Transfer machine including an automatic lifting unit

Abstract

The present invention relates to a transfer machine including an automatic lifting unit, and provides a transfer machine including: a bar code reader that reads a bar code attached to a box that contains bobbins loaded with raw materials; a fork unit that chucks the bobbin in the X-axis direction corresponding to the width direction or side direction and has a distance sensor that detects the distance from the bobbin and a chucking sensor that detects the chucking of the bobbin; a travel drive unit that is connected to the fork unit at the top of the fork unit and raises and lowers the fork unit in the Z-axis direction corresponding to the height direction or lifting direction and moves it in the Y-axis direction corresponding to the length direction or traveling direction; and a control unit that automatically controls bobbin lifting by controlling Z-axis centering of the fork unit through linkage with the bar code reader and the distance sensor, X-axis centering of the fork unit through linkage with the chucking sensor, Z-axis lifting and Y-axis movement of the fork unit.

Description

Technical Field

[0001] The present invention relates to a transfer device, and more particularly to a transfer device including an automatic lifting unit.

Background Art

[0002] Conventionally, in order to place raw materials such as various types of foils on a transport cart, manual operations of lifting a bobbin using a hoist and a string have been performed.

[0003] However, there is a risk of a falling accident during manual operation of hoisting a high-load bobbin, and since it is a dangerous operation, more than two workers have been performing the operation.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Therefore, an object of the present invention is to provide a transfer device that automatically centers and lifts a bobbin in order to automate dangerous operations and reduce the number of workers.

Means for Solving the Problems

[0005] To achieve the above object, the present invention provides a transfer machine including: a bar code reader for reading a bar code attached to a box containing a bobbin on which raw materials are loaded; a fork unit including a distance sensor for chucking the bobbin in the X-axis direction corresponding to the width direction or the side direction and sensing the distance from the bobbin, and a chucking sensor for sensing the chucking of the bobbin; a traveling drive unit connected to the fork unit above the fork unit for moving the fork unit up and down in the Z-axis direction corresponding to the height direction or the elevating direction and moving it in the Y-axis direction corresponding to the length direction or the traveling direction; and a control unit for automatically controlling the lifting of the bobbin by controlling the Z-axis centering of the fork unit through the interlock with the bar code reader and the distance sensor, the X-axis centering of the fork unit through the interlock with the chucking sensor, and the Z-axis elevation and Y-axis movement of the fork unit respectively.

[0006] In the present invention, the fork unit may include: a fork unit frame having a plate-like structure; an orthogonal robot provided with a motor and movably installed in the X-axis direction at the lower part of the fork unit frame; a fork arm installed at the lower part of the orthogonal robot; a fork installed inside the lower end of the fork arm for chucking the bobbin; a distance sensor installed inside the fork arm and at the lower part of the orthogonal robot; a chucking sensor installed at the lower end of the fork arm; a lifting guide shaft installed at the upper part of the fork unit frame; a sensor support base installed on the upper side of the fork unit frame; and a lifting fixed-position sensor and a lifting limit sensor installed on the sensor support base.

[0007] In the present invention, the traveling drive unit includes: a traveling drive unit frame having a plate-like structure; a traveling motor for Y-axis direction movement installed on the upper part of the traveling drive unit frame; a lifting motor for Z-axis direction movement installed on the upper part of the traveling drive unit frame; a rack jack installed on the traveling drive unit frame so as to be liftable in the Z-axis direction, which switches the rotation of the lifting motor into linear motion and is connected to the fork unit to lift the fork unit; a lifting guide bush installed on the traveling drive unit frame into which the lifting guide shaft of the fork unit is inserted; a sensor support base installed on the traveling drive unit frame in the Z-axis direction; and a lifting fixed-position sensor and a lifting limit sensor installed on the sensor support base.

[0008] The transfer machine according to the present invention can further include a conveyor unit disposed below the fork unit for placing the box, and the conveyor unit includes: a free roller lane for Y-axis direction movement of the box; a box stopper installed at the Y-axis rear end of the free roller lane for Y-axis centering of the box; a cargo alignment sensor disposed adjacent to the box stopper to check whether the box is positioned to contact the box stopper; an entry guide block installed at the Y-axis front end of the free roller lane to guide the entry path of the transport vehicle; and a transport vehicle end stopper disposed adjacent to the box stopper to prevent collision of the transport vehicle.

[0009] The transfer machine according to the present invention is installed outside the conveyor unit in the X-axis direction, and may further include a centering unit for adjusting the position of the box in the X-axis direction and the Y-axis direction. The centering unit includes: a box pusher that contacts the box for centering the box; an X-axis cylinder that is connected to the box pusher and moves the box pusher in the X-axis direction; a moving plate on which the X-axis cylinder is installed; a Y-axis cylinder that is connected to the moving plate and moves the box pusher in the Y-axis direction; an LM (linear motion) guide that is connected to the moving plate and guides the movement in each axial direction; a centering unit frame on which the Y-axis cylinder is installed; and a size check sensor that is installed on the upper part of the centering unit frame to check the size of the box.

[0010] The transfer machine according to the present invention may further include a main frame unit. The main frame unit includes: a main frame having a three-dimensional structure; a light curtain sensor that is installed on the side surface of the main frame and is interlocked during lower maintenance; a cableveyor (registered trademark) that is installed on the upper part of the main frame and guides a cable; an LM guide that is installed on the upper part of the main frame, is connected to the traveling drive unit frame, and guides the traveling direction of the traveling drive unit frame; and a traveling fixed position sensor and a traveling limit sensor that are installed on the upper part of the main frame.

