Palletizing device

Abstract

To provide a palletizing device which eliminates the risk of the transport mechanism of the palletizing device rising while gripping a workpiece and facilitates teaching of the timing for forming a small gap. [Solution] At the beginning of releasing the workpiece W, under the control of the control device CD, the closed loop member rotation drive mechanism 29 displaces the clamp mechanism 27 so as to rotate the closed loop member 19 in a direction that separates the first finger structure 5A and the second finger structure 7A when the drive air cylinder 13 is in a state where it is not generating thrust and the clamp mechanism 27 is in a clamped state. A slight gap is formed between the first finger portion 5A and the second finger portion 7A and the workpiece W by an amount corresponding to the amount of rotation of the closed loop member 19. As a result, there is no risk that the transport mechanism of the palletizing device will rise while holding the workpiece W.

Description

[Technical Field]

[0001] The present invention relates to a palletizing device that conveys workpieces by sandwiching them between first and second finger portions. [Background technology]

[0002] The head of a palletizing device described in Japanese Patent Publication No. 8-22699 (Patent Document 1) includes a moving mechanism that moves a first finger structure having first finger portions and a second finger structure having second finger portions, each of which is arranged to sandwich a workpiece from the side, toward and away from each other. The moving mechanism includes two air cylinders having cylinder bodies fixed to a base and cylinder rods attached to the first finger structure having first fingers, a first pulley and a second pulley attached to the base with a gap in the movement direction of the first finger structure and the second finger structure, a closed loop member for interlocking the first pulley and the second pulley, a first connecting member having one end attached to the closed loop member and the other end attached to the first finger structure, and a second connecting member having one end fixed to the closed loop member and the other end attached to the second finger structure so as to move in the opposite direction to the first connecting member when the closed loop member rotates. An engaging member is provided on the first finger structure, and this engaging member and a first connecting member are engaged to be movable over a predetermined distance in the direction of movement of the first finger structure and the second finger structure. Two air cylinders are provided, each with a cylinder body fixed to a base and a cylinder rod attached to the first finger structure. In the structure described in Patent Document 1, when the workpiece is released, the engaging member passes through the floating section of the first interlocking member before the first and second finger portions open. In other words, at the beginning of the workpiece release, only the first finger portion moves slightly away from the workpiece, forming a small gap (hereinafter referred to as a "small gap"). The first and second finger portions then open. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 8-22699 Summary of the Invention [Problem to be solved by the invention]

[0004] When forming a small gap between one of the fingers and the workpiece when releasing the workpiece, if the formation of the small gap is delayed, there is a risk that the transport mechanism of the palletizing device will rise while still holding the workpiece. In addition, the timing for completing the formation of the small gap must be synchronized with the timing for the transport mechanism of the palletizing device to rise, which requires strict manual adjustment of the attachment position of the interlocking member, resulting in problems with poor workability.

[0005] An object of the present invention is to provide a palletizing device that does not have the risk of the transport mechanism of the palletizing device rising while gripping a workpiece, and that facilitates teaching of the timing for forming a small gap. [Means for solving the problem]

[0006] The palletizing device head used in the palletizing device of the present invention, as with conventional devices, comprises a base attached to the moving frame of the conveying mechanism, a first finger structure having a first finger portion and a second finger structure having a second finger portion that are movable relative to the base so as to sandwich the workpiece from the side, and a moving mechanism that moves the first finger structure and the second finger structure in directions toward and away from each other, respectively. In the present invention, as in the conventional device, the movement mechanism includes at least one driving air cylinder whose cylinder body is fixed to a base and whose cylinder rod is attached to a first finger structure and has the function of selectively not generating thrust, first and second pulleys attached to the base with a gap in the direction of movement of the first and second finger structures, an interlocking closed loop member stretched over the first and second pulleys, a first connecting member having one end attached to the closed loop member and the other end attached to the first finger structure, and a second connecting member having one end fixed to the closed loop member and the other end attached to the second finger structure so as to move in the opposite direction to the first connecting member when the closed loop member rotates. The driving air cylinder is controlled by, for example, a three-position exhaust center type solenoid valve, and when this solenoid valve is in the center position, no compressed air is supplied to the air cylinder, so that the air cylinder generates no thrust in either the forward or reverse direction.

