JPH0557174B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for inverting a specially shaped article such as a finished cathode ray tube at a predetermined angle.

[Conventional technology] Various machines, devices, or their parts are used for production and
90 degrees, 180 degrees around the axis in the logistics process
There are cases where it is desired to invert the image to a predetermined angle, such as degrees. Reversing the workpiece is easy if it is relatively lightweight, there is no risk of damage due to impact during reversing, and the reversing position is stable, but it is relatively heavy and the reversing position is unstable. Therefore, for items that are easily damaged, it is necessary to carefully turn over the workpiece. For example, in cathode ray tube production factories, automation of production equipment has made considerable progress, but in the shipping process of finished products, the valves have unique shapes and are heavy, so It was not easy to automate the reversing and stowage operations. In other words, completed cathode ray tube products that are transported with the panels facing down and the neck tubes upright are turned over 90 degrees so that the tubes are horizontal and the stacking intervals are adjusted in order to increase transportation efficiency during shipping. Although it is stacked to the minimum,
It is difficult to automate the process from reversing to loading, so everything had to be done manually.

[Problems to be solved by the invention] Recently, various robots and labor-saving machines are being introduced as factory production becomes more flexible, and it becomes necessary to change the posture of the workpiece to a desired position.
As products become more complex, larger, and heavier, the reversing work becomes more intense, and the demand for automation is increasing. Therefore, an object of the present invention is to provide a workpiece reversing device that can safely and automatically pick up workpieces using a rectangular coordinate robot during work such as stacking workpieces as described above.

[Means for Solving the Problems] In order to achieve the above object, the present invention positions and aligns the cathode ray tubes that are transported with their necks upright, and then protrudes from the movable body of the width alignment mechanism. The grip piece and rotating arm grip the central part of both sides of the cathode ray tube panel, and the inverting shaft is driven to invert the tube 90 degrees with the neck section horizontal. The reversing shaft is supported by a bearing stand so as to be rotatable by a predetermined angle. Shafts are arranged in parallel in the longitudinal direction inside the frame fixed to the reversing shaft, and a stopper roller for workpiece positioning that can move forward and backward in the direction orthogonal to the reversing shaft is installed at the center of the lower part of the frame. This stopper roller is moved back and forth by the operation of a positioning actuator in order to stop the workpiece at a position where a center line including the center of gravity of the cathode ray tube with its neck portion upright matches a line connecting the two gripping points. A width adjustment mechanism is composed of a pair of left and right moving bodies guided by a shaft inside the frame and an actuator that moves the moving bodies in the width direction of the workpiece depending on the cathode ray tube type.

Furthermore, a workpiece gripping mechanism is provided at the tip of the moving body. This workpiece gripping mechanism is provided at the tip of the moving body, and includes a knob piece that is brought into contact with the center of both sides of the panel of the cathode ray tube by the width adjustment operation of the moving body, and a knob piece that is placed at the tip of the moving body to hold down a funnel portion located opposite to the knob piece. A rotating arm provided on the
It consists of an actuator for gripping the workpiece, which rotates the rotary arm toward the grasped position of the funnel portion facing the claw piece.

The width adjustment mechanism consists of a pair of movable bodies guided by shafts arranged in parallel on the frame, a pair of left and right racks extending from both movable bodies parallel to the shafts, and two racks arranged in the frame so as to mesh with the left and right racks. It consists of a pinion installed in the center of the machine, a rotary actuator that drives the pinion, and a detection means that confirms the width of the workpiece. The detection means is an encoder connected to the rotating shaft of the rotary actuator or a group of limit switches arranged within the frame.

