JPS60134830A - Automatic extracting feeding device for can cover group - 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 provides a method for supplying can lids of nine can containers of various types of canned goods to a can lid seamer. A group of lids is sequentially taken out from a carton case at a predetermined position tisf and flashed into a device that automatically and repeatedly supplies them to a predetermined position which is the starting end of a guide chute leading to a seamer.

Conventionally, can lids were supplied to the seamer by arranging them separately in cylindrical shapes in a carton case. After the can lids have been removed from the carton case, the aerotons are manually removed.

In recent years, with the improvement in the speed of sealing can lids for can containers,
There is also a need to improve the supply speed of can lids, and there is also a growing demand for labor savings by freeing up manpower from simple tasks.

The present invention was developed in view of these circumstances, and includes a plurality of rows of can lid groups arranged in a cylindrical shape.

It has a dedicated gripper and a mechanism to move it, and automatically carries out the repeated work of feeding groups of can lids in rows to the pick-up guide chute from carton cases housed in multiple stages. To solve the problems of the prior art by using a moving device equipped with a control device, that is, a robot device, to provide a device capable of saving labor and adapting to the fastening speed of can lids. It is.

An embodiment of the present invention will be described with reference to the drawings. In Figures 3 to 3, a carton case containing can lids is set in a predetermined position, and a robot device takes out the can lids one by one from the carton case and connects them to the upper side of the seamer (as shown in the diagram). The entire apparatus for feeding onto the guide chute is shown, and Figures 14 to 7 fully show the details of the grip mechanism attached to the tip of the robot arm.

First, to explain the outline of the overall device with respect to Figure 3, (1) is a group of cylindrical can lids arranged in separate pieces; (21)
The carton cases (1) are carried over the carry-in conveyor (3), and the first carton case (1) is transported to the lift-up device h (4).
The set position of the carton case (1), which is sent upward by the lift-up device (4), is pushed out by the extrusion cylinder (5) provided on the upper side of the lift-up device (4), and is provided in momentary contact with the lift-up device (4). It is supplied to the holding table (6). As is clear from Figure 3, this holding stand (6) is tilted downward in the direction of the guide chute (7) arranged parallel to the axial direction of the can lid group [2) on the holding stand (6). The can lid group (2) is slanted, and the can lid group (2) is given a transferability, and the can lids forming the entire canned group are pressed in the direction of the negative side wall surface of the carton case (1) so as not to fall apart. When the carton case (1) is set at a predetermined position on the holding stand (6), a carton case holding cylinder (8) provided on the holding stand (6) perpendicularly to the extrusion cylinder (5). ) presses the side of the carton case (1) opposite to the guide chute (7) from the outside to fix the carton case (1) so that it does not move.

A is arranged in line with the above-mentioned holding table (6), and holds all the can lid groups (2) in the carton case (1) in sequence starting from the can overflowing group (2) in the upper tier of the carton case (1). This is a robot deviceff! (details will be described later) that takes out the can lids from above to the outside and leaves them in a predetermined position on the guide chute (7).Also, a group of can lids (2
) is fed to a seamer (path shown) by an extrusion cylinder (9) provided at the end of this guide chute (7). In addition, the can lid group (
Empty carton case (1) after all 2) have been removed
After the push +1 (from the side) by the cylinder (8) is released, the holding base (6) descends under the action of the cylinder (11), and the ejection cylinder (1 mark) is pushed sideways and ejected. After this, the holding table (6) rises and assumes a position for receiving the next carton case (1).The above-mentioned operation is then repeated.

Next, detailed description 1 of the robot device A will be explained with reference to FIGS. The robot device A is installed in parallel with a holding table (6) as shown in Figure 2, and is used for taking out the can lid group (2) of the present invention and discharging it onto the guide chute (7). Arm 02. (Rotation angle of saw, tip arm (/2α)
The vertical stroke of the rod (13) attached to the rod (13) is controlled by a control device such as a computer (not shown).
iff, and a detailed explanation will be omitted.

It goes without saying that the rod (13) has a length that can accommodate the stroke that allows it to grip the lowermost group of can lids (2) in the carton case (1). A cylinder mechanism 04 as shown in the O S diagram is attached to the lower end of this rod (+31). This cylinder @structure (1
4) The piston rod (1 piece) that makes up the cylinder (16) is moved up and down by air for a short stroke.
This piston rod (19
is given a descending habit by the relatively weak spring force a of the elastic force loaded in the cylinder (l[il).

(18) is a relatively long holder fixed to the lower part of the cylinder 06) so as to be orthogonal to the axial direction of this cylinder (6), and on the left and right sides of the holder o81 there are downward mounting pieces 0. is provided. And this mounting piece (I
At the front and rear ends of Cj, the upper surface of an arc-shaped grip plate (2o) having a width slightly longer than that of a circle is pivotally supported, and the opposing edges of both grip plates (2O) As shown in the figure, they are butted against each other, and with both grip plates,
A gripping surface is formed that is slightly longer than the semicircumference of the intended can lid diameter. In addition, connecting pieces (21) are attached to the center of both grip plates (2cj) facing upward as shown in Figure S, and the lower ends of both connecting pieces 00 and the piston rod 05 are connected with the link rods (2).In the figure, (23) is the air port installed on the rod (131), and CI!4 is the air port installed on the cylinder (16). The piston rod (I5) is moved up and down by the switching valve Q■ as shown, and only the elasticity of the switching pulp (when the two rods are in the neutral state as shown in Figure 7, the spring Q7) moves the piston. Acting on one rod.

