JPS6347088A - Floating unit for shifter - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a loading unit for holding cathode ray tube grips 7-1 in, for example, a cathode ray tube transfer device.

[Prior Art] When transporting an irregularly shaped, old, and easily damaged article such as a cathode ray tube during the physical distribution process, it is often carried out with the neck portion 2b placed horizontally, as shown in FIGS. 5 to 8, for example. , These cathode ray tubes 2 are fitted one by one into the fitting parts 4a of the buffer pads 4 on the packaging pallet 3, and after stacking these pads in three tiers as an example as shown in the figure, a packaging material 5 such as cardboard is placed around the outer periphery of the pads. It is wrapped with a band ().

By the way, the so-called palletizing work, in which such cathode ray tubes 2 are stacked on the packaging 1, or conversely, the packaging 1
Remove the cathode ray tube 2 from the li-1 So-called depalletizing process ii'tJz Conventionally, this was usually done manually, but this type of work required a great deal of effort and effort because cathode ray tubes are heavy and easily damaged. It was difficult.

For this reason, automatic palletizers or automatic depalletizers that utilize working robots and therefore do not require human labor are gradually being introduced. These automatic devices usually consist of a transfer device and a control device. The transfer device includes a gripping unit that inserts and grips a pin into an insertion hole 2C of a mounting bracket 2b (see Fig. 5, hereinafter referred to as a lug) provided on the cathode ray tube 2, and a gripping unit that runs and traverses the L knit. , and a moving mechanism that can be raised, lowered, and rotated, and the control device is configured to operate the transfer device in a Cartesian coordinate system according to a preset program. For example, in depalletizing, the gripping unit reciprocates between the package that has been positioned in advance at the M sub-coordinate position and, for example, the unloading conveyor 1, and is fitted into the pad fitting part 4a of the package 1. Competition to carry out cathode ray tubes 2 one after another) 7
-It is to be transferred to L.

[Problems to be Solved by the Invention] By the way, the buffer pad 4 is made of relatively soft foamed polystyrene or the like, and this pad is used repeatedly. For this reason, the shape of the pad fitting part 4a is partially deformed due to the weight and vibration of the cathode ray tube during transportation and handling, and the posture of the cathode ray tube 2 housed in this fitting part 4a is also tilted forward, backward, left, and right. Become. For this reason, in the conventional depalletizer, even if the packing and gripping 21-knit mark positions are accurately aligned with the preset reference coordinate positions during depalletizing, the insertion holes 2C of the cathode ray tube lugs 2b are If the pin of the gripping unit is in the correct position, it cannot be inserted.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a transfer device that can reliably and accurately grip cathode ray tubes and efficiently transfer them even if the packaging of the cathode ray tubes is out of order in the transport package.

[Means for Solving the Problems] In order to achieve this object, the coating unit for a transfer device according to the present invention is attached to the pivot shaft of a moving mechanism that can travel, traverse, and rise and fall, and has a This floating unit suspends a gripping unit for gripping a workpiece, and this 70-ting unit has a floating unit main body supported by the pivot shaft, and a spherical bearing and a universal joint connected to both ends of the main body. The holding arm is vertically disposed and is composed of a pair of left and right holding arms that hold the gripping unit movably in three dimensions.

[Function] If the packaging of the cathode ray tube in the packaging is misaligned and the relative position between the gripping unit and the cathode ray tube is misaligned, the guide piece provided on the gripping unit will come into contact with the vicinity of the cathode ray tube lug. As a result, the gripping unit moves three-dimensionally with respect to the cathode ray tube, and any deviation in the relative position between the two is automatically corrected. Therefore, the insertion pin of the gripping unit is reliably inserted into the lug insertion hole of the cathode ray tube.

[Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

In FIG. 1, a 70-ting unit 30 for a transfer device according to the present invention is attached to the lower end of a pivot shaft 14 of a moving mechanism 13, and has a gripping unit 15 suspended at the bottom for gripping a workpiece such as a cathode ray tube 2. It is something that you have. The moving mechanism 13 includes a traveling unit 10 and a traversing unit 1.
1. It is composed of a lifting unit 12.

