Handling device

Abstract

To provide a handling device capable of more reliably adsorbing an object.SOLUTION: A handling device 10 includes a pressing member 19 that is capable of ascending and descending and is pressed against an object 12, and a suction mechanism 16 that is capable of ascending and descending and is brought into contact with the object 12 at a location of the object 12 different from a location thereof to which the pressing member 19 is pressed. The handling device includes: an elevating plate 15 which is disposed above the pressing member 19 in a vertical direction, and is raised and lowered in the vertical direction, and to which the suction mechanism 16 is attached; and a shaft 20 that connects the pressing member 19 and the elevating plate 15 and extends in the vertical direction. The elevating plate 15 has mounting holes in which respective portions of the shaft 20 in a longitudinal direction are disposed. A variable mechanism 50 is provided that allows a change in an angle formed between a first imaginary line passing through centers of the mounting holes and a second imaginary line passing through a center of the shaft.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a handling device that sucks, grips, and transports an object. [Background technology]

[0002] An example of a handling device that sucks, grips, and transports an object is described in Patent Document 1. The handling device (vacuum hand) described in Patent Document 1 includes a vacuum hand main body formed of a rectangular annular hanging wall and an upper surface portion closing the upper part of the wall, and a lattice member provided in the vacuum hand main body and recessed below the lower surface of the hanging wall in a recess surrounded by the hanging wall and the upper surface portion. The vacuum main body also has a vacuum passage communicating with the internal space of the lattice member. Examples of handling devices that suck, grip, and transport an object are also described in Patent Documents 2, 3, and 4. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 61-58084 [Patent Document 2] JP 2015-112664 A [Patent Document 3] Patent No. 2620736 [Patent Document 4] Patent No. 2681720 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors of the present application have recognized that the handling devices described in Patent Documents 1 to 4 still have room for improvement in terms of reliably adsorbing an object.

[0005] An object of the present disclosure is to provide a handling device that can more reliably adsorb an object. [Means for solving the problem]

[0006] This embodiment is a handling device having a pressure member that is raised and lowered vertically and pressed against an object, and an adsorption mechanism that is raised and lowered vertically and comes into contact with the object at a location on the object other than the location where the pressure member is pressed, thereby adsorbing the object.The handling device also has a lifting member that is positioned vertically above the pressure member, raised and lowered vertically, and to which the adsorption mechanism is attached, and a shaft that connects the pressure member and the lifting member and extends vertically, the lifting member having mounting holes in which portions of the longitudinal direction of the shaft are respectively positioned, and a variable mechanism that allows changes in the angle formed between a first imaginary line passing through the center of the mounting hole and a second imaginary line passing through the center of the shaft. [Effects of the Invention]

[0007] The handling device of this embodiment can more reliably pick up an object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a front view of an example of a pillow packaging handling device, showing a state in which the pressing member is separated from the object. [Figure 2] 1 is a front view of an example of a pillow packaging handling device, showing a state in which a pressing member is pressed against an object. [Figure 3] FIG. 1 is a front view of an example of a pillow packaging handling device, showing the state in which an object is lifted. [Figure 4] FIG. 1 is a plan view showing an example of a pillow packaging handling device. [Figure 5] FIG. 3 is an enlarged front view showing the main part of FIG. 2. [Figure 6]FIG. 10 is a front view showing an example of the operation of the pillow packaging handling device. [Figure 7] FIG. 1 is a conceptual diagram illustrating a space expressed in three dimensions. [Figure 8] FIG. 10 is a front view of another example of a pillow packaging handling device, showing a state in which the pressing member is separated from the object. [Figure 9] FIG. 10 is a front view of another example of a pillow packaging handling device, showing a state in which a pressing member is pressed against an object. [Figure 10] FIG. 10 is a plan view showing another example of a pillow packaging handling device. [Figure 11] FIG. 10 is an enlarged front view showing the main part of FIG. 9. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Example) Specific examples of handling devices that suction and grip objects are described with reference to the drawings. Figures 1, 2, 3, and 4 show an example of a pillow packaging handling device (hereinafter simply referred to as "handling device") 10, which is an example of a handling device. In each figure, similar components are assigned the same reference numerals. The handling device 10 is a mechanism that vacuum-suctions and lifts an object 12 on a conveying path 11, for example, on a conveyor or conveying rollers, and then transports (for example, at high speed) the lifted object 12 to another location, for example, into a box. The object 12 on the conveying path 11 is an article 13 pillow-packaged in a bag 14 made of synthetic resin (for example, film).

