JPS6247160B2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to a handling device.

FIG. 1 shows a schematic front view of a conventional handling device. The handling device 1 is supported by a traversing table 3 guided by a guide rail 2, and the traversing table 3,
It consists of an arm 5 that is raised or lowered by a drive device 4, and a gripping device 6 attached to the lower end of the arm 5. In order to move the members on table A one by one to the position of table B by this handling device 1, first, the handling device 1 is moved to the table A by the traversing table 3.
Move it directly above. Next, the arm 5 is lowered so that the gripping device 6 comes into contact with the uppermost member 7 of the members 7 to be processed stacked on the table A, and grips one of the uppermost members 7. Next, the arm 5 holding the member 7 is raised and moved directly above the table B by the traversing table 3. Next, the operation of lowering the arm 5, releasing the member 7, and placing one member 7 on the table B is repeated. In this work, the height at which the gripping device 6 should grip the member 7 on table A gradually decreases, and the height at which the gripping device 6 releases the member 7 on table B gradually increases. go. Therefore, in order to carry out this repetitive operation, the lower end position of the arm 5 of the handling device 1 must be successively changed. For this reason, operation using a limit switch cannot be used because the detection position changes constantly.
In order to successively change the position of the lower end of the arm 5, a complicated control mechanism such as a built-in memory device programmed to correspond to the driving device 4, such as a servo motor, is required, which has the disadvantage of being expensive.

The object of the present invention is to eliminate the above-mentioned drawbacks and provide an inexpensive handling device.

Embodiments of the present invention will be described below based on the drawings. FIG. 2 is a front sectional view of a handling device according to an embodiment of the present invention, and FIG. 3 is a side view of FIG. 2. The structure of this handling device is as follows. In the figure, reference numeral 11 denotes a traverse table that traverses using horizontally extending guide rails 12 as a guide, and a drive device 14 having a pinion 13 is fixed to this traverse table 11. On the other hand, a rack bar 15 that engages with the pinion 13 is provided on a hollow cylindrical arm 16, and the arm 16 is raised or lowered relative to the traversing table 11 by the engagement between the pinion 13 and the rack bar 15. Further, a lower base plate 18 is provided at the lower end of a hollow cylindrical inner tube 17 provided through the hollow portion of the arm 16, and a spring 19 is provided between the lower base plate 18 and the lower end portion of the arm 16. The inner cylinder 17 is suspended from the arm 16. In addition, a vacuum suction plate 2 is attached to the tip of the lower substrate 18.
0 is attached, and an air hose 21 for evacuating this suction plate 20 extends upward from the suction plate 20 through the hollow part of the inner cylinder 17 and is connected to a vacuum generator (not shown). At the upper end of the inner cylinder 17 is an upper substrate 22.
A limit switch 23 for reducing the downward speed of the arm 16 and a limit switch 24 for stopping the downward movement of the arm 16 are attached to its side. A dog 26 is attached to the arm 16 via a dog rod 25, and the suction plate 2
When the distance between the dog 26 and the arm 16 decreases, the dog 26
has a structure in which it contacts and presses the limit switches 23 and 24 to operate them.

The operation of this handling device is as follows. First, while the suction plate 20 is not suctioning, the handling device is moved by the traversing table 11 guided by the guide rail 12 so that the suction plate 20 is positioned directly above the members 27 stacked on the table. Next, the arm 1 is driven by the drive device 14.
Lower 6. At this time, the suction plate 20, lower substrate 18, and inner cylinder 17 descend together with the arm 16;
When the suction plate 20 comes into contact with the upper surface of the stacked members 27, the downward movement is stopped. But arm 16
The suction plate 20 continues to descend while compressing the spring 19.
The dog 26 is pressed against the member 27 to bring it into close contact with the member 27, and the dog 26, which descends together with the arm 16, first engages the limit switch 23.
is activated by pressing to reduce the descending speed of the arm 16. The arm 16 is then lowered, but the doc 2
6 further presses and operates the limit switch 24 to stop the lowering of the arm 16. The dashed line in FIG. 2 shows the state of the dog 26 described above. At the same time, a vacuum generator (not shown) is operated by the operation of the limit switch 24, and the suction plate 20 is brought into a suction state and suctions the uppermost part of the members 27. After raising the arm 16 to a required height in this state, the handling device is moved to a predetermined location by the traversing table 11, and the arm 16 is lowered to place the member 27 at a predetermined location and release it. The work at this time is carried out in the same way as the suction at the aforementioned location, but the actuation of the limit switch 24 by the dog 26 works to stop the operation of the vacuum generator at the same time as the arm 16 stops descending. By repeating the operations described above, the members 27 can be carried one by one.

As is clear from the above explanation, this handling device reliably picks up the parts and transports them to another predetermined location, even if the height increases one by one, or if the parts are taken out and the height one by one decreases. Even in cases where the suction plate is in contact with the object, the arm compresses the spring and lowers the set amount, making it possible to confirm the position of the uppermost object before suctioning or releasing the object. Regardless of the change in height, it is possible to stack the members suctioned by the suction plate of the handling device on top of the uppermost member or to take them out.

As described above, in the configuration of the present invention, even if the topmost position to be picked up or released is different, the same part can be operated sequentially with the same part held at a fixed position, so it is possible to operate the same part sequentially, thereby eliminating the need for expensive conventional methods. It is inexpensive because it does not require a complicated control mechanism such as a built-in storage device and can be transported as desired using a simple detection device such as a limit switch. Further, the suction device can be implemented not only by the vacuum type suction plate shown in this figure but also by an electromagnetic type magnetic suction plate. Furthermore, the air hose or the wiring section can be drawn out from the space inside the inner cylinder, which is extremely convenient.

[Brief explanation of the drawing]

Figure 1 is a schematic front view of a conventional handling device.
FIG. 2 is a front sectional view of a handling device according to an embodiment of the present invention, and FIG. 3 is a side view of FIG. 2. 7, 27: Member as target object, 11: Traverse table, 12: Guide rail, 14: Drive device, 1
6: Arm, 17: Inner cylinder, 19: Spring, 20: Adsorption plate, 23, 24: Limit switch.

Claims (1)

[Claims] 1. A hollow cylindrical arm that is raised or lowered by the operation of a drive device, and an inner cylinder that passes through the center of the arm and is suspended from the arm via a spring and has a vacuum or electromagnetic suction plate at its lower end. A suction hose or lead wire led out from the suction plate through the internal space of the inner cylinder, and a suction hose or lead wire that is arranged at the end of the inner cylinder and the arm is connected to the suction plate from the position where the suction plate abuts the object. and a limit switch that detects that the spring has been lowered by a set amount while compressing the spring, and after the arm is lowered and the suspended suction plate comes into contact with the object, it is lowered while compressing the spring and reaches the detection position. A handling device characterized in that the object is suctioned, or the arm is lowered while the object is suctioned, and the object is released at the detection position.