JPS62208319A - Method of driving gripper head in caser and uncaser - 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) The present invention relates to a method of driving a gripper head in a caser or an uncaser.

(Prior Art) For example, a caser is used to automatically put a certain number of bottles into an automatically delivered box and continuously send them out.

An example of a conventional caser is shown in FIG.

In Fig. 2, 4 is a gripper head;
The head 4 moves by gripping the bottle 6, and returns to its original position after releasing the bottle 6 into the box. The movement is effected by a suspension bar 8 of the gripper head, which is fixed at both ends to a chain 14.14a and is moved up and down and laterally according to the movement of the chain 14.14a.

The chains 14, 14a are hung endlessly around chain wheels S1 to S6 and 5la-36a installed on the frame, and are driven by drive chain wheels S6 and S6a.

As a result, the suspension bar 8 of the gripper head 4.

Its both ends 7.7a are driven at the same time, and its driving range is an upward movement from the position where the bottle 6 is released, and the chain wheel S2. S2
After a, the chain wheel 53, S3 moves horizontally.
It stops after reaching a point a, and this stopping position is exactly the position where the bottle is to be gripped.

2. Using an electric motor 9 to drive the gripper head 4 and the chain wheel Kl. 3 to chain and drive shaft 15
Chain wheel via S6. Rotate S6a at the same time.

The electric motor 9 is equipped with a speed reducer and an electromagnetic brake, and rotates forward or reverse to achieve the above-mentioned movement.

A limit switch plate 10 is used as a device for forward and reverse rotation, and an endless chain 16 that interlocks with a drive shaft 15 is connected to the limit switch plate 10.
and by rotating the endless chain 16, a limit switch lla with a timer is activated by a claw 12 attached to the endless chain 16.
The motor 9 is controlled by operating the motor llb.

That is, when the claw 12 activates the switch lla, the motor 9 stops and rotates forward after a certain period of time, and when the claw 12 activates the switch 11b, the forward rotation of the motor stops, and by rotating the motor in the reverse direction for a certain period of time, the gripper head 4 is initialized. It makes you do the exercise of
In synchronization with this, when the claw 12 operates the switch 11d, the bottle supply conveyor 1 is started, and when the switch llc is operated, the box supply conveyor 2 is started, and these stops are not shown in the figure, but separately. This is done using established detection limits.

(Problems to be Solved by the Invention) In the above device, when the gripper head 4 goes to grab a bottle, the rotational force of the electric motor 419 causes the gripper head 4 to
is descending. In this case, there is no problem if the bottles are lined up, but if the bottles are not lined up, the electric 4
m! There is a problem in that the gripper head 4 presses the bottle due to the rotational force of the bottle 9 and breaks the bottle.

(Means for solving the problems) The means for solving the above problems are as follows. That is, the present invention.

It has a first detection device and a second detection device that sense the movement of the gripper head, and when the gripper head reaches a position where it can fall under its own weight, the first detection device senses this and the electric motor is driven. After the force is stopped, the gripper head slowly falls under its own weight to the position where it grips the bottle, and when it reaches the position where it grips the bottle, the second detection device senses this and the gripper head grips the bottle. This is a method of driving a gripper head in a caser or an uncaser.

When the first detection device detects movement of the gripper head, it sends a signal to the electric motor to apply the brake, but after a momentary stop, the brake is activated when a signal is sent to the controller that the bottle is in place. When released, the gripper head falls under its own weight.

If the controller is not sent a signal that the bottles are in place, it will stop until the bottles are in place, and then the brake will be released and the gripper head will fall under its own weight. do.

Although various detection instruments such as a photoelectric switch can be used as the detection instrument used in the present invention, a limit switch is generally used.

(Example) An example of the present invention will be described in more detail with reference to the drawings.

FIG. 1 is a perspective view of essential parts showing an embodiment of the present invention.

Reference numeral 30 is the machine frame, and the machine frame 30 has a one-turn sprocket) 3
2.32a is rotatably mounted. 34.34a
is a chain that is wrapped around the one-turn sprockets 32, 32a and is operated by an electric motor (not shown);
A fixed shaft 36 is installed on the chain 34.34a. A gripper head 38 is mounted on the fixed shaft 36 via a bearing 37 so that a gripper 39 is always suspended. The gripper head 38 is prevented from swinging by a swing stop device 40 using links.

Mounted on the machine frame 30 are a first limit switch 42 and a second limit switch 44 that sense movement of the gripper head 38.

The first limit switch 42 and the second limit switch 44 are connected to a pressing plate 46 attached to the chain 34.
It is operated by.

To explain how to drive the gripper head, the gripper head
When the head 38 passes the top of the rotating sprockets 32, 32a and reaches a position where it can fall under its own weight, the first limit switch 42 senses this and applies a brake to a motor with a brake (not shown). The motor stops rotating.

Thereafter, the brake is released and the gripper head 38 slowly falls under its own weight to the gripping position for bottle B. When it reaches the gripping position for bottle B, the second limit switch 44 senses this and the gripper head 39 Grasp B.

The motor then rotates in reverse to raise the gripper head 38 and move it to the storage box position.

Note that when the first limit switch 42 detects movement of the gripper head 38, it sends a signal to brake the motor, but if a signal indicating that the bottle B is in a predetermined position is sent to the control device, the gripper head After the head 38 stops for a moment, the brake of the motor is released and the gripper head 38 falls under its own weight.

If the control device is not sent a signal that bottle B is in place, it will stop until the bottle B is in place, and when a signal is sent that the bottle B is in place, the motor brake will be released and the gripper will stop. - The head 38 falls under its own weight.

It should be noted that the present invention is not limited to the illustrated embodiment, and many modifications can be made within the scope of the claims.

(Effects of the Invention) The present invention provides that when the gripper head goes to grab a bottle,
The gripper head is not lowered by the rotational force of an electric motor, but by its own weight and goes to grab the bottle, so even if the gripper head presses on the bottle when the bottle is not aligned, it will not move the bottle. will not be destroyed.

Furthermore, when lowering the gripper head using the rotational force of an electric motor, a safety device is required to prevent the bottle from being destroyed even when the gripper head presses the bottle. Since it descends, the pressing force is small and no safety device is required, which can reduce costs accordingly.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a main part showing an embodiment of the present invention, and FIG. 2 is a perspective view of a main part of a conventional caser and anchor. 38; gripper head 42; first limit switch 44; second limit switch

Claims (1)

[Claims] The gripper head is lowered to grip the bottles that have been sent on the conveyor and stopped in line, and then the gripper head is operated to store the gripped bottles in the storage box, or In the caser and uncaser, the gripper head is lowered to grip the bottle contained in the bottle, and then the gripper head is actuated to transport the bottle to the bottle conveyor. When the gripper head reaches a position where it can fall under its own weight, the first detection device senses this and the electric motor stops the driving force, and then the gripper head slowly drops under its own weight to the position where it grips the bottle. A method of driving a gripper head in a caser or an uncaser in which the gripper head grips the bottle when the second detection device senses the drop and reaches the gripping position of the bottle.