[0010] The handling device 10 is provided vertically above the conveying path 11. The handling device 10 is operable in the vertical direction, i.e., it can be lowered, raised, and stopped. The vertical direction is the direction in which gravity acts. The handling device 10 includes a lifting plate 15, a suction mechanism 16, a fixed plate 17, a bushing 18, a pressing member 19, a shaft 20, and a compression coil spring 21.

[0011] The lift plate 15 is made of a metal, such as stainless steel or aluminum. The lift plate 15 is disposed substantially horizontally, and is lowered, raised, and stopped by an actuator. When the handling device 10 is viewed from directly above in the vertical direction, the lift plate 15 has a substantially quadrangular shape, such as a rectangle or a square. The actuator may be a pneumatic cylinder, a hydraulic cylinder, a servo motor, or the like. A mounting hole 22 is provided through the lift plate 15 in the thickness direction. When the handling device 10 is viewed from directly above in the vertical direction, multiple mounting holes 22 are arranged at different locations. Specifically, the mounting holes 22 are arranged at locations corresponding to the four corners of the lift plate. As shown in FIG. 5, the mounting hole 22 has an inner diameter of φ1.

[0012] The suction mechanism 16 is provided on the lift plate 15. As shown in FIG. 4 , in a plan view of the handling device 10 viewed from directly above in the vertical direction, the suction mechanism 16 is disposed inside the presser member 19. The suction mechanism 16 is provided to suction (grasp) the object 12 by reducing the air pressure inside the suction pad 25 to less than atmospheric pressure. The suction mechanism 16 includes a fixed tube 23 fixed to the lift plate 15, an air tube 24 connected to the fixed tube 23, and a suction pad 25 connected to the fixed tube 23. When the handling device 10 is viewed from directly above in the vertical direction, the fixed tube 23 is disposed approximately in the center of the lift plate 15. The fixed tube 23 is provided to penetrate the lift plate 15 in the thickness direction. The fixed tube 23 is provided vertically from above to below the lift plate 15.

[0013] The air pipe 24 is connected to the upper end of the fixed pipe 23, and the air pipe 24 is connected to a pump. The suction pad 25 comes into contact with, i.e., is pressed against, the object 12. The suction pad 25 is connected to the lower end of the fixed pipe 23. The suction pad 25 is made of a material such as silicone rubber or synthetic rubber, and is a bellows-shaped pipe. An imaginary line A3 passing through the center of the suction pad 25 is disposed along the substantially vertical direction. In other words, the suction pad 25 protrudes vertically downward from the lower surface of the lifting plate 15.

[0014] The fixed plate 17 and bushings 18 are attached to the lift plate 15. The fixed plate 17 is made of, for example, metal, and is fixed to the underside of the lift plate 15 by a plurality of fixing elements 26. The fixing elements 26 are, for example, screws. When the handling device 10 is viewed in plan from directly above in the vertical direction, the fixed plate 17 is attached to a location different from the location where the fixed tube 23 is attached to the lift plate 15. In the example of FIG. 4 , the fixed plate 17 is arranged in a C-shape along the outer edge of the lift plate 15 and surrounding the fixed tube 23. A mounting hole 27 is provided through the fixed plate 17 in the thickness direction. A plurality of mounting holes 27 are provided corresponding to the four corners of the lift plate 15.

