JPH0818665B2 - Posture change device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a posture changing / delivering device for handling a regular conveyed product such as a cylindrical conveyed product. More specifically, the present invention relates to a posture change delivery device that is sent in a vertical posture. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for changing the posture of a fixed-size conveyed object, which automatically changes the posture of a fixed-size conveyed object to be changed laterally or changes the posture of a fixed-sized conveyed object that is sent in a horizontal direction to a vertical direction.

[Conventional technology]

BACKGROUND ART Conventionally, as a posture changing device for a fixed-size conveyed product, here a cylindrical-shaped conveyed product, a standing-up / falling device of JP-A-54-149168 has been proposed.

In this standing and tipping device, a supporting frame that supports a cylindrical object and changes its posture from the standing state to the falling state or from the falling state to the standing state is arranged in the middle of the conveying line.

The support frame has an opening on one surface and a rotary shaft obliquely projected on the other two surfaces. By rotating the rotary shaft by a certain angle, for example, a cylindrical conveyed product received in an upright state is rotated by 180 °. It is designed so that it can be fed to the opposite transport line in a tipped state.

[Problems to be solved by the invention]

However, since the conventional standing and tipping device changes the posture of the cylindrical conveyed object by rotation of the rotary shaft obliquely attached to the support frame, it is functionally the same as the side receiving the cylindrical conveyed object. I can not hand over in terms of
Be sure to pay it to the opposite side 180 degrees.

Further, in the case of transferring a cylindrical conveyed product between the above-mentioned support frame in the upright state and the conveyor, a kicking mechanism or an extruding mechanism that enables the cylindrical conveyed product to move in the supporting frame is required.

The present invention has been made in view of the above circumstances, and an object of the present invention is, for example, to receive a cylindrical conveyed product in a standing state (vertical posture) from a vertical direction, and Rotate in a vertical plane about the center of rotation as a center of rotation to place the cylindrical transport object in the overturned state (sideways orientation) and change the posture of the regular transport object so that the cylindrical transport object can be taken out in any direction in the horizontal plane. To provide a delivery device.

[Means for solving problems]

In order to achieve the above-mentioned object, the present invention provides an upper holding mechanism for holding and supporting a fixed article from both sides by an upper holding arm, a holding portion for holding a fixed article from both sides, and a load support for supporting the bottom surface of the fixed article. A lower holding mechanism having a lower support arm having a surface and an opening / closing actuator that opens and closes the holding arms of each holding mechanism are arranged on the rotating frame, and the rotating frame is rotatable in a plane perpendicular to the fixed frame. On the other hand, a rotating mechanism for rotating the rotating frame is connected to the rotating frame.

[Work]

By using the apparatus for changing the posture of a fixed-size conveyed article according to the present invention,
For example, a case will be described in which a cylindrical conveyed product is received in a vertical posture and is discharged in a lateral posture.

First, operate the rotating mechanism to rotate the rotating frame,
The upper holding mechanism is placed on the upper side and the lower holding mechanism is placed on the lower side. Further, the upper holding arm of the upper holding mechanism is slightly opened by the opening / closing actuator so that the cylindrical conveyed object hung by the overhead crane can be easily received. Further, the lower gripping mechanism operates the open / close actuator so as to be in a substantially closed state so that the cylindrical gripping object can pass through the lower gripping arm and can be completely set on the load supporting surface.

In this state, when receiving a cylindrical object conveyed by an overhead crane or the like, and the bottom surface of the cylindrical object comes into contact with the load supporting surface of the lower holding mechanism, each holding arm of both holding mechanisms is opened and closed. Completely close the cylindrical object by an actuator to fix it.

Next, when the above-mentioned overhead crane that has transported the cylindrical transported article is retracted, the rotating frame is rotated by 90 ° by the rotating mechanism, and the cylindrical transported article is placed in the horizontal posture. Then, the receiving arm of another carrying device is inserted between the upper holding mechanism and the lower holding mechanism to support the horizontal cylindrical surface of the cylindrical conveyed object from below or simultaneously above and below.

Further, when each of the holding arms of the both holding mechanisms is opened by the opening / closing actuator, the cylindrical transferred object is transferred to the receiving arm of the other transfer device,
The transfer of the cylindrically-shaped conveyed product with its posture changed from vertical to horizontal is completed.

It should be noted that the transfer of the cylindrical conveyed product from the sideways posture to the vertical posture may be performed by an operation reverse to that described above.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

FIG. 1 is a perspective view illustrating a case where a cylindrical conveyed product is received in a vertical posture, and FIG. 2 is a perspective view illustrating a case where a cylindrical conveyed product in a lateral posture is paid out.

