direction, the pick-up transfer machine is an elevator that moves up and down while moving horizontally at approximately the same speed as the transport conveyor using parallel links. Further, the elevator board has a take-out conveyor located at its lower limit position slightly below the running surface of the transport conveyor, and at its upper limit position substantially coincident with the running surface of the other conveyor; A pair of clamping arms are slidably disposed parallel to the conveyor, and these clamping arms are connected to each other so that they can slide together, and are interlocked to follow the lateral movement of the elevator board. In addition, a cercin is provided on each of the support shafts of these clamping arms, and the article on the transport conveyor is held between the pair of clamping arms, and the center of the article is placed on the center line of the take-out conveyor at the lower limit position of the elevator by the pair of cercin. When the object is detected to be in the position of the object, and when the lifting platform is moved horizontally and raised by this detection, and when the running surface of the take-out conveyor matches the running surface of the transport conveyor and the article is transferred to the take-out conveyor, a pair of cell thins An apparatus for detecting the center of an article during conveyance and confirming its position during transfer, characterized by checking whether the center of the article is within a predetermined tolerance range with respect to the center line of a take-out conveyor.