JPH0432422A - Work withdrawing and transferring device - Google Patents

Abstract

PURPOSE:To transfer works securely one by one by providing a plurality of suction tubes having suction pads on the lower side of a support body which moves over laminated works, and more than two suction support tubes having suction pads and cylinders at an end part of the support body. CONSTITUTION:On the lowerside of a support body which moves over a plurality of works W laminated on a frame B, suction tubes 3 - 5 having suction pads 3a - 5a are provided. In addition, suction support tubes 7a, 8a elevated by cylinders 7, 8, and having suction pads 10, 11 at the forward end are provided at an end part of the support body 2. The support body 2 is moved down by a cylinder 1, the suction pads 3a - 5a, 10, 11 are applied to the uppermost work W1, and the work W1 is sucked. The suction support tubes 7a, 8a are then moved up by the cylinders 7, 8 to lift an end part of the work W1, the support body 2 is moved up by the cylinder 1, and the support body 2 is moved to a predetermined position. Only the uppermost work W1 can thus be separated securely, thereby the safety is improved.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention is directed to, for example, a top plate used in a packaging box, a laminated structure made of flat plate materials for automobiles, train cars, etc. The present invention relates to a workpiece takeout and transfer device that takes out workpieces one by one and transfers them to the next process.

(Prior Art) Conventionally, this type of workpiece pick-up and transfer device has been constructed as shown in FIGS.
-47930).

That is, in FIGS. 6 to 10, a rotating cylinder is rotatably fitted to the support column a of the base plate, and each of the four-bar link mechanisms C is attached to the upper part of the rotating cylinder. The connecting rod d is pivoted horizontally. Further, a bracket e is attached to the free end of each connecting rod d, and an air cylinder device f is vertically installed on the bracket e. Furthermore, a swinging arm g attached to the rotating cylinder body is connected to the middle of the air cylinder device f. Furthermore, a substantially rectangular moving frame is horizontally attached to the output shaft f1 of the air cylinder device f, and each corner of the moving frame has respective suction pads i. Each suction tube j is installed vertically, and each suction pad i
is connected to a vacuum device (not shown) through a rubber pipe. Further, below the movable frame body, workpieces W are stacked on a support stand, and the stacked workpieces W are sucked one by one by each suction pad i of the suction tube j. It is designed to be sucked up.

Therefore, as shown in FIGS. 6 to 10, when the air cylinder device f is driven based on a command from an operation panel (not shown), the workpiece pick-up and transfer device described above operates on the output shaft of the air cylinder device f. Since f1 descends downward, the suction tubes j of the movable frame integral with the output shaft fl also descend together, and each suction pad i of each suction tube j reaches the top layer of the upper layer on the support base. After the upper workpiece W is suctioned, the output shaft f1 of the air cylinder device f is lifted upward, so that the suction tube j, which is a movable frame integral with the output shaft f1, is also lifted up.

Then, the swing arm rod g attached to the swing cylinder body rotates around the support shaft a to a desired position.
Each of the connecting rods d by the four-bar linkage mechanism C moves substantially in parallel and then stops.

Next, since the output shaft f1 of the air cylinder device f descends downward, the suction tube j of the movable frame that is integrated with the output shaft f1 also descends, and is attracted to each of the suction pads i. The work W is spaced apart and placed on a conveyor or other support stand.

On the other hand, there is another conventional workpiece take-out and transfer device (
JP-A No. 60-97123), as shown in FIG. An air cylinder device 0 is installed vertically on the air cylinder device 0, and a suction pad p is attached to the output shaft o1 of the air cylinder device 0.

Therefore, the above-mentioned workpiece take-out and transfer device is
The workpiece W having the above-mentioned electromagnets n and the suction pad p of the air cylinder device 0 is attracted and taken out, and then transferred to another processing step and separated.

(Problem to be Solved by the Invention) However, in the former workpiece pick-up and transfer device described above, each suction tube j having each suction pad i is vertically disposed on the movable frame. When j are picked up at the same time, negative pressure is generated between the stacked uppermost workpiece W and other works W in contact with it, and the other works W are also attracted together with the uppermost workpiece W. Due to this, there is a risk that other workpieces W may fall and be damaged during transfer.
Although it works effectively in theory, in practice there are problems with reliability and safety.

On the other hand, as another conventional example, the latter workpiece pick-up and transfer device has each electromagnet n attached via each hanging lobe m, and each electromagnet n is designed to attract the uppermost stacked workpiece W. For this reason, after the workpiece W attracted to each electromagnet n is separated and placed on another support stand or on a conveyor, a residual magnetic force is generated in the workpiece W, and this residual magnetic force is used for the next machining process. Therefore, for example, there is a risk that the tool may attract bits, cutting chips, etc. and cause problems.