(-00 is a locking part where one end edge of both gripping plates (20) is bent downward, and the endmost can lid engages with the stiff locking part (20α), and the can lid is pulled as described later. The holder (18) is designed to prevent it from falling off.
1, more specifically, a holding plate (20) that vertically moves up and down via a parallel link mechanism (261' The upper link rod (λ6) constituting the parallel link mechanism 00 is provided with one end attached to
Rod I29 of cylinder (28) pivoted on (14)
) The ends are all connected.

In addition, M73 shown in Figure 1 (/ is a carton case (1)
It is a partition plate that is separated to prevent the can lids of each tier stacked inside from getting wedged in. , and is removed from the carton case fil by a suction mechanism (not shown) or the like.

Next, the operation of the robot device A will be explained.

Robot arm α2)s <i2a> by control signal
The two gripping plates (201) are rotated several times so that they face above the can lid group (2) which is the uppermost tier housed in the carton case and which is also the slanted uppermost tier.Next To,
Locking part (,2Oα) formed on the negative side of both gripping plates (2O)
The gripping plate (20
When wo descends, a spring a is placed on the piston rod θω.
Since only the weak elasticity of 7) is acting, both gripping plates (2
0) Downward: The fli edge contacts the periphery of the can lid group (2) and opens against the elasticity of the spring a force, and both gripping plates (
The rod 03) stops descending when the can lid group (2) is completely fitted. Then arm (121, (/-
2α) works to move the grip plate (20) to the left in the paper of Figure 2-y, eliminate the gaps between the many can lids, and form the can lid group (2)'ttd4. summarized in. At the same time, by operating the switching valve (251), compressed air is sent into the cylinder mechanism α4 through the boat 031'k,
A compressive force is applied to both gripping plates (20) via the piston rods (1, 5) and link rods (221), and the rod-shaped can lid group (2) is firmly gripped. At the same time, the cylinder 12'O is inserted between the carton case (1) and the endmost can lid as shown in Figure 17, through the parallel link mechanism (26) and the holding plate (20). The can lid group (2) is completely held between the gripping plate (20), the locking portion (20α) of the gripping plate (20), and the holding plate (2'O).

When this action ends, the rod θ3) rises and the canister group (2
) Take out the carton case (1) to the outside and place the can lid group (2) on the guide chute (7) by rotating the arms (12) and (/2a) in combination. Then, push the rod (13) down by the set amount.
E-'i+ii of 2) is placed on the guide chute (7) surface, and then the piston rod αω is moved upward by the action of the switching valve (251) to close the can lid group (2) f PJ
i is released, and the rod (2) is released by the action of the cylinder.
The can lid group (2) is completely released by pulling the holding plate e'7)' and the gripping plate (2O) is again guided onto the carton case flJ by the control signal, and the next can is moved. Lid group (2) All guide shoots (
7). Also carton case (1)
Although the position of the group of can lids (2) within the can changes each time, the vertical movement of the arm (+2+1 (/, 2α) movement, rod 03) is operated by a preset control signal.

As described above, according to the present invention, a group of loose can lids can be accurately fed from the oak to the guide chute at a predetermined position, and this taking out and feeding action is automatically performed by the gripping mechanism connected to the robot. This is a useful invention, as it can be carried out repeatedly, can sufficiently cope with high-speed supply of can lids, and can greatly save labor.

[Brief explanation of the drawing]

Figure 2 is a front view of the entire device of the present invention, Figure 1 is a plan view of the same as above, Figure 3 is a partial side view, and Figure 2 is a partially cutaway front view of the gripping mechanism. Figure λ.5 is a partially cutaway front view of the cylinder mechanism section, figure O is a side view of the grip plate section, and figure J-7 is an air piping diagram of the cylinder mechanism. A...Four bot device i I (121, (/ , 2α
)...Arm, '(13+...Rod, (1,
1)...Cylinder mechanism 1□1? , (151...Piston rod (16)...Cylinder, (17+...
Spring, fL81...Holder, (+9)...Mounting piece, (20)...Gripping plate, (211...Connection piece, (22)...Link rod. (23+, (24)・・・Airport, (251・・
・Switching valve, C;! Parallel link mechanism for (G), (2X
α)...Link rod, (27)...Retaining plate, (2
8)...Cylinder, C79)...Rod. Special ¥F Applicant Kita: H Seikan Co., Ltd.--11, Pasaba 5 Figure 7 Figure 4 ζχ

Claims (1)

[Claims] A can tray that stores a group of loose can lids arranged in a cylindrical shape in multiple rows and in multiple stages, and that follows the conveyance end portion of a carton case with an open top and the upper side of a can lid seamer. A robot device is disposed between the guide chutes to automatically and repeatedly supply the group of cylindrical can lids in the carton case to the guide chute, and a cylinder is attached to the lower end of the vertically movable rod provided at the tip of the arm of the robot device. A mechanism is attached to the cylinder mechanism, and the cylinder mechanism has a semi-cylindrical gripper mechanism that opens and closes by the lifting action of the piston rod and grips and releases the group of can lids, and an end surface on one side of the gripper mechanism. An automatic take-out and supply device θ for a group of can lids, characterized in that it is provided with a vertically movable holding member that is inserted between the inner surface of the side wall of the carton case and prevents the group of can lids from falling off.