JP4771358B2 - Work take-out device - Google Patents

Description

  The present invention relates to a workpiece take-out apparatus that can take out end workpieces one by one from a group of stacked workpieces by jetted compressed air.

  Conventionally, the above-described workpiece take-out device is disclosed in Patent Document 1 below. According to this publication, the workpiece take-out device enables the uppermost sheet to be taken out one by one from a sheet group that is a group of workpieces stacked in one direction. Specifically, the workpiece take-out device includes an adsorption head that can adsorb and lift the uppermost sheet, an uppermost sheet adsorbed by the adsorption head, and other unintentionally adsorbed to the uppermost sheet. A nozzle that enables jetting of compressed air is provided between the sheet and the sheet.

  And the taking-out operation | work which takes out the uppermost sheet | seat one by one from the said sheet group using the said workpiece taking-out apparatus is performed as follows.

  That is, first, the uppermost sheet in the sheet group is sucked by the suction head. Next, the suction head is raised. Then, the uppermost sheet is raised together with the suction head.

  In the above case, another sheet may be unintentionally adsorbed on the lower surface of the uppermost sheet adsorbed by the adsorption head. In this case, compressed air is jetted through the nozzles between the uppermost sheet raised together with the suction head and the other sheets. Thereby, another sheet is peeled from the uppermost sheet. Then, the other peeled sheet is again superimposed on the upper surface of the sheet group.

  Thereby, only one uppermost sheet in the sheet group is taken out. Then, a desired operation can be performed on this sheet. Thereafter, each of the above operations is repeated to achieve the above extraction operation.

JP 2002-128296 A

  By the way, according to the above-described conventional technique, the take-out operation includes an adsorption operation in which the uppermost sheet of the sheet group is adsorbed by an adsorption head, and an unintentionally adsorbed on the lower surface of the sheet after the adsorption operation. The sheet is peeled off by spraying compressed air through a nozzle.

  For this reason, since there are many operations in the above-mentioned extraction work, the extraction operation tends to be complicated. In addition, in order to achieve the above-described extraction operation, the workpiece extraction device is provided with a nozzle in addition to the suction head. Therefore, the number of parts is large, and the configuration of the workpiece take-out device is complicated.

  The present invention has been made paying attention to the above-described circumstances, and the object of the present invention is to more easily achieve the take-out operation of taking out the end work one by one from the overlapped work group. It is also possible to simplify the construction of the workpiece take-out device for enabling the take-out operation.

The invention of claim 1, a tray which is open downward and the workpiece 2, the workpiece 2 groups superimposed on Direction, one top end work 2 (B) which definitive in the upper Direction A workpiece take-out device that can be taken out one by one,
Toward the gap 9 between the ends workpiece 2 in a single outer surface (B) and this other adjacent workpiece 2 (C) out of the outer surface of the work 2 group, the nozzles 10 the injection device 12, the threading compressed air 11 can be injected, facing the injector 12 forward toward the upper direction above, backward movement D, the mobile device 14 to enable E, the nozzle 10 is in the gap 9 A positioning device 15 for positioning the injection device 12 so that the single outer surface of the end work 2 (B) is left behind by the injection of the compressed air 11 by the nozzle 10. It is intended to ride on the upper surface of the two workpieces .

The invention of claim 2, in addition to the first aspect of the present invention, the positioning device 15 is provided with a position sensor 28 for detecting the position of the end surface 27 of definitive to the upper side direction of the end workpiece 2 (B) The nozzle 10 is made to face the position where the gap 9 should exist with reference to the position of the end face 27 detected by the position detection sensor 28.

  According to a third aspect of the present invention, in addition to the second aspect of the invention, the position detection sensor 28 is moved together with the injection device 12 by the moving device 14, and the position detection sensor 28 is moved to the end work 2 ( When the position of the end face 27 of B) is detected, the nozzle 10 is made to face the position where the gap 9 should exist.

  In this section, the reference numerals appended to the above terms are not to be construed as limiting the technical scope of the present invention to the section “Example” described later or the contents of the drawings.

  The effects of the present invention are as follows.

The invention according to claim 1 is a workpiece take-out device that allows a tray that opens downward to be a workpiece, and allows the uppermost end workpieces in the upper direction to be taken out one by one from a group of workpieces stacked in the upward direction. There,
An injection device capable of injecting compressed air through a nozzle toward a gap between the end work on a single outer face of each of the outer faces of the work group and another work adjacent thereto; And a moving device that allows the jetting device to move upward and backward, and a positioning device that positions the jetting device so that the nozzle faces the gap, and jets of compressed air by the nozzle Thus, the single outer side surface of the end work is placed on the upper surface of the remaining work group .