[Function] A CRT that is carried with its neck upright is stopped by a positioning stopper roller. By advancing and retracting this stopper roller in a direction perpendicular to the reversal axis, the workpiece is stopped at a position where the center line including the center of gravity of the cathode ray tube with the neck portion upright matches the line connecting the gripping point. Next, a pair of left and right moving bodies guided by a shaft inside the frame are moved in the width direction of the workpiece according to the cathode ray tube type to align the widths, and then the lever piece and rotating arm that protrude from the moving body of the width matching mechanism are moved. By grasping the central part of both sides of the cathode ray tube panel and driving the reversing shaft, the screw radius around the reversing shaft is used to turn the tube 90 degrees so that the neck is horizontal.

Example 1 Next, the present invention will be specifically explained with reference to the drawings.

Figure 1 shows a side view of the work reversing equipment including a supply conveyor and a work lifter, where 1 is the work supply conveyor, 2 is the pallet return conveyor,
3 is a stopper that operates when accumulating workpieces on the supply conveyor 1; 4 is a pallet;
Reference numeral 5 denotes a work lifter, which is composed of a table 7 guided by supports 6, 6, a drive roller 8 provided within the table 7, and an air cylinder 9 for raising and lowering the table. 10 is a work reversing device.

In the example shown below, a CRT 7 is transported as a workpiece with the panel facing down and the tube upright.
0 as a target, and the case where it is grasped and turned 90 degrees so that the neck tube becomes horizontal will be explained.

Completed cathode ray tube products brought from the production factory are placed on the pieces 4a, 4a of the pallet 4 with the panel 71 facing down and the network tube 75 vertically, as shown in FIG. The pieces are accumulated and sent one by one to the work lifter 5, and then turned over by the work reversing device 10.
After the workpiece (cathode ray tube) is turned over, the lugs (mounting hardware) 73 at the corners of the reinforcing band 72 are in an upwardly protruding position, as will be described later with reference to FIG. , for example, the eighth
It is clamped to the grip unit 60 of the orthogonal coordinate robot as shown in the figure, and lifted vertically (X direction).
Lateral (Y direction), vertical (Z direction) movement and turning (α
While giving a corner), transfer it to another line or stack it at the packing position. On the other hand, the empty pallet after the cathode ray tube 70 has been picked up is lowered by the operation of the air cylinder 9, and is transferred to the return conveyor 2 by the reversal of the drive roller 8 in the table 7, and then transferred to the starting end of the supply conveyor 1. be returned.

Next, the reversing device 10 of the present invention will be described in detail. As shown in enlarged views in FIGS. 2 to 6, the entire device includes a frame 12 that is reversibly supported on the upper part of a bearing stand 11, and a width adjusting mechanism. 20 and the gripping mechanism 3
0, the positioning unit 40, and the reversing drive mechanism 5
0 is the main component.

Bearings 13, 13 are provided on the upper part of a bearing stand 11 assembled at an appropriate height using shapes or the like to support the frame 12 so as to be able to rotate at a constant angle. frame 12
horizontally from the left and right end plates 12a of the inversion shafts 14, 14.
is projected, and a reversing mechanism 50 as described later is attached to one of the reversing shafts. A pair of front and rear shafts 15, 15 are horizontally suspended within the frame 12 to support left and right moving bodies 16L, 16R that can move in the width direction of the workpiece. As shown in FIG. 5, these moving bodies 16L, 16R have arm casings 23L, 23R and 24L, 2 fitted to the front and rear shafts 15, 15.
4R and left and right arm casings 23L, 24L
Or joint material 25, 2 connecting 23R and 24R
5, and arms 26, 26 projecting forward from the lower part of the joint material. Rack 1 facing parallel to the shaft from the top of both moving bodies
7L and 17R, a rotary actuator 18 is provided at the center of the upper part of the frame, and a pinion 21 that meshes with the racks 17L and 17R is attached to its output shaft 19 to constitute a width adjusting mechanism 20.

An intermediate plate 22 from which a positioning unit 40, which will be described later, is suspended is fixed approximately at the center of the frame 12. This intermediate plate 22 supports the central portions of the shafts 15, 15, and has reliefs in the vicinity of which the racks 17L, 17R are inserted.
One of the racks 17L extends from an arm casing 23L fitted to the rear shaft, and the other rack 17R extends from an arm casing 24R fitted to the front shaft, and engages with the pinion 21 at the center of the frame. It's on.