[0015] As shown in FIG. 4 , in a plan view of the handling device 10 viewed from directly above in the vertical direction, multiple bushes 18 are arranged at different locations. Specifically, multiple bushes 18, for example, four bushes 18, are fixed to the lift plate 15. The bushes 18 are made of, for example, synthetic resin and are cylindrical. Each bush 18 has a shaft hole 28, which has an inner diameter of φ3 as shown in FIG. 5 . Each bush 18 has an outward flange 29. The outward flange 29 has an outer diameter of φ4, which is greater than the inner diameter φ1. Each bush 18 is separately arranged in the mounting hole 27, and the outward flange 29 of each bush 18 is respectively interposed between the lift plate 15 and the fixed plate 17. In other words, the outward flange 29 is sandwiched between the lift plate 15 and the fixed plate 17. Furthermore, as shown in FIGS. 1 , 2 , 3 , and 5 , washers 51 are arranged below the multiple bushes 18. The washer 51 is made of metal or resin and has an annular shape. A portion of the shaft 20 is inserted into a hole in the washer 51.

[0016] The pressing member 19 is an element that is pressed against the object 12 to remove wrinkles from the bag 14. The pressing member 19 is made of a material such as hard synthetic resin, metal, synthetic rubber, or wood. When the handling device 10 is viewed in a plan view from directly above in the vertical direction, the pressing member 19 has an annular shape.

[0017] The shafts 20 extend vertically, and first ends of the shafts 20 are connected to the holding member 19. As shown in FIG. 4 , multiple shafts 20 are arranged at different locations in a plan view of the handling device 10 viewed from directly above in the vertical direction. Multiple shafts 20, for example, four shafts 20, are provided, and first ends of all of the shafts 20 are fixed to the holding member 19. The four shafts 20 are made of a material such as hard synthetic resin or metal. A portion of each shaft 20 is disposed in the shaft hole 28 and the mounting hole 22. A washer 30 is fixed to the second ends of each of the four shafts 20. The outer diameter of the washer 30 exceeds the inner diameter φ1 of the mounting hole 22. The washer 30 is located above the lifting plate 15 in the vertical direction. The outer diameter φ2 of the shaft 20 shown in FIG. 5 is less than the inner diameter φ1 of the mounting hole 22 and less than the inner diameter φ3 of the shaft hole 28.

[0018] Compression coil springs 21 are provided between the presser member 19 and each washer 51. The compression coil springs 21 are wound around the shaft 20. The outer diameter φ5 of the compression coil springs 21 preferably does not exceed the width L1 of the presser member 19 shown in FIG. 4. The width L1 is the dimension when the presser member 19 is viewed in plan. Also, as shown in FIG. 5, the inner diameter φ8 of the compression coil springs 21 is greater than the outer diameter φ2 of the shaft 20. Furthermore, the outer diameter φ5 of the compression coil springs 21 exceeds the inner diameter φ3 of the bushings 18, and the inner diameter φ8 of the compression coil springs 21 is less than the outer diameter φ7 of the washers 51. The compression coil springs 21 are made of, for example, metal, and their elastic restoring force, i.e., a pressing force (biasing force), is applied downward to the presser member 19 and upward to the bushings 18 via the washers 51. The pressing force applied to the bushings 18 is transmitted to the lift plate 15. When the pressing member 19 is separated from the object 12, the lifting plate 15 is pressed against the washer 30. The bushing 18, the washer 51, the compression coil spring 21, and the washer 30 constitute a variable mechanism 50.

[0019] (Example of operation) The handling device 10 operates as follows. As shown in FIG. 6, the handling device 10 is positioned above the transport path 11, and the presser member 19 is spaced apart from the object 12. As shown in FIG. 1, the pressing force of the four compression coil springs 21 is applied to the lifting plate 15 via the bushings 18. The lifting plate 15 is pressed against the four washers 30, and is held substantially horizontally. The imaginary lines A2 passing through the centers of the four shafts 20 are each positioned substantially vertically. The pump is stopped, and the suction mechanism 16 is not performing vacuum suction. In other words, the inside of the suction pad 25 is at atmospheric pressure.

[0020] Next, the handling device 10 is lowered. Specifically, the lifting plate 15 is lowered by the actuator. This presses the pressure member 19 against the object 12, smoothing out wrinkles in the bag 14. As the lifting plate 15 continues to lower, the pressure member 19 is indirectly pressed against the article 13 via the bag 14, at which point the pressure member 19 is stopped and the compression coil spring 21 begins to compress. Then, as shown in FIGS. 2 and 6, when the lower end of the suction pad 25 is pressed against the object 12, the lifting plate 15 is stopped.