[0011] The transfer machine according to the present invention can further include a bobbin stacking table installed on the Y-axis rear end side of the main frame unit for placing bobbins. The bobbin stacking table can include: a stacking table frame with a three-dimensional structure; a guide block installed on the upper part of the stacking table frame to prevent the bobbin from being pushed in the axial direction; a cargo sensing sensor installed on the upper part of the stacking table frame to determine the presence or absence of a bobbin on the stacking table; a bobbin sensing sensor installed on the guide block to determine the presence or absence of a bobbin on the guide block; and a transport vehicle end stopper installed on the Y-axis rear end side of the stacking table frame to prevent a collision between the transport vehicle and the stacking table.

[0012] The transfer machine according to the present invention can further include a cover assembly installed on the upper part and side surface of the main frame unit. The cover assembly can include: a cover assembly frame with a three-dimensional structure; a ladder installed on the side surface of the cover assembly frame to provide a movement path during upper maintenance; and a safety door installed on the side surface of the cover assembly frame.

[0013] The transfer machine according to the present invention can further include an entry guide installed on the entrance side of the main frame unit to guide the path of the transport vehicle when a box is inserted. The entry guide can include: an entry guide frame with a three-dimensional structure; a roller installed inside the entry guide frame in the Z-axis direction to prevent friction between the transport vehicle and the entry guide; and a pad installed on the front end side of the entry guide frame to prevent damage to the transport vehicle and the entry guide.

[0014] The transfer machine according to the present invention can further include a maintenance frame installed on the upper part of the main frame unit for mounting a motor during maintenance.

Advantages of the Invention

[0015] By automatically centering and lifting the bobbin using the transfer machine according to the present invention, dangerous work can be automated and the number of workers can be reduced.

Brief Description of the Drawings

[0016]

Figure 1a

Figure 1b

Figure 2a

Figure 2b

Figure 3a

Figure 3b

Figure 3c

Figure 3d

Figure 4a

Figure 4b

Figure 4c

Figure 5a

Figure 5b

Figure 5c

Figure 6

Figure 7a

Figure 7b

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12a

Figure 12b

Embodiments for Carrying out the Invention

[0017] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

[0018] Referring to FIGS. 1a and 1b, the transfer machine according to the present invention can be roughly divided into a main frame unit 10, a traveling drive unit 20, a fork unit 30, a centering unit 40, a conveyor unit 50, a bobbin stacking table 60, a cover assembly 70, an entry guide 80, a box cover stacking table 90, a maintenance frame 100, a bar code reader, a control unit, and the like.

[0019] The transfer machine according to the present invention can be used for transferring raw materials. The raw materials can be, for example, foils, films, etc. made of metals, plastics, etc., and can be, for example, metal foils, plastic films, etc. The foil can be, for example, a foil used for batteries (such as for automobiles), and specifically, the foil can be a foil used as a substrate (current collector) for electrodes (positive electrode, negative electrode), and more specifically, it can be a copper (Cu) foil (negative electrode) and an aluminum (Al) foil (positive electrode), etc.

[0020] Referring to FIG. 12a, the foil 2 can be transferred while being wound around the bobbin 1 in a roll state. Similarly, in the case of a film, it can also be transferred while being wound around the bobbin 1 in a roll state. The bobbin 1 can be configured with a cylindrical hollow structure having an empty interior. Both ends of the bobbin 1 can be open hollow ends 1a, and by inserting the fork 33b of the fork unit 30 into the hollow end 1a, the fork unit 30 can chuck the bobbin 1.

[0021] The bobbin 1 around which the foil 2 is wound can be accommodated (loaded) in the box 3. The box 3 can be, for example, a wooden box made of wood, and can also be manufactured from metal, plastic, paper materials, etc.

[0022] Referring to FIG. 12b, the box 3 can be composed of a lower box body 3a and an upper box cover 3b. The box body 3a has an internal space and can have a hexahedral structure with an open top. The box cover 3b has an internal space and can have a hexahedral structure with an open bottom. A groove for placing the bobbin 1 can be formed at the upper end of the box body 3a. After placing the bobbin 1 around which the foil 2 is wound in the box body 3a and then covering the box body 3a with the box cover 3b, it can be transferred in this packaged box state.

[0023] In the drawings, the X-axis can be the width direction or the side direction of the transfer machine. The Y-axis can be the length direction or the traveling direction of the transfer machine. The Z-axis can be the height direction or the elevating direction of the transfer machine. The front end of the Y-axis indicates the front side (front) in FIG. 1a, and the rear end of the Y-axis indicates the rear side (rear). In FIG. 1b, conversely, the front surface indicates the rear end of the Y-axis. The size of the transfer machine is not particularly limited and can be appropriately set. In particular, the length of the transfer machine can be very long, different from the drawings, as required.

[0024] Referring to FIGS. 2a and 2b, the main frame unit 10 can be composed of a main frame 11, a light curtain sensor 12, a cable bear (registered trademark) 13, an LM guide 14, a traveling fixed position sensor 15, a traveling limit sensor 16, 17, etc.

[0025] The main frame 11 forms a basic framework and can have a three-dimensional structure in the form of a hexahedron, and can have a size close to the overall size of the substantially transfer machine.

[0026] The light curtain sensor 12 is installed on the side surface of the main frame 11 and can be interlocked during lower maintenance. The light curtain sensor 12 can be installed at five locations on the side surface of the main frame 11, that is, one in the Z-axis direction at the front end, one in the Y-axis direction at the lower end on the front end side, one in the Y-axis direction on the central side, one in the Y-axis direction at the lower end on the rear end side, and one in the Z-axis direction at the rear end, as shown in, for example, FIG. 2b (side view). The light curtain sensor 12 is a kind of safety sensor, and when an operator or the like is sensed by this sensor, the operation of the transfer machine can be temporarily stopped.

[0027] The cable bear (registered trademark) 13 is installed on the upper part of the main frame 11 and can guide the cable. The cable bear (registered trademark) 13 can be installed one by one in the Y-axis direction on both sides of the upper part of the main frame 11.

