JPS60228085A - Automatic freight treater - 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 FIELD OF INDUSTRIAL APPLICATION This invention relates to an automatic baggage handling device for automatically and sequentially loading parcels onto pallets.

BACKGROUND ART In recent years, various pallet loading devices have been developed as automatic baggage handling devices.For example, the required baggage for one stage is arranged on a sorting table, and the baggage arranged on this sorting table is transferred to the next one. A loading device called a palletizer is generally known in which the cargo is transferred onto a moving table, the moving table is moved onto a pallet on an elevating table, and the cargo on the moving table is placed on the pallet. However, such a palletizer as a loading device places a load on the moving platform and supporting parts, requires a large space for horizontal movement of the moving platform, and operation of the pallet lifting platform, and the device itself is also burdensome. There are drawbacks to increasing size.

OBJECTS OF THE INVENTION Accordingly, an object of the present invention is to provide a head section at the end of a telescopic arm that can move up and down over a pivotable upright column of a robot body, in order to eliminate the drawbacks of the conventional robot. A hand device for grasping a load is provided, which is composed of a movable hand portion provided on the other side of the support frame so as to be movable in opposition to a fixed hand portion extending downward from one side of the support frame. An automatic bag with a simple structure that allows for quick loading, with a holding pawl provided at the lower end of the movable hand that can protrude inward and into a narrow gap so as not to interfere with the baggage, to prevent the gripped baggage from falling. SUMMARY OF THE INVENTION According to the present invention, an automatic baggage handling device has a telescoping arm that moves up and down along a pivotable upright column and has a head at its tip. A hand support frame that includes a robot body and is attached to the head of the robot body, a plurality of individually divided fixing parts that extend downward from one side of the hand support frame, and these fixed hands. a plurality of movable hand parts extending downward on the opposite side of the support frame and movable with respect to the fixed hand part, which prevents a load gripped between the fixed and movable hand parts from falling; Each movable hand is provided with a hand device for grasping a load, which includes a holding pawl provided at the lower end thereof so as to be able to protrude toward the opposite side.

These and other objects, advantages and features of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

1st drawing of the recommended embodiment. As shown in FIG. A robot body 1 consisting of an arm 3 that can extend and contract freely and has a head part 3 at its tip, and an arm of this robot body 1! It mainly consists of a hand device lθ for grasping cargo provided on the head device at the tip.

The robot body has a well-known structure with cylindrical coordinates, and is able to rotate using a support, move the movable part up and down using the support,
In addition to the lateral movement by the left extendable arm, various movements such as rotation of the hand device 10 in the head device are possible.
It is possible. Of course, the robot main body is not limited to such a cylindrical coordinate type, but may be of any suitable type, such as a rectangular coordinate type, a rectangular coordinate type, or a multi-joint type.

As clearly shown in FIGS. 3 to 11, the hand device 10 for grasping cargo in the automatic cargo handling device of the present invention includes a hand support frame /l attached to the head part of the robot main body l, and this support frame. A fixed hand part /Y divided into a plurality of parts extends downward from one side of /l, and a support frame facing the fixed hand part 12 // extends downward on the other side and corresponds to the fixed hand part /2. a plurality of movable hand parts/4' movably provided; fixed and movable hand parts/2. The holding pawl 15 is provided at the lower end of the movable hand portion 14t so as to freely protrude inward in order to prevent the baggage gripped between the movable hand portion 14t from falling.