[0021] Furthermore, vacuum suction is performed by the suction mechanism 16. Specifically, the air inside the suction pad 25 is sucked into the air pipe 24, and the air pressure inside the suction pad 25 becomes lower than atmospheric pressure. As a result, the suction pad 25 suctions, i.e., grips, the target object 12.

[0022] 3 and 6, the handling device 10 is raised and the object 12 is lifted from the conveying path 11. The handling device 10 then conveys the grasped object 12 to a position different from the conveying path 11, for example, onto a box located to the side of the conveying path 11, and the suction mechanism 16 releases the vacuum suction. Thus, the object 12 is stored in the box.

[0023] When the suction mechanism 16 releases the vacuum suction, the pressing member 19 is pressed downward by the pressing force of the compression coil spring 21, and the pressing member 19 is separated from the lift-up plate 15. Then, the lift-up plate 15 is pressed against the washer 30, and the lift-up plate 15 stops.

[0024] (Effects of specific examples) In the handling device 10, the pressing member 19 is pressed against the bag 14 to smooth out wrinkles in the bag 14, and then the suction pad 25 is pressed against the bag 14. This prevents a gap from forming between the suction pad 25 and the bag 14. This prevents air from entering through the gap between the suction pad 25 and the bag 14, preventing a decrease in the gripping force of the suction pad 25. Furthermore, in a plan view of the handling device 10, the annular pressing member 19 is pressed against the bag 14 so as to surround the periphery of the suction pad 25. This prevents the object 12 from vibrating (swaying) around the suction pad 25, stabilizing the posture of the object 12. This eliminates the need to leave excess space in the box when storing the object 12 in the box.

[0025] Furthermore, four shafts 20 are provided, and a compression coil spring 21 is wound around each of the four shafts 20. Therefore, each shaft 20 and the presser member 19 can move and displace integrally relative to the lift plate 15 within a three-dimensional space represented by the X-axis 40, Y-axis 41, and Z-axis 42 shown in FIG. 7. Therefore, as shown in FIG. 5, the angle α1 formed between an imaginary line A1 passing through the center of the mounting hole 22 and an imaginary line A2 passing through the center of the shaft 20 is allowed to change for each shaft 20 and each mounting hole 22. Note that it is possible to imagine a case in which the imaginary lines A1 and A2 intersect at a predetermined position P1 within the mounting hole 22, for example. The angle α1 can be defined as the acute angle between the imaginary lines A1 and A2. This reduces the likelihood of a gap being formed between the presser member 19 and the object 12, ensuring reliable adsorption of the object 12.

[0026] Furthermore, the lower end of the compression coil spring 21 is pressed against the pressing member 19, and the upper end of the compression coil spring 21 is pressed against the washer 51, and the compression coil spring 21 is subjected to a compression load. Therefore, with the suction pad 25 spaced apart from the target object 12, the lifting plate 15 is pressed against the washer 30 by the pressing force of the compression coil spring 21. Therefore, with the suction pad 25 spaced apart from the target object 12, the lifting plate 15 is held horizontally.

[0027] Furthermore, as shown in FIG. 5 , the outer diameter φ4 of the outward flange 29 of the bushing 18 exceeds the inner diameter φ1 of the mounting hole 22, the inner diameter φ3 of the axial hole 28 of the bushing 18 is less than the outer diameter φ5 of the compression coil spring 21, and the outer diameter φ7 of the tubular portion 18A of the bushing 18 exceeds the inner diameter φ8 of the compression coil spring 21. The outer diameter φ7 is less than the outer diameter φ4. This further increases tolerance for change in the angle α1. Furthermore, the upper end of the compression coil spring 21 is pressed against the washer 51, preventing direct contact between the compression coil spring 21 and the lift plate 15. This prevents the end of the compression coil spring 21 from entering the mounting hole 22. This allows for smooth lifting and lowering of the lift plate 15. Furthermore, this eliminates the need to increase the outer diameter φ5 to prevent the compression coil spring 21 from entering the mounting hole 22. Therefore, the compression coil spring 21 can be prevented from rattling (vibrating) in the diameter direction of the shaft 20.

