JPS60223724A - Picking device - Google Patents

Abstract

PURPOSE:To pick out objects piled up one after another without causing damage to them by rotating a roller at the tip of a vertically moving arm, and thereby sending picked objects to the accommodation side. CONSTITUTION:Links 16, 17 are rotated by a motor 36, and a roller 20 will and on the oversurface of gathered objects. If downward rotation of the links 16, 17 continues, an arm 19 begins upward rotation to tense a coil spring 25, and as the reaction thereto the spring 25 pulls the arm 19 downward to raise the contact surface pressure of the roller 20, and when an arm 35 of a sensor 23 contacts the arm 19, the sensor 23 actuates switching action to atop rotation of the motor 36. Meantime the contact surface pressure of the roller 20 increases, and its optimum level is obtained by setting the amount of the arm rotation and the strength of the spring 25 to respective optimum values. Thereafter the torque of the motor is transmitted to the roller 20 through a rubber belt, and only the uppermost one of the stacked books 2 is drawn to the chute side 28.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a picking device for taking out stored articles.

[Background of the invention]

The mainstream of conventional picking devices is to push the object to be picked with an arm and drop it onto a cart. This kind of thing is, for example, JP-A No. 56-3204,
It is disclosed in Japanese Patent Application Laid-Open No. 55-1617.05.

However, such known equipment still has the problem that the article is easily damaged by shocks such as dropping.

[Purpose of the invention]

An object of the present invention is to provide a picking device that picks out objects stacked one above the other without damaging them one by one.

[Summary of the invention]

The present invention includes a vertically movable arm that can freely press against the picked object m1 with a spring, a roller provided at the tip of this arm, and a rotation drive device connected to this roller.
It is equipped with a feeding device provided between the base side of the arm and the picked object storage side, and is provided with
The structure is such that the items are picked one by one and the picked items are sent to the storage side by a feeding device.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

Aggregates 2 and 3 made up of several books of wood 1 are stored on a belt conveyor 5 provided on a three-dimensional shelf 4. A gear 6 is fixed to the shaft of the belt pulley of the belt conveyor 5,
This gear 6 also protrudes slightly from the shelf 4.

Links 9 and 10, each consisting of two parallel pieces of wood, are rotatably installed on the frame 7, which is supported movably in the horizontal and vertical directions.
is supported. A gear ν is connected to this link 9, and meshes with a gear 14 connected to a rotating shaft of a motor 13. A gear is connected to the shaft of the belt pulley of the belt conveyor 11 via an idler gear, and this gear 15 slightly protrudes toward the shelf 4 side. This belt conveyor U has a built-in belt drive motor.

The pedestal 7 is provided with parallel links 16 and 17 that can rotate up and down, and a bracket fat is attached to the tip of each link.

An arm 19 is attached to the bracket so that it can rotate up and down, and a roller is attached to the protrusion of the arm 19 so that it can rotate freely. The rotating shaft of the roller m and the motor 21 on the bracket 19 are connected by rotational force transmission *a by an endless rubber belt n.

A sensor is installed in the Brackett River so that the sensor arm A overlaps the arm 19. Further, a vertical link 24 connecting the bracket 18 to the links 16 and 17 and the seventh arm 19 are connected by a coil spring 5.
The mounting position of the coil spring 5 is determined so that the force of the coil spring 5 rotates the arm 19 downward.

A gear is attached to the link 16, and this gear meshes with a gear n attached to the rotating shaft of the motor.

A plate-shaped chute array is attached to the connecting part between the link 17 and the link 17 so that it can be rotated up and down as a device. The lower ends of the chute rows can be flipped up from the dotted line state to the two-dot chain line state.

A vertical guide is attached to a frame 7 on the left side of the chute section and the belt conveyor H. Inside this guide movement, a receiving plate (material) is screwed 31. Supported by a nut multi-type jack-up device.

Motor design of this jack up equipment 11 knee 3
By rotating 1, the receiving plate can be raised or lowered depending on the direction of rotation of each motor. The diagonal is a photoelectric sensor with the sensor direction horizontal, and serves as an information source that instructs the motor to rotate so as to open the space of the tree subdivision downward from the top of the guide movement. be done.

In this embodiment, when the assembly 2 is taken out from the s4 side at once, the motor 13 is driven to apply a clockwise rotation action to raise the link 9 and 10 through the gears 14 and 14.