Note that the width adjustment mechanism 20 is provided with a detection means for checking the width of the workpiece. For example, as shown in Fig. 6, the encoder 27 attached to the shaft of the rotary actuator 18 can be used to match the number of pulses corresponding to the workpiece width set in advance, or a limit switch that comes into contact with a moving object within the frame can be used. A group 28 (FIG. 4) is provided to confirm the width of the workpiece with a limit switch, and then the movement of the hand of the pick unit 60, which will be described later, is started.

Arms 26, 26 protruding from the front of each moving body
As shown in FIGS. 2 to 4, a gripping mechanism 30 is provided which presses and grips both sides of the workpiece using a clamp piece 31 and a workpiece holding unit 32. Tsukami Peace 3
1 is bent into an almost L-shape so as to easily hold both sides of the lower part of the workpiece. The presser unit 32 is the second
As shown in FIG. 4 and FIG. 4, a rotating arm 33 disposed opposite to the claw piece 31 at the lower end of the arm 26, a presser roller 34 made of an elastic material provided at the tip of the rotating arm 33, and a rotating It is composed of gears 35 and 36 provided on the shaft of the arm 33 and a rotary actuator 37.

Further, a positioning unit 40 is provided at the center of the front part of the frame 12. This positioning unit 4
As shown in FIGS. 2, 4, and 6, 0 indicates a screw mechanism 41 attached to the lower part of the intermediate plate 22 at approximately the center of the frame 12, and a pair provided at the tip of the movable frame 48 of the screw mechanism 41. Stopper Roller 43
and a forward/reverse DC motor 4 that rotates the screw mechanism 41.
It consists of 4.

When positioning, the DC motor 44 is driven by a setting signal based on the size of the work to be handled in advance, and the pulley 45, 46 chain or belt 47 is
A screw mechanism 41 made up of a female threaded cylinder and a screw is driven through the screw mechanism 41 to advance and retreat a stopper roller 43 provided at the tip of a movable frame 48 (FIG. 8). By moving back and forth, the gripping mechanism 30 is stopped and positioned at a position where the gripping point (the pressed position by the clamping piece 31 and the pressing roller 34) coincides with the center line including the center of gravity of the cathode ray tube with the neck portion upright.
The advanced position of the stopper roller 43 is confirmed by a limit switch (not shown) that detects the position corresponding to the rotation of the screw mechanism or the movement of the guide shaft. In addition, in FIG. 8, the reference numeral 49 indicates the movable frame 48.
42 is a support cylinder of the guide shaft 49, and S indicates the stroke of the stopper roller 43.

Furthermore, an air cylinder 51 is installed on the side of the bearing stand 11.
At the same time, attach the lever 5 to one of the reversing shafts 14.
3, and attach the piston rod 5 to the rotating end of the lever.
2 is pin-jointed to form a reversing drive mechanism 50 (FIG. 3). The reversal angle is determined by the stroke of the air cylinder 51, but in order to absorb the shock at the end of the stroke, a contact piece 54 is provided on the back of the frame 12 as shown in FIGS. It is provided so as to come into contact with a shock absorber 55 provided on the side. In the above figure, 56 is a beam provided on the bearing stand 11, 57 is a shock absorber mounting bracket, and 58 is a mounting arm.

Next, the operation of the above device will be described. As shown in FIGS. 1 and 2, the finished cathode ray tube is placed on a pallet 4 with the neck tube 75 vertical, and is sent to the apparatus by the supply conveyor 1 and work lifter 5. The supply conveyor 1 is a chain-driven roller slat conveyor, and a stopper 3 at the end of the conveyor is operated to accumulate the bellows on the conveyor, and when the stopper is released, a pallet 4 at the most extreme end is transferred to a work lifter 5. When adjusting the width of the work, the work lifter 5 maintains the table 7 at a reference height by lifting up, and slightly lowers the table 7 as the presser roller 34 presses. After the gripping of the work by the pick piece and the presser roller is completed, the empty pallet is lifted down to the same level as the return conveyor 2 with the empty pallet placed thereon.