First, the outline of the overall configuration will be described with reference to these drawings. In the drawings, reference numeral 1 is a posture changing delivery device (hereinafter referred to as delivery device) of the present invention placed on a pedestal 2. As shown in FIG. 1, an overhead traveling crane 3 is provided above the delivery device 1, and the overhead traveling crane 3 grips a cylindrical conveyed object (standard conveyed object) 4 to raise and lower it. A device 5 is provided. Further, as shown in FIG. 2, a stacker crane 6 is disposed on the front side of the delivery device 1 so as to be able to travel on a rail 7.
Inside the stacker crane 6, there is provided an elevating frame 38 that is vertically movable on a vertical rail 37, and inside the elevating frame 38, a conveyed article take-out mechanism 8 is orthogonal to the longitudinal direction of the rail 7. It is provided so that it can appear and disappear in any direction, and at the top of the conveyed article take-out mechanism 8,
A conveyed product seat 9 is provided.

Next, the delivery device 1 will be described in detail with reference to FIGS. 3 to 5. Here, FIG. 3 is a front view of the delivery device 1, and the rotating frame 10, the upper holding mechanism 11 and the lower holding mechanism 12 show a vertical posture by a solid line and a horizontal posture by a two-dot chain line. FIG. 4 is a side view of the delivery device 1, in which the vertical rotating frame 10 and the holding mechanisms 11 and 12 are indicated by solid lines, and the main parts of the lateral holding postures of the holding mechanisms 11 and 12 are indicated by two-dot chain lines. It shows with. Further, in FIGS. 3 and 4, the cylindrical conveyed article 4 other than the delivery device 1, the stacker crane 6 and the like are also shown by a chain double-dashed line. Furthermore, FIG. 5 is a plan view of the transfer device 1, which includes a rotating frame 10, an upper holding mechanism 11, and a lower holding mechanism (load supporting surface).
Only 19a is visible) 12 shows the state of vertical posture,
In addition, the open state of both holding mechanisms 11 and 12 is indicated by a chain double-dashed line.

In FIGS. 3 to 5, the upper holding mechanism is shown.
Reference numeral 11 denotes a pair of upper holding arms 13, a pair of support shafts 14 that respectively support the upper holding arms 13, and a pair of bearings that rotatably support both ends of the support shafts 14, respectively. 15, a pair of gears 16 fixed to one end of each of the support shafts 14, and an opening / closing arm provided at the base end of one of the upper holding arms 13 of the upper holding arms 13.
17 and the both gears 16 are meshed with each other. A tip of a piston rod of an upper hydraulic cylinder (opening / closing actuator) 18 installed on the rotating frame 10 is rotatably connected to the opening / closing arm 17, and the upper hydraulic cylinder 18 is driven to drive the upper and lower parts. The gripping arm 13 is adapted to be opened and closed.

On the other hand, the lower holding mechanism 12 has a lower holding arm 1 having a load supporting surface 19a on which the bottom surface of the cylindrical conveyed object 4 is contacted and supported and a holding portion 19b for holding the side surface of the cylindrical conveyed object 4.
9, and a support shaft 20, which has the same structure as the upper clamping mechanism 11,
A bearing 21, a gear 22, an opening / closing arm 23, and a load support block 24 supporting one end of the support shaft 20 via a thrust bearing. A tip of a piston rod of a lower hydraulic cylinder (opening / closing actuator) 25 installed on the rotating frame 10 is rotatably connected to the opening / closing arm 23.
Both lower grip arms 19 are opened and closed by 25. The upper gripping arm 13 and the lower gripping arm 19 are prevented from rotating with each other by the support shafts 14 and 20 and keys.

The both holding mechanisms 11 and 12 are arranged on the rotary frame 10 with a proper space therebetween, and a rotary shaft 26 is fixed to the center of rotation of the rotary frame 10. The rotary shaft 26 is rotatably supported by a pair of bearings 28 and 29 fixed to appropriate positions in front and rear of the vertical surface of the fixed frame 27. Further, inside the fixed frame 27, a rotary actuator 32 including an electric motor 30 and a speed reducer 31 is installed. Then, a chain 35 is wound around the large sprocket 33 fixed to the rotary shaft 26 and the small sprocket 34 fixed to the output shaft of the speed reducer 31, and these rotary shaft 26, bearings 28, 29, By the rotating actuator 32, each sprocket 33, 34 and the chain 35,
A rotating mechanism 36 that rotates the rotating frame 10 with respect to the fixed frame 27 is configured.

Next, a case will be described in which the delivery device 1 configured as described above is used to receive the cylindrically-shaped conveyed product 4 in a vertical posture and dispense it in a lateral posture.

First, the rotating frame 10 of the delivery device 1 is rotated by the rotating mechanism 36.
The upper holding mechanism 11 is rotated by the rotating actuator 32 of
The lower holding mechanism (12) and the lower holding mechanism (12) are arranged vertically so that they are oriented vertically. Next, the upper holding cylinders 11 are slightly opened by operating the upper hydraulic cylinders 18 so that the cylindrical conveyed objects 4 can be smoothly inserted into the upper holding arms 13 of the upper holding mechanism 11, while the lower holding arms of the lower holding mechanism 12 are held. 19 by the lower hydraulic cylinder 25,
The cylindrical object 4 is held in a substantially closed state so that the cylindrical object 4 can be easily inserted and placed on the load supporting surface 19a.

