JPS59146772A - Robot for transport - Google Patents

Robot for transport

Info

Publication number
JPS59146772A
JPS59146772A JP2043683A JP2043683A JPS59146772A JP S59146772 A JPS59146772 A JP S59146772A JP 2043683 A JP2043683 A JP 2043683A JP 2043683 A JP2043683 A JP 2043683A JP S59146772 A JPS59146772 A JP S59146772A
Authority
JP
Japan
Prior art keywords
robot
blank
blanks
grasped
transport
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2043683A
Other languages
Japanese (ja)
Inventor
河合 英明
賢次 林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toppan Inc
Original Assignee
Toppan Printing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toppan Printing Co Ltd filed Critical Toppan Printing Co Ltd
Priority to JP2043683A priority Critical patent/JPS59146772A/en
Publication of JPS59146772A publication Critical patent/JPS59146772A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。
(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 本発明は搬送用ロボットに関し、時には印刷済の枚葉紙
あるし・は印刷、打抜きインライン機から抽出さねたブ
ランク等をある程度の厚さの単位て柄付・搬送し7、バ
レット等にパレタイズするだめの搬送1[10ボツトに
関する。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a conveying robot, which handles and conveys printed sheets or blanks extracted from in-line printing and punching machines in units of a certain thickness. 7. Conveyance 1 of waste to be palletized into bullets etc. [Regarding 10 bottles]

−・般に丁、業用ロボットは把持・搬送用として広く開
発されている。
-In general, industrial robots have been widely developed for gripping and transporting purposes.

従来より、「作部品やΦ−計物の把持・搬送を目的と(
〜た]二業用ロボットは種々開発されて見・ろが、枚葉
紙やブランク等の績小物については、に作部品等に較べ
て1把持・搬送する段階で形状が崩れてI〜ま5ため特
殊なハンド部を必要と才イ)ため−゛般的な把持・搬送
用ロボットは使用することができず人手に順っているの
が現状である。しか1.7:Cがら、厚紙等からなるブ
ランクは一定の厚み以1−になるとかなりの重Jifi
′で、IJIL続作用は不1り能て非効率であった。
Traditionally, the purpose of gripping and transporting workpieces and Φ-measurements (
A variety of secondary-purpose robots have been developed, and small objects such as sheets and blanks tend to lose their shape during the gripping and transport stage compared to workpieces. (5) Therefore, a special hand part is required (a) - Therefore, general gripping/transferring robots cannot be used, and the current situation is that the handling is done manually. However, 1.7: Blanks made of cardboard, cardboard, etc. will be quite heavy if the thickness exceeds a certain level.
', the IJIL linkage was poorly executed and inefficient.

よって、本発明は上記の点に鑑み、枚葉紙やブランク等
の積重品を搬送中においても形状が崩れろことなく、把
持・搬送でき会・・ント部るパイ・[−4−イ)ロボッ
トを提供するものである。
Therefore, in view of the above-mentioned points, the present invention has been developed so that stacked products such as sheets and blanks can be held and transported without losing their shape even during transport. ) provides robots.

以下、不発り]の一実施例を図面を川(・て詳細に説明
するー。
Hereinafter, one embodiment of the misfire will be described in detail with reference to the drawings.

第1図はイ般送用ロボットの余1祝図であって、(1)
は固定部でル)す、この固定部100十部には回転ブー
プル(2)が正逆回転可能に設けられ、該回転デープル
(2)上(では垂直案内軸(3)、+31’ (図示げ
ず)が設けられ、ロボノトケーンング(4)を1−・下
移動j’]能に支承し、さらに」二記垂直案内軸(3)
と平行して設けられた上・下送りねじ軸(5)が前記ロ
ボノトケーンング(4)と螺合して(・る。該ロボノト
ケー/ング(4)はJ二・「送りねじtlIlft (
51の回転に応じて該案内軸+3)に浴−って」二・上
移動されろように構成されている。−1−記ロボノトケ
ー/ング(4)はロホ゛ノド月宛((3)−I6)’を
佃)線方向に伸縮自在に支承し、該ロボット腕(6)、
(6)′の先端には千筐機構部(7)を介してハンド部
(8)が数個けられている。
Figure 1 is a congratulatory map of the robot for general use in India, and (1)
is a fixed part, and a rotary double pull (2) is provided on the fixed part 100 so as to be rotatable in forward and reverse directions, and a vertical guide shaft (3), +31' (not shown) is provided on the rotary double pull (2) A vertical guide shaft (3) is provided to support the robot caning (4) in a vertical movement (1--downward movement j').
The upper and lower feed screw shafts (5) provided in parallel with the ROBONOTO caning (4) are screwed together with the ROBONOTO caning (4).
According to the rotation of the guide shaft 51, the guide shaft +3) is moved upward by two degrees. -1- The robot arm (4) is supported telescopically in the direction of the robot arm (6),
Several hand portions (8) are provided at the tip of (6)' through a mechanical mechanism (7).

第2図は本発明の−・ンド部(8)を詳細に示した側面
1’2+−Cあり、・・ンド部18)は前記手首°機N
’t(1)と連結部(9)を介して設けられ、この連結
部(9)Kは垂直数句フランジ(10)と水平取付フラ
ンジ(10)が形1fflされている。垂向敗イ」フラ
ンジ00)には被把持物を上から押えるプッシャー(1
2)、(12トが上・上移動可能とするようなJ二下用
エアーシリンダー(13)が取(=jけられている。さ
らに−第6図はハント部(8)の317而図であり、七
・下エアシリンダー++3)には二つのプッシャー11
21、(12トかある程度の間隔をもって設けられてい
る。また、水平取付フランジ(10)には二本の支え爪
041、(14どが前後用エアシリンダー(151を介
して設けられている。二本の支え爪(141、l 41
’は連結板11itにより一定の間隔を有して平行に連
結され、しかも支え爪(14)、14どと前後用エアシ
リンダー(I51とが平行であって、一つの、支え爪旧
)に前後用エアシリンダー(151のシャフト(1,7
1に連結されている。ここで(I8)は支え爪(14)
、iEl’が後退時に被把持物の位置ズlノを防止1゛
−るストッパーである。さらに、支え爪(14)の中に
Q1反射型光電管(19)及び+201が内蔵され、パ
I/ノドあるいは債−にげ済みのブランクまでの距肉1
(を検知し、ロボット腕(6)、(6)′の減速、停止
の位1カ検知を行/、〈゛っている。
Fig. 2 shows the side surface 1'2+-C in detail of the hand part (8) of the present invention.
't(1) and a connecting part (9), and this connecting part (9)K has a vertical mounting flange (10) and a horizontal mounting flange (10) in the form of 1ffl. The flange 00) has a pusher (1) that presses the object to be grasped from above.
2), (12) The air cylinder (13) for lower J2 is removed so that the upper part can be moved up and down. 7. The lower air cylinder ++3) has two pushers 11.
21 and 12 are provided at a certain interval.Furthermore, two support claws 041 and 14 are provided on the horizontal mounting flange (10) via a front and rear air cylinder (151). Two supporting claws (141, l 41
' are connected in parallel with a fixed interval by a connecting plate 11it, and the support claws (14), 14, etc. are parallel to the front and rear air cylinders (I51), and the front and rear are connected to one support claw (old). air cylinder (151 shaft (1,7
1. Here (I8) is the support claw (14)
, iEl' is a stopper that prevents the object to be grasped from shifting when it is retracted. In addition, a Q1 reflective phototube (19) and +201 are built into the support claw (14), and the distance between the pa I/throat or the bonded blank is 1.
Detects the deceleration and stopping of the robot arms (6) and (6)'.