  For this reason, the work by the work take-out device, in which the end work is taken out from the work group one by one, the compressed air is injected through the nozzle toward the gap, and the end part is removed from the work group. This is achieved by repeatedly releasing the workpiece.

  Therefore, the picking work and the peeling work are required in the conventional picking work as described above. However, according to the work picking device, at least the picking work is not necessary. Achieved more easily.

  Further, the workpiece take-out device does not require an adsorbent for enabling the above-described conventional adsorption work. Therefore, the configuration of the workpiece take-out device is simplified accordingly.

According to a second aspect of the present invention, the positioning device includes a position detection sensor that detects a position of the end face in the upward direction of the end work, and the position of the end face detected by the position detection sensor is used as a reference. The nozzle is opposed to a position where a gap should exist.

Here, the dimension from the end face in the upward direction of the end work to the position where the gap should exist substantially matches the dimension of the end work in the upward direction, and the occurrence of errors is suppressed to a small extent.

  For this reason, as described above, when the nozzle is opposed to a position where the gap should be present with reference to the position of the end face detected by the position detection sensor, the nozzle faces the actual gap with high accuracy. . Therefore, if the compressed air is injected through the nozzle, the compressed air enters the gap more reliably. As a result, the end work can be easily detached from the work group, and the above-described take-out operation can be achieved more easily.

  According to a third aspect of the present invention, when the position detection sensor is moved by the moving device together with the ejection device, and the position detection sensor detects the position of the end face of the end workpiece, the position where the gap should be present The nozzles face each other.

For this reason, the relative dimension of the injection device in the upward direction and the position detection sensor of the positioning device can be made to substantially match the dimension of the end work in the upward direction in advance. Therefore, as described above, when the position detection sensor detects the position of the end face, the nozzle faces the actual gap more accurately. Therefore, the removal of the end work is further facilitated by the jet of compressed air through the nozzle, and the take-out operation is more easily achieved.

  With respect to the workpiece take-out device of the present invention, it is possible to more easily achieve the take-out operation of taking out the end works one by one from the overlapped work group, and to enable the take-out operation. In order to realize the object of simplifying the construction of the workpiece take-out device, the best mode for carrying out the present invention is as follows.

That, together with the same shape and size downward to the tray opening with the work, the work group superimposed upward, the work take-out apparatus which enables extraction one by one top end work in the upward direction It is. This workpiece take-out device injects compressed air through a nozzle toward a gap between the end workpiece and another workpiece adjacent thereto on a single outer surface of each outer surface of the workpiece group. comprising an injection device that allows, forward the injector toward the upward direction, and a moving device for enabling backward movement, and a positioning device for the nozzle to position the injection device so as to be opposed to the gap, the By spraying compressed air from the nozzle, the side of the single outer surface of the end work is placed on the upper surface of the remaining work group .

  In order to explain the present invention in more detail, an embodiment thereof will be described with reference to the accompanying drawings.

  In FIG. 2-6, the code | symbol 1 is a workpiece taking-out apparatus. The workpiece take-out device 1 is capable of automatically taking out the end workpieces 2 (B) in the one direction A one by one from a group of workpieces 2 superimposed in one direction A.

  In the illustrated example, the one direction A is upward in the vertical direction. The work 2 is a resin tray that opens downward. These workpieces 2 have the same shape and the same size, and are detachably fitted in the one direction A. Further, the end work 2 (B) is located at the uppermost part of the work 2 group.

  The workpiece picking device 1 includes a carriage 4 that can move to a desired position on the work surface 3 and a mounting table 5 that protrudes upward from the carriage 4. The upper surface of the mounting table 5 extends horizontally, and the work 2 group is mounted on the upper surface. A positioning tool 6 for positioning the workpiece 2 group is provided at a predetermined position in the horizontal direction on the upper surface of the mounting table 5.

  On the outer surface of the work 2 group, there are slight gaps 9 between the works 2 adjacent to each other. The workpiece take-out device 1 is compressed through a nozzle 10 toward a gap 9 between the end workpiece 2 (B) and another workpiece 2 (C) adjacent to the end workpiece 2 (B). An injection device 12 capable of injecting air 11 is provided. A plurality (three) of the nozzles 10 are provided.

  Further, the workpiece take-out device 1 is configured so that the nozzle 10 is close to the gap 9 and opposes the moving device 14 that enables the injection device 12 to move in the one direction A and to perform the backward movements D and E. And a positioning device 15 for positioning the injection device 12.

  The moving device 14 includes a first actuator 20 supported by a bracket 19 on one side surface of the mounting table 5. The first actuator 20 is a pneumatic cylinder, and a support base 21 is supported on the protruding end of the piston rod. By the operation of the first actuator 20, the support base 21 can move back and forth (up and down) D and E in the one direction A.

  The injection device 12 includes a second actuator 24 supported by a fastener 23 below the support base 21. The second actuator 24 is a pneumatic cylinder, and the nozzle 10 is supported on the protruding end of the piston rod. By the operation of the second actuator 24, the nozzle 10 can move in the horizontal direction toward the outer surface of the group of workpieces 2 and can move backward and forward F and G. The operation of the fastener 23 enables the position of the injection device 12 to be adjusted in one direction A with respect to the support base 21.

  The positioning device 15 includes a third actuator 26 supported on the upper portion of the support base 21 by a fastener 25. The third actuator 26 is a pneumatic cylinder, and a position detection sensor 28 for detecting the position of the end surface 27 in the one direction A of the end work 2 (B) is supported on the protruding end of the piston rod. . The position detection sensor 28 includes a bracket 29 supported on the protruding end of the piston rod, an arm 31 pivotally supported on the bracket 29 by a pivot shaft 30, and a limit switch 32 supported on the bracket 29. It has. By the operation of the third actuator 26, the position detection sensor 28 can move back and forth in the horizontal direction in the direction approaching the outer surface of the workpiece 2 group. The position of the positioning device 15 can be adjusted in one direction A with respect to the injection device 12 and the support base 21 by operating the fastener 25.

  When the injection device 12 and the positioning device 15 move forward D by the operation of the moving device 14 and the injection device 12 and the positioning device 15 reach the “upper limit position” (FIG. 2-4, solid line), An upper limit position sensor 35 for detecting this is provided. In the “upper limit position”, the position detection sensor 28 of the positioning device 15 is positioned above the end surface 27 of the end workpiece 2 (B) and is positioned outward of the outer surface of the workpiece 2 group. It is supposed to be.

  When the injection device 12 and the positioning device 15 are moved backward E by the operation of the moving device 14 and the injection device 12 and the positioning device 15 reach the “lower limit position” (in FIG. 3, a one-dot chain line). A lower limit position sensor 36 for detecting this is provided. In the “lower limit position”, the nozzle 10 of the injection device 12 is positioned below the lower end of the workpiece 2 group, and the positioning device 15 is positioned outward of the outer surface of the workpiece 2 group. It is supposed to be.

  An air compressor 39 is provided for supplying the compressed air 11 to the nozzle 10 and the first to third actuators 20, 24, and 26 via an air control device 38. Further, a control device 40 for electrically connecting the limit switch 32, the upper limit position sensor 35, the lower limit position sensor 36, and the air control device 38 of the position detection sensor 28 and electronically controlling them is provided. .

  A description will be given of the work of taking out the end work 2 (B) one by one from the work 2 group using the work take-out device 1.

  First, in the “initial state” of the workpiece take-out device 1 in which the air compressor 39 is driven, the injection device 12 and the positioning device 15 are controlled by the control device 40 as shown by a solid line in FIG. Is positioned at the “upper limit position”.

  When starting the take-out operation, a switch (not shown) of the air control device 38 is turned on. Then, the third actuator 26 of the positioning device 15 is operated, the position detection sensor 28 moves forward H, and the position detection sensor 28 is positioned above the end surface 27 of the end work 2 (B) ( In FIG. 4, a one-dot chain line). In this case, the nozzle 10 of the injection device 12 is kept in the backward movement G (solid line in FIG. 4).

  Next, the injection device 12 and the positioning device 15 are moved backward E by the operation of the moving device 14. As the backward movement E proceeds, the arm 31 of the position detection sensor 28 of the positioning device 15 is joined to the end surface 27 of the end work 2 (B). Then, the arm 31 is rotated about the pivot shaft 30, and the limit switch 32 is interlocked with the arm 31 (solid line in FIG. 1). Then, the position detection sensor 28 detects the position of the end surface 27 in the one direction A of the end part work 2 (B).

