JPS6229339B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a pick-up method for sheet-like objects, and more specifically, a pick-up method for transferring sheet-like objects such as fabrics stacked on a table, etc. one by one to another table, etc. It concerns an improvement in the method.

Conventionally, there have been various proposals for pick-up devices that have the function of grasping the sheets stacked on a table or the like one by one and releasing them at the transfer position, such as those that utilize air suction and those that utilize clothing. has been done. For example, Japanese Patent Application Laid-open No. 110568 (1983), Japanese Publication No. 110568 (1983),
15869, Utsukko Sho 57-32999, etc. have been proposed.

However, these conventional grips basically either grip the sheet-like object by contracting it or grip it while holding the sheet-like object under tension. For this reason, the former has the disadvantage that it is not possible to sufficiently bend and grip sheet-like objects with high rigidity or a slippery surface, while the latter has the disadvantage of being unable to sufficiently bend and grip sheet-like objects with a high rigidity or a slippery surface, while the latter has a problem with sheets that have a slippery surface or a high-density structure. There is a drawback that the clothing cannot be pierced sufficiently.

SUMMARY OF THE INVENTION In order to eliminate the drawbacks of the prior art, it is an object of the present invention to provide a pick-up method that can reliably grip and release a wide variety of sheet-like objects without requiring adjustment of contact force or the like.

The present invention will be explained below based on the drawings.

1, 2, 3, and 4 show an example of a pick-up device for carrying out the method of the present invention, in which a plate 5 is fixed to one end surface of a housing 1. A solenoid holder 6 is connected.

The housing 1 has a first insertion hole 2 in the center.
is formed, and second insertion holes 3 are formed on the outside thereof at intervals of 120 degrees in the circumferential direction. Further, on the other end surface of the housing 1, first protrusions 4 are provided at positions apart from the second fitting holes 3, and extend in the radial direction at intervals of 120 degrees in the circumferential direction.

A reversibly rotatable rotary solenoid 7 is attached to the solenoid holder 6, and a rotor 9 is connected to a rotating shaft 8 of the rotary solenoid 7.

The rotor 9 has a hollow shaft 10 and second protrusions 11 provided at the end thereof at intervals of 120 degrees in the circumferential direction, and the hollow shaft 10 has a first fitting hole in the housing 1. 2 and is connected to the rotating shaft 8 of the rotary solenoid 7. A drive gear 12 is attached to the rotor 9 at the end of the hollow shaft 10 on the second protrusion 11 side.

On the other hand, a clothing holder 13 is attached to each second insertion hole 3 of the housing 1. Each clothing holder 13 has a shaft 14 and a holder portion 15, as shown in FIGS. 1, 3, and 4, and the holder portion 15 is provided eccentrically with respect to the shaft 14. ing. A fan-shaped driven gear 16 that meshes with the drive gear 12 is attached to the shaft 14 of the clothing holder 13, and a clothing 17 is integrally provided in the holder portion 15.

The rotary solenoid 7, the rotor 9, the driving gear 12, and the driven gear 16 constitute a rotational driving section of the clothing holder 13, and when the rotary solenoid 7 is rotationally driven in the forward direction, the rotor 9, the driving gear 12 , the clothing holder 13 via the driven gear 16
is rotated in the forward direction, the holder part 15 of the clothing holder 13 is rotated eccentrically with respect to the shaft 14, and the clothing 17
When rotated clockwise in FIG. 2, they are moved away from each other, and when the rotary solenoid 7 is then rotated in the opposite direction, the clothing is transferred through the rotor 9, drive gear 12, and driven gear 16. When the holder 13 is rotated in the opposite direction and the clothing 17 is rotated counterclockwise in FIG. 2, they are moved toward each other.

