JPS5974006A - Method and device for automatically packing pallet with rub-ber blank - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for stuffing a rubber material (bale) into a balet, and an object of the present invention is to be able to tightly pack the rubber material into the balet without creating any gaps. Our goal is to provide automatic stuffing equipment.

In general, a rubber material is formed into a block shape with a constant size from the time it is manufactured until it is used for processing a product. This block-shaped material is then packed into a valet, stored in this state and transported to the product processing process, but the rubber material is not manufactured. For a while (until it is cooled), it remains in a swollen and soft state and is likely to lose its shape. Therefore, if this is left as is, it will harden in a state where it loses its shape due to its own weight. When the Baum material is hardened and loses its shape in this way, it wastes space when it is stuffed into the barrette, resulting in a problem that storage and transportation efficiency is reduced accordingly.

A method to deal with the above-mentioned problems is to stuff the rubber material into the bullet while it is in an inflated and soft state.
This method has been commonly used in the past. and,
Since all the stuffing work using this method is done manually, there is a degree of freedom in the work, so even if there are dimensional variations or deformations in the rubber material, it can be handled somehow, but when automating the stuffing work, it is necessary to Inconsistency or deformation of materials makes automation extremely difficult.

The present invention is an attempt to improve the above-mentioned difficulties, and is characterized by being able to perform all packing operations automatically and reliably.

The gist of the present invention is: (1) The rubber material being conveyed by the conveyor is sent to a turntable provided close to the conveyor, arranged appropriately, and the turntable presses the rubber material laterally to shape it. After adding , the same rubber material is cranked by a Glisover attached to the tip of the robot's arm, and is stored in a bullet. ■It is possible to rotate intermittently in the horizontal direction close to the conveyor. The turntable is provided with a feeding mechanism made of rubber material so as to face the turntable, and the turntable is provided with an inner frame that can freely come out and go in the center, and a rubber material is provided in correspondence with the turntable. While a compression shaping mechanism is provided to press the material from the side, the robot arm has a fixed grip at the end corresponding to the turntable, and a movable grip that is movably positioned inside the fixed grip. Furthermore, a guide rail having a recess is provided at the conveying end of the conveyor, and a pair of front and rear rubber material support frames are mounted on the guide rail at the bottom thereof. (horizontal parts) are provided so that they can move forward and backward so that they can intersect with each other in the relative direction, and an operating frame with a long hole at its tip is provided along the same guide rail so that it can move forward and backward. , one of the support frames is pivotally connected to the base of the operating frame, while the other support frame is slidably engaged in the elongated hole and is normally tilted toward the conveying end of the conveyor. This is because it was configured as follows.

Specific embodiments of the present invention will be described below with reference to illustrative drawings. In each drawing shown in FIGS. 1 to 5, (1
) is a conveyor for conveying a rubber material (hereinafter referred to as "workpiece (5)"), and the conveyor (1) has a turntable (2) adjacent to its side at the tip along the conveyance direction; A mechanism (3) for feeding the workpiece (B) to the turntable (2) is provided facing each other with the conveyor (1) in between. The turntable (2) is provided so as to be freely rotatable in the horizontal direction. A square window hole (5) is opened in the center of the window hole (5), and an inner frame (5) formed in a square shape corresponds to the window hole (5).
6) is provided with a hydraulic cylinder (which can be moved in and out through force).

And the same turntable (2) is a riff) (8) (
It is provided so that it can be raised and lowered freely through i=. In other words, the compression shaping mechanism (9) for the workpiece (5) is provided below the conveyor (1), and the tar/table (2) is connected to the conveyor (1) and the workpiece (5) via the lift (8). It is provided so that the height position corresponding to the compression shaping mechanism (9) can be arbitrarily selected. The compression shaping mechanism (9) includes a shaping plate α extending along the periphery of the turntable (2).
(2), the same shaping plate 00), a hydraulic cylinder (II) for advancing and retracting the entire inner frame (6), and a guide mechanism (+21 is one unit, and the same unit is connected to the turntable (2). The feeding mechanism (3) includes a feeding plate 2 extending along the conveying direction of the conveying conveyor () and a feeding plate α3). It consists of a hydraulic cylinder 04) for advancing and retracting the turntable (2) and a guide mechanism 05) for the feed plate (I3), and the feed plate 0
3) is provided so that the workpiece (5) conveyed on the conveyor (1) can be sent onto the turntable (2) through the forward and backward movement of the conveyor (1). Furthermore, by adjusting the timing of advancing and retracting the feed plate 0, the feed position of the workpiece (5) relative to the turntable (2) can be changed arbitrarily.

