JPS60146692A - Robot for carrying - 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 transport robot for gripping and transporting sheets of paper or blanks discharged from printing and punching machines in units of a certain thickness, and palletizing them onto pallets or the like.

In general, industrial robots have been widely developed for gripping and slow-moving robots.

A variety of industrial robots have been developed for the purpose of grasping and transporting machined parts and electrical objects, but compared to machined parts, it is difficult to grasp and transport stacked objects such as sheets and blanks.
Because the shape collapses during the transportation process, a special hand is required, so general gripping and transportation robots cannot be used, and the current situation is that the robot relies on human hands. However, when the thickness of paper made of cardboard or the like exceeds a certain level, it weighs about 90 pounds, making continuous operation impossible and inefficient.

Therefore, in view of the above-mentioned points, the present invention has a hand portion that can grip and convey stacked items such as sheets and blanks without losing their shape even if they are being conveyed, and the claws of this hand portion To provide a conveyance robot that can change the size of the blanks according to the size of the blanks.

Hereinafter, one embodiment of the present invention will be explained in detail with reference to the drawings. Figure 1 is a perspective view of a transfer robot, where (1) is a fixed part, and the upper part of this fixed part (1) is is provided with a rotary table (2) capable of forward and reverse rotation, and the rotary table (2)
) are provided with vertical guide shafts (3) and (3f (not shown)) which support the robot casing (4) so that it can move up and down, and which are parallel to the vertical guide shaft (3). The provided upper and lower feed screw shafts (5) are connected to the robot casing (
4) is screwed together. The robot casing (4) is configured to be moved up and down along the guide shaft (3) in accordance with the rotation of the upper and lower feed screw shafts (5). The robot casing (4) has robot arms (6), (6'/
The robot arm (6) (
The tip of 61 is connected to the 71 part through the wrist mechanism part (7).
8) is installed.

FIG. 2 is a side view showing in detail the No. 71 part (8) of the present invention, where the No. 71 part (8) is provided via the wrist mechanism (7) and the connecting part (9), This connecting part (9) is formed with a vertical mounting flange αQ and a horizontal mounting flange (11).The vertical mounting flange a0 has two pushers UZ and U# that press down on the object to be grasped from above and move up, down, and down. A vertical air cylinder/goo is installed to make this possible.Furthermore, the horizontal mounting flange QO is provided with two support claws α<,otf that are movable back and forth. The book supporting claws (141, (141') and connecting plates (not shown) are connected in parallel with each other at a constant interval.

This support claw a4. a4 is air cylinder qQ)0
- It is provided via an enlarged bag (2). This stroke expansion device has tin rockets with different numbers of teeth placed on the same axis, and two large tin rockets with a large number of teeth).
, M' are connected to the first chain (to), and two sprockets with fewer teeth are connected to the second chain @. Here, the support claw (l→, 04) is fixed to a part of the first chain (2), and the piston Qυ of the air cylinder 〇〇 is fixed to a part of the second chain.

Therefore, in FIG. 2, when the screw) ye2]) moves back and forth, the support pawl u41. C
The stroke of 14 moves back and forth a lot. In Fig. 3, the directions of the piston H and the supporting claws (14), (14) are reversed. Therefore, (2) is the rearmost stopper of the supporting claws H, C [4], The stopper for the size (7) is the frontmost stopper, the rearmost stopper wing and the frontmost stopper (to) are fixed, and the medium size stopper (2) is removable and is provided on the support claw 04. It is set at each position by actuating the stopper (31).

Here, (to) is the support claw α→, which is a stopper that prevents the grasped object from shifting when it is moved backward. Furthermore, supporting claw a
A reflective phototube Ql and a wire are built into → to detect the distance to the pallet or stacked blanks, and detect the deceleration and stop position of the robot arms (6) and (61).

FIG. 3 shows the control system of the hand section (8), and as mentioned above, the hand section (8) has a support claw (+41. It has two sets of drive mechanisms, 02 and 021'.The pusher +12. In addition, when the support claw U→, ad is driven in the front-rear direction of the piston D, it moves up and down following the stroke expansion device.
Move back and forth. The driving direction of the air lifter 03, (to) is controlled by solenoid valves (SV, ), (SV,), respectively, and each solenoid valve (SV, ), (SV,) is controlled by an electric signal. Air is supplied to the solenoid valve (SV) through a common air passage (Pc).