[0028] The LM guide 14 is installed on the upper part of the main frame 11, connected to the traveling drive unit frame 21, and can guide the traveling direction of the traveling drive unit 20. The LM guide 14 can be installed one by one in the Y-axis direction outside both sides of the cable bear (registered trademark) 13 and can be connected to the lower part of the traveling drive unit frame 21.

[0029] The traveling fixed position sensor (or traveling origin sensor) 15 is installed on the upper part of the main frame 11 and can confirm the origin operation or operation completion of the traveling drive unit 20. The traveling fixed position sensor 15 can be installed on the rear end side of the support base in the center of the upper part of the main frame 11. The traveling fixed position sensor 15 can be a horseshoe-shaped sensor.

[0030] The travel limit sensors 16 and 17 are installed on the upper part of the main frame 11 and can be stopped while generating an alarm when the travel drive unit 20 exceeds the limit. The travel limit sensors 16 and 17 can be composed of a travel reverse limit sensor 16 and a travel forward limit sensor 17, and these can be installed on the rear end side and the front end side of the support base in the center at the upper part of the main frame 11 respectively. The travel limit sensors 16 and 17 can be limit switch sensors.

[0031] Referring to FIGS. 3a, 3b, 3c, and 3d, the travel drive unit 20 can be composed of a travel drive unit frame 21, a travel motor 22, a lifting motor 23, a rack and jack 24, a lifting guide bush 25, a sensor support base 26, a lifting fixed position sensor 27, a lifting limit sensor 28, 29, etc.

[0032] The travel drive unit 20 itself can move in the Y-axis direction, and is connected to the fork unit 30 above the fork unit 30, and can lift the fork unit 30 in the Z-axis direction and reciprocate in the Y-axis direction.

[0033] The travel drive unit frame 21 forms the basic framework, can be composed of a rectangular plate-like structure, and its lower part is connected to the LM guide 14 of the main frame unit 10 and can reciprocate in the Y-axis direction.

[0034] The traveling motor 22 can be a traveling motor for Y-axis direction movement installed at the upper part of the traveling drive unit frame 21. Although not shown in the drawings, the rotation axis of the traveling motor 22 can be connected to one of a pair of pulleys (or gears) through an appropriate power transmission mechanism, and a belt (or chain) can be wound around the pair of pulleys to rotate, and the belt can be directly or indirectly connected to the traveling drive unit frame 21. The pair of pulleys can be respectively arranged on the front end and the rear end sides of the Y-axis and can be fixed to the main frame unit 10 or the like. The belt can be arranged to be long in the Y-axis direction. By the forward and reverse rotation of the pulley and the belt, the traveling drive unit frame 21 can reciprocate in the Y-axis direction. In addition to such a pulley and belt mechanism, other drive mechanisms, such as a cylinder and piston (or rod) mechanism, a rack and pinion mechanism, etc. can also be used.

[0035] The lifting motor 23 can be a lifting motor for Z-axis direction movement installed at the upper part of the traveling drive unit frame. Referring to Fig. 3a, the rotation axis of the lifting motor 23 can be connected to the rack jack 24 through an appropriate power transmission mechanism (belt / chain, pulley / gear, rotating shaft, reduction gear, pinion gear, etc.).

[0036] The rack jack 24 is installed in the Z-axis direction so as to be liftable on the traveling drive unit frame 21, switches the rotation of the lifting motor 23 to a linear motion, and can be connected to the fork unit 30 to lift the fork unit 30. The rack jack 24 is a rack gear and can mesh with a pinion gear to perform a linear motion in the Z-axis direction. The rack jack 24 can be composed of a total of 4 pieces, two pairs on both sides in the X-axis direction, and the upper parts of the pair of rack jacks 24 can be connected through a connecting member. The lower end of the rack jack 24 can be connected to the upper end of the fork unit frame 31 of the fork unit 30. In Fig. 3, the rack jack 24 is in a state of rising to the maximum height.

[0037] The lifting guide bush 25 is installed on the traveling drive unit frame 21, and the lifting guide shaft 38 of the fork unit 30 can be inserted into the lifting guide bush 25. The lifting guide bush 25 can be composed of a total of four arranged adjacent to the inner side in the X-axis direction of each rack jack 24.

[0038] The sensor support base 26 is installed in the Z-axis direction on the traveling drive unit frame 21, and the lifting fixed-position sensor 27 and the lifting limit sensors 28, 29 can be attached to the sensor support base 26.

[0039] The lifting fixed-position sensor (or the lifting origin sensor) 27 is installed on the upper end side of the sensor support base 26, and can confirm the origin operation or the completion of the operation of the fork unit 30. The lifting fixed-position sensor 27 can be a horseshoe-shaped sensor.

[0040] The lifting limit sensors 28, 29 are installed on the upper end side and the lower end side of the sensor support base 26, and can stop while generating an alarm when the fork unit 30 exceeds the limit. The lifting limit sensors 28, 29 can be composed of a lifting up limit sensor 28 and a lifting down limit sensor 29. The lifting limit sensors 28, 29 can be limit switch sensors.

[0041] Referring to FIGS. 4a, 4b, and 4c, the fork unit 30 can be composed of a fork unit frame 31, an orthogonal robot 32, fork arms 33a, forks 33b, a box cover cylinder 34a, a box sensing sensor 35, a distance sensor 36, a chucking sensor 37, a lifting guide shaft 38, a sensor support base 39a, a lifting origin sensor 39b, a lifting limit sensor 39c, etc.

[0042] The fork unit 30 is installed at the lower part of the traveling drive unit 20 and the upper part of the conveyor unit 50, and can chuck the cover 3b of the box 3 adjusted in position in the X-axis direction, and can also chuck the bobbin 1 loaded in the box 3 in the X-axis direction.

[0043] The fork unit frame 31 forms a basic framework and can be composed of a rectangular plate-like structure. Its upper end is connected to the lower end of the rack jack 24 of the traveling drive unit 20 and can move up and down in the Z-axis direction.