06) is a robot, and a four-ropon I61 is provided with a plurality of arms a(Iη') that can be raised and lowered and rotated, and a gripper Q8) is attached to the tip of the arm a7)'. The same gripper-a → is a fixed grip (18
a) and a movable grip (18b), the movable grip (18b) being located inside the fixed grip (18a). The fixed grip (18a) has a horizontal part and a vertical part that hangs down at a right angle from the tip of the horizontal part, and has four grip pieces forming an inverted shape, each of which is bent at a 90 degree angle. It is provided by arranging it in a cross shape with a displacement angle. The movable grip (18b) is also made up of four grip pieces, and each grip piece is provided in correspondence with the above-mentioned grip pieces, and each grip piece is connected to the fixed grip (18b) via a hydraulic motor Ql and a bevel gear mechanism.
18a) It is provided so that it can be moved forward and backward in the direction.

Further, at the leading end of the conveyor (1), a mechanism (21) for raising the work (6) is provided at the conveying end thereof.

In the same upright mechanism (21), (2) indicates a guide rail.

The guide rail (the second side is provided along the conveyance direction of the conveyor (11), and the tip (on the conveyor (1) side) is provided with a recess (24'). The support frame (c) (24) of the workpiece (b) has rollers (29Q).

(26) so as to be movable in the front and back direction. Both support frames C1!3124) are formed into an L-shape with a horizontal part and a vertical part. The support frames e2 are located at the front and rear, facing each other, and their horizontal portions are formed in a fork shape so that they can intersect with each other. In addition, there is an upper palm support frame (23) below the guide rail (221).
The operating frame (27) of the hydraulic cylinder (mark 2) is provided so as to be movable forward and backward along the guide rail (mark 2).The base of the operating frame (27) is provided with both support frames (
23) Among (24), one of the support frames I23) is pivotally connected, while the front end of the same operating frame 07) has a long hole (29).
) is provided, and the other support frame (24) is engaged in the same elongated hole (29) via an example of a guide roller. In the support frame C24), when the hydraulic cylinder (28) is in a retracted state, the guide roller (to) is engaged with the tip of the long hole (2 (support)) as shown by the solid line in Fig. 4. and the vertical part thereof is arranged so as to be tilted toward the conveying end of the conveyor (1) via a support roller C31) which is freely rotatably provided at the conveying end of the conveyor (1). It will be done. In other drawings, 02 is a conveyor (
The hook between 1) and the turntable (2) indicates the 7 boards that are passed between them.

Next, its effect will be explained.

Figures 1 and 2 are drawings showing the working state of the work in which the workpiece (b) being conveyed by the conveyor (11) is sent into the soil by the turntable (2). is raised to a height corresponding to the conveying surface of the conveyor (1) through the lifting action of the lift (8), and the inner frame (6) It protrudes above the turntable (2) from the window hole (5).

In the state where the turntable (2) is centered as described above, the works (5) placed on the conveyor (1) are sequentially conveyed toward the conveyor end. When the workpiece (b) has been transported to a predetermined position (the position shaded by the two-dot chain line in Fig. 1), the hydraulic cylinder (I
Through the pressing action of 4), the feed plate 03) moves onto the conveyor (
1) being pushed in a direction. As the feed plate α3) is pushed out in the direction of the conveyor (1) in this way, the workpiece (6) conveyed to the predetermined position is pushed through the transfer plate (32) by the pushing action of the feed plate Q31. The workpiece (W) is then fed onto the turntable (2) through the hydraulic motor (4) and rotated through a 90 degree angle. In addition, the feeding mechanism (
In step 3), the feed plate 03) is moved back to the old position while the table (2) is rotated through an angle of 90 degrees. In this way, the turntable (2) rotates through a 90 degree angle,
While the transport plate 03) retreats to its old position, the transport conveyor (
In 1), the subsequent workpiece (5) is transported to a predetermined position;
In a state where the work (b) has been transported to a predetermined position, the above-mentioned actions are repeated to obtain the action of feeding the work (5) onto the turntable (2). By repeating this feeding action four times, a state is obtained in which four works (b) are placed on the turntable (2) as shown in FIG.

As shown in Fig. 1, with four workpieces (b) placed on the turntable (2), the turntable (2) is moved by the compression shaping mechanism (9) through the lowering action of the lift (8). ) to the corresponding height. When the turntable (2) is lowered to a position corresponding to the compression shaping mechanism (9), first, in the compression shaping mechanism (9), a hydraulic cylinder 00〇 The shaping plate (10) (10) is then pressed toward the inner frame (6), and then the shaping plate (10)
By similarly pressing O) toward the inner frame (6), the effect of shaping the four works (5) placed on the turntable (2) can be obtained. More specifically, it is possible to obtain the effect of shaping the pallet (P) by compressing it to a size slightly smaller than the width inside the pallet (P).