[0028] (Example of change) Other examples of the handling device 10 are shown in Figures 8, 9, and 10. The cylindrical portion 18A of the bushing 18 is press-fitted into and fixed in the mounting hole 22 of the lift-up plate 15. A receiving portion 31 is fixed to the upper surface of the lift-up plate 15 by a fixing element. The fixing element is, for example, a screw member. The receiving portion 31 is made of, for example, sheet metal, and four receiving portions 31 are provided corresponding to the four mounting holes 22. In other words, in a plan view of the handling device 10 viewed from directly above in the vertical direction, multiple receiving portions 31 are arranged at different locations on the lift-up plate 15. The receiving portions 31 prevent the bushing 18 from moving vertically relative to the lift-up plate 15. In other words, the receiving portions 31 are provided to prevent contact between the bushing 18 and the washer 30.

[0029] As shown in FIG. 11 , each receiving portion 31 has a shaft hole 32, and the inner diameter of the shaft hole 32 is set to φ6. The inner diameter φ6 of the shaft hole 32 exceeds the outer diameter φ2 of the shaft 20 and exceeds the inner diameter φ3 of the shaft hole 28. A portion of the longitudinal direction of the shaft 20 is disposed in the shaft hole 32. The receiving portion 31 is located between the washer 30 and the lifting plate 15. The outer diameter of the washer 30 exceeds the inner diameter φ6 of the shaft hole 32. The outer diameter φ4 of the outward flange 29 exceeds the inner diameter φ6 of the shaft hole 32. The outward flange 29 is disposed between the lifting plate 15 and the receiving portion 31. The bushing 18 is press-fitted and fixed to the lifting plate 15. Note that the handling device 10 shown in FIGS. 8, 9, and 10 does not include the fixing plate 17 described above.

[0030] Another example of the operation of the handling device 10 is as follows. The lower end of the compression coil spring 21 is pressed against the pressing member 19, and the upper end of the compression coil spring 21 is pressed against the washer 51. Therefore, the outward flange 29 of the bushing 18 is pressed against the receiving portion 31, and the compression coil spring 21 is subjected to a compressive load. Therefore, the bushing 18 is not pressed against the receiving portion 31. Here, as shown in FIG. 8 , when the pressing member 19 is separated from the object 12, the pressing force of the compression coil spring 21 is applied to the pressing member 19, and the shaft 20 is urged downward. In other words, the washer 30 is pressed against the receiving portion 31, and the shaft 20 is stopped.

[0031] When the handling device 10 is lowered and the presser member 19 is pressed against the object 12, wrinkles in the bag 14 are smoothed out. When the lifting plate 15 is further lowered, the presser member 19 is stopped as shown in FIG. 9. As a result, the lifting plate 15 is lowered against the pressing force of the compression coil spring 21, and the receiving portion 31 is separated from the washer 30. Then, the lifting plate 15 is stopped, and the suction mechanism 16 shown in FIG. 10 is activated, causing the suction pad 25 to grip the object 12.

[0032] Thereafter, the handling device 10 is raised, and the object 12 is lifted from the conveying path 11. Furthermore, when the handling device 10 is moved above the box and the vacuum suction of the suction mechanism 16 is released, the object 12 is placed inside the box. Furthermore, when the vacuum suction of the suction mechanism 16 is released, the pressing member 19 is separated from the lifting plate 15 by the pressing force of the compression coil spring 21. Then, the washer 30 comes into contact with the receiving portion 31, and the pressing member 19 is stopped. The handling device 10 shown in FIGS. 8, 9, and 10 can achieve the same effects as the handling device 10 shown in FIGS. 1, 2, and 3.