[0044] The orthogonal robot 32 is for the linear reciprocating movement of the chucking member in the X-axis direction and can be installed movably in the X-axis direction at the lower part of the fork unit frame 31. The orthogonal robot 32 can be equipped with a motor for moving in the X-axis direction when chucking the bobbin 1. The orthogonal robot 32 can be composed of two arranged at both ends of the fork unit frame 31 in the X-axis direction.

[0045] The fork arms 33a are respectively installed in the Z-axis direction at the lower parts of the orthogonal robots 32 on both sides and can support the forks 33b, the box cover cylinder 34a, etc. The fork arms 33a can linearly reciprocate in the X-axis direction along the orthogonal robots 32.

[0046] The forks 33b are respectively installed in the X-axis direction inside the lower ends of the fork arms 33a on both sides and can chuck the bobbin 1. The forks 33b can chuck the bobbin 1 while being inserted into the open hollow ends 1a at both ends of the bobbin 1 and can linearly reciprocate in the X-axis direction along the fork arms 33a.

[0047] The box cover cylinder 34a is a cylinder for moving in the X-axis direction when chucking the box cover 3b and is respectively installed in the X-axis direction in the middle of the fork arms 33a on both sides and can chuck the box cover 3b. The box cover cylinder 34a can be equipped with a cylinder rod 34b arranged outside the fork arm 33a, a cover pusher 34c arranged inside the fork arm 33a, and a connecting member 34d connecting the cylinder rod 34b and the cover pusher 34c. The box cover cylinder 34a can be an air cylinder.

[0048] The cylinder rod 34b linearly reciprocates in the X-axis direction outside the fork arm 33a, and the cover pusher 34c connected to the cylinder rod 34b through the connecting member 34d can linearly reciprocate in the X-axis direction inside the fork arm 33a. Therefore, the cover pusher 34c can linearly reciprocate autonomously in the X-axis direction regardless of the movement of the fork arm 33a.

[0049] In FIG. 4, the state where the cover pusher 34c moves forward most inside the fork arm 33a, that is, the chucking state of the box cover 3b, is shown. When chucking the bobbin 1, it can move backward so as to be in close contact with the fork arm 33a in order not to interfere with the chucking of the bobbin 1 by the fork 33b.

[0050] The box detection sensor 35 is installed at the inner part of the fork arm 33a of the connecting member 34d of the box cover cylinders 34a on both sides, and can detect the box cover 3b. The box detection sensor 35 is necessary for the X-axis centering of the fork unit 30 when chucking the box cover 3b. The box detection sensor 35 can be a photoelectric sensor.

[0051] The distance sensor 36 is installed inside the fork arms 33a on both sides at the lower part of the orthogonal robots 32 on both sides, and can detect the distance (height) from the bobbin 1 and the box cover 3b to judge the presence or absence of an error in the lifting height. The distance sensor 36 is necessary for the Z-axis centering of the fork unit 30 through the interlock with the barcode reader when chucking the box cover 3b and chucking the bobbin 1. The distance sensor 36 can be an ultrasonic sensor.

[0052] The chucking sensor 37 is installed at the lower ends of the fork arms 33a on both sides and can detect the chucking of the bobbin 1. The chucking sensor 37 is necessary for the X-axis centering of the fork unit 30 when chucking the bobbin 1. The chucking sensor 37 can be a proximity sensor.

[0053] The lifting guide shaft 38 is installed in the Z-axis direction at the upper part of the fork unit frame 31 and serves as a guide when the fork unit 30 is lifted and lowered. Four lifting guide shafts 38 can be respectively inserted into four lifting guide bushes 25 of the traveling drive unit 20.

[0054] The sensor support base (lifting DOG unit) 39a is installed in the Z-axis direction at the upper part of the fork unit frame 31, and a lifting fixed-position sensor 39b and a lifting limit sensor 39c can be attached to this sensor support base 39a.

[0055] The lifting fixed-position sensor (or lifting origin sensor) 39b is installed on the upper end side of the sensor support base 39a and can confirm the origin operation or operation completion of the fork unit 30. The lifting fixed-position sensor 39b can be a horseshoe-shaped sensor.

[0056] The lifting limit sensor 39c is installed on the upper end side and the lower end side of the sensor support base 39a respectively, and can stop while generating an alarm when the fork unit 30 exceeds the limit. The lifting limit sensor 39c can be composed of a lifting upward limit sensor and a lifting downward limit sensor. The lifting limit sensor 39c can be a limit switch sensor.

[0057] The sensor support base 39a, the lifting fixed-position sensor 39b, and the lifting limit sensor 39c can be omitted when a sensor support base 26, a lifting fixed-position sensor 27, and lifting limit sensors 28 and 29 are installed on the traveling drive unit 20. That is, the sensor support base, the lifting fixed-position sensor, and the lifting limit sensor can be installed only on one of the traveling drive unit 20 and the fork unit 30, or can be installed on both units on both sides.

[0058] Referring to FIGS. 5a, 5b, and 5c, the centering unit 40 can be composed of a centering unit frame 41, a Y-axis cylinder 42, a moving plate 43, an X-axis cylinder 44, a box pusher 45, an LM guide 46, a size check sensor 47, etc.

[0059] The centering unit 40 is installed outside the conveyor unit 50 in the X-axis direction and can adjust (center, align) the position of the box 3 in the X-axis and Y-axis directions. In relation to the centering order, first X-axis centering can be performed, and then Y-axis centering can be performed next.

[0060] The centering unit frame 41 forms the basic framework and can be composed of a substantially rectangular plate-like structure and can be installed on both sides outside the conveyor unit 50 in the X-axis direction.