  Here, as described above, when the injection device 12 and the positioning device 15 are moved backward E by the operation of the moving device 14, compressed air is contained in the air chamber above the piston in the first actuator 20 of the moving device 14. 11, while the air in the air chamber below the piston is discharged to the outside. At this time, a throttle valve for reducing the amount of air discharged is provided, whereby the backward movement E of the injection device 12 and the positioning device 15 is performed slowly. Thereby, the position detection sensor 28 of the positioning device 15 detects the position of the end face 27 with high accuracy.

  Then, by detecting the position of the end face 27, a detection signal of the position detection sensor 28 is input to the control device 40, and the operation of the moving device 14 is stopped. Thereby, the injection device 12 and the positioning device 15 are stopped. Here, with the position of the end face 27 detected by the position detection sensor 28 as a reference, the gap 9 between the end work 2 (B) and the other work 2 (C) should be at a position. The nozzle 10 faces.

  More specifically, as described above, when the operation of the moving device 14 is stopped based on the detection signal of the position detection sensor 28, the gap 9 and the tip of the nozzle 10 are substantially the same in the one direction A. Be positioned. That is, the dimension from the nozzle 10 to the arm 31 of the positioning device 15 in the one direction A is substantially matched with the height dimension of the workpiece 2 in advance. In addition, when the movement device 14 is stopped, the second actuator 24 of the injection device 12 is operated, the nozzle 10 is moved forward F, and the nozzle 10 approaches the gap 9. Thereby, the nozzle 10 is opposed to the gap 9 (solid lines in FIGS. 1 and 6).

  On the other hand, the third actuator 26 of the positioning device 15 is operated, and the position detection sensor 28 is moved backward I. As a result, the position detection sensor 28 is positioned on the outer side of the outer surface of the work 2 (the chain line in FIG. 1). In this state, the compressed air 11 is injected by the nozzle 10 of the injection device 12. Then, the compressed air 11 enters the gap 9 and flows through the gap 9 into the end work 2 (B) with vigor. Then, the end part work 2 (B) starts to be detached from the other work 2 groups (the chain line in FIG. 6).

  Further, when the compressed air 11 is jetted by the nozzle 10, the end work 2 (B) is largely separated so as to ride on the remaining work 2 group (the two-dot chain line in FIGS. 1 and 6). The injection of the compressed air 11 by the nozzle 10 is maintained for a predetermined time. And if this predetermined time passes, the 2nd actuator 24 of the said injection apparatus 12 will act | operate, and the said nozzle 10 will be moved backward G (in FIG. 1, a dashed-dotted line).

  In the above case, in the workpiece take-out device 1, the moving device 14 is in the state shown by the solid line in FIG. 1, and the nozzle 10 and the position detection sensor 28 are held in the state shown by the one-dot chain line in FIG. The Thereby, only one end work 2 (B) in the work 2 group is taken out. Then, the worker can perform a desired work on the work 2.

  From the above state, the switch of the air control device 38 is turned on. Then, the operation of the workpiece take-out device 1 described above is repeated, and only the next end workpiece 2 (B) in the remaining workpiece 2 group is taken out as described above. Thereafter, the above operation is repeated to achieve the above extraction operation.

  When the unloading operation by the workpiece unloading device 1 is continued and the injection device 12 and the positioning device 15 reach the “lower limit position” (indicated by the one-dot chain line in FIG. 3), the lower limit position sensor 36 that detects this A detection signal is input to the control device 40. Then, the operation of the moving device 14 causes the injection device 12 and the positioning device 15 to move forward D. When the injection device 12 and the positioning device 15 reach the “upper limit position” by this forward movement D (FIG. 2-4, solid line), the detection signal of the upper limit position sensor 35 that detects this is sent to the control device 40. Entered. Then, the operation of the moving device 14 is stopped, and the injection device 12 and the positioning device 15 are held at the “upper limit position”. That is, the workpiece take-out device 1 is returned to the “initial state”.

  According to the above configuration, the compressed air 11 passes through the nozzle 10 toward the gap 9 between the end work 2 (B) on the outer surface of the work 2 group and the other work 2 (C) adjacent thereto. , The moving device 14 that allows the injecting device 12 to move in the one direction A, and the backward movements D and E, and the injection so that the nozzle 10 faces the gap 9. A positioning device 15 for positioning the device 12.

  For this reason, the picking work by the work picking device 1 for picking out the end work 2 (B) one by one from the work 2 group is jetted with the compressed air 11 through the nozzle 10 toward the gap 9. Then, it is achieved by repeating that the end work 2 (B) is detached from the work 2 group.

  Therefore, the picking work and the peeling work are required in the conventional picking work as described above. However, according to the work picking device 1, the picking work is at least as much as the picking work is unnecessary. Is more easily achieved.