The pallet 4 has several pieces (six pieces in the figure) on a plate that support the panel periphery of the cathode ray tubes, and each piece 4a has a stepped slope on the inside so that cathode ray tubes of different sizes can be placed on the pallet 4. 70 can be placed on it.

The front end of the pallet 4 advanced from the work lifter 5 hits the positioning unit 40 of the reversing device 10 as shown in FIG. As described above, this unit drives the forward/reverse DC motor 44 and moves the stopper roller 43 forward or backward according to the size of the work to be handled in advance, so that the gripping point of the gripping mechanism 30 is set at the center of gravity of the cathode ray tube with the neck portion upright. It is set so that the included center line and the line connecting both gripping points match.

When the front end of the pallet 4 carrying the workpiece hits the positioning unit 40, a limit switch (not shown) is activated.
When turned ON, the rotary actuator 18 is driven, and the movable bodies 16L and 16R in the frame 12 are synchronously moved via the pinion 21 and the racks 17L and 17R to perform width alignment. At the same time as this width adjustment, the size of the workpiece is confirmed using the encoder 27 or the limit switch group 28 in the frame. Due to the movement of the moving body during width adjustment, the cathode ray tube panel 71
After inserting the claw pieces 31, 31 into the central lower edges of both sides, the rotary actuator 37 is slightly rotated to lightly touch the presser roller 34 to the funnel 76 of the cathode ray tube. The cathode ray tube 70 is
When placed on the pallet 4, it is necessary that the neck portion 75 is placed vertically, but the posture may be distorted during loading or transportation. Even in such a case, the correct posture can be corrected by inserting the claw pieces 31, 31.

Next, while lowering the table 7 of the work lifter 5 a little, the air pressure of the rotary actuator 37 is increased and the presser roller 34 presses the funnel 76 to firmly clamp the cathode ray tube with the claw piece and the presser roller. After clamping, lower the table 7 of the work lifter 5 to the position of the return conveyor 2,
The roller 8 is driven to transfer the empty pallet to the return conveyor 2.

After the cathode ray tube 70 is completely gripped by the grip piece of the gripping mechanism 30 and the work holding unit,
The cylinder 51 for reversal driving is driven to reverse the image 90 degrees. In the inverted cathode ray tube 70, the neck tube 75 becomes horizontal as shown by the broken line in FIG.
is in an upward position, and the pick preparation by the pick unit etc. is completed.

To describe one example of the pick unit 60, as shown in the enlarged view in FIG. There is. Hands 62, 62 are guides 64, 6
4, a screw 65, and a driving DC motor 66, it is movable in the width matching direction β. Further, an actuator 67 is provided at the lower part of the hand to open and close the fingers 63, 63 so that a pin 68 can be inserted into and removed from the hole 74 of the lug 73 of the cathode ray tube reinforcing band 72. The tip of the pin 68 is inserted into the pin hole 69 of the opposing finger.

The width adjustment of the hands 62, 62 is determined by playing back the signal of the detection means (encoder 27 or limit switch group 28) during the width adjustment operation in the reversing device 10. After bringing the frame 61 of the pick unit close to the reversing height of the cathode ray tube and adjusting the width of the hands, drive the fingers 63, 63, insert the pin 68 into the hole 74 of the lug, lift it up in that state, and then vertically ( X
direction), lateral (Y direction), up and down (Z direction), and turning (α angle) to perform transfer to a predetermined position or palletizing work.