[0061] The Y-axis cylinder 42 is installed in the Y-axis direction on the centering unit frames 41 on both sides and can reciprocate the box pusher 45 in the Y-axis direction. The rod of the Y-axis cylinder 42 can be connected to the lower part of the moving plate 43. The Y-axis cylinder 42 can be an air cylinder.

[0062] The moving plate 43 is connected to the rods of the Y-axis cylinders 42 on both sides and can reciprocate in the Y-axis direction. The moving plate 43 can be composed of a rectangular plate-like structure and can be connected to the ends of the rods of the Y-axis cylinders 42. An X-axis cylinder 44 can be installed on the upper part of the moving plate 43.

[0063] The X-axis cylinder 44 is installed in the X-axis direction on the upper parts of the moving plates 43 on both sides and can reciprocate in the Y-axis direction together with the moving plate 43. The rod of the X-axis cylinder 44 is connected to the box pusher 45 and can move the box pusher 45 in the X-axis direction. The X-axis cylinder 44 can be an air cylinder.

[0064] The box pusher 45 can contact the box 3 and center the box 3 by reciprocating in the Y-axis direction and the X-axis direction by the Y-axis cylinder 42 and the X-axis cylinder 44, respectively. The box pusher 45 can be arranged to be long in the X-axis direction, and the outer end side in the X-axis direction can be connected to the LM guide 46 installed on the moving plate 43. The front end in the Y-axis direction of the inner end in the X-axis direction can be connected to the rod end of the X-axis cylinder 44, and a pad can be attached to the rear end in the Y-axis direction of the inner end in the X-axis direction. In FIG. 5, the box pusher 45 is in the state of advancing the most in the Y-axis direction and the X-axis direction, respectively.

[0065] The LM guide 46 is installed on the centering unit frames 41 on both sides and the moving plate 43, respectively, and can guide the movement in each axial direction. The LM guide 46 can be installed in the Y-axis direction on the centering unit frame 41 and connected to the lower part of the moving plate 43. Also, the LM guide 46 can be installed in the X-axis direction on the moving plate 43 and connected to the upper part of the moving plate 43 and the lower part of the box pusher 45, respectively.

[0066] The size check sensor 47 is installed on the upper part of the centering unit frame 41 and can check the size of the box 3. The size check sensor 47 can be composed of a plurality of, for example, five as shown in the figure, and the interval between each sensor can gradually become narrower toward the rear end side in the Y-axis direction. The size check sensor 47 can be a light emitting / receiving sensor. The size check sensor 47 can be supported on the centering unit frame 41 by appropriate support means (such as brackets and supports).

[0067] Referring to FIG. 6, the conveyor unit 50 can be composed of a free roller lane 51, a box stopper 52, a cargo alignment sensor 53, an entry guide block 54, a transport vehicle end stopper 55, etc.

[0068] The conveyor unit 50 is a conveyor used when adjusting the position of the box 3, and is installed on the front end side of the transfer machine, where the box 3 is first placed and transfer starts.

[0069] The free roller lane 51 is for the Y-axis movement of the box 3. The free rollers are not driven autonomously and can rotate freely by an external force. The free roller lane 51 can be composed of a plurality of lanes arranged in the Y-axis direction, for example, three lanes as shown in the figure. Specifically, main roller lanes can be arranged at both ends in the X-axis direction, and an auxiliary roller lane with a smaller width than the main roller lane can be arranged in the center. The space between the main roller lane and the auxiliary roller lane can be a space for a transport vehicle (such as a forklift or a trolley) to enter. A plurality of, for example, eight free rollers as shown in the figure can be mounted on each lane 51.

[0070] The box stopper 52 is for the Y-axis centering of the box 3 and can be installed at the Y-axis rear ends of the main roller lanes on both sides among the free roller lanes 51. The box stopper 52 can be a substantially plate-shaped structure arranged in the Z-axis direction. The box arranged on the free roller lane 51 can be pushed in the Y-axis direction by the centering unit 40 and Y-axis centering can be performed while being in close contact with the box stopper 52.

[0071] The cargo alignment sensor (or box end sensor) 53 can be arranged adjacent to the box stopper 52 at the Y-axis rear ends of the main roller lanes on both sides among the free roller lanes 51, and can confirm whether the box 3 is positioned to contact the box stopper 52, that is, can recognize the presence or absence of alignment of the loaded cargo (box). The cargo alignment sensor 53 can be a direct reflection sensor.

[0072] The entry guide block 54 is installed at the Y-axis front end of the auxiliary roller lane among the free roller lanes 51 and can guide the entry path of a transport vehicle (such as a trolley).

[0073] The transport vehicle end stopper 55 is arranged adjacent to the box stopper 52 and can prevent the collision between the transport vehicle (such as a forklift) and the box cover stacking table 90. The transport vehicle end stopper 55 can be a plate-like structure arranged in the Z-axis direction and can be arranged on the same line as the box stopper 52 inside the box stoppers 52 on both sides.

[0074] Referring to FIGS. 7a and 7b, the bobbin stacking table 60 can be composed of a stacking table frame 61, guide blocks 62, a cargo sensing sensor 63, a bobbin sensing sensor 64, a transport vehicle end stopper 65, etc.

[0075] The bobbin stacking table 60 is a place for placing the bobbin 1 and can be installed on the Y-axis rear end side of the main frame unit 10.

[0076] The stacking table frame 61 forms the basic framework and can have a three-dimensional structure in the form of a hexahedron.

[0077] The guide block 62 is installed on the upper part of the stacking table frame 61 and can prevent the bobbin 1 from being pushed in the axial direction. The guide blocks 62 can be arranged in the Y-axis direction at both ends in the X-axis direction of the upper end of the stacking table frame 61 and can include two inclined surfaces facing each other at the center.

[0078] The cargo sensing sensor 63 is installed on the upper part of the stacking table frame 61 and can determine the presence or absence of the loaded cargo (bobbin) on the stacking table 60. The cargo sensing sensors 63 can be arranged to cross diagonally at both ends in the X-axis direction of the upper end of the stacking table frame 61. The cargo sensing sensor 63 can be a light emitting / receiving sensor.