第4図はハンド部(8)の制御系統を示したものであり
、前記のη1]<ハンド部(8)は前後方向に駆動され
る支え爪旧)、+141’および」二下方向にI411
ff+されろブ’7’ /−t−’f1.21.112
1’ ノ2 m (7)躯aIJ 機!I? k有−4
” ル。MR−”Uえ爪(I4)、U 41’及びブツ
シャ−(12)、(12どはそれぞれエア7リンダー(
131、(I5)により駆動される。1−なゎら、支え
爪(141、(14トはピストン(211が前後方向に
駆動されるとき、追随して前後動する。またゾノ/ヤ−
(121,12+’はピストン(22)がト下刃向に駆
動されるとき、追随1〜て1−下動1″る。エアシリン
ダー(13)、(15)の駆動方向はそれぞれ電磁% 
(SV + )、(GV2)により制御され、各電磁弁
(SVT)及び(GV 2 )ば電気信号により制御さ
れる。電磁弁(SVT)、(SV 2 )には共通のエ
ア通路(pc)を通してエアが供給される。
FIG. 4 shows the control system of the hand section (8), in which the above-mentioned η1]<The hand section (8) is driven in the front-back direction by the supporting claw), +141' and 2 downward I411.
ff+Sarerobe'7'/-t-'f1.21.112
1' no 2 m (7) Body aIJ machine! I? k-4
``MR-''U nails (I4), U 41' and buttons (12), (12 are each air 7 cylinders (
131, (I5). 1. When the piston (211) is driven in the longitudinal direction, the supporting claws (141, 14) move back and forth following the movement of the piston (211).
(121, 12+' follows when the piston (22) is driven in the downward direction, and moves 1" downward by 1". The driving directions of the air cylinders (13) and (15) are respectively electromagnetic %
(SV + ) and (GV2), and each solenoid valve (SVT) and (GV 2 ) are controlled by electric signals. Air is supplied to the solenoid valves (SVT) and (SV 2 ) through a common air passage (pc).

次に、aボットの動作を詳細1に説明ずろと、第5図は
印刷、杓抜機から送られてきた積上台(Al −にのブ
ランク(1))を排出部のパレノl−(B)に搬送する
ときに使用するロボットの動作を示す説明図である。
Next, to explain the operation of the a-bot in detail 1, Figure 5 shows the stacking table (blanks (1) for Al-) sent from the printing and scooping machine to the pareno l-(B) of the discharge section. FIG.

印刷・拐抜きインライン機(図示せず)のテリノ4リー
から送られてきたブランク(blが積上台(AIK1列
される。この積−ヒ台(Alに整列されたブランク(b
)の位置決め完了信号を受けると、ロボット腕(6)、
(6)′と支え爪t141(14+が同時に伸び、ブラ
ンクtb+の下側に支え爪(141(141を入れる。
The blanks (bl) sent from the Terrino 4 Lee of the printing/skipping inline machine (not shown) are stacked in one row on the stacking table (AIK).
), the robot arm (6),
(6)' and the support claw t141 (14+) extend at the same time, and the support claw (141 (141) is inserted under the blank tb+.

次にブランク(blが績−に台(Alから浮くまでロボ
ット腕(6)、(61′を」二昇させ、次にブランク固
定用のプンシ−t−−−121、+121′が下がり、
ブランク(1))を加圧固定′1″ることにより、支え
爪(14)、(14トと共に把持する。次にロボット腕
(6)、(6)′は上昇と同時にパレノ) (B)方向
に旋回し、バレ7)(Blの上方に停止する。この停止
位置で、ロボット腕(6)((−))′は急速に下降す
る。
Next, raise the robot arm (6), (61') until the blank (BL) floats from the stand (Al), then lower the pushers (T121, +121') for fixing the blank, and
By applying pressure and fixing the blank (1), it is gripped together with the supporting claws (14) and (14).Next, the robot arms (6) and (6)' are raised simultaneously and are held in place (B) The robot arm (6) ((-))' rapidly descends at this stop position.

伯1も友たも(14爪取伺けた反射型光電管等に依り、
パレット(BJあるいはパレタイズ済ブランクとの距離
を検知し、一定距離になったならば減速し、パレット(
Blあるいはパレタイズ済グランク直近を検知したなら
ば下降動作は停止1−る。1:降動作停止後にブランク
固定用のプッシャーf121 、f12+’が上昇する
。次に支え爪は後退L7、把持されたブランクパレタイ
ズする。ハ1/タイズ終fしたハンド部(8)は旋回し
て積上台(7Jの近くで停止し5、次のブランク(b)
′の位置決め完了信号を待ち、次のブランク位置決め完
了信号を受けたならば上記の一連の動作を繰り返す。
Haku1 and Tomotamo (14) Due to the reflective photocells etc. that were discovered,
The distance from the pallet (BJ or palletized blanks) is detected, and when a certain distance is reached, the speed is reduced and the pallet (
If Bl or the nearest palletized crank is detected, the lowering operation is stopped. 1: After the lowering operation is stopped, the pushers f121 and f12+' for fixing the blank are raised. Next, the support claw moves back L7 and palletizes the held blank. C1/The hand part (8) that has finished tying turns and stops near the stacking table (7J), and then the next blank (b)
Wait for the positioning completion signal ', and when the next blank positioning completion signal is received, repeat the above series of operations.

本発明は上記の如き構成であり、枚葉紙、ブランクス等
が積重ねられた被搬送物であっても、2本の支え爪に下
面を固定した後にプy /、−−一にて押えることによ
り被搬送物を接待して搬送1″ろため、旋回の途中での
形状崩れはないので、バレノ)・”す&’tC4’、X
i 、、lげても萌崩れ1,2な℃・てθ(の−に程(
(搬送でき4)2、し、たか−)て−印刷、」」抜きイ
ンライ;・機の一ブリ・・リ 部i/(:本発明の1#
送)110十ノドを配置441ば、大月(で」 )て′
?j:L;+れ′てい!−ときに較べて、印刷、4゛1
抜きのスビ−1・5′ブノブ−4′ろことがFi]能と
、 tX ・ζ)、。
The present invention has the above-mentioned configuration, and even if the conveyed object is a stack of sheets, blanks, etc., the lower surface is fixed to the two supporting claws and then it can be held down with the pushers. Since the conveyed object is entertained and conveyed by 1", the shape does not deteriorate during turning, so Baleno)・"S&'tC4',
i...
(Can be transported 4) 2, Taka-)te-Printing, "" punching inline;・Machine one Buri...Li Part i/(: 1# of the present invention
Place 110 ten nodes 441, Otsuki (de')
? j:L;+re'tei! - compared to when, printing, 4゛1
Subi-1, 5'Bunob-4' Rogato Fi] and tX/ζ).

4図1(ji tl)筒中な説明 第1(ン1(、を本発明なでよる実施例の搬送用ロホノ
トのQJ親;ト(視図、第2図は第1図の・・ン1一部
M 、iliの拡大側面図、第5図ば・・ント1:il
s iマI近の柩大゛(?1州1ツ)、第4図はハント
部の作動裟(6の構成例を示−号゛説明図、第5図は本
発明の詳細な説明するための配[汽ヌ1でパT)Z)t
、 (1)  固定部    (82)・回転チーノル(・
1)・Oドツト々 −ン/グ (5)送りねじΦ山16
11(i)’   ロ ホ ノ 1・1願 、(7)・
 −″f−′−1″1機構%13(8)・・・ンド都 
  (9)・・連結部+1tl)・垂1rfフランゾ 
tllm−水牢フランジ1:、!l+1+2j′・ツノ
シャー (1;31・・上・トコ−アンリンダ−(1=
Il、tl 4+  支:ン爪   (1:il・・前
後用エアンリンタ゛−tl fit  ・ 連結イ反 
           117)    7′、=、 
 −、+  ト(18)・ストノペ−tlrn−L2L
l+  反射型)I:; ′tl:青(21)、(22
)Jピストン 特許出願人 己L)ナコ”;、’1.1 代表もろン;)・:掲[7大 第5図
4 Figure 1 (ji tl) Explanation of the inside of the cylinder QJ parent of the conveyor belt of the embodiment of the present invention; Figure 2 is a view of Figure 1. Part M, enlarged side view of ili, Fig. 5...nt 1:il
Fig. 4 shows an example of the configuration of the operation of the hunt section (6), and Fig. 5 provides a detailed explanation of the present invention. The arrangement for
, (1) Fixed part (82)・Rotating chinor (・
1)・O-dots-ring/gun (5) Feed screw Φ thread 16
11(i)' Roho no 1.1 petition, (7)・
-″f-′-1″1 organization%13(8)...India
(9)...Connection part + 1tl) - 1rf flange
tllm-water cell flange 1:,! l+1+2j'・Tsunosha (1; 31...Upper Toko-Anlinda-(1=
Il, tl 4+ Support: Knaw (1:il... Front and rear air cylinder fit/connection counter)
117) 7′,=,
-, + ト(18)・Stonope-tlrn-L2L
l+ reflective type) I:;'tl: blue (21), (22
) J Piston Patent Applicant L) Nako”;,'1.1 Representative as well;)・: Posted [7 Large Figure 5