[0007] In particular, in the palletizing device used in the present invention, the moving mechanism is further attached to the base and has a first pulley and a rotary shaft or closed loop member connected to the first pulley as the clamping object. Tekuand a closed-loop member rotation drive mechanism that displaces the clamp mechanism so as to rotate the closed-loop member in a direction that moves the first finger structure and the second finger structure apart when at least one driving air cylinder is in a state where it generates no thrust and the clamp mechanism is in a clamped state. The palletizing device of the present invention also includes a control device that controls at least one driving air cylinder, the clamp mechanism, and the closed-loop member rotation drive mechanism.

[0008] According to the present invention, when a workpiece is initially released, the closed-loop member rotation drive mechanism, under the control of the control device, displaces the clamping mechanism so as to rotate the closed-loop member in a direction that separates the first and second finger structures when at least one driving air cylinder is not generating thrust and the clamping mechanism is in a clamped state. This creates a small gap between the first and second finger sections and the workpiece by an amount corresponding to the amount of rotation of the closed-loop member. As a result, according to the present invention, there is no risk of the conveying mechanism of the palletizing device rising while still gripping the workpiece. Furthermore, the control device can be taught simply by adjusting the control timing of at least one driving air cylinder, the clamping mechanism, and the closed-loop member rotation drive mechanism, making the teaching process easier.

[0009] The clamp mechanism can be configured so that when in the clamped state, the clamp mechanism itself can be displaced together with the clamped object. If the closed-loop member rotation drive mechanism has a structure that uses a separate driving air cylinder as a drive source to displace the clamp mechanism so as to rotate the closed-loop member in a direction that moves the first finger structure and the second finger structure apart, the displacement of the clamp mechanism can also be controlled by air, making control easier.

[0010] When at least one air drive cylinder generates thrust to laterally clamp the workpiece between the first and second finger portions and the workpiece is to be released, the control device controls at least one air drive cylinder to not generate thrust and another air drive cylinder to generate thrust, and uses the thrust to displace the clamp mechanism that is clamping the object to be clamped, thereby controlling at least one air drive cylinder, the clamp mechanism, and the loop member rotation drive mechanism so as to create a slight gap between the first and second finger portions and the workpiece. By creating a slight gap that allows the first and second finger portions to separate in this way, the teaching operation has the advantage of being easy to perform without relying on the retraction speed of the palletizing device.

[0011] The clamp mechanism is configured to clamp a rotating shaft as an object to be clamped, and the closed-loop member rotation drive mechanism includes a link mechanism disposed between the cylinder rod portion of the separate-drive air cylinder and the rotating shaft of the first pulley, for converting the linear motion of the cylinder rod portion of the separate-drive air cylinder into rotational motion that rotates the rotating shaft, thereby displacing the clamp mechanism together with the rotating shaft. By adopting such a configuration, the clamp mechanism and closed-loop member rotation drive mechanism can be configured with a simple structure.