In this embodiment, a sheet-like object holding holder 18 is slidably attached to the outer peripheral surface of the housing 7,
A sheet-like object holding member 19 having an uneven end surface is fixed to an end of the sheet-like object holding holder 18, and is disposed outside the clothing 17 group. The sheet-like object holding holder 18 has a flange 20 on the inner circumferential portion approximately in the middle in the axial direction, and notch grooves 21 are formed in the flange 20 at intervals of 120 degrees in the circumferential direction. Further, the sheet-like object holding holder 18 is non-rotatably engaged with the housing 1 through fitting between each of the notch grooves 21 and each of the first protrusions 4 provided on the housing 1 . Furthermore, a sheet-like object presser holder 18
The sheet material is suspended by a first compression spring 23 provided between a bushing 22 interposed in the gap between the housing 1 and the sheet material holding holder 18 and a plate 5 fixed to the end surface of the housing 1. The presser member 19 is urged to protrude from the end surface 17' of the clothing 17.

The second protrusion 11 of the rotor 9, the flange 20 of the sheet-like object holding holder 18, the notch groove 21, and the first
The compression spring 23 is the sheet-shaped object presser holder 18.
Holding means capable of selectively holding the sheet-like object pressing member 19 in two positions: a position retracted to at least the end surface 17' of the clothing 17, and a position protruding beyond the end surface 17' of the clothing 17. It consists of
This holding means is provided in the notch groove 21 of the rotor 9.
When the protrusion 11 is fitted, the first compression spring 23 causes the sheet-like object holding member 19 to press against the end surface 1 of the clothing 17 via the sheet-like object holding holder 18.
7', and then the pick up head is moved in the direction approaching the sheet at the sheet gripping position, and after the sheet holding member 19 comes into contact with the sheet, it is further picked up. As the head is moved in the direction approaching the sheet-like object, the sheet-like object holding member 19
is retracted to the position of the end surface 17' of the clothing 17, and in this retracted position, the sheet-like material presser holder 18
The second protrusion 11 of the rotor 9 escapes from the notched groove 21, and at this point the rotor 9 is rotated by a certain angle in the forward direction, thereby shifting the phase of the second protrusion 11 with respect to the notched groove 21, The second protrusion 11 is engaged with the flange 20 of the sheet-like object presser holder 18, and the sheet-like object presser member 19 is held at the retreated position. Next, the rotor 9 is rotated by a certain angle in the opposite direction at the sheet-like object release position, so that the second protrusion 11 is moved to the position where the second protrusion 11 matches the notch groove 21, and the sheet-like object holding holder 18 is moved to the first compression position. The sheet-shaped object pressing member 19 is advanced by the spring 23 to a position protruding beyond the end surface 17' of the clothing 17, and held at this advanced position, and the second protrusion 11 is fitted into the notch groove 21. It is becoming more and more common.

A bracket 24 is attached to the upper opening of the solenoid holder 6, and the pick up head configured as described above is connected to the lifting operation section and the transfer operation section via this bracket 24.

The lifting/lowering operation section includes a fluid pressure cylinder 26 installed on the tip of the arm 25, a piston rod 27 fitted into the cylinder, and a guide hole 28 installed in the bracket 24 and provided in the arm 25. The pick up head is provided with a guide rod 29 and is configured such that the pick up head can be raised and lowered by the operation of a hydraulic cylinder 26.

The transfer operation section has a rotary solenoid 30 provided on the base of the arm 25, and
5, the pick-up head can be moved between a position where the sheet-like object s is to be gripped and a position where it is to be released and transferred.

The method of the present invention further includes the step of bringing the plurality of three pieces of clothing 17 into contact with the uppermost sheet-like material S', and after the contact, moving the clothing 17 in a direction that causes the sheet-like part S' to contract. A step of relatively moving the cloth 17, then a step of relatively moving the clothing 17 in a direction that tensions the sheet-like material s', a step of piercing and lifting the cloth 17 into the sheet-like portion s, and then a step of lifting the sheet-like material s'. is moved to the unloading position, the clothing 17 is moved in a direction to shrink the sheet-like material s, and then moved in a direction away from each other to remove the clothing 17 from the sheet-like material s, and the sheet-like material s is and a step of releasing.

