JPS6242806B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to an automatic cargo handling device for automatically unloading cargo loaded on a pallet.

BACKGROUND TECHNOLOGY In recent years, various pallet unloading devices have been developed as automatic cargo handling devices that unload cargo loaded on a pallet in order. It is similar to a depalletizer that moves the required number of items onto an adjacent moving platform that can be raised and lowered, lowers this moving platform to the height of the conveyor at a predetermined position, and then transfers the items on the moving platform to the conveyor in order to unload the items. An unloading device is known. However, such a depalletizer, which is an unloading device, places a heavy load on the moving platform and supporting parts, and requires a large space for horizontal movement and lifting/lowering of the moving platform. There are disadvantages such as when the required number of items are transferred onto the moving table, adjacent items may also move and fall off, or the movement may not be carried out smoothly.

OBJECT OF THE INVENTION Accordingly, the object of the present invention is to eliminate such drawbacks in the prior art by providing a head portion at the end of a telescoping arm that moves up and down along a pivotable upright column of a robot body. A hand device for grasping baggage is provided with a fixed hand portion extending downward from one side of the support frame, and a movable hand portion movably provided on the other side in opposition to the fixed hand portion. To provide an automatic baggage handling device having a simple structure and capable of quickly and surely unloading a baggage, which is provided with an air pad that securely grips the baggage by slightly shifting the baggage in the lateral direction.

Structure of the Invention According to the present invention, an automatic baggage handling device serving as a depalletizer is a robot comprising a rotatable upright column and a telescoping arm that moves up and down along the column and has a head portion at the tip. A hand support frame attached to the main body and the head of the robot main body, a fixed hand part extending downward from one side of the support frame, and a hand support frame extending downward from the opposite side of the support frame facing the fixed hand part. The movable hand part is movable relative to the fixed hand part, and the holding pawl is provided at the lower end of the movable hand and can protrude inward to prevent the cargo gripped between the fixed and movable hand parts from falling. A device equipped with a hand device for grasping baggage consisting of a hand device, which is pivotally supported on the outside of the movable hand portion so as to slightly shift laterally a predetermined baggage to be gripped by the hand device to ensure gripping of the baggage. It is characterized by having an air pad extending from the lower end of the movable hand and moving laterally inward during operation.

These and other objects, advantages and features of the invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

Embodiment As shown in FIGS. 1 and 2 of the drawings, an automatic baggage handling device in which the present invention is implemented includes a column 2 that is rotatably supported upright on a platform 3, and a column 2 that is vertically supported along the column 2. A robot body 1 consisting of an arm 5 that can extend and contract laterally from a movable part 4 that moves and has a head part 6 at its tip, and a cargo grip provided on the head part 6 at the tip of the arm 5 of the robot body 1. It mainly consists of a hand device 10 for use. The robot body 1 has a well-known cylindrical coordinate structure, and in addition to rotation by a support 2, vertical movement of a movable part 4 along the support 2, and lateral movement by an extendable arm 5, a head part 6 Various movements such as rotation of the hand device 10 are possible. Of course, the robot body is not limited to such a cylindrical coordinate type, but also rectangular coordinate type, orthogonal coordinate type,
An appropriate type such as a multi-jointed type can be used.

As clearly shown in FIGS. 3 to 8, the hand device 10 for grasping a load in the automatic load handling device of the present invention includes a hand support frame 11 attached to the head portion 6 of the robot body 1, and a support frame 11 for the hand attached to the head portion 6 of the robot body 1. Fixed hand portion 12 extending downward from one side
and the support frame 1 facing the fixed hand part 12.
A movable hand section 14 extends downward on the other side of the hand section 1 and is movable with respect to the fixed hand section 12.
, a holding pawl 15 provided at the lower end of the movable hand section 14 so as to freely protrude inward so as to prevent the cargo gripped between the fixed and movable hand sections 12 and 14 from falling; An air pad 16 is pivotally supported on the side and extends to the lower end of the movable hand portion 14 during operation so as to be able to move inward in the lateral direction.
It is mainly composed of.