[0079] The bobbin sensing sensor 64 is installed on the guide block 62 and can determine the presence or absence of the bobbin 1 on the guide block 62. The bobbin sensing sensors 64 can be installed at both ends in the Y-axis direction of the guide block 62 respectively. The bobbin sensing sensor 64 can be a photoelectric sensor.

[0080] The transport vehicle end stopper 65 is installed on the Y-axis rear end side of the stacking table frame 61 and can prevent the collision between the transport vehicle (such as a forklift, a trolley, etc.) and the bobbin stacking table 60. The transport vehicle end stopper 65 can be a substantially plate-shaped structure arranged in the Z-axis direction, and for example, two of them can be installed.

[0081] Referring to FIG. 8, the cover assembly 70 can be composed of a cover assembly frame 71, a ladder 72, a safety door 73, etc.

[0082] The cover assembly 70 is installed on the upper part and the side surface of the main frame unit 10, and collectively refers to the upper railing, ladder, and safety door of the transfer equipment.

[0083] The cover assembly frame 71 forms the basic framework and can have a three-dimensional structure in the form of a hexahedron.

[0084] The ladder 72 is installed on the side surface of the cover assembly frame 71 and can provide a movement path during upper maintenance, that is, it can be a passage to climb onto the upper part of the transfer equipment during maintenance.

[0085] The safety door 73 can be installed on the side surface of the cover assembly frame 71 and at the lower part of the ladder 72. When the safety door 73 is opened, the operation of the transfer equipment can be stopped in conjunction.

[0086] Referring to FIG. 9, the access guide 80 can be composed of an access guide frame 81, rollers 82, pads 83, etc.

[0087] The access guide 80 is installed on the entrance side of the main frame unit 10 and can guide the path of the transport vehicle (such as a trolley) when the box 3 is inserted.

[0088] The entry guide frame 81 forms the basic framework and can have a three-dimensional structure. The entry guide frame 81 can be arranged on the front end sides of the centering units 40 on both sides in the Y-axis direction and can include a plate-like structure arranged in the Z-axis direction and a support base for supporting this plate-like structure.

[0089] The roller 82 is installed in the entry guide frame 81 in the Z-axis direction and can prevent friction between the transport vehicle (such as a trolley) and the entry guide 80. A plurality of rollers 82, for example, three as shown in the drawing, can be configured.

[0090] The pad 83 is installed on the front end side of the entry guide frame 81 and can prevent damage to the transport vehicle (such as a trolley) and the entry guide 80. The pad 83 can be made of stainless steel (SUS).

[0091] Referring to FIG. 10, the box cover stacking table 90 can be composed of a stacking table frame 91, a centering cylinder 92, an end bracket 93, a mounting detection sensor 94, etc.

[0092] The box cover stacking table 90 is a place for placing the box cover 3b and can be installed at an intermediate position of the transfer machine, for example, between the conveyor unit 50 and the bobbin stacking table 60.

[0093] The stacking table frame 91 forms the basic framework and can have a plate-like structure.

[0094] The centering cylinder 92 is a cylinder for Y-axis centering of the box cover 3b and can be installed at both ends in the X-axis direction of the stacking table frame 91. The end of the rod of the centering cylinder 92 can be connected to a cover pusher arranged in the X-axis direction, and the cover pusher can reciprocate in the Y-axis direction by the centering cylinder 92. The centering cylinder 92 can be an air cylinder.

[0095] The end bracket 93 is a stopper for Y-axis centering of the box cover 3b, which can be installed at the rear end of the stacking table frame 91 in the Y-axis direction, and two can be installed in the X-axis direction. The end bracket 93 can be a plate-like structure arranged in the Z-axis direction. The box cover 3b can be centered in the Y-axis while being pushed by the cover pusher of the centering cylinder 92 and being in close contact with the end bracket 93.

[0096] The mounting detection sensor 94 is installed at both ends of the stacking table frame 91 in the X-axis direction to confirm the fixed position of the box cover 3b.

[0097] Referring to FIG. 11, the maintenance frame 100 is for mounting the motor during maintenance and can be installed on the upper part of the main frame unit 10. The maintenance frame 100 can have a three-dimensional structure and can be arranged above the motors 22 and 23.

[0098] The bar code reader is a device that reads the bar code attached to the box 3 loaded with the bobbin 1, and various information of the bobbin 1 and the box 3 can be stored in the bar code. Although not shown in the drawings, the bar code reader can be installed at an appropriate position among the main frame unit 10, the traveling drive unit 20, the fork unit 30, the centering unit 40, the conveyor unit 50, and the entry guide 80.

[0099] The control unit can automatically control the lifting of the bobbin 1 by controlling the Z-axis centering of the fork unit 30 through the interlock with the bar code reader and the distance sensor 36, the X-axis centering of the fork unit 30 through the interlock with the chucking sensor 37, the Z-axis lifting and Y-axis movement of the fork unit 30, respectively.

[0100] In addition, the control unit can automatically control the opening of the box cover 3b by controlling the Z-axis centering of the fork unit 30 through the interlock with the barcode reader and the distance sensor 36, the X-axis centering of the fork unit 30 through the interlock with the box detection sensor 35, the Z-axis lifting and lowering of the fork unit 30, and the Y-axis movement, respectively.

[0101] Although not shown in the drawings, the control unit can be installed in an appropriate place such as the main frame unit 10, and can be connected to each sensor, motor, cylinder, etc. Further, the control unit can include an arithmetic / processing unit (CPU, MPU, etc.), a storage device (memory, drive, etc.), an input device (keyboard, mouse, button, switch, etc.), an output device (display, touch screen, etc.), a communication device (LAN, modem, Wi-Fi, Bluetooth (registered trademark), etc.), a circuit board (main board, graphics card, etc.), and the like.