In the step of bringing the clothing 17 into contact with the uppermost sheet material s', the fluid pressure cylinder 26 of the operating section of the pick up head is operated in the downward direction, and the pick up head is brought into contact with the sheet material s' accumulated on a table or the like. It is lowered to approach object s. While the pick up head is lowering,
In the pick-up device of the embodiment shown in the figure, first, as shown in FIG.
Although the sheet-like object holding member 19 comes into contact with s', by still lowering the pick up head,
With the sheet-like object pressing member 19 placed on the sheet-like object s, the clothing 17 is placed on the uppermost sheet-like object s.
comes into contact. The steps from gripping the sheet-like object to releasing it will be explained with reference to FIGS. 5 to 8.

First, in the step of relatively moving the clothing 17 in the direction of contracting the sheet-like object s for gripping, the rotary solenoid 7 is activated, and the rotor 9, the drive gear 12, and the shaft 14 of each clothing holder 13 are attached to the Each clothing holder 1 is
3 in the counterclockwise direction in FIG. 5A, the clothing 17, which is attached at an eccentric position with respect to the rotation center O of the clothing holder 13, is moved relative to each other in the direction of the arrow shown in FIG. 5B. As a result of movement, that is, moving toward each other, sheets of
s′ is contracted. Here, the symbol d indicates the direction in which the clothing is bent.

When the sheet-like material s' is contracted, the clothing 17 easily pierces the sheet-like material s'. This allows the clothing 17 to be sufficiently pierced.

Next, apply clothing 1 in the direction that tensions the sheet material s'.
7 relatively to the sheet material s'.
In the step of lifting the sheet-like object s' by piercing the material, the rotary solenoid 7 is rotated in the forward direction, so that the clothing holder 13 is moved through the transmission member to the fifth
The clothing 17 is rotated further counterclockwise than shown in the figure, thereby moving the clothing 17 in the direction of the arrow in FIG. 6B, thereby tensioning the sheet material s' as shown in FIG. 6B. At the same time, each piece of clothing 17 is pierced through the sheet material s'.

By tensioning the sheet-like material s' from its contracted state and causing the clothing 17 to pierce the sheet-like material s' when the sheet-like material s' is stretched, the clothing 17 can be reliably pierced against the sheet-like material s', which has a slippery surface. can be done.

Then, when the clothing 17 is stuck into the sheet material s', the fluid pressure cylinder 26 of the lifting/lowering operation section of the pick up head is operated to the upward side, and the sheet material s is pierced through the clothing material 17 of the pick up head. lift.

The sheet-like material s' is transferred to the unloading position, the clothing 17 is moved in a direction to contract the sheet-like material s', the clothing 17 is pulled out from the sheet-like material s', and the sheet-like material s' is released. In the process of
Immediately after the lifting of the clothing 17 gripping s' is started, and while the clothing 17 is being lifted to a fixed position, the rotary solenoid 30 of the transfer operation section of the pick-up head is activated to the forward side, the arm 25 is rotated, and the pick-up head is moved to the forward direction. The head is moved above the unloading position of the sheet-like object s' such as a table.

Next, the fluid pressure cylinder 26 of the lifting/lowering operation section of the pick up head is operated in the lowering direction, and the sheet-like material s' held by the clothing 17 is lowered to the unloading position and placed on the upper surface of a table or the like.

Then, the clothing holder 13 is rotated via the rotary solenoid 7 of the pick up head in a clockwise direction opposite to the above-mentioned direction, that is, in a direction to shrink the sheet-like material, and then each clothing holder 17 is rotated as shown by the arrow in FIG. 8A. Then, rotate it further clockwise and move it away from the sheet material s', and as shown in FIG. 8B, remove each clothing 17 from the sheet material s'.
Release s′.