The support frame 11 of the hand device 10 is made of suitable shaped steel or angle material into a desired frame shape, and is rotatably attached to the head portion 6 at the tip of the arm 5 of the robot body 1 by means of a mounting member 13. . Support frame 11 framed in this way
A fixed hand portion 12 is provided on one side of the lower surface of the device and extends vertically downward. The fixed hand portion 12 has a fixed plate 21 made of a suitable metal plate or hard plastic plate. One or more (in the illustrated embodiment, two) extending perpendicularly downward on the other side of the lower surface of the support frame 11 facing the fixed hand part 12 and movable laterally with respect to the fixed hand part 12. A movable hand section 14 is provided.
Each movable hand section 14 moves along the fixed hand section 12 along a rail member 20 provided on the support frame 11.
A movable plate main body 24 provided movably relative to the movable plate main body 24
Then, an actuating device such as a pneumatic piston cylinder 25 attached to the frame member 11 so as to move the movable plate main body 24 along the rail member 20 and the fixed and movable hand parts 12 and 14 drop the baggage gripped. A retaining pawl 15 is provided at the lower part of the movable plate body 24 so as to protrude inwardly, and a retaining pawl 15 is provided at the lower part of the movable plate body 24 so as to project inwardly.
4. Another actuating device such as a pneumatic piston cylinder 27 provided on the outside, which is pivotally supported on the side of the movable plate main body 24 and pivotally extends laterally from the lower end of the movable hand portion 14 during operation. The air pad 16 is provided with an air pad 16 that can be moved laterally inwardly. The movable plate main body 24 has a plurality of rollers 29 so as to be movable along the rail member 20 of the support frame 11.
a guide member 28 made of a suitable section steel such as a channel steel provided with a body member 3 made of a suitable metal plate extending downward from the guide member 28;
1 and a rubber plate 32 attached to the main body member 31
, a holder member 33 and a mounting bracket 34 that hold the holding pawl 15 so as to be able to protrude inwardly, a pneumatic cylinder piston device 27 and a link 3 that actuate these holder member 33 and the mounting bracket 34 in the vertical direction.
6, 37 and a lever 38. The pneumatic piston cylinder device 27 is pivotally supported by a main body member 31 at one end of the cylinder, a fork end 35 is provided at the piston rod end at the other end, and a link 36 is connected to an intermediate portion of a lever 38.
One end of the lever 38 is pivotally connected to the main body member 31, and another link 37 is pivotally connected to the other end, and the other end of this link 37 is further pivotally connected to one end of the pawl fitting 34. Further, the other end of the link 36 is pivotally connected to one end of the pawl holder member 33. The mounting bracket 34 has a rectangular plate shape, and has a pin 4 at one end.
A retaining pawl 15 is pivotally mounted by 1, in which excess meat can be advantageously removed in order to reduce weight and save material if necessary. Further, the holder member 33 has a fork shape as shown in the figure, and a groove 42 is provided in the handle portion, and the mounting bracket 34 is fitted so as to be able to slide along this groove 42. At the end of the fork-shaped portion at the other end of the holder member 33, a pin 43 is attached to a holding pawl 1 as described later.
5 to stand up. Further, a groove 44 is provided on the inner surface of the fork-shaped portion of the holder member 33, so as to suitably guide both ends of the pin 41, which pivotally connects the retaining pawl 15 to the mounting bracket 34, when sliding. It's summery. Furthermore, the main body member 31
A guide member 45 is provided on the main body member 31 to allow the holder member 33 to slide against the guide member 45 .
Therefore, the holder member 33 can slide relative to the main body member 31 of the movable hand section 14, and the mounting bracket 34 can also slide relative to this holder member 33, so that the same pneumatic piston cylinder device 27 can be moved. These holder members 3 which are slid by
3 and the mounting bracket 34 are adapted to slide relative to each other with different strokes. That is, the sliding amount of the mounting bracket 34 is larger than the sliding amount of the holder member 33, and the ratio of these sliding amounts is the ratio of the sliding amount of the mounting bracket 3 to the pivot point of the main body member 31 of the lever 38.
4 and the lever ratio for each pivot point of the holder member 34. Therefore, when the pneumatic piston cylinder device 27 is actuated and the mounting bracket 34 and the holder member 33 are slid from the solid line position to the chain line position in FIGS. 7 and 8, the stroke S of the mounting bracket 34 and the holder member 33 is The relationship between ₁ and S ₂ corresponds to the lever ratio l ₁ and l ₂ in the lever 38. Based on the different sliding strokes of the mounting bracket 34 and the holder member 33, the holding pawl 15 pivotally supported at the tip of the mounting bracket 34 can be gradually raised inward by the pin 43 of the holder member 33. It's easy to understand.

In addition, air pads 16 are used to slightly shift the baggage in the horizontal direction so that it is easier to grasp only a predetermined baggage from closely adjacent bags when unloading.
is a cross section U that supports a support rod 46 having a backing pad 45 made of an elastic material such as rubber at its tip.
The movable hand portion 1 includes a letter-shaped bracket 48 and a pair of rollers 49 provided on both sides of the bracket 48.
4. A link 51 and a lever 52 for integrally pivoting the vacuum pad 45 and the support rod 46 by sliding along the rail 55 at the lower end and rotating the bracket 48 around this roller 49, and pivoting the lever 52. A pneumatic piston cylinder 54 is provided as an actuating device. Such an air pad 16 is housed in the casing 39 of the movable hand portion 14 as shown in FIGS. 3 and 4 so as not to interfere with the operating mechanism of the holding pawl 15.