After the shaping action of the workpiece (5) as described above is obtained and each shaping plate 00)... is retreated to its old position, the turntable (
2) is again raised to a height position corresponding to the conveyor (1) through the lifting action of the lift (8), and the inner frame (6) is moved to the turntable (through the force of the hydraulic cylinder).
2) Descend further downward.

And like this, the turntable (2) is connected to the conveyor (
1), and in a state where the inner frame (6) is lowered, the arm α7) of the robot αe is
The gripper (In the above turntable (
2) by lowering it towards the fixed grip (18
A state is obtained in which the movable grip (18b) descends along the outer periphery of the turntable 1 (2), and the movable grip (18b) descends along the window hole (5). And like this fixed grip (1
If the hydraulic motor (19) is driven while the movable grip (18b) is lowered along the outer periphery of the turntable (2) and the movable grip (18b) is lowered along the window hole (5), the driving force is transferred to the bevel gear. The transmission is transmitted to each grip piece constituting the movable grip (18b) via the mechanism (20), and each grip piece moves outward, that is, toward the fixed grip (18a), and is placed on the turntable (2). The action of clamping the four workpieces (b) placed between the fixed grip (18a) and the movable grip (18b) is obtained.In this way, the workpiece (6) is clamped by the gripper (+8). , the same workpiece (6) is attached to the arm (
+7) Through the rotation and lifting action of θD', the ballen) (
The workpiece (6) is transported to position P) and stored in the same pallet (P), but the workpiece (6) stored in the pallet (P) is clamped by the gripper (〇). By moving the movable grip (18b) in the opposite direction, that is, inwardly, via the hydraulic motor 09 while the gripper 08 is stored inside the gripper 08.
) can be released from the clamped state.

By repeating the above operations, the works (B) can be stacked on the pallet (P). In other words, it is possible to obtain the effect of laminating the workpiece (B) in the baren (P) in a close contact state.

However, as described above, the workpiece (
5) in the stacked state, the center of the baren) (P).

A portion corresponding to the inner frame (6) will remain as a space in the section, but this space is filled by vertically packing the workpieces (B). The method will be explained below.

FIG. 4 is a diagram showing the operating state of the work in which the work (b) conveyed by the conveyor (11) is raised on the support frame (231 (241), and the operating frame (27) is in the retreated position. As a result, one support frame (23) is in its retracted position, and the other support frame (2 (a) is supported on its vertical surface by the support rollers (31) and is moved towards the conveyor end (+1). is in a state of leaning toward

In the state where the upright mechanism (21) is centered as described above, the workpiece (5) conveyed to the conveyor end by the conveyor (1) slides down along the vertical surface of the support frame (24), and Supported by the support framework (goods). Work (6)
is supported by the support frame (24), the operating frame (271) is activated through the pressing action of the hydraulic cylinder (28).
is pushed out in the forward direction (towards the conveyor (1)).

When the operating frame 07) is pushed forward, the supporting frame (23) is pushed forward together with the operating frame 2η. (In this state, the supporting frame (23)
) does not move. ) Then, as the operating frame is pushed forward in the manner described above, the guide roller (■) that engages with the elongated hole t29) moves into the elongated hole C? 9) It will hit the rear end of the guide roller (
In the state where the groove hits the rear end of the elongated hole, the support frame 124J is also pushed forward together with the operating frame (2η).
When the front end of the cloth is pushed out, the guide roller 1261 sinks into the depression (221') and stands vertically with the workpiece (5) in the same position.On the other hand, both support frames C?3) The horizontal parts (bottom parts) of (24) are formed in a fork shape so that they can cross each other, so that the bottom part of the support frame (23I side) passes through the bottom part of the support frame C24+ side. 0, that is, the workpiece (b) is placed on the support frame C23).