When removing the clothing 17 from the sheet-like material s', the clothing 17 is pulled in the direction that shrinks the sheet-like material s'.
As a result, the clothing 17 can be reliably extracted from the sheet-like material s'.

After releasing the sheet material s', the fluid pressure cylinder 26 of the lift operation section of the pick up head is operated to the upward side to lift the clothing 17 and separate it from the sheet material s', and then the transfer operation section of the pick up head The rotary solenoid 30 is activated to the return side, and the clothing 17 after releasing the sheet-like object is sent back to the sheet-like object gripping position.

After the sheet-like material s' is released, the clothing 17 is lifted and then transported to the sheet-like material gripping position.

By repeating the above operations, it is possible to grip the sheet-like materials one by one, transport them to any desired position to be unloaded, and separate them at the transport position.

In addition, in the pick-up head shown in FIG.
The sheet-like object pressing member 19 is connected to the clothing cloth 1.
is fixed at a position recessed from the end surface 17' of 7,
Only when the clothing 17 releases the sheet s', the second protrusion 11 of the rotor 9 and the sheet presser holder 18
are brought into alignment with the notch grooves 21 of
It is designed to be peeled off from the surface.

Furthermore, it goes without saying that the apparatus for carrying out the method of the present invention is not limited to that shown in FIGS. 1 to 4.

The present invention has the configuration described above, and when gripping a sheet-like object, a plurality of clothing pieces are brought into contact with the sheet-like object, and then the clothing pieces are moved relatively in a direction to shrink the sheet-like object. Since the clothing is moved relatively in the direction that tensions the sheet-like material and the clothing is pierced into the sheet-like material, a wide variety of sheet-like materials can be pierced without increasing the contact force of the clothing. In addition to having the effect of reliably gripping sheets one by one, when releasing a sheet-like object, the sheet-like object is lowered to the unloading position, and then the clothing is moved relatively in the direction of shrinking the sheet-like object, and then mutually Since it is moved far away and released, it has the effect of reliably releasing the gripped sheet-like object.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional front view showing an example of an apparatus for carrying out the method for picking up sheet-like materials according to the present invention;
3 is an enlarged plan view of the assembly of the clothing holder and driven gear of the device, and FIG. 4 is a longitudinal sectional front view of the device. 5 to 8 are explanatory diagrams of the method for picking up a sheet-like object according to the present invention, and FIGS. 5A and 5B are illustrations of the method of picking up a sheet-like object according to the present invention. Figures 6A and B show the state in which the object is rotated in the direction of contraction, and the clothing brought into contact with the sheet-like object for gripping is moved in the direction of tensioning the sheet-like object and pierced. Figures 7A and 7B show the state in which the clothing is removed for release.
Figures 8A and 8B are diagrams showing a state in which the sheet-like material is moved in a direction to contract it, and Figures 8A and 8B are diagrams showing a state in which the clothing is moved in a direction to tension the sheet-like material and the sheet-like material is released. It is. 1: Housing, 9: Rotor, 7: Rotary solenoid for rotor rotation, 12: Drive gear, 1
3: Clothes holder, 16: Driven gear, 17: Clothes,
26: Fluid pressure cylinder of the lift operation section of the pick up head, 30: Rotary solenoid of the transfer operation section, 0: Center of rotation of the clothing holder, s, s': sheet-like object.

Claims (1)

[Claims] 1. After bringing a plurality of pieces of clothing into contact with a sheet-like object, first move the clothing relatively in a direction that causes the sheet-like object to contract, and then, following this contraction operation, tension the sheet-like object. The clothing is moved relatively in the direction, the clothing is pierced into the sheet-like object, the sheet-like object is gripped and lifted, and the sheet-like object is then transferred to the pull-down position, and then the sheet-like object is contracted. 1. A method for picking up a sheet-like object, which comprises moving the clothing relatively in a direction in which the material is moved, and then moving the clothing in a direction away from each other, thereby removing the clothing from the sheet-like object and releasing the sheet-like object.