When unloading using the automatic baggage handling device of the present invention configured in this way as a depalletizer, first, the pallet, in which the baggage is stacked in multiple stages, is moved to a predetermined location by a forklift, conveyor, etc. The robot body 1 is carried and placed.
A hand device 10 for grasping a load provided at the head 6 at the tip of the arm 5 is moved by the rotation of the support 2 on the platform 3, the vertical movement of the arm 5 along the support 2, and the horizontal expansion and contraction. It is located in a place where it can hold the baggage. Then, when the arm 5 is lowered along the column 2 and positioned so that the baggage is at the fixed and movable hand parts 12 and 14 so that it can grip the baggage, the actuating device for actuating the air pads is activated. By operating the pneumatic piston cylinder device 54, the air pad 1 housed in the casing 39 of the movable hand section 14 as shown by the dotted line in FIG.
A lever 52 pivots counterclockwise about a pin 57 through a fork end 56 at the piston rod end of the pneumatic piston cylinder device 54 to pivot the piston rod 6 . Therefore, the bracket 48 located at the left end of the rail 55 at the lower end of the movable hand portion 14 in FIG. 5 is first pivoted clockwise around the roller 49 via the link 51 at the tip of the lever 52.
The vacuum pad 45 and support rod 46, which were located inside the casing 39, are projected outward from the lower end of the casing 39 so as to be at the position shown by the chain line. Next, if the pneumatic piston cylinder device 54 is further operated, the pneumatic piston cylinder device 5
As the lever 52 is pivoted further counterclockwise around the pin 57 by the extension of the piston rod 4, the bracket 48 is slid to the right along the rail 55 via the link 51 at the tip of the lever 52. Therefore, the support rod 4 supported by the bracket 48
The bagumination pad 45 at the tip of 6 first hits the baggage and presses the baggage in the lateral direction. The air pad 16 can be stretched by bringing a vacuum pad 45 made of an elastic material into contact with the load and adsorbing it to the load.

In this way, by slightly shifting only the baggage to be gripped in the horizontal direction, the gap between the baggage and the adjacent baggage can be increased.
A gap is created, and by inserting the fixed hand section into this gap, it becomes easier to grasp the baggage. After the vacuum pad adsorbed to the cargo has moved a predetermined distance, it is preferable to separate it from the cargo by supplying air from a separate pipe to break the vacuum. When the piston rod is then actuated to be retracted into the pneumatic piston cylinder device 54, the air pad 16 is first moved to the left so that the bracket 48 is moved to the rail 55 via the roller 49.
The bracket 48, which has been moved by the action of the pneumatic piston cylinder device 54 to the position shown by the chain line in FIG.
and the support rod 46 is moved to the position shown by the dotted line, where it is housed within the casing 39.

Then, the arm 5 is further lowered along the column 2, and the load to be grasped is moved to the fixed and movable hand part 1.
2 and 14, the pneumatic piston cylinder device 25 for moving the movable hand part is actuated to move the movable hand part 14 along the rail member 20 of the support frame 11 toward the fixed hand part 12. , the baggage is firmly gripped between the fixed hand part 12 and the movable hand part 14. Once the load is gripped between the fixed and movable hand sections 12 and 14, the pneumatic piston cylinder device 27 of the movable hand section 14 is actuated to prevent the gripped load from falling, and the fork end 35 at the end of the piston rod is activated. The holder member 33 and the mounting bracket 34 are slid downward by the link 36, the lever 38, and the link 37. As the holder member 33 and the mounting bracket 34 slide, the holder member 33 first moves through the link 36 to the pneumatic piston cylinder device 2.
The piston rod 7 is moved a distance corresponding to the stroke S ₁ , but the mounting bracket 34 is moved via the lever 38 and the link 37 by a stroke S ₂ corresponding to the lever ratio l ₂ /l ₁ to the stroke S ₂ of this holder member 33. Moved. Therefore, the mounting bracket 34 is moved by a stroke S ₂ with respect to a stroke S ₁ of the holder member 33.