[Effects of the Invention] As described above, according to the present invention, before gripping a finished cathode ray tube that is delivered with the neck portion upright and inverting it by 90 degrees, the cathode ray tube with the neck portion upright is The workpiece is stopped at the position where the center line including the center of gravity and the line connecting both gripping points match, and then, after the widths are aligned, a grip piece is brought into contact with the center of both sides of the cathode ray tube panel, and a turn that faces the grip piece is placed. Since the movable arm grips the center portions of both sides of the panel facing each other, the workpiece can be easily reversed using the knob radius centered on the reversal axis. In particular, it is possible to invert workpieces with unique shapes and relatively heavy weights, such as finished cathode ray tube products, into a posture that makes it easier to lift, allowing accurate posture control, which is essential for workpiece movement work and automated palletizing operations. .

[Brief explanation of the drawing]

Fig. 1 is a side view of the work reversing device, Figs. 2 to 4 are enlarged front views, side views and cross-sectional plan views, Fig. 5 is a plan view of the width adjustment mechanism, and Fig. 6 is the 2nd view. FIG. 7 is an enlarged side view taken along the - line in FIG. 2 when inverted, FIG. 8 is a sectional view taken along the - line in FIG. 6, and FIG. 9 is a perspective view of the locking unit. . 4...Pallet, 5...Work lifter, 10...
...Reversing device, 11... Bearing stand, 12... Frame, 14... Reversing shaft, 15... Shaft, 16...
...Moving object, 17...Rack, 19...Output shaft, 1
8...Rotary actuator, 20...Width adjustment mechanism, 26...Arm, 27...Encoder, 2
8...Limit switch, 30...Gripping mechanism, 3
1... Tukami piece, 32... Work holding unit, 33... Rotating arm, 34... Pressing roller, 40
...Positioning unit, 50...Reversing drive mechanism,
51...Air cylinder, 53...Lever.

Claims (1)

[Scope of Claims] 1. A workpiece that grips the center of both opposing panel parts of a cathode ray tube that is carried with the neck part upright, and then turns it over 90 degrees with the neck part horizontal by driving a reversing shaft. A reversing device, comprising: a bearing stand 11 that supports a reversing shaft 14 so as to be rotatable at a predetermined angle; a frame 10 fixed to the reversing shaft 11 and having shafts 15, 15 arranged in parallel in the internal longitudinal direction; and the frame 10. At the position where the stopper roller 43 for workpiece positioning, which is attached to the lower center of the screen so as to be movable in the direction orthogonal to the reversal axis, matches the center line containing the center of gravity of the cathode ray tube with the neck section upright, and the line connecting both gripping points. A positioning actuator 44 that moves the stopper roller 43 forward and backward to stop the workpiece, a pair of left and right moving bodies 16R and 16L guided by shafts 15 and 15 inside the frame, and a moving body that moves the moving body in the width direction of the workpiece depending on the cathode ray tube type. width adjustment mechanism 20 having an actuator 18;
and a workpiece gripping mechanism 30 provided at the tips of the moving bodies 16R, 16L, the workpiece gripping mechanism 30 is provided at the tips of the moving bodies 16R, 16L.
The knob pieces 31, 31 are provided at the tip of the 6L and are brought into contact with the center of both sides of the panel part of the cathode ray tube by the width adjustment operation of the movable body;
Rotating arms 33, 33 provided at the tip of the movable body to hold down the funnel portion at a position opposite to the knob pieces 31, and rotating the rotating arms 33, 33 toward the grasped position of the funnel portion facing the claw pieces 31, 31. A work reversing device comprising an actuator 37 for gripping a work. 2. The width adjustment mechanism has a pair of moving bodies guided by the shaft, left and right racks extending from both moving bodies parallel to the shaft, and installed in the center of the frame so as to mesh with the left and right racks. A workpiece reversing device according to claim 1, comprising a pinion, a rotary actuator for driving the pinion, and a detection means for checking the width of the workpiece. 3. The work reversing device according to claim 2, wherein the detection means is an encoder coupled to the rotating shaft of the rotary actuator. 4. The work reversing device according to claim 2, wherein the detection means is a group of limit switches arranged within the frame.