The traveling unit 10 is movable in the longitudinal direction of the base (hereinafter referred to as the The elevating unit 12 is movable in the lateral direction of the base (hereinafter referred to as the Y direction) via a running rail 20 provided on the longitudinal framework 19 of the traversing unit 11. It consists of an elevating casing 22 extending through v1, a base plate 21, and a cylinder 23 with a brake fixed to the lower end of the casing 22. It is said that it can be moved freely. And casing 2
A rotating motor 1 unit 27 is installed in the lower end of the rotating shaft 14.
is said to be able to rotate freely.

Here, as shown in detail in FIGS. 2 to 4, the floating unit 30 includes a flat plate-shaped 70-inch J1 unit body 31 supported at the upper end of the pivot shaft 14,
The main body 31 includes a pair of left and right holding arms 32 vertically disposed at both ends thereof, and a presser plate 33 attached to the center of the lower surface of the main body 31. The holding arm 32 has its upper end attached to the main body 31 via a spherical bearing 34, and its lower end grips the two-t knit 15 via a universal joint 35.
is attached to both ends of the gripping unit l.
~15 is supported three-dimensionally movably. The presser plate 33 is
The main body 31 is supported by a thin-walled cylinder 36, which is attached to the central part of the main body 31, so that it can be raised and lowered, and the presser plate 3
Engagement member 38 attached to the top surface of unit 15
Press inside. Here, the presser plate 33 is attached with a [ ] sliding guide 9, and the presser plate 33 is held in a state in which its longitudinal axis coincides with the longitudinal axis of the main body 31 when moving up and down. At this time, the longitudinal axis of the gripping unit 15 does not coincide with the longitudinal axis of the main body 31, and therefore the presser pad 37 and the engaging member 3
Even if the pads 8 are not exactly facing each other, in this case the pad 37 gradually enters the member 38 via its inclined surface and the inclined surface of the member 38, and grips the L knit 15 so that its axis is aligned with the main body 31. The grip unit 15 is corrected to a normal posture that coincides with the axis of the grip unit 15, and then the grip unit 15 is pressed and covered.

In addition, the bracket 3 is placed on the jJ root plate of the 4-fall casing 22.
9, the rotation origin detection switch 4o connects the brackets 1 to 9.
Turning limit detection switches 41 and 41 are provided on the top, and a turning detection piece 43 is provided on the floating unit main body 31 via brackets i to 42, so that when the 70-ting unit 30 turns, The detection piece 43 is configured to pass through the switch 40, 41, 411ζ section to set the turning origin and to regulate the turning limit mark angle.

Next, the gripping unit 15 attaches a universal joint 35 to the holding arm 32 of the 70-ting unit 30.
a unit main body 44 held via the main body 44;
The finger unit 45 is supported by a finger unit 45. The finger unit 45 has its feed nut portion 46 driven by a motor 47, a timing bell l to 48, and a feed screw 49 with left and right reverse threads rotated via a pulley, so that the finger unit 45 is movable in the longitudinal direction of the unit body 44. . As shown in FIG. 5, the finger unit 45 is equipped with a finger piece 4950 and a pin arm 51 at the upper end thereof, and is activated by checking the lug position of the lug 2b detector (U not shown) of the cathode ray tube 2. The finger piece 49.50 is opened and closed by the rotary actuator 52 and the switch 44 and the cylinder 53, and the pin 54 supported by the pin arm 51 is inserted into the finger piece 49.50. It is configured to move forward and backward through a hole.

Next, the operation of the transfer device of the present invention equipped with the floating tick unit 30 having this configuration will be explained based on the depalletizing operation of the cathode ray tubes 2 that are densely stacked in the package 1. For depalletizing,
First, the package 1, with its packaging material 5 removed, is placed at a reference position C that is preset depending on the type of package 1.

Next, the transfer mechanism 13 is moved to the tube column of the cathode ray tube 2.
(Bill turn and loading are performed by moving and turning based on a preset program according to the number of stages.)
[The position in the X, Y, and Z directions and the rotation angle α of the grip unit 15 suspended from the l-ting units 1 to 30
is positioned so as to match the reference coordinates and angle set in the program.

At this time, the turning angle α is determined based on the turning origin set by the turning origin detection switch 40. It is controlled by lIi.