Next, to explain the operation of the robot in detail, Fig. 4 shows that the printing and punching machine also transports the blanks (b) on the stacking table (A) to the pallet (B) in the discharge section. FIG. 3 is an explanatory diagram showing the operation of the robot used.

The blanks (b) sent from the delivery of the printing/punching 47247 machine (not shown) are arranged on the stacking table (A>).The positioning of the blanks (b) aligned on this stacking table (A) is completed. When the signal is received, y゛robot arm 6), (
6 teeth and support claw Q4 Q4 extend at the same time, blank (b)
Support claw f141. Insert Q4. Next, the robot arm (6) until the gr/li (b) floats from the stacking table (A).
(Raise 67, then pusher 1 for fixing the blank.
12, o* is lowered, and by pressurizing and fixing the graphic (b), the support claw O→, (grasps it together with 14. Next, the robot arm (6) % (61 raises the pallet l-
Turn in direction (B) and stop above pallet (B). At this stop position, the robot arm (6) (61) rapidly descends.

The distance to the pallet (B) or palletized blanks is detected by a reflective phototube etc. attached to the support claw a→, and when a certain distance is reached, the speed is reduced and the closest distance to the pallet (B) or palletized blanks is detected. If so, the descending motion will stop. After the lowering operation is stopped, the pushers uz and a2' for fixing the grating are raised. Next, the supporting claws move back and palletize the held blanks. After palletizing, the hand section (8) turns and stops near the stacking table (A), and waits for the next plastic/plate (BF positioning completion signal).
When the next blank positioning completion signal is received, the above series of operations is repeated.

Furthermore, when the medium-sized stopper holder is attached, the supporting claw 'iL ad only extends to the position where it engages with the stopper (2), so that it can hold a small-sized blank.
It becomes possible to stack blanks on a pallet without any gaps.

The present invention has the above-mentioned configuration, and even if the transported object is a stack of sheets, blanks, etc., the transported object can be gripped by fixing the lower surface to two supporting claws and then pressing it with a pusher. Because they are transported in a flat shape, they do not lose their shape during rotation, so they can be stacked on pallets, etc. The door can be transported to the next process without collapsing. Therefore, by placing the transport robot of the present invention in the delivery part of an in-line printing and punching machine, it is possible to increase the speed of printing and punching compared to when it is performed manually.

Further, since the length of the support claw of the hand portion of the present invention can be changed, it has the advantage that it can be used depending on the size of the blanks to be stacked.

[Brief explanation of drawings]

FIG. 1 is an external perspective view of a general transportation robot according to an embodiment of the present invention, and FIG. 2 is an enlarged side view of the vicinity of the hand portion in FIG. 1.
FIG. 3 is an explanatory diagram showing a configuration example of the actuating device of the hand portion, and FIG. 4 is a layout diagram for explaining the present invention in detail. (1)...Fixed part (2)...Rotary table 2 (
4)...Robot casing (5)...Feed screw shaft (6) (6f...Robot arm (7)...Wrist mechanism section (8)...Hand section (9)...Connection Part (11
...Vertical flank (■υ...Horizontal flange uza
sl...Pusher α4...Upper/lower air cylinder a→, α→...Support claw 00...Front and rear air lift/der α→...Connection plate αη...Nyast α frame...
・Stopper (2), wire... Reflective phototube ■υ, (
A) Piston yt23...Stroke enlarger (C), d...Large tin rocket 4...First chain chain, C...Small tin rocket Of course...Second chain (E) ...Front end stopper 翰...Stopper for medium size (to)...Pi Vi-end stopper (31).
...Stopper patent applicant Toppan Printing Co., Ltd. Representative Kazuo Suzuki Figure 1

Claims (1)

[Claims] (1) In a transport robot equipped with a hand section for gripping and transporting an object to be grasped, such as a sheet of paper, the hand section □ is inserted into the underside of the object to be grasped, and can be moved before and after fixing. It consists of a support claw and a pusher that presses the upper surface of the object to be grasped and is capable of upward movement, and the support claw is connected to the piston via a stroke enlarging device provided with sprockets having different numbers of teeth on the same axis. A transportation robot that is characterized by: