JPS6131698B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a transfer device, and in particular, the present invention relates to a transfer device for stacking items carried into a carry-in section on a pallet in a carry-out section in multiple stages, or stacking items on a pallet carried into a carry-in section. This relates to unloading multiple tiers of items to an unloading section.

Conventionally, in this type of transfer device, an article is supported on a plate-shaped carriage, a carriage consisting of a large number of rollers, a fork-shaped carriage, or the like, and transferred from an input section to an output section. Therefore, when the items are loaded onto the carriage at the loading section or when they are dismounted from the carriage at the unloading section, they may have to climb over a slight step or fall, which may cause the load to collapse or generate noise. In addition, since it is necessary to provide a standby section for the carriage to retreat and a guide frame for the carriage to advance and retreat, the direction in which items are carried into the loading section and the direction in which they are carried out from the loading section is restricted. This method has the drawback that the transfer device is connected to a transfer conveyor or a pallet conveyor, and is subject to restrictions in terms of layout.

The present invention was made in view of the above points, and an object of the present invention is to provide a transfer device that does not cause the load to collapse or generate noise, and allows the user to more freely select the direction in which the goods are carried in and the direction in which they are carried out. be.

The transfer device of the present invention includes a base, a swivel table rotatably supported on the base, and a crank rod that is provided on one of the base and the swivel table and rotates along a horizontal plane. , a crank guide provided on the other of the base and the swivel base and slidably engaged with the tip of the crank lever; a mast erected on the swivel base; and a mast provided in front of the mast. An arm that can be raised and lowered along By moving, the tip of the crank lever slides along the crank guide to rotate the swivel base on which the mast is erected,
By rotating the mast and raising and lowering the arm, the holding device is advanced and retreated from above with respect to the carrying-in section and the carrying-out section, thereby transferring the article from the carrying-in section to the carrying-out section.

Next, one embodiment of the present invention will be described based on FIGS. 1 to 9.

Reference numeral 1 denotes a base having an orthogonal L shape, and a swivel base 2, which is approximately egg-shaped in plan view, is rotatably supported on the base of the base 1, that is, on the corner of the L shape. A mast 3 is erected on 2, and this mast 3 is driven to rotate.

That is, the base of the crank lever 4 is located on the lower surface of the swivel base 2 in front of the mast 3 (on the right side in FIGS. 1 to 4), that is, on the lower surface of the tip of the approximately egg-shaped swivel base 2. Output shaft 9 of machine 9
A guide roller 5 is rotatably supported on the lower surface of the tip of the crank rod 4 via the crank rod 4, and both ends 1a of the orthogonal L-shape of the base 1, A crank guide 7 having a linear sliding groove 6 on the upper surface along the middle part of the base 1
The sliding groove 6 of the crank guide 7
A guide roller 5 of the crank rod 4 is engaged from above.

The base of the crank rod 4 is connected to the swivel base 2.
It is fixed to the output shaft 9a of the reducer 9 provided above and is connected to the forward/reverse motor 8 provided on the swivel base 2 via the reducer 9. In the figure, by driving the motor 8 forward to rotate the crank lever 4 counterclockwise around the output shaft 9a, the guide roller 5 is moved to the base end of the sliding groove 6, that is, to the mast 3 side. From the end to the tip, a→b→c in Fig. 5A.
As the guide roller 5 slides, the guide roller 5 acts to pull the tip of the swivel base 2 through the crank rod 4 to bring it closer to the crank guide 7, thereby connecting the swivel base 2 and the mast 3. The base 1 is rotated clockwise from the state shown in FIGS. 2 and 4, that is, the state in which the swivel base 2 and the mast 3 are facing one end 1a of the base 1. Then, when the swivel base 2 and the mast 3 turn 45 degrees, the guide roller 5 moves into the sliding groove 6.
At the same time, the tips of the crank lever 4 and the swivel base 2 are also located directly above the sliding groove 6 . Then, from this state, the guide roller 5 slides from the tip of the sliding groove 6 toward the base end, that is, the end of the mast 3, as shown in c→b→a in FIG. 5A. This guide roller 5 acts to press the tip of the swivel base 2 toward the other end 1b of the base 1 via the crank rod 4 so as to separate it from the crank guide 7.
When the mast 3 is further rotated 45 degrees clockwise, the motor 8 is stopped. As a result, the swivel base 2 and the mast 3 as a whole rotate 90 degrees clockwise, so that the swivel base 2 and the mast 3 face the other end 1b of the base 1. In addition, in this state, if the motor 8 is driven to rotate in the reverse direction, the swivel base 2
and the mast 3 rotates 90 degrees counterclockwise, and then the motor 8 stops and the swivel base 2 and mast 3 change from facing the other end 1b of the base 1 to one end 1.
It will be facing toward a.

At this time, if the rotational angular velocity of the crank rod is constant, the swinging angular velocity of the mast 3 changes in a sinusoidal manner, so the mast 3 performs a slow motion at the start and stop of the swing, and The shock caused by acceleration and the shock caused by deceleration when stopping turning are small, and the momentum of the mast 3 at the start of turning is small, so the motor 8 that rotates the crank rod 4
can be used with small rotational force.

An arm 11 is horizontally protruded in front of the mast 3, and the arm 11 is driven up and down while maintaining a horizontal state.

That is, the arm 11 is provided with an elevating frame 12 having a substantially U-shape in plan view at its base, and this elevating frame 12
Rollers 13 are axially mounted on the upper and lower parts of both sides of the mast 3, and each of the rollers 13 on both sides is connected to a recess 15 opened toward the outside of a guide rail 14 having a substantially U-shaped cross section and disposed at the front ends of both sides of the mast 3. is engaged with.

A chain 1 is attached to the upper end of the base of the arm 11.
One end of the chain 16 is attached to the sprocket wheel 17, which is wound around a sprocket foil 17 that is mounted on the upper end of the mast 3.
The other end of the chain 16 is suspended inside the mast 3, and a balance weight 18 is attached to the other end of the chain 16, which is movable up and down inside the mast 3.

Then, the sprocket wheel 17 is connected to a forward/reverse motor 19 provided at the upper end of the mast 3 via a speed reducer 20, and by driving the motor 19 in forward rotation, one end of the chain 16 is rotated. The arm 11 is raised by the sprocket wheel 17, and the motor 19
By driving the arm 11 in reverse rotation, the arm 11 is lowered.

Further, a holding device 21 is attached below the tip of the arm 11. This holding device 21 is capable of holding a plurality of boxes C, for example, nine boxes, which are synthetic resin articles containing a plurality of bottles B as shown in FIG. 9, from above. .

That is, in the holding device 21, a plurality of, for example, four, hexagonal cross-section rotating shafts 23 are horizontally suspended in parallel and rotatably between the lower front and rear of the frame 22, and each of the rotating shafts 23 is A plurality of sets, for example, 3 sets of 6 hooks 24 are attached to each of them so as to face in the same direction and in opposite directions on each adjacent rotating shaft 23.
A pair of rotation shafts 23 with 4 facing in the same direction, that is, the first and third rotation shafts 23a and 23c from the end.
The second and fourth rotation shafts 23b and 23d are connected by a link-like interlocking mechanism 25, respectively.

One end of a rotating rod 26 is attached to each of the first rotating shaft 23a and the fourth rotating shaft 23d.
The tip of a piston rod 28 of an air cylinder 27 provided on the frame 22 is pivotally attached to the other end of the piston rod 6.
Operate each air cylinder 27 to remove the piston rod 2.
By advancing 8, the rotation shafts 23a, 23
d and the rotating shafts 23a, 23d and the interlocking mechanism 2
The hooks 24 of the rotation shafts 23b, 23c connected via
The hooks 24 of the rotating shafts 23b and 23c, which are connected to the rotating shafts 23b and 23c via the interlocking mechanism 25, are designed to move forward, and each hook 24 is connected to the nine boxes C arranged vertically and horizontally. The nine boxes C are held in an aligned state by extending from between the heads of the bottles B in the box C into the window hole on the side.

Note that a guide plate 29 that expands downward is provided at the front and rear ends of the frame body 22, and a plurality of presser bars 3 are provided below the frame body 22.
0, and each presser bar 30 is always urged downward by a spring 31.

The holding device 21 has a plurality of fittings 32 attached to both sides of the upper part of the frame body 22 via a plate member 33, and a plurality of circular holes 34 are provided in the upper part of the frame body 22. A plurality of positioning projections 36 on the lower surface of the mounting plate 35 provided at the lower end of the arm 11 are engaged with the holes 34, and each of the mounting tools 32 is operated to mount the mounting plate 35 of the arm 11.
is attached to the lower end of the arm 11 so as to be sandwiched between the upper part of the frame body 22 and each of the above-mentioned fittings 32.

Then, one end 1a of the base 1 is used as an unloading part 41 on which a pallet P is placed, and the other end 1b of the base 1 is used as an inlet part 42, with a plurality of rollers 43 being placed on the shaft. An accumulation conveyor 44 is connected to the group of rollers 43 of the carry-in section 42, and a stopper 45 is provided at the tip of the accumulation conveyor 44. A pusher 46 is formed to be movable forwards and backwards for pushing out all at once onto a group of rollers 43 of the carry-in section 42. Note that 47 is a carry-in conveyor that carries the boxes C to the storage conveyor 44.

Next, the overall operation will be explained.

First, the arm 11 is raised, the mast 3 is rotated clockwise, and the holding device 21 is moved to the other end 1b of the base 1, that is, the roller 43 of the carrying-in section 42.
Place the pallet P above the base 1.
It is placed on one end 1a of , that is, on the unloading section 41. Further, the hook 24 of the holding device 21 is moved backward.

In this state, when a box C containing a plurality of bottles B is sent to the storage conveyor 44 by the carry-in conveyor 47, the box C is stopped by the stopper 45, and when three boxes C are lined up in a row, the pusher 46 moves forward and backward. Then, three boxes C are sent out onto a group of rollers 43. By repeating such operations, nine boxes C are arranged on the group of rollers 43.

Then, the arm 11 is lowered and the holding device 21
The hooks 24 of the box C are positioned inside the windows of the nine boxes C arranged in a row, and the hooks 24 are moved forward to engage the hooks 24 with the windows of the boxes C. At this time, the guide plates 29 at the front and rear ends of the holding device 21 act to guide the three boxes C in each row to a predetermined position by sandwiching them from the front and back, and each presser bar 30 acts to guide the boxes C to a predetermined position. The hooks 24 act to suppress the floating of the boxes C, and the nine boxes C can be held securely and in an orderly manner, and the bottles B in the boxes C are not damaged by the hooks 24.

Then, the arm 11 is raised to lift the nine boxes C in an aligned state via the holding device 21, and the mast 3 is rotated counterclockwise to move the nine boxes C onto the pallet of the unloading section 41. Move it above P.

Next, the arm 11 is lowered to place the nine boxes C on the pallet P, and the hook 24 is moved back to disengage the hook 24 from the window hole of the box C. Transfer onto pallet P.

By repeating this operation, when a predetermined number of boxes C have been loaded onto the pallet P, the pallet P is carried out using a forklift or the like, and the empty pallet P is instead moved to the carrying out section 41, that is, one end of the base 1. 1a
Place it on top in preparation for transferring the next box C.

In this embodiment, the present invention is applied to a device that loads items in a plurality of stages on a pallet, that is, a pallet loading device. It can also be applied to a device that unloads stacked items, that is, a pallet unloading device.

Further, FIG. 10 shows another embodiment of the holding device, and this holding device 21a is a fixed guide plate 29 of the holding device 21 according to the first embodiment.
Instead, movable guide bars 51 are arranged at the front and rear ends of the frame 22, and each of the guide bars 5
1 is a rotating rod 52 whose center portion is pivoted to the frame body 22;
By pivoting the tip of the piston rod 54 of the air cylinder 53 attached to the frame 22 to the upper end of this rotating rod 52, When the hooks 24 move forward and backward into the window holes of the boxes C, they serve to hold the three boxes C in each row from the front and back and guide them to a predetermined position.