[0012] If the clamping mechanism is an air shaft clamper, the clamping mechanism can be easily displaced together with the rotary shaft. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 2 is a perspective view of a palletizing device head with a transparent top plate. [Figure 2] FIG. 2 is a plan view of the palletizing device head with the top plate shown as transparent. [Figure 3] FIG. 2 is a front view of the palletizing device head before clamping the workpiece. [Figure 4] FIG. 2 is a bottom view of the palletizing device head. [Figure 5]FIG. 2 is a right side view of the palletizing device head. [Figure 6] FIG. 2 is a left side view of the palletizing device head. [Figure 7] 10A and 10B are diagrams illustrating the attachment state and configuration of the closed-loop member rotation drive mechanism when the clamping mechanism is in an unclamped state. [Figure 8] FIG. 1 is a schematic diagram of the configuration of an air shaft clamper used as a clamping mechanism. [Figure 9] FIG. 10 is a perspective view of the palletizing device head in a state in which the cylinder rod portion is driven in the contracting direction. [Figure 10] FIG. 10 is a front view of the palletizing device head holding a workpiece therebetween. [Figure 11] 10A and 10B are diagrams illustrating the attachment state and configuration of the closed-loop member rotation drive mechanism when the clamp mechanism is in a clamped state. [Figure 12] FIG. 2 is a diagram used to explain a control target of a control device. [Figure 13] FIG. 10 is a perspective view of a head for a palletizing device when a clamping mechanism in a modified example is in an unclamped state. [Figure 14] 14 is an enlarged view showing the closed-loop member rotation drive mechanism in FIG. 13. FIG. [Figure 15] FIG. 10 is a perspective view of a head for a palletizing device when a clamping mechanism according to a modified example is in a clamped state. [Figure 16] 16 is an enlarged view showing the closed-loop member rotation drive mechanism in FIG. 15. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0014] A palletizing device head 1 used in a palletizing device according to one embodiment of the present invention will now be described with reference to the drawings. Fig. 1 is a perspective view of the palletizing device head 1, showing the top plate 3 serving as the base as transparent, and Fig. 2 is a plan view of the palletizing device head 1. Fig. 3 is a front view of the palletizing device head 1 shown in Fig. 1, Fig. 4 is a bottom view of the palletizing device head 1, and Figs. 5 and 6 are right and left side views of the palletizing device head 1. Note that Figs. 1 and 2 show arrows indicating the mutually orthogonal X, Y, and Z directions.

[0015] Similar to conventional heads, this palletizing device head 1 includes a transparent top plate 3 that serves as a base attached to the moving frame of the transport mechanism of the palletizing device, a first finger structure 5 having first finger portions 5A and a second finger structure 7 having second finger portions 7A that are movable in the X direction relative to the top plate 3 so as to sandwich the workpiece from the side, and a movement mechanism 9 that moves the first finger structure 5 and the second finger structure 7 toward and away from each other. A pair of rail members 11A and 11B are fixed to the top plate 3 and support the first finger structure 5 and the second finger portion 7A so as to be movable in the X direction.

[0016] The first finger structure 5 and the second finger structure 7 include main body portions 5B and 7B to which the first finger portion 5A and the second finger portion 7A are attached, and suction nozzle fixing portions 5C and 7C that are provided adjacent to the main body portions 5B and 7B and move together with the main body portions 5B and 7B. The suction nozzle fixing portions 5C and 7C are provided with a plurality of suction nozzles (not shown) spaced apart in the Y direction. Note that air pipes connected to the suction nozzles are not shown in the figure.

[0017] The movement mechanism 9 includes, as in the conventional case, a single driving air cylinder 13, whose cylinder body 13A is fixed to the top plate 3 and whose cylinder rod portion 13B is attached to the first finger structure 5, and which has the function of selectively not generating thrust; a first pulley 15 and a second pulley 17 attached to the top plate 3 at a distance from each other in the movement direction (X direction) of the first finger structure 5 and the second finger structure 7; and an interlocking closed-loop member 19 consisting of a rubber belt stretched over the first pulley 15 and the second pulley 17. In this embodiment, the outer periphery of the first pulley 15 has a plurality of teeth evenly spaced circumferentially to increase resistance between the first pulley 15 and the closed-loop member 19. The driving air cylinder 13 is controlled by, for example, a three-position exhaust center type solenoid valve. When this solenoid valve is in the center position, no compressed air is supplied to the air cylinder, and the air cylinder generates no thrust in either the forward or reverse direction.

[0018] The moving mechanism 9 further includes a first connecting member 21 having one end attached to the closed loop member 19 and the other end attached to the main body 5B of the first finger structure 5, and a second connecting member 23 having one end fixed to the closed loop member 19 and the other end attached to the main body 7B of the second finger structure 7 so as to move in the opposite direction to the first connecting member 21 when the closed loop member 19 rotates.