By the way, at this time, the cathode ray tube 2 housed in the pad fitting part 4a is unbalanced due to the deformation of the fitting part 4a, as shown in the previous section. , the lug 2b of the cathode ray tube 2 is not necessarily inserted between both finger pieces 49 and 50 of the finger L knit 45. However, in the depalletizing transfer device of the present invention, since the gripping unit 45 is suspended so as to be movable in three dimensions via the footing unit 30, the packing configuration of the cathode ray tubes 2 may be distorted as described above. Even when the position of the lug 2b does not match the reference coordinates and angle, the inclined surface 56 of the guide J155 protruding from one of the finger pieces 49 comes into contact with the face of the cathode ray tube 2, and the gripping unit 15 is attached to the cathode ray tube 2. The lug 2b moves three-dimensionally against the finger piece 49.50.
The guide is inserted between. When the lug 2b activates the detection piece 57 of the lug detector (not shown), the actuator 52 and the cylinder 53 are actuated, and the pin 54 detects the finger piece 50, the lug 2b, and the finger piece 4.
The cathode ray tube 2 is securely gripped by the gripping unit 15 through the respective insertion holes 9.

Then, at the same time that the movement II structure 13 is raised by −L, the cylinder 36 is activated and the presser plate 33 is lowered, and the presser pad 3 is lowered.
7 is completely pressed into the engaging member 38, and as a result, the grip unit 15 is stably held in the loading unit 30 without shaking, and at the same time the grip units 1 to 1jJ are The direction axis is floating,
The TI unit 0 is corrected to a normal posture aligned with the longitudinal axis, and the position of the cathode ray tube 2 held by the gripper J-11 is aligned with the reference coordinates and angle.

Next, the gripping unit 5 is moved via the movement ta 113 to the upper part of a pallet, for example, on an unloading conveyor, which has been previously positioned at a reference position, and the cathode ray tube 2 held at the reference position is transferred onto the pallet. After the first cathode ray tube is transferred in this way, almost the same procedure is repeated again, and all the cathode ray tubes in the package are automatically and successively depalletized.

In addition, the floating unit for a transfer device of the present invention is
Various modifications or modifications are possible, and such floating units 1 to 1 can be applied not only to cathode ray tubes but also to other similar workpieces.

[Effect of the invention 1 As explained below-1, for the transfer device of the present invention] []-
The gripping unit that grips the workpiece - L-knit, is suspended from the moving mechanism so that it can be moved three-dimensionally. The unit automatically makes the necessary centering movements relative to the cathode ray tubes and securely grips them. Therefore, the cathode ray tube can be automatically and continuously depalletized.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a transfer device equipped with a floating unit according to the present invention, FIG. 2 is a front view mainly showing the floating unit part in FIG. 1 partially in cross section, and FIG. 3 is a plan view of FIG. 2. Figure 4 is a side view showing a part of Figure 2 in cross section, Figure 5 is a perspective view of the finger unit in Figure 1, Figure 6 is a perspective view of the cathode ray tube, and Figure 7 is the packaging of the cathode ray tube. The plan view, FIG. 8, is a side view of FIG. 1... Braun tube packaging, 2... Braun tube, 2b.
... Lug, 10... Traveling unit, 11... Traverse unit, 12... Lifting/lowering 1 nit, 13... Moving mechanism, 14... Swivel axis, 15... Grasping unit, 22
...Elevating casing, 27...Swivel motor conite, 30...Floating unit, 31...Floating unit main body, 32...Holding arm, 33
... Holding plate, 40 ... Rotation origin detection switch, 41
... Turning angle detection switch, 43... Turning detection piece. Applicant Sanki Kogyo Co., Ltd. Agent Ashi 1) Naoe 74 Kaisho 6
3-47088 (7) Figure 5

Claims (1)

[Scope of Claims] 1. A floating unit for a transfer device that is attached to a pivot shaft of a moving mechanism that can travel, traverse, and move up and down, and suspends a gripping unit for gripping a workpiece at a lower part, the floating unit for a transfer device A transfer device consisting of a floating unit main body supported by a floating unit body, and a pair of left and right holding arms that are vertically installed at both ends of the main body via spherical bearings and universal joints and hold the gripping unit in a three-dimensionally movable manner. floating unit. 2. The floating unit for a transfer device as set forth in claim 1, wherein a presser plate for pressing the upper surface of the gripping unit is attached to the central portion of the lower surface of the floating unit main body so as to be movable up and down via a cylinder device. 3. The floating unit for a transfer device according to claim 1 or 2, further comprising a rotation angle detection switch for a pivot shaft provided at a portion facing the transfer mechanism and the floating unit.