Then, in a state where the above-mentioned effect is obtained, by moving the operating frame (27) k backward via the hydraulic cylinder @, first, the supporting frame (23) is moved along with the operating frame (27).
The workpiece (5) is placed on the support frame (2 (support)) and moves backward together with the support frame (23). When the guide roller circle hits the front end of the support frame (29), the lower end of the support frame (29) moves back along with the operating frame (2η), and then returns to the solid line in FIG. In the state shown in FIG.
(b) A state is obtained in which the container is tilted toward the transport end of the transport conveyor (1) without being placed thereon. Then, in the state where the support frame (goods) is tilted again toward the conveyance direction of the conveyor (1) as described above, the following workpiece (b) slides down onto the support frame (24) in the same manner as described above. Then, by moving the operating frame (27) forward again in the direction of the conveyor (1) via the hydraulic cylinder (28), the two workpieces (b)
In the upright state, a cylinder is obtained between both support frames (23+ (24)).And in this way, both support frames (2
3) During (24), while the two workpieces (B) are clamped in an upright position, the arm aηa7) of the robot 06) is rotated and raised and lowered.
The movable grip (18b) is lowered along the side wall surfaces of the two workpieces (b) by lowering the gripper powder attached to the tip of the workpiece (b) toward the support frames (23) and (24). Both workpieces (b) can be moved with a movable grip (18
b) A state of holding in between is obtained. In this manner, when both the workpieces (5) are held between the movable grips (18b), the movable grips (18b) are
By moving the work piece b) inward, a pair of grip pieces facing each other front and rear or left and right can clamp both the workpieces. In this manner, both workpieces (B) are cylinderized in an upright position by the movable grip (18b), and both workpieces (B) are moved through the rotation and lifting action of the arm (Jn Q7)' (P). ) and the same pallet (P)
It is housed in a space formed in the center of. Then, when both workpieces ((to)) are stored in the space of (P), the movable grip (ISB) is moved in the opposite direction, that is, outward, via the hydraulic motor aω. The cylinder action of the grip (18b) can be released. By repeating this operation, the workpieces (5) can be stacked in the space. In other words, the workpieces (4) can be stacked in the space in an upright position. It is possible to obtain the effect of laminating the sheets in close contact with each other.

The present invention is constructed as described above, and as described above, the rubber material conveyed by the conveyor is fed to a turntable provided close to the conveyor, arranged appropriately, and placed on the turntable. After applying compression to the rubber materials arranged in the robot arm, the rubber materials are clamped by a gripper installed at the end of the robot's arm and stored in a pallet, resulting in a swollen state. It has become possible to store the rubber material in a very smooth and close contact state within the rubber material.The present invention is constructed as described above, making it possible to carry out all the steps automatically. It has now become possible to significantly improve work efficiency.

In addition, in the present invention, a mechanism for standing up the rubber tube is provided at the conveying end of the conveyor, the rubber tube is clamped in an erect state by the mechanism, and the rubber tube is formed in the center of the pallet. By storing it in the space where it is stored, the amount of storage per bar knot can be increased.
It has now become possible to further improve the storage efficiency.

[Brief explanation of drawings]

FIG. 1 is a plan view of the stuffing device according to the present invention, FIG. 2 is a sectional view of the same side, FIG. 3 is a side view showing the operating state of the ramp, FIG. 4 is a side view of the upright mechanism, and FIG. The figure is a side view showing a state in which the rubber material in an upright state is clamped. (Il conveyor, (2) turntable, (3) feeding mechanism, (4) hydraulic motor, (5) window hole, (6)
Inner frame, (hydraulic cylinder, (8) IJ aft (9)
Compression shaping mechanism, 00) shaping plate, 01) hydraulic cylinder,
α guide mechanism, 03) feed plate, 04) hydraulic cylinder, (15) guide mechanism, (16) robot, αηαD'
Arm, C8) Gripper-1 (18a) Fixed grip,
(18b) Movable grip, wholesale hydraulic motor, (20) bevel gear mechanism, CD standing mechanism, (22 guide rail, (
2' recess, (23) C241 support frame, (251 (2)
6) Roller, (27) Operating frame, rut hydraulic cylinder, four slots, (30) Ga4 troller-101) Support roller. Patent applicant: Daido Steel Co., Ltd.

Claims (2)

[Claims] (1) Rubber material conveyed by -ff conveyor,
The rubber material is fed into a turntable located close to the conveyor and arranged appropriately, and the turntable presses the rubber material from the side to shape the rubber material at a pressure of 7m.Then, the rubber material is attached to the tip of the robot's arm. A method for automatically stuffing rubber material into a barret, which is designed to be clamped by a gripper and stored in the baret. (2) A turntable that is installed close to the conveyor so that it can rotate intermittently in the horizontal direction and a feeding mechanism made of rubber material for the turntable are installed facing each other, and the turntable has an inner frame in the center. A compression shaping mechanism is provided to allow the robot to move in and out, and to press the rubber material laterally in correspondence with the turntable, and a gripper is provided at the tip of the robot's arm in correspondence with the turntable. A guide rail having a recess is provided at the conveying end of the conveyor, and a pair of front and rear rubber material support frames are placed on the guide rail so as to intersect with each other with their bottoms facing in opposite directions. In addition, an operating frame having a long hole at its tip along the guide rail is provided so as to be able to move forward and backward, and among the above two support frames,
One support frame is pivotally connected to the base of the operating frame, and the other support frame is slidably engaged in the elongated hole and is normally tilted toward the conveying end of the conveyor. Automatic stuffing device for rubber material into a barret provided