[0019] The moving mechanism 9 is further attached to the top plate 3 and has a first pulley 15 and a rotary shaft 25 connected to the first pulley 15 as clamping objects. TekuThe clamping mechanism 27 includes a ramping clamping mechanism 27 and a closed-loop member rotation drive mechanism 29. The clamping mechanism 27 is configured so that when the rotation shaft 25 is in a clamped state, the clamping mechanism itself can be displaced (rotated) together with the rotation shaft 25, which is the clamped object. FIG. 7 shows the installation state and configuration of the closed-loop member rotation drive mechanism 29, and FIG. 8 shows a schematic diagram of the configuration of an air shaft clamper used as the clamping mechanism 27. As shown in FIG. 8, the air shaft clamper used as the clamping mechanism 27 applies a clamping force F to the rotation shaft 25 with two claws 27A, thereby clamping the rotation shaft 25. To release the clamp, the two claws 27A are opened. The drive source for opening and closing the two claws 27A may be an air cylinder or an electromagnetic actuator, and is not limited to this.

[0020] 7, the closed-loop member rotation drive mechanism 29 has a structure that uses a separate driving air cylinder 31 as a drive source and displaces the clamp mechanism 27 so as to rotate the closed-loop member 19 in a direction that separates the first finger structure 5 and the second finger structure 7. The closed-loop member rotation drive mechanism 29 used in this embodiment is provided with a link mechanism 33 that is disposed between the cylinder rod portion 31A of the separate driving air cylinder 31 and the rotation shaft 25 of the first pulley and converts the linear motion of the cylinder rod portion 31A of the separate driving air cylinder 31 into rotational motion that rotates the rotation shaft 25. The clamp mechanism 27 is rotated together with the rotation shaft 25 by this link mechanism 33.

[0021] 12, a control device CD that controls the transport mechanism of the palletizing device (not shown) controls the closed-loop member rotation drive mechanism 29, the drive air cylinder 13, the clamp mechanism 27, and the closed-loop member rotation drive mechanism 29, which displaces (rotates) the clamp mechanism 27 so as to rotate the closed-loop member 19 in a direction that separates the first finger structure 5 and the second finger structure 7 when the drive air cylinder 13 is in a state where it does not generate thrust and the clamp mechanism 27 is in a clamped state. Of course, the control device CD also controls the movement of the moving frame of the transport mechanism (not shown).

[0022] As shown in FIG. 3, the control device CD drives the conveying mechanism to move the palletizing device head 1 until the first finger unit 5A and the second finger unit 7A sandwich the workpiece W from the side. In this state, as shown in FIG. 2, the cylinder rod unit 13B of the driving air cylinder 13 is extended, and the first connecting member 21 fixed to the tip of the cylinder rod unit 13B is also at its farthest position. The closed loop member 19, to which one end of the first connecting member 21 is fixed, moves counterclockwise and stops as shown in FIG. 2. From this state, as shown in FIG. 9, when the cylinder rod unit 13B is driven in the contracting direction and moves in the direction of the arrow, the first connecting member 21 moves in the direction of the arrow (leftward in the figure), and the closed loop member 19 also moves in the direction of the arrow (clockwise). As a result, the second connecting member 23 fixed to the closed loop member 19 moves in the direction of the arrow (rightward in the figure). This movement causes the first finger structure 5 fixed to the first connecting member 21 and the second finger structure 7 fixed to the second connecting member 23 to move closer to each other, and as shown in Fig. 10, the first finger portion 5A and the second finger portion 7A sandwich the workpiece W. In this state, the moving frame of the transport mechanism is moved to move the workpiece W to a position close to the top surface of a transport pallet (not shown).

