JPS5847725A - Stacking device - Google Patents

Abstract

PURPOSE:To accomplish stacking operation even in a narrow working space by a structure wherein a holder, which especially holds a rice bag so as to arrangement-load the rice bag to the predetermined location, is supported by means of a plurality of supporting arms pivotal in a horizontal plane. CONSTITUTION:The three arms 1, 2 and 3 are coupled to one another so as to be able to pivot with coupling points A and B respectively and an sucking body 5 to hold a rice bag 4 is fitted to the tip of the arm 1. Owing to the structure as mentioned above, when a rice bag 4a is carried in by means of a conveyor 14, the sucking body 5 goes down in order to hold the rice bag 4a and, after that, the arms 1, 2 and 3 are rotated horizontally by driving rotating actuators 7, 8, 9 and 10 so as to fit the rice bag 4a in the optimum loading position in a pallet 13 and then the whole arms 1, 2 and 3 are lowered all together by lowering a supporting pole 12 in order to release the sucking of the sucking body 5 onto the pallet 13. In such a manner as described above, the respective pivotings of the three arms 1, 2 and 3 eliminate the necessity of vast working space.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a stacking device suitable for handling rice bags.

BACKGROUND OF THE INVENTION Conventionally, a wide variety of devices have been developed and put into practice for loading and unloading products, final products, intermediate products, parts, and the like (hereinafter referred to as objects). Among them, it is known that there is a device called "four bots" that loads objects in the X-axis direction, Y-axis direction, and two-axis direction (up and down directions) and unloads them at the conveyance point ζ. There is. A relatively simple version of this device combines movement in the X-axis and Y-circle directions,
In addition, a complicated one combines this with movement in two axes (vertical direction) and, if necessary, wrist rotation on two axes.

In addition to these, there is also one in which the X-axis arm is pivotable with respect to the support ball, and the X-axis arm is formed by a flexible connecting arm.

However, such conventional devices are
In most cases, beams, arms, modules, etc. in the axial direction mainly move forward and backward, bend and extend, and rotate the wrist on two axes, making the entire device complex, easily bulky, and requiring a large work space. There was a problem.

This invention was made by focusing on such a conventional device, and enables efficient cargo handling work, especially stacking work, by connecting a plurality of arms so as to be rotatable in a horizontal plane. Specifically, this invention connects a plurality of arms so as to be freely rotatable in a horizontal plane, has an adsorbent for holding an object attached to the arm at the tip, and has nine supports that are movable up and down on the stand V. This relates to a stacking device in which an arm at the rear end is rotatably provided with respect to a pole.

The details of this invention will be explained below based on the illustrated embodiments. First, in this invention, a plurality of arms are rotatably connected in a horizontal plane, and in the illustrated example, the first arm 1, the 27th arm 2, and the 37th arm 6 are connected at the connecting point A, There are BKs and they are rotatably connected to each other. 1st arm IaZ
Axial direction, second arm 2 is Y@ direction and #I3 arm 6
is an arm corresponding to the X-axis direction, and the tip arm, that is, the first
7-The "adsorbent" for holding the legal object is attached so that it can move up and down.

In the illustrated example, the "object" is a 9-rice bag 4 filled with 10 rice grains, and the suction nozzle 5 is shown as an "adsorbent". suction,
Rrad 5tj is connected to the four wires (not shown), and when loading and unloading the rice bag 4, the rice bag 4 is removed by suction.
The suction duct is designed such that each arm 1, 2, and 3 is shaped like a rib to serve as a duct. Further, if the target object is not the rice bag 4 but, for example, an iron product, a magnet body that can be energized or de-energized may be used as the above-mentioned "adsorbent", and the target object and the adsorbent for holding the target object are not shown in the figure. Not specific to the example.

As mentioned above, the 17th arm 1 which is the tip arm, the 27th arm 2 which is the middle arm, and the 3rd arm 6 which is the rear end arm are each used as a duct, and each has a built-in hydraulic unit. It is connected to the operation box 6 and is rotatable on a horizontal plane using nine rotation actuators and angle sensors 7.8 and 9.10. Further, the third arm 6, which is the 7 arms at the rear end, is rotatably provided with respect to a support pole 12 provided on the stand 11 so as to be movable up and down. The stand 11 functions as a stand for supporting the support ball 120 on the floor and for vertically driving each of the arms 1, 2, 5 and the rotational actuator/angle sensor 7, 8, 9, and 10. Pallets for 16 companies, 14
Company carry-in conveyor belt, 15 is carry-in conveyor belt 14
This is a phototube for stopping.

Next, the effect will be explained. When a 4 m bag of rice is carried in by the conveyor belt 14, the suction/set 5 descends to hold the 4 m bag of rice in the state shown in Fig. The respective driving arms 1, 27th arm 2, and 37th arm 6 are rotated arbitrarily on a horizontal plane and positioned so that the direction in which 4 m of rice bags are stacked is the optimal direction with respect to the pallet 15. Then, the whole unit 31-3 is lowered by lowering the support pole 12, and as a result, the suction pad 5 is lowered to the appropriate position on the pallet 16 and the suction state is released. can be stacked in the optimal direction. In the figure, 4b indicates stacked rice bags. By changing the direction of rice bags 4, 4m, and 4b and stacking them on /elet 1S, the desired height H is achieved.
It is possible to stack up to 100% without destroying the appearance of the package.

In the explanation of this function, we have described the case in which 4 m of rice bags are held on the pallet 16 located below the carry-in conveyor belt 14 and stacked by rotation on the horizontal plane. Of course, it is also possible to perform the same function of transporting the rice bags 4b to other locations or transport devices. In addition, if the area of the pallets (13) or the place where the rice bags are to be stacked is large, it is sufficient to arrange the stacking devices according to the present invention in parallel, divide the area into sections, and efficiently stack the rice bags 41 in each section. It is possible.

As explained above, according to the present invention, although the conventional device can move forward and backward in the X-axis, Y-axis, two-axis directions, or combine these with two-axis wrist rotation, bending and stretching movements, etc. In comparison, multiple arms are connected to each other so that they can rotate freely on a horizontal plane, a suction body for holding objects is attached to the tip arm, and the rear arm is rotated relative to the KW&FF9 support pole that can be moved up and down to the stand. Because it is flexible, it is now possible to move in a curved manner, as opposed to the conventional linear movement, making it easy to change the direction of the object and place it on the pallet. This has the effect of greatly improving efficiency.

Moreover, compared to conventional devices that tend to become complicated and large, a device with a relatively simple structure can perform sufficient stacking functions, and in addition, it can be moved by rotating each of the multiple arms. This also has the effect of not requiring a large work space.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a stacking device showing an embodiment of the present invention, FIG. 2 is a side view as seen in the direction of the arrow 1 in FIG. 1, and FIG. It is a side view seen from one direction. 1 First arm 2 Second arm 4 Rice bag 5 Suction pad 7.8.9.10 Rotation actuator and angle sensor 11 Stand 12 Support pole 16 Noglet 14 Carrying conveyor belt

Claims (2)

[Claims] (1) A plurality of arms are connected to each other so as to be rotatable in a horizontal plane, and a suction body for holding an object is attached to the tip arm, and the rear end arm is attached to a support pole that is movable up and down on the stand. A rotatable stacking device. (2) The arm at the tip has a suction body that can move up and down freely.
A stacking device according to claim 1,