[0102] Hereinafter, the operation process of the transfer machine according to the present invention will be described.

[0103] The first stage is the open stage of the box cover 3b, and the second stage is the primary packaging removal stage. The first stage is automatically performed by the transfer machine, and the second stage can be manually performed by the operator.

[0104] First, after reading the barcode attached to the box 3 through the barcode reader (BCR), the box 3 is put into the conveyor unit 50.

[0105] Next, the centering unit 40 is used to automatically center the box 3. At this time, the control unit performs the X-axis centering and Y-axis centering of the box 3 in conjunction with the reading value of the BCR and the box size check sensor 47.

[0106] Next, the box cover cylinder 34a, box detection sensor 35, and distance sensor 36 of the fork unit 30 are used to automatically open the box cover 3b. At this time, the control unit performs Z-axis centering of the fork unit 30 in conjunction with the read value of the BCR and the distance sensor 36, and also performs X-axis centering in conjunction with the box detection sensor 35. The cover pushers 34c of the box cover cylinders 34a on both sides advance to the inside of the X-axis to check the box cover 3b.

[0107] Next, through the traveling drive unit 20, with the fork unit 30 checking the box cover 3b, it rises along the Z-axis and then moves backward along the Y-axis, and then descends from the box cover placement table 90 to release the checking and load the box cover 3b onto the box cover placement table 90. When the box cover 3b moves and the checking is released, the control unit can also operate in conjunction with the distance sensor 36 and the box detection sensor 35.

[0108] Next, the centering cylinder 92 is used on the box cover placement table 90 to center the box cover 3b along the Y-axis.

[0109] The third stage is the checking and transfer stage of the bobbin 1, and the fourth stage is the operator bobbin transfer stage. The third stage is automatically performed by the transfer machine, and the fourth stage can be manually performed by the operator.

[0110] First, the traveling drive unit 20 and the fork unit 30, which are transfer members, move to the position of the conveyor unit 50, which is the origin.

[0111] Next, the orthogonal robot 32 of the fork unit 30, the fork 33b, the distance sensor 36, and the chucking sensor 37 are used to automatically chuck and lift the bobbin 1. At this time, the control unit performs Z-axis centering of the fork unit 30 in conjunction with the read value of the BCR and the distance sensor 36, and also performs X-axis centering in conjunction with the chucking sensor 37. The forks 33b on both sides of the fork unit 30 move forward inside the X-axis and are inserted into the hollow end 1a of the bobbin 1 while chucking the bobbin 1.

[0112] Next, through the traveling drive unit 20, with the fork unit 30 chucking the bobbin 1, it rises along the Z-axis and moves backward along the Y-axis, then descends from the bobbin stacking table 60, releases the chucking, and loads the bobbin 1 onto the bobbin stacking table 60. Even when the bobbin 1 is moved and the chucking is released, the control unit can operate in conjunction with the distance sensor 36 and the chucking sensor 37.

[0113] Next, the fork unit 30 moves to the position of the box cover stacking table 90 which is the standby position.

[0114] Next, the operator uses a transport vehicle to transfer the bobbin 1 loaded on the bobbin stacking table 60.

[0115] The fifth stage is the return stage of the box cover 3b, and the sixth stage is the empty box recovery stage. The fifth stage is automatically performed by the transfer machine, and the sixth stage can be manually performed by the operator.

[0116] First, the fork unit 30 moves to the box cover position which is the intermediate position of the transfer machine.

[0117] Next, the fork unit 30 chucks the box cover 3b which is centered along the Y-axis through the centering cylinder 92 on the box cover stacking table 90 in the same manner as the above-described method, through Z-axis centering and X-axis centering.

[0118] Next, through the traveling drive unit 20, with the fork unit 30 chucking the box cover 3b, it rises along the Z-axis and advances along the Y-axis, then descends from the conveyor unit 50, releases the chucking, and reassembles the box cover 3b with the empty box body 3a without the bobbin 1.

[0119] Next, the fork unit 30 moves to the position of the box cover stacking table 90 which is the standby position.

[0120] Finally, the operator uses a transport vehicle to transfer and collect the empty box 3 reassembled by the conveyor unit 50.

Explanation of Reference Numerals

[0121] 1: Bobbin 1a: Hollow end 2: Foil 3: Box 3a: Box body 3b: Box cover 10: Main frame unit 11: Main frame 12: Light curtain sensor 13: Cable Bear (registered trademark) 14: LM guide 15: Traveling fixed position sensor 16: Traveling reverse limit sensor 17: Traveling forward limit sensor 20: Traveling drive unit 21: Traveling drive unit frame 22: Traveling motor 23: Lifting motor 24: Rack and jack 25: Lifting guide bush 26: Sensor support base 27: Lifting fixed position sensor 28: Lifting upward limit sensor 29: Lifting downward limit sensor 30: Fork unit 31: Fork unit frame 32: Orthogonal robot 33a: Fork arm 33b: Fork 34a: Box cover cylinder 34b: Cylinder rod 34c: Cover pusher 34d: Connecting member 35: Box sensing sensor 36: Distance sensor 37: Chucking sensor 38: Lifting guide shaft 39a: Sensor support base 39b: Lifting origin sensor 39c: Lifting limit sensor 40: Centering unit 41: Centering unit frame 42: Y-axis cylinder 43: Moving plate 44: X-axis cylinder 45: Box pusher 46: LM guide 47: Size check sensor 50: Conveyor unit 51: Free roller lane 52: Box stopper 53: Cargo alignment sensor 54: Entry guide block 55: Carrier vehicle end stopper 60: Bobbin stacking table 61: Stacking table frame 62: Guide block 63: Cargo sensing sensor 64: Bobbin sensing sensor 65: Carrier vehicle end stopper 70: Cover assembly 71: Cover assembly frame 72: Ladder 73: Safety door 80: Entry guide 81: Entry guide frame 82: Roller 83: Pad 90: Box cover stacking table 91: Stacking table frame 92: Centering cylinder 93: End bracket 94: Mounting detection sensor 100: Maintenance frame