[0023] Next, when the workpiece W is to be released from the state in which it is laterally clamped between the first finger portion 5A and the second finger portion 7A, the driving air cylinder 13 is set to a state in which it does not generate thrust, and the clamping mechanism 27 is set to a clamped state. Then, as shown in FIG. 11 , thrust is generated by the separate driving air cylinder 31, pushing the cylinder rod portion 31A in the direction of the arrow. The closed-loop member rotation drive mechanism 29 uses the thrust of the separate driving air cylinder 31 to deform the link mechanism 33. The clamping mechanism 27 is fixed onto one end of the link 33A of the link mechanism 33. In the clamped state, the clamping mechanism 27 clamps the rotating shaft 25. Therefore, when the cylinder rod portion 31A is moved in the direction of the arrow, the clamping mechanism 27, which is in a state in which the rotating shaft 25 is clamped, rotates together with the rotating shaft 25 from the state shown in FIG. 7 to the state shown in FIG. 11 . As shown in Figure 9, when the clamping mechanism 27 rotates, the clamped rotating shaft 25 rotates slightly counterclockwise by an amount corresponding to the movement of the link 33A, causing the closed loop member 19 to move slightly in the direction of the arrow. When the first connecting member 21 and the second connecting member 23 move in the direction of the arrow in conjunction with this slight movement of the closed loop member 19, the first finger portion 5A and the second finger portion 7A move slightly in directions away from each other (directions away from the workpiece W). This movement causes the workpiece W to move downward under its own weight. As a result, according to this embodiment, there is no risk that the transport mechanism of the palletizing device will rise while holding the workpiece W.

[0024] Next, when the palletizing device head 1 is to be lifted away from the workpiece W, the clamping mechanism 27 is released from the state shown in FIG. 11 as shown in FIG. 7. Then, the closed-loop member rotation drive mechanism 29 pulls the cylinder rod portion 31A of the separate driving air cylinder 31 to return the link mechanism 33 to its original state. Then, in response to a command from the control device CD, a thrust is generated in the driving air cylinder 13, causing the cylinder rod portion 13B to move in the direction of the arrow (X direction) shown in FIG. 2. When the cylinder rod portion 13B moves, the first connecting member 21 moves in the direction of the arrow in accordance with this movement, causing the closed-loop member 19 to move counterclockwise. At the same time, the second connecting member 23 moves in the opposite direction to the first connecting member 21. As a result, the first finger structure 5 and the second finger structure 7, to which the first connecting member 21 and the second connecting member 23 are fixed, move in directions away from each other, and the first finger portion 5A and the second finger portion 7A completely move away from the workpiece W to clamp the next workpiece. The control device CD uses the transport mechanism to move the palletizing device head 1 to a predetermined position and executes the next transport operation.

[0025] [others] In the above embodiment, driving is performed using only one driving air cylinder 13, but when transporting a heavy workpiece, two or more driving air cylinders may be used.

[0026] In the above embodiment, the closed-loop member rotation drive mechanism 29 uses a separate driving air cylinder 31 as its drive source. However, this does not preclude the use of a drive source other than an air cylinder, such as an electromagnetic actuator, as this drive source. FIGS. 13 to 16 show a modified example in which the closed-loop member rotation drive mechanism 29' uses a known rotary actuator 30 as its drive source to drive the clamping mechanism 27. The structure of the rotary actuator 30 is well known, so a description thereof will be omitted. Similar to FIG. 1, FIG. 13 shows a perspective view of the palletizing apparatus head 1 when the clamping mechanism 27 is in the unclamped state. Similarly to FIG. 7, FIG. 14 shows an enlarged view of the closed-loop member rotation drive mechanism 29' in this state. Similarly to FIG. 9, FIG. 15 shows a perspective view of the palletizing apparatus head 1 when the clamping mechanism 27 is in the clamped state. Similarly to FIG. 11, FIG. 16 shows an enlarged view of the closed-loop member rotation drive mechanism 29' in this state.