Claims (1)

【特許請求の範囲】[Claims] 1枚葉紙等の被把持物を把持、搬送するハンド部が設け
られた搬送用ロボットにおいて、前記ハント部は被把持
物の下向に挿入され、固定する前・後移動可能な支え爪
と、被把持物の土面を押えイ)に・ト′移・肋用)iヒ
なジノン4ソとからなることをqコ1徴と−する搬送用
ロボット。
In a transport robot equipped with a hand section for grasping and transporting an object to be grasped, such as a sheet of paper, the hand section is inserted downward into the object to be grasped, and has a supporting claw that can move forward and backward to fix the object. A transportation robot that holds down the ground surface of the object to be grasped.
JP2043683A 1983-02-09 1983-02-09 Robot for transport Pending JPS59146772A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2043683A JPS59146772A (en) 1983-02-09 1983-02-09 Robot for transport

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2043683A JPS59146772A (en) 1983-02-09 1983-02-09 Robot for transport

Publications (1)

Publication Number Publication Date
JPS59146772A true JPS59146772A (en) 1984-08-22

Family

ID=12026985

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2043683A Pending JPS59146772A (en) 1983-02-09 1983-02-09 Robot for transport

Country Status (1)

Country Link
JP (1) JPS59146772A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4923181A (en) * 1972-06-27 1974-03-01
JPS5340784A (en) * 1976-09-24 1978-04-13 Merck & Co Inc Pyperadinyl pyridine
JPS5414004U (en) * 1977-06-30 1979-01-29
JPS5790387A (en) * 1980-11-27 1982-06-05 Mitsubishi Electric Corp Controller for positioning of hanging tool of crane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4923181A (en) * 1972-06-27 1974-03-01
JPS5340784A (en) * 1976-09-24 1978-04-13 Merck & Co Inc Pyperadinyl pyridine
JPS5414004U (en) * 1977-06-30 1979-01-29
JPS5790387A (en) * 1980-11-27 1982-06-05 Mitsubishi Electric Corp Controller for positioning of hanging tool of crane

Similar Documents

Publication Publication Date Title
US5139388A (en) Load former--palletizer
CN109110511B (en) Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method
CN108528879B (en) Automatic packing wire
US4988263A (en) Apparatus for the destacking of pallets
GB1529845A (en) Method and apparatus for storing and transporting paper sheets
CN113911755A (en) Automatic pile up neatly system of breaking a jam of finished product is able to bear or endure firebrick
BR8801944A (en) CONTAINER STACKING DEVICE AND CONTAINER CONDITIONING MACHINE
JPS59146772A (en) Robot for transport
GB1309439A (en) Apparatus for separating stacked flat articles and feeding them one at a time to a machine in which a subsequent operation can be performed on them
CN105692307A (en) Device for facilitating energy-saving operation of paperboard production line and control method of device
DE59300696D1 (en) Method for erecting plate stacks and device for carrying out the method.
US6524058B1 (en) Assembly and method for stacking, conveying and lifting lids
CN213678916U (en) Mechanical arm clamp for stacking decoding cans in high-definition printing of pop can
CA2231088A1 (en) Apparatus for individually separating stacked printed products
JPH06199319A (en) Device for opening carton case
CN218579127U (en) Sheet material feeding device
CN109607263B (en) Full-automatic paper mounting machine and intelligent loading attachment thereof
CN213111869U (en) Carton feeding and conveying device
CN211140871U (en) Evaporator unstacking equipment
TWI786917B (en) Automatic allocation machine and automatic allocation method
CN220997875U (en) Ton bag adds tray plastic system of leaving warehouse
CN216610222U (en) Fine work carton transmission loading attachment
TWM645452U (en) Abnormality elimination system for container manufacturing machine
CN220316566U (en) Big and small piece mixed production system of glass coating line
JPH05186040A (en) Piling device of plate material