Claims

1. A transfer machine, comprising: A barcode reader that reads a barcode attached to a box containing a bobbin on which raw materials are loaded; A fork unit that chucks the bobbin in the X-axis direction corresponding to the width direction or the side direction of the transfer machine, and includes a distance sensor that senses the distance from the bobbin, and a chucking sensor that senses the chucking of the bobbin; A traveling drive unit that is connected to the fork unit above the fork unit, raises and lowers the fork unit in the Z-axis direction corresponding to the height direction or the lifting direction of the transfer machine, and moves the fork unit in the Y-axis direction corresponding to the length direction or the traveling direction of the transfer machine; and A control unit that automatically controls the lifting of the bobbin by controlling the Z-axis centering of the fork unit through the interlock with the barcode reader and the distance sensor, the X-axis centering of the fork unit through the interlock with the chucking sensor, and the Z-axis lifting and Y-axis movement of the fork unit, respectively. The transfer machine includes the control unit.

2. The fork unit is: a fork unit frame having a plate-like structure; an orthogonal robot having a motor and installed movably in the X-axis direction at the lower part of the fork unit frame; a fork arm installed at the lower part of the orthogonal robot; a fork installed inside the lower end of the fork arm to chuck the bobbin; a distance sensor installed inside the fork arm and at the lower part of the orthogonal robot; a chucking sensor installed at the lower end of the fork arm; a lifting guide shaft installed at the upper part of the fork unit frame; a sensor support base installed on the upper side of the fork unit frame; and a lifting fixed-position sensor and a lifting limit sensor installed on the sensor support base. The transfer machine according to Claim 1 includes the fork unit.

3. The traveling drive unit includes: a traveling drive unit frame having a plate-like structure; a traveling motor for Y-axis movement installed at the upper part of the traveling drive unit frame; a lifting motor for Z-axis movement installed at the upper part of the traveling drive unit frame; a rack jack installed on the traveling drive unit frame so as to be liftable in the Z-axis direction, which converts the rotation of the lifting motor into linear motion and is connected to the fork unit to lift the fork unit; a lifting guide bush installed on the traveling drive unit frame into which the lifting guide shaft of the fork unit is inserted; a sensor support base installed on the traveling drive unit frame in the Z-axis direction; and a lifting fixed-position sensor and a lifting limit sensor installed on the sensor support base. The transfer machine according to claim 2.

4. further includes a conveyor unit disposed at the lower part of the fork unit for placing the box; The conveyor unit includes: a free roller lane for the Y-axis movement of the box; a box stopper installed at the Y-axis rear end of the free roller lane for Y-axis centering of the box; a cargo alignment sensor disposed adjacent to the box stopper to check whether the box is positioned to contact the box stopper; an entry guide block installed at the Y-axis front end of the free roller lane to guide the entry path of the transport vehicle; and a transport vehicle end stopper disposed adjacent to the box stopper to prevent the collision of the transport vehicle. The transfer machine according to claim 1.

5. further includes a centering unit installed outside the conveyor unit in the X-axis direction for adjusting the position of the box in the X-axis and Y-axis directions; The centering unit includes: a box pusher that contacts the box for centering the box; an X-axis cylinder connected to the box pusher to move the box pusher in the X-axis direction; a moving plate on which the X-axis cylinder is installed; a Y-axis cylinder connected to the moving plate to move the box pusher in the Y-axis direction; an LM guide connected to the moving plate to guide the movement in each axis direction; a centering unit frame on which the Y-axis cylinder is installed; and a size check sensor installed at the upper part of the centering unit frame to check the box size. The transfer machine according to claim 4.

6. further includes a main frame unit; The main frame unit includes: a main frame with a three-dimensional structure; a light curtain sensor installed on the side of the main frame and interlocked during lower maintenance; a cable guide installed on the upper part of the main frame to guide cables; an LM guide installed on the upper part of the main frame and connected to the traveling drive unit frame to guide the traveling direction of the traveling drive unit frame; and a traveling fixed position sensor and a traveling limit sensor installed on the upper part of the main frame. The transfer machine according to claim 3.

7. It further includes a bobbin stacking table installed on the Y-axis rear end side of the main frame unit for placing bobbins; The bobbin stacking table includes: a stacking table frame with a three-dimensional structure; a guide block installed on the upper part of the stacking table frame to prevent the bobbin from being pushed in the axial direction; a cargo sensing sensor installed on the upper part of the stacking table frame to determine the presence or absence of bobbins on the stacking table; a bobbin sensing sensor installed on the guide block to determine the presence or absence of bobbins on the guide block; and a transport vehicle end stopper installed on the Y-axis rear end side of the stacking table frame to prevent collision between the transport vehicle and the stacking table. The transfer machine according to claim 6.

8. It further includes a cover assembly installed on the upper part and side of the main frame unit; The cover assembly includes: a cover assembly frame with a three-dimensional structure; a ladder installed on the side of the cover assembly frame to provide a movement path during upper maintenance; and a safety door installed on the side of the cover assembly frame. The transfer machine according to claim 6.

9. It further includes an entry guide installed on the entrance side of the main frame unit to guide the path of the transport vehicle when a box is inserted; The entry guide includes: an entry guide frame with a three-dimensional structure; a roller installed inside the entry guide frame in the Z-axis direction to prevent friction between the transport vehicle and the entry guide; and a pad installed on the front end side of the entry guide frame to prevent damage to the transport vehicle and the entry guide. The transfer machine according to claim 6.

10. It further includes a maintenance frame installed on the upper part of the main frame unit for mounting the motor during maintenance. The transfer machine according to claim 6.

Images