  Further, the workpiece take-out device 1 does not require an adsorbent for enabling the above-described conventional adsorption work. Therefore, the construction of the workpiece take-out device 1 is simplified accordingly.

  Further, as described above, the positioning device 15 includes the position detection sensor 28 for detecting the position of the end surface 27 in the one direction A of the end work 2 (B), and the position detection sensor 28 detects the position detected by the position detection sensor 28. With the position of the end face 27 as a reference, the nozzle 10 is made to face the position where the gap 9 should exist.

  Here, the dimension from the end face 27 in one direction A in the end part work 2 (B) to the position where the gap 9 should exist is substantially equal to the (height) dimension of each work 2 in the one direction A. In addition, the occurrence of errors is suppressed to a small level.

  For this reason, as described above, when the nozzle 10 is opposed to a position where the gap 9 should exist on the basis of the position of the end face 27 detected by the position detection sensor 28, the nozzle 10 becomes an actual gap. It faces 9 with high accuracy. Therefore, if the compressed air 11 is injected through the nozzle 10, the compressed air 11 enters the gap 9 more reliably. As a result, the end work 2 (B) can be easily detached from the work 2 group, and the above-described take-out operation can be achieved more easily.

  Further, as described above, the position detection sensor 28 is moved together with the injection device 12 by the moving device 14, and the position detection sensor 28 detects the position of the end surface 27 of the end work 2 (B). In this case, the nozzle 10 faces the position where the gap 9 should exist.

  For this reason, the relative dimensions of the injection device 12 and the position detection sensor 28 of the positioning device 15 in the one direction A are made to substantially match the (height) dimensions of the workpieces 2 in the one direction A in advance. be able to. Therefore, as described above, when the position detection sensor 28 detects the position of the end face 27, the nozzle 10 faces the actual gap 9 with higher accuracy. Therefore, the ejection of the end work 2 (B) is further facilitated by the injection of the compressed air 11 through the nozzle 10, and the take-out operation is more easily achieved.

The above is due to the illustrated example, and may be inclined Direction with respect to the vertical direction to the one direction A. Moreover, you may provide the moving apparatus 14 with respect to the said injection apparatus 12 and the positioning apparatus 15 separately. Each actuator may be an electric type. Further, the position detection sensor 28 may be constituted by a limit switch 32 that is in direct contact with the end face 27, and the pivot shaft 30 and the arm 31 may be omitted.

It is another effect | action explanatory drawing corresponded in FIG. It is a side surface partial broken view of a workpiece removal apparatus. It is a front fragmentary broken view of a workpiece taking-out apparatus. FIG. 3 is an explanatory diagram of a partial enlargement operation of FIG. 2. FIG. 5 is a view taken along line 5-5 in FIG. 1. It is a partial expanded partial cross-section action explanatory drawing of FIG.

DESCRIPTION OF SYMBOLS 1 Work pick-up apparatus 2 Work 3 Work surface 4 Carriage 5 Mounting base 9 Crevice 10 Nozzle 11 Compressed air 12 Injection apparatus 14 Moving apparatus 15 Positioning apparatus 20 1st actuator 24 2nd actuator 26 3rd actuator 27 End face 28 Position detection sensor A 1 Direction B End part C Other part D Forward movement E Reverse movement F Forward movement G Reverse movement H Forward movement I Reverse movement

Claims (3)

The tray opening downward to the work, from the work group superimposed upward, a workpiece take-out apparatus which enables extraction one by one top end work in the upward direction,
An injection device capable of injecting compressed air through a nozzle toward a gap between the end work on a single outer face of each of the outer faces of the work group and another work adjacent thereto; And a moving device that allows the jetting device to move upward and backward, and a positioning device that positions the jetting device so that the nozzle faces the gap, and jets of compressed air by the nozzle Thus, the workpiece take-out apparatus is characterized in that the side portion of the single outer side surface of the end piece rides on the upper surface of the remaining workpiece group . The positioning device includes a position detection sensor that detects the position of the end face in the upward direction of the end work, and the position where the gap should exist is based on the position of the end face detected by the position detection sensor. 2. The workpiece picking apparatus according to claim 1, wherein the nozzles are opposed to each other.   The position detection sensor is moved by the moving device together with the ejection device, and when the position detection sensor detects the position of the end face of the end work, the nozzle faces the position where the gap should exist. The work take-out apparatus according to claim 2, wherein the work take-out apparatus is configured as described above.

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