The support frame // of the hand device 10 is made into a desired frame shape using appropriate shaped steel or angle material, and can be rotatably attached to the head component at the tip of the arm S of the robot body / using a mounting member 13. There is. On one side of the lower surface of the support frame // constructed in this way, a fixed hand section 12 is provided which extends vertically downward and is divided into a plurality of pieces, three in the illustrated embodiment. The fixed hand part 2 has a fixed plate 2/ made of a suitable metal plate or hard plastic plate, and a friction resistance member such as a thin rubber plate is provided on the entire inner surface or a lower part of the fixed plate 21. A member can be provided to increase the grip of the baggage to ensure the grip of the baggage. A plurality of movable hand parts 12 are provided on the other side of the lower surface of the support frame // facing each of the fixed hand parts 12, extending vertically downward and movably facing the fixed hand parts 12. It is being Each of these movable hand parts /4 (is a movable plate main body 2 provided movably relative to the fixed hand part lλ along a rail member O provided on the support frame ii).
t, a movable plate main body, a pneumatic piston cylinder attached to the frame member /l to move the movable plate body 2g along the rail member 20, an actuating device such as the one shown on the left, a fixed hand part lλ, and a movable knife part l A holding pawl 15 is provided at the bottom of the movable plate main body 2'l so as to protrude inwardly so as not to drop the baggage gripped by the movable plate main body 24'. An externally mounted pneumatic piston cylinder, and further actuating devices such as 27 are provided. The movable plate main body 2q includes a guide member 2g made of a suitable shaped steel such as channel steel and provided with a plurality of rollers 29 so as to be movable along the rail member /j of the support frame //.
, a main body member 31 made of a suitable metal plate extending downward from the guide member 2g, a rubber plate 32 attached to the main body member 31, and a holder member 33 that holds the holding pawl lS so that it can protrude inward. and a mounting bracket 3, a pneumatic piston cylinder device 27 and a link 34 for vertically operating these holder member 33 and mounting bracket J4'. ．． 37 and lever, 3g. The pneumatic piston cylinder device 27 is pivotally supported by the main body member 3/ at one end of the cylinder, and has a fork end 3S at the piston rod end at the other end.
is provided, and the intermediate portion of the lever 3g and the link 36 are connected. The lever 3g is pivotally connected to the main body member 31 at one end, another link 3 is pivotally connected to the other end, and the other end of this link 37 is further pivotally connected to one end of the pawl mounting bracket 3'l. ing. Further, the other end of the link 36 is pivotally connected to one end of the pawl holder member 33. The mounting bracket 3 has a rectangular plate shape, and is held by a pin at one end.
The left side is pivoted, and if necessary, excess meat is preferably stripped off to reduce weight and save material.

Further, the holder member 33 is shaped like a fork as shown in the figure, and has a groove 4 (J) in its handle portion, into which the mounting bracket 3 is fitted so as to be able to slide along this groove.

A pin 3 is provided at the end of the fork-shaped portion at the other end of the holder member 33 to raise a holding pawl 15 as will be described later. Furthermore, a groove 1Ill is provided on the inner surface of the fork-shaped portion of the holder member 33, which is suitable for guiding both ends of the pin +/ which pivotally connects the holding pawl 15 to the mounting bracket 3'l when sliding. It is supposed to be done. Further, a left guide member II is provided on the main body member 31 to allow the holder member 33 to slide relative to the main body member 3/.

Therefore, the holder member 33 can slide with respect to the main body member 3 of the movable hand part /''%, and the mounting bracket 3 can slide with respect to this holder member 33, and the same pneumatic piston The holder member 33 and the mounting bracket 3g, which are slid by the cylinder device 27, are configured to slide relative to each other with different strokes.In other words, the sliding amount of the mounting bracket 3'l is larger than that of the holder member 3'l. It is larger than the sliding amount of lever 33, and the ratio of these sliding amounts is lever 3g.
It is determined by the lever ratio with respect to each pivot point of the mounting bracket 3g and the holder member 3'l with respect to the pivot point of the main body member 31. Therefore, when the pneumatic piston cylinder device is actuated and the mounting bracket 3'l and the holder part 33 are slid from the solid line position to the chain line position in Figure 6, the mounting bracket 3'l and the holder part 33 are slid. 33 stroke S
, , S2 is the lever ratio L at lever 3g.
It corresponds to I+'2. Based on the different sliding strokes of the mounting bracket 3 and the holder member 33, the retaining pawl 15 pivotally supported at the tip of the mounting bracket 3da is gradually raised inward by the holder member 339 and the pinder 3. can be easily understood.

Effects of the Invention When loading cargo using the automatic cargo handling device of the present invention configured as described above, the cargo transported by an appropriate conveyor is placed at a predetermined position on the head unit at the tip of the armature of the robot body l. The fixed and movable hand parts t2, 14 (-) of the provided hand device lO for grasping the load are grasped. It is possible to vary the size from the individual size to the size of the entire movable hand section.