[0033] (Other explanations) An example of the technical meaning of the matters described in this embodiment is as follows. The handling device 10 is an example of a handling device. The holding member 19 is an example of a holding member. The suction mechanism 16 is an example of a suction mechanism. The lifting plate 15 is an example of a lifting member. The shaft 20 is an example of a shaft. The mounting hole 22 is an example of a mounting hole. The imaginary line A1 is an example of a first imaginary line. The imaginary line A2 is an example of a second imaginary line. The variable mechanism 50 is an example of a variable mechanism. The bushing 18 is an example of a bushing. The compression coil spring 21 is an example of an elastic member. The washer 30 is an example of a stopper. The inner diameter φ1 of the mounting hole 22 is an example of the inner diameter of a mounting hole. The outer diameter φ4 of the outward flange 29 of the bushing 18 is an example of the outer diameter of a bushing. The inner diameter φ3 of the shaft hole 28 is an example of the inner diameter of a bushing. The outer diameter φ5 of the compression coil spring 21 is an example of the outer diameter of a compression coil spring. The inner diameter φ8 of the compression coil spring 21 is an example of the inner diameter of a compression coil spring. The angle α1 is an example of an angle.

[0034] This embodiment is not limited to those disclosed using the drawings, and various modifications are possible within the scope of the gist thereof. For example, a plan view of the handling device viewed from directly above in the vertical direction has the same meaning as a plan view of the holding member viewed from directly above in the vertical direction, or a plan view of the lifting member viewed from directly above in the vertical direction. The number of shafts can be changed as desired. Furthermore, in a plan view of the handling device viewed from directly above, the holding member only needs to be annular, and the outer peripheral shape of the holding member may be circular, elliptical, or polygonal. Furthermore, the materials of each element, member, etc. constituting the handling device can be changed and selected as desired. [Industrial Applicability]

[0035] The present disclosure can be used as a handling device that grips and transports an object by vacuum suction. [Explanation of symbols]

[0036] 10... handling device, 15... lifting plate, 16... suction mechanism, 18... bushing, 19... holding member, 20... shaft, 21... compression coil spring, 22... mounting hole, 30... washer, 50... variable mechanism, A1, A2... imaginary line, φ1, φ3, φ4, φ7... inner diameter, α1... angle

Claims

1. a pressing member that is raised and lowered in the vertical direction and pressed against the object; a suction mechanism that is raised and lowered in a vertical direction and that comes into contact with the object at a location different from the location where the pressing member is pressed, thereby suctioning the object; A handling device having a lifting member that is disposed above the pressing member in the vertical direction, is raised and lowered in the vertical direction, and has the suction mechanism attached thereto; a shaft connecting the pressing member and the lifting member and extending in a vertical direction; and the lifting member has mounting holes into which parts of the shafts in the longitudinal direction are respectively disposed; A handling device provided with a variable mechanism that allows a change in the angle formed between a first imaginary line passing through the center of the mounting hole and a second imaginary line passing through the center of the shaft.

2. 2. The handling device according to claim 1, The variable mechanism is a cylindrical bushing attached to the lifting member and disposed on a portion of the shaft in the longitudinal direction; an elastic member disposed between the bush and the pressing member and biasing the pressing member downward so as to move the pressing member away from the lifting member; a stopper attached to the shaft and configured to prevent the shaft, which is biased downward by the biasing force of the elastic member, from slipping out of the mounting hole; Handling equipment, including:

3. 3. The handling device according to claim 2, the elastic member is a compression coil spring wound around the shaft, The outer diameter of the bushing exceeds the inner diameter of the mounting hole, The inner diameter of the bushing is smaller than the outer diameter of the compression coil spring, The outer diameter of the bushing exceeds the inner diameter of the compression coil spring.

4. 4. The handling device according to claim 3, The shaft is disposed in a plurality of positions different from each other in a plan view of the pressing member seen from directly above in the vertical direction, the mounting holes are arranged at different positions in a plan view of the lifting member seen from directly above in the vertical direction, a plurality of the bushes are arranged at different positions in a plan view of the lifting member seen from directly above in the vertical direction; When viewed from directly above in a vertical direction, the pressing member is configured in an annular shape, The handling device, wherein the suction mechanism is disposed inside the pressing member in a plan view of the pressing member seen from directly above in the vertical direction.

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