In this way, the gear 15 and the belt conveyor 11 rise and are pushed toward the shelf 4, and the gear ribs and the gear 6 finally mesh with each other. Here, the belt conveyor lit-
When rotating, rotational force is transmitted from gear b to gear 6,
Because of the aggregates 2 and 3, the aggregate 2 is sent to the left and transferred to the belt conveyor U. Thereafter, the belt conveyor 11 is returned to its original position by reversing the rotation of the motor 13 to match the height of the upper end of the guide movement. In this way, when the aggregate 2 is further sent to the left side by the belt conveyor U, the aggregate 2 is finally transferred onto the receiving plate (material) while bouncing up the chute row. Once the assembly 2 has been transferred to the receiving plate, the motor is driven to lower the receiving plate and the assembly 2 is placed inside the guide movement.

Next, the operation of picking a piece of wood from the collection 2 will be explained.

First, as mentioned above, mesh gear 15 and gear 6,
Send aggregate 2 to the left. Then, once the roller beauty has sent the assembly 2 to the landing position, the feeding action is stopped. Thereafter, the rotational force of the motor is transmitted to the link 16 through the gears 27, and the link 16 and the link 17 are rotated downward.

This rotation of the links 16 and 17 brings the rollers into contact with the upper surface of the assembly 2. Furthermore, the coil spring 5 is tensioned through the links 16 and 17. As a result of this reaction force, the coil spring 5 pulls the arm cake downward, so that the contact pressure applied by the roller increases. When the arm of Sensaku is placed on the 0 arm bladder due to the rotation of the near arm, Sensaku causes a switching action and stops the rotation of the motor. You can stop the rotation of the motor by obtaining it after checking the sensor switching. In this way, the roller (9)
The contact pressure of the roller (support) increases in proportion to the tension of the coil spring 5 by the arm 19 during the rotation from when the arm W contacts the upper surface of the assembly 2 until it rests on the sensor arm shaft. Therefore, by appropriately setting the amount of rotation of the arm and the strength of the coil spring, an appropriate roller contact pressure can be obtained.

Thereafter, the rotational force of the motor is transmitted to the rollers via the rubber belt n. If you do it like this.

Only the last book at the top of the assembly 2 is drawn into the other side of the chute by the summer rotation of the rollers.

In this case, the contact pressure of the roller (9) is appropriately set to an appropriate level (4) so that only - books are drawn in. This set includes the details mentioned above, such as the strength of coil spring 5 and arm 1.
This is done by adjusting the amount of rotation of the sensor arm 9 (the vertical gap between the sensor arm holder and the arm 19). In this way, only the negative book will be reliably drawn in, and an accident in which two books will be drawn in at the same time due to the roller contact pressure being too large will not occur.

The pulled-in piece of wood 1 slides down the chute 2B and is sent to the guide side. Finally, it is sent into the guide 4 and placed horizontally on the receiving plate.

When the last piece of wood 1 is transferred to the load plate, the light for sensor U is illuminated by the piece of wood 1 that has been transferred to the weight plate, so the sensor sensor switches and moves the motor blade to the tree. - Rotate so that the height of the fat is from the top of the guide 4 downward. The above-mentioned control of the motor &l may be controlled manually instead of in conjunction with the sensor control.

In this way, space is reserved within the guide for the next subdivision. Therefore, in order to pick the next book, the links 16 and 17 are further lowered and the same operation is performed.

If the assembly 2 makes a noise, the gear 15.6 is engaged and the assembly 3 is sent to the left so that the next assembly 3 hair arm 19 can reach it.

In this way, it is possible not only to pick one book at a time from a stacked collection, but also to pick a collection as a unit. What's more, since picking can be carried out without raising the ends, there is less damage to the wood. Furthermore, since the chute row is used to absorb the difference in height between the picking position and the storage position by the slope, damage to the end of the machine is further reduced.

Also, a belt conveyor may be used as the feeding device instead of the chute section.

〔Effect of the invention〕

As described above, 1. According to the present invention, it is possible to pick the stacked objects to be picked one by one from above, and also to prevent the objects to be picked from being damaged.

[Brief explanation of the drawing]

FIG. 1 is a side view of a picking position according to an uninvented embodiment, and FIG. 2 is a plan view of the vicinity of the picking arm shown in FIG. 1.

Claims (1)

[Claims] 1. Two parallel wooden links provided on a stand so that they can rotate up and down, a vertical link that connects the tips of the links, an arm that is attached to the vertical link so that it can rotate up and down, and a device for picking the arm. It is equipped with a spring that presses toward the object side, a roller provided at the tip of the skeleton arm, a rotation drive device connected to the visiting roller, and a feeding device provided between the armpit vertical link and the object storage side. Featured picking device.