[0027] In the above embodiment, the clamping mechanism 27 is configured to clamp the rotating shaft 25 connected to the first pulley 15. Teku The clamp mechanism 27 is mounted on the second pulley 17 and the rotary shaft connected to the second pulley 17 is used as the clamping object. Teku Of course, the second pulley 17 may be arranged to ramp up, in which case the second pulley 17 may be interpreted as the "first pulley" in the claims. [Industrial Applicability]

[0028] To provide a palletizing device in which there is no risk that the transport mechanism of the palletizing device will rise while gripping a workpiece, and in which teaching of the timing for forming a small gap is easy. [Explanation of symbols]

[0029] 1...Palletizing device head 3...Tabletop 5...First finger structure 5A...First finger part 5B...Main body 5C...Suction nozzle fixing part 7...Second finger structure 7A...Second finger part 7B…Body part 8...Suction nozzle 9...Movement mechanism 13...Drive air cylinder 13A...Cylinder body 13B...Cylinder rod part 15...First pulley 17...Second pulley 19...Closed loop member 21...First connecting member 23...Second connecting member 25...Pivot shaft 27...Clamping mechanism 27A…Claw part 29, 29'...Closed loop member rotation drive mechanism 30...Rotary actuator 31...Separate drive air cylinder 31A...Cylinder rod part 33...Link mechanism 33A…Link CD...Control device W…Work

Claims

1. a base attached to a moving frame of the transport mechanism; a first finger structure having a first finger portion and a second finger structure having a second finger portion, the first finger structure and the second finger structure being movably provided with respect to the base so as to sandwich the workpiece from a lateral direction; a movement mechanism that moves the first finger structure and the second finger structure in directions toward and away from each other, respectively; at least one driving air cylinder having a cylinder body fixed to the base and a cylinder rod portion attached to the first finger structure, the cylinder body having a function of selectively not generating thrust; first and second pulleys attached to the base with a gap in the direction of movement of the first and second finger structures; a closed loop member for interlocking that is stretched across the first pulley and the second pulley; a first connecting member having one end attached to the closed loop member and the other end attached to the first finger structure; and a second connecting member having one end fixed to the closed loop member and the other end attached to the second finger structure so as to move in an opposite direction to the first connecting member when the closed loop member is rotated; Furthermore, the moving mechanism a clamping mechanism attached to the base and configured to clamp the first pulley, a rotary shaft coupled to the first pulley, or the closed loop member as a clamping object; a palletizing device head including a closed loop member rotation drive mechanism that displaces the clamp mechanism to rotate the closed loop member in a direction that moves the first finger structure and the second finger structure apart when the at least one driving air cylinder is in a state where it does not generate thrust and the clamp mechanism is in a clamped state; A palletizing device comprising a control device that controls the at least one driving air cylinder, the clamping mechanism, and the closed loop member rotation drive mechanism.

2. The clamp mechanism is configured so that, when in a clamped state, the clamp mechanism itself can be displaced together with the clamped object, The palletizing device according to claim 1, characterized in that the closed loop member rotation drive mechanism has a structure that uses a separate driving air cylinder as a drive source and displaces the clamp mechanism so as to rotate the closed loop member in a direction in which the first finger structure and the second finger structure move away from each other.

3. 3. The palletizing device according to claim 2, wherein, when the at least one driving air cylinder generates thrust to release the workpiece from a state in which the first finger portion and the second finger portion sandwich the workpiece laterally, the control device controls the at least one driving air cylinder to not generate thrust, causes the other driving air cylinder to generate thrust, and uses the thrust to displace the clamping mechanism, which is in a state in which the clamping object is clamped, thereby controlling the at least one driving air cylinder, the clamping mechanism, and the closed-loop member rotation drive mechanism so as to create a slight gap between the first finger portion and the second finger portion and the workpiece.

4. the clamping mechanism is configured to clamp the rotation shaft as the clamping object, 4. The palletizing device according to claim 3, wherein the closed-loop member rotation drive mechanism includes a link mechanism that is disposed between the cylinder rod portion of the separate driving air cylinder and the rotation shaft of the first pulley, and that converts linear motion of the cylinder rod portion of the separate driving air cylinder into rotational motion that rotates the rotation shaft, and is configured to displace the clamp mechanism together with the rotation shaft.

5. The palletizing device according to claim 4, wherein the clamping mechanism is an air shaft clamper.

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