First, in the robot main body L, the hand device /θ for grasping the cargo provided in the head part at the tip of the arm S is the stand 3.
The object is positioned at a predetermined position where the load can be gripped by the rotation of the upper support λ and the vertical movement and horizontal expansion and contraction of the arm 5 along the support. The arm 5 is then lowered along the column 2 and the fixed and movable hand parts /2, /4!
Once the cargo is positioned between them, a pneumatic piston cylinder device, 23, is an actuating device for moving the movable hand part.
to move the movable hand part /+ along the rail member IS of the support frame // toward the fixed hand part /j;
The baggage is firmly held between the fixed hand part 12 and the movable hand part. In this way, the fixed and movable hand parts/2
．． When the load is gripped between the IQ and the IQ, the pneumatic piston cylinder device λ of the movable hand part is activated to prevent the gripped load from falling, and the link 36 is connected to the fork end 3 of the piston rod end. The holder member 33 and the mounting bracket 3'l are slid downward by the lever 3A' and the link 3. As the holder member 33 and the mounting bracket 3 slide, the holder member 33 first moves to the link 3.
6 is moved a distance according to the stroke S, of the piston rod of the pneumatic piston cylinder device core, while the mounting bracket 3'l is moved a distance corresponding to the stroke S, of this holder part 33 via the lever 3g and the link 37. ratio
It is moved by a stroke S2 corresponding to 2/1°. Therefore, for a stroke S of the holder member 33, the mounting bracket J4' is moved by a stroke S20 with a different stroke 5In8 corresponding to such a lever ratio -L2/i.
2, when the holder member 33 and the mounting bracket 31I are slid downward, the retaining pawl 13 pivoted to the lower end of the holder member 3q engages with the pink 3 at the lower end of the holder member 33. erected gradually inwardly by this pin lI3 for relative sliding along the
Eventually, as shown by the chain line, it will turn inward at right angles and come into contact with the bottom of the bag, completely preventing the bag held between the fixed and movable hand parts /:l, /'I from falling. It can be prevented.

Next, the arm 5 of the robot body is moved upward along the support column, rotated together with the support column, and, if necessary, extends and retracted the arm 3 to move the load gripped by the hand device io to a predetermined location above. Can be transported to any location. Now, if the arm S is lowered along the column and moved to retract the piston rod of the pneumatic piston cylinder device 27 of the movable hand section/II of the hand device 10, the holter member 33 and the mounting bracket J' 1 is retracted upwards together with the holding jaw 1S, and another pneumatic piston-cylinder device, Z&, is actuated to move the movable hand section/g outwards to release the load and place it in place. . By repeating such operations in sequence, a predetermined number of cargo can be loaded onto a desired position on a suitable plywood board, such as a pallet.

Further, by making an appropriate control device recognize the operation pattern of the robot main body and the hand device in advance, it is possible to automatically and repeatedly load cargo for one pallet. Furthermore, it simultaneously controls the rotation of the support of the robot body, the vertical movement and horizontal expansion and contraction of the arm, the rotation of the hand device relative to the head, and the load gripping and releasing operation of the hand device.
It can be operated through the shortest route, a large amount of cargo can be loaded quickly in a short period of time, and the operating parts can be kept small because the holding pawl and one member of the holder can be operated simultaneously via a link mechanism. In addition, it is possible to completely prevent the baggage held by the holding pawl from falling.

[Brief explanation of drawings]

FIG. 1 is a schematic front view showing an embodiment of the automatic baggage handling device of the present invention, FIG. 1 is a schematic side view, and FIG. 3 is a side view of the hand device of the automatic baggage handling device of the present invention. The figure is a front view, and Figure S is a sectional view of the movable hand part of the hand device.
Fig. 6 is a front view, Fig. 7 is a sectional view of a holder member of the movable hand, Fig. 3 is a front view, Fig. 7 is a side view of the mounting bracket of the movable hand, and Fig. 1θ is a front view. Figures 11 and 11 are side views of the holding claw of the movable hand section, and Figure 1 is a front view. In the figure, /2 robot body, 2 = support, 3: stand, g: movable part, 5: arm, 6: head part, /Q: hand device, l-2 fixed hand part, /q: movable hand part, /Yo:
Holding pawl, -/: fixed plate, 2g: movable plate main body 1. z,t
, z7: pneumatic piston cylinder device, 3/: main body member,
3.2: rubber plate, 33: holder part, 3g: mounting bracket, 353t: link, Jg = lever. Patent applicant: Toyo Kanetsu Co., Ltd. 5-ku 11, Mill No. 7, Fig. 8, Fig. 11, Fig. 12

Claims (1)

[Scope of Claims] An automatic baggage handling device comprising a robot body consisting of a rotatable upright column and a telescoping arm that moves up and down along the column and has a head at its tip. A hand support frame attached to the head of the robot body, a fixed hand section extending downward from one side of the hand support frame and divided into a plurality of individual parts, and a support frame opposite to these fixed hand sections. A plurality of movable hand parts extend downward on the opposite side of the fixed hand part and are movable with respect to the fixed hand part, and each movable hand part is arranged to prevent the baggage gripped between the fixed and movable hand parts from falling. An automatic baggage handling device comprising a baggage gripping hand device comprising a holding pawl provided at a lower end so as to freely protrude inward.