When the holder member 33 and the mounting bracket 34 are slid downward with different strokes S ₁ , S ₂ corresponding to such a lever ratio l ₂ /l ₁ , the lower end of the mounting bracket 34 is pivoted. While the holding pawl 15 engages the pin 43 at the lower end of the holder member 33, the pin 4
This pin 43 for relative sliding along 3
The fixed and movable hand portions 12 and 12 are gradually raised inward by the handles, and finally face inward at a right angle as shown by the chain line in FIG. It is possible to completely prevent the baggage held between 14 and 14 times from falling.

Next, the arm 5 of the robot main body 1 is moved upward along the support 2, rotates together with the support 2, and, if necessary, extends and contracts the arm 5 to move the cargo gripped by the hand device 10 to a predetermined location. It can be carried to the corresponding position. Arm 5 here
When the piston rod of the pneumatic piston cylinder device 27 of the movable hand portion 14 of the hand device 10 is moved downward along the column 2 and retracted, the holder member 33 and the mounting bracket 34 are moved upward together with the retaining pawl 15. At the same time, another pneumatic piston cylinder device 25 is actuated to move the movable hand part 1.
4 toward the outside to release the cargo and place it in the designated place. By repeating such operations in sequence, a predetermined number of cargo can be loaded and unloaded from the pallet.

Further, by making an appropriate control device recognize the operation pattern of the robot main body and hand device in advance, loading and unloading of one pallet worth of cargo can be automatically and repeatedly carried out. In addition, the support of the robot body can be rotated, the arm can be raised and lowered, and the arm can expand and contract in the horizontal direction.
It is possible to simultaneously control the rotation of the hand device relative to the head and the load gripping/releasing operation of the hand device, allowing the hand device to operate through the shortest route, making it possible to quickly load and unload a large amount of baggage in a short period of time, especially in close contact with adjacent loads. When loading and unloading, the air pads on the hand device can be used to slightly move only the baggage to be loaded/unloaded to the side and release the baggage from adjacent baggage in advance. You can easily load and unload cargo without moving it carelessly.
In addition, the gripped baggage can be completely prevented from falling by the holding claws. Furthermore, if the movable hand section is divided into a plurality of parts, for example two or three, depending on the size of the minimum allowable baggage, one movable hand part will be provided for each divided movable hand part. It can hold multiple items at the same time. Further, although the automatic baggage handling device of the present invention has been described as a depalletizer for loading and unloading goods, it will be readily understood that it can also be used as a depalletizer for loading goods.

[Brief explanation of the drawing]

Fig. 1 is a schematic front view showing one embodiment of an automatic baggage handling device of the present invention, Fig. 2 is a schematic side view, and Fig. 3 is a schematic side view.
4 is a side view of the hand device of the automatic baggage handling device of the present invention, FIG. 4 is a front view thereof, FIG. 5 is a side view of the air pad portion of the movable hand portion of the hand device, and FIG. 6 is a front view thereof. , FIG. 7 is a side view of the holding part of the movable hand section, FIG. 8 is a front view, and FIG. 9 is a sectional view of the holder member of the movable hand section.
10 is a front view, FIG. 11 is a side view of the mounting bracket of the movable hand portion, FIG. 12 is a front view, FIG. 13 is a side view of the holding pawl, and FIG. 14 is a front view. In the figure, 1: robot body, 2: pillar, 3:
Base, 4: Movable part, 5: Arm, 6: Head part, 1
0: Hand device, 12: Fixed hand section, 14: Movable hand section, 15: Holding jaw, 16: Air pad, 21: Fixed plate, 24: Movable plate main body, 25,2
7, 54: Pneumatic piston cylinder device, 31: Main body member, 32: Rubber plate, 33: Holder member, 3
4: Mounting bracket, 36, 37: Link, 38: Lever, 45: Baking pad, 46: Support rod, 4
8: Bracket, 49: Roller, 51: Link,
52: Lever, 55: Rail.

Claims (1)

[Scope of Claims] 1. A robot body consisting of a pivotable upright support and a telescoping arm that moves up and down along the support and has a head at its tip; a hand that is attached to the head of the robot body; a support frame; a fixed hand portion extending downward from one side of the hand support frame; and a fixed hand portion facing the fixed hand portion and extending downward from the opposite side of the support frame and movable with respect to the fixed hand portion. A hand device for grasping a load, comprising a movable hand section and a holding pawl that can freely protrude inward from the lower end of the movable hand so as to prevent the load held between the fixed and movable hand sections from falling. In an automatic baggage handling device equipped with an automatic baggage handling device, the movable hand part is pivoted on the outer side of the movable hand part so as to slightly shift laterally a predetermined baggage to be gripped by the hand device to ensure gripping of the baggage. An automatic baggage handling device characterized by having an air pad extending from a lower end and arranged to move laterally inward.