Note that the holding device is not limited to the above-mentioned two types, that is, the one that hooks the box C using 24, but can be appropriately selected depending on the type and shape of the item, for example, It is also possible to use a device that holds the item by pinching it from the surroundings, or a device that holds the item by adsorbing it.

Further, in the above-mentioned embodiment, the crank rod 4 was provided on the swivel base 2 and the crank guide 7 was provided on the base 1. Further, in the above-described embodiment, the engagement between the crank rod 4 and the crank guide 7 was performed by the guide roller 5 and the sliding groove 6, but the invention is not limited to this, for example, This may also be done using a slider and a rod into which the slider fits.

According to the present invention, since the article is held from above, when the article is transferred from the loading section to the unloading section, the article can be held while being placed on the loading section, and the article can also be held while being placed on the loading section. Since it is possible to place the item on the unloading section while holding it, the item can be transferred without tilting or giving a shock to the item, which prevents the load from collapsing and causing noise. In addition, the holding device that holds the item from above has a mast set up on a swivel table that is rotatably provided on the base, and is attached to the tip of an arm that is movable up and down the mast. Therefore, there are no obstructions around the loading and unloading sections provided below the rotation range of the holding device, except for the mast. The delivery direction can be freely selected, and there are fewer restrictions on the layout when connecting an incoming conveyor, an outgoing conveyor, a pallet conveyor, etc.

Also, when holding an item from above, depending on the holding method, the item may become unstable when it moves horizontally, but if the rotational angular speed of the crank rod is constant, the turning angular speed of the swivel base is a sine. Since it changes functionally, the rotating base performs slow motion when starting and stopping the turning, and the shock due to acceleration at the start of turning, the shock due to acceleration when stopping turning, and the shock due to deceleration when stopping turning are reduced. There is no need to worry about the product being held in an unstable state, and since the momentum of the swivel table is small at the start of turning, the drive device that rotates the crank rod does not need to have a small rotational force, so a small drive device can be used. Since the drive mechanism is extremely simple, consisting of a crank rod and a crank guide, the swing drive system can be made compact.

[Brief explanation of the drawing]

Figures 1 to 9 show one embodiment of the present invention, with Figure 1 being a front view of the transfer device, Figure 2 being a plan view thereof, and Figure 3 being a partially cutaway enlarged view. A front view, FIG. 4 is an enlarged plan view, FIG. 5 is a partially cutaway side view of the crank rod and crank guide, and FIG. 5A is an operational explanation showing the relationship between the crank rod and the crank guide during turning. 6 is a side view of the holding device, FIG. 7 is a plan view thereof, FIG. 8 is a sectional view thereof, and FIG. 9 is a perspective view showing a state in which the hook of the holding device and a box as an article are engaged. FIG. 10 shows another embodiment of the present invention, and is a side view of the holding device. 1...Base, 2...Swivel base, 3...Mast, 4
...Crank rod, 7...Crank guide, 11...
...Arm, 21, 21c...Holding device, 41...
Carrying out section, 42... Carrying in section, C... Box as a product.

Claims (1)

[Claims] 1. A base, a swivel base rotatably supported on the base, a crank rod provided on one of the base and the swivel base and rotating along a horizontal plane, and the other of the base and the swivel base. a crank guide that is provided on and slidably engages with the tip of the crank lever, a mast that is erected on the swivel table, and an arm that is provided in front of the mast and that can be raised and lowered along the mast; A holding device is provided at the tip of the arm to hold the item from above, and a carry-in section and a carry-out section are arranged on the sides of the mast, and by rotating the crank rod, the tip of the crank rod is The swivel table on which the mast is erected is rotated by sliding it along the crank guide, and the holding device is advanced and retreated from above with respect to the loading section and the unloading section by rotating the mast and raising and lowering the arm, thereby moving the article. A transfer device characterized by being adapted to transfer from a loading section to an unloading section.