In this state, as shown in FIG. 1, the cylindrical conveyed product 4 supported by the gripping device 5 of the overhead traveling crane 3 and descending passes between both upper gripping arms 13 and both lower gripping arms 19. When the bottom surface of the load bearing surface 19a is fixed, both upper and lower holding arms 13 and 19 are closed by the hydraulic cylinders 18 and 25, respectively, and the cylindrical conveyed article 4 is held.

Then, after the overhead traveling crane 3 and the gripping device 5 are retracted, the rotating frame 10 is rotated by 90 ° by the rotating actuator 32 of the rotating mechanism 36 to be turned sideways. And
When the cylindrical transported object 4 is in the horizontal posture, the stacker crane 6 travels on the rail 7 and stops in front of the delivery device 1. Then, the conveyed article take-out mechanism 8 is fed out from the stacker crane 6 and the conveyed article seat 9 is raised together with the vertical frame 37 and the conveyed article take-out mechanism 8 to abut against the lower portion of the cylindrical surface of the cylindrical conveyed article 4. By opening the gripping arms 13 and 19 by the hydraulic cylinders 18 and 25, respectively, the delivery of the cylindrical conveyed product 4 from the delivery device 1 to the stacker crane 6 is completed. Note that, in FIG. 3, the laterally-oriented cylindrical article 4 indicated by a chain double-dashed line, the article receiving seat 9, and the gripping arms 13 and 19 show the state at the completion of the payout.

By the above operation, the stacker crane 6 that has received the cylindrical conveyed object 4 pulls back the conveyed object taking-out mechanism 8, arranges the cylindrical conveyed object 4 at the center of the stacker crane 6, and stores it in a storage (not shown) or the like. Transport.

In addition, when the cylindrical conveyed object 4 is discharged from the stacker crane 6 side to the delivery device 1 in a horizontal posture, and the cylindrical conveyed object 4 is taken out by the overhead traveling crane 3 or the like in the vertical posture by the passing device 1, The procedure may be reversed.

Further, the stacker crane 6 and the delivery device 1 may be positioned by slightly moving the stacker crane 6, but the delivery mechanism 1 may be provided between the delivery device 1 and the pedestal 2.
The slide mechanism (moving mechanism in the direction of the rail 7 in FIG. 2) may be provided for fine adjustment.

〔The invention's effect〕

As described above, the present invention provides an upper holding mechanism for holding and supporting a fixed article from both sides by an upper holding arm, a holding portion for holding a fixed article from both sides, and a load support surface for supporting the bottom surface of the fixed article. A lower holding mechanism having a lower support arm having the same, and an opening / closing actuator for opening and closing the holding arms of the respective holding mechanisms are arranged on a rotary frame, and the rotary frame is rotatably provided on a fixed frame in a vertical plane. On the other hand, on the rotating frame,
Since the rotating mechanism for rotating the rotating frame is connected, the following effects are obtained. In other words, (a) When receiving a fixedly conveyed product in the vertical direction, the bottom of this fixedly conveyed product is always in contact with the load supporting surface of the lower holding mechanism, so that the fixedly conveyed product can be reliably supported and is not removed. It is easy to perform the positioning of the handling on the upper side after the fixedly conveyed object is in the horizontal posture.

(B) Since the upper and lower part holding mechanism can be arranged in any direction in the horizontal plane, the degree of freedom of layout with the handling device in the front-back process is large.

(C) In the interaction with the handling device in the front-back process, the cylindrical conveyed product can be delivered gently without being kicked out, so that unnecessary damage or deformation of the cylindrical conveyed product can be prevented.

[Brief description of drawings]

1 to 5 show an embodiment of the present invention.
1 is a perspective view showing the relationship between the delivery device and the overhead traveling crane, FIG. 2 is a perspective view showing the relationship between the delivery device and the stacker crane, FIG. 3 is a front view of the delivery device, and FIG.
The figure is the same side view, and FIG. 5 is the same plan view. 1 ... Posture change delivery device (delivery device), 4 ... Cylindrical transport (standard transport), 10 ... Rotating frame, 11 ... Upper holding mechanism, 12 ... Lower holding mechanism, 13 ... Upper holding Arm, 18 …… Upper hydraulic cylinder (opening / closing actuator), 19 …… Lower holding arm, 19a …… Load support surface, 25 …… Lower hydraulic cylinder (opening and closing actuator), 27 …… Fixed frame, 36 …… Rotation mechanism .

Claims (1)

[Claims] 1. A lower support having an upper holding mechanism for holding a fixed article by both sides by an upper holding arm, a holding section for holding the fixed article from both sides, and a load supporting surface for supporting a bottom surface of the fixed article. A lower holding mechanism having an arm and an opening / closing actuator for opening and closing the holding arm of each holding mechanism are arranged on a rotating frame, and the rotating frame is rotatably provided on a fixed frame in a vertical plane. A posture changing delivery device for a fixed-size conveyed article, wherein a rotating mechanism for rotating the rotating frame is connected to the rotating frame.