The present invention has been made in view of the above-mentioned circumstances, and includes a plurality of suction support tubes having respective suction pads vertically disposed in a part of a movable frame, and the uppermost workpiece stacked with the suction support tubes. It curves as if it were turned over by adsorbing one end of the W, and the suction caused by the negative pressure between this uppermost workpiece and other workpieces that come into contact with it is eliminated, and the other workpieces are turned over. It is an object of the present invention to provide a workpiece take-out and transfer device in which only the uppermost workpiece is picked up by each suction tube having each of the remaining suction pads after being separated from the workpiece, and is taken out and transferred to a desired position. shall be.

[Structure of the invention]

(Means for Solving the Problems) The present invention provides a movable support above the stacked workpieces, a plurality of suction tubes having suction pads arranged in a row below the movable support, At least two or more cylinder devices are provided at one end of the movable support, and a plurality of suction support tubes having suction pads are attached to the output shaft of each cylinder device.

(Function) The present invention suctions one end of the uppermost workpiece stacked on the suction support tube and holds the uppermost workpiece by bending it slightly upward. After eliminating the suction caused by negative pressure between the upper workpiece and other workpieces that come into contact with it, and making sure to separate the other workpieces from the uppermost workpiece, The upper workpiece is picked up, taken out and transferred to a desired position.

(Example) Hereinafter, the present invention will be described with reference to an illustrated embodiment.

In FIGS. 1 to 5, reference numeral 1 denotes, for example, a rotating cylinder rotatably fitted to the support of an industrial robot, an arm lever formed by the rotating cylinder being provided horizontally, and a free end of the upper arm rod. A cylinder device, for example, an air cylinder device, is provided perpendicularly to a section, and an output shaft 1a of this cylinder device 1 is provided with a movable support 2 for carrying a workpiece W stacked on a pedestal B.
At the lower part 2a of the movable support 2, a plurality (three in the figure) of adsorption tubes 3.4.5 are arranged in a row. Also, each adsorption tube 3
．． At the bottom of 4.5, flexible bowl-shaped suction pads 3 as 4 as 5 B are attached so as to vacuum-adsorb the uppermost stacked workpiece W1. Further, at one end 2b of the moving support 2, a second
As shown, each pair of brackets 6 is associated with a respective cylinder device 7.
8 are pivotally mounted on respective support shafts 9, and each suction support tube 7a, ga, which is integral with the tubular output shaft of each cylinder device 7.8, has a flexible support tube at its lower end. Each suction pad 1
0.11 is attached so as to vacuum adsorb one end of the uppermost workpiece Wl. Furthermore, each holding member 12 that is integral with each cylinder assembly W17.8 is provided with an ear piece 1.
A coil spring 13 is provided between the lug 12a and each of the brackets 6, and each suction pad 10.11 is connected to the uppermost workpiece. When one end of W1 is vacuum-adsorbed, each cylinder device 7.8 can be rotated slightly around the support shaft 9 as a whole.

Therefore, the movable support 2 is now moved above the stacked works W, and then each suction tube 3.4.5 of the movable support 2 is vacuumed (3a).

4 a s 5 a and each of the above suction pads 10.
The uppermost workpiece W1 on which the workpieces No. 11 are stacked is vacuum-adsorbed.

Next, only the cylinder devices 7.8 are moved back slightly, and the suction support pipes 7a, 8a, which are integral with the output shafts of the cylinder devices 7.8, are slightly raised. By holding one end of W1 by slightly curving upward and turning it over, adhesion due to negative pressure between this uppermost workpiece W1 and other workpieces W2 that come into contact with it is eliminated, and other After separating the workpiece W2 from the uppermost workpiece W1, the suction pads 3g, 4a, and 5a of the remaining suction tubes 3.4.5 pick up the uppermost workpiece W1. The movable support body 2 is moved, taken out and transferred to a desired position (see Fig. 5).
.

〔Effect of the invention〕

As described above, according to the present invention, a movable support is movably provided above the stacked workpieces, and a plurality of suction tubes having suction pads are arranged in a row below the movable support.
At least two or more cylinder devices are provided at one end of the movable support, and a plurality of suction support tubes having suction pads are attached to the output shaft of each cylinder device, so that the uppermost workpiece comes into contact with this. Since adsorption due to negative pressure between other workpieces can be reliably eliminated and the other workpieces can be separated from the topmost workpiece, it is possible to prevent other workpieces from falling and being damaged during transfer. , it has excellent effects such as being able to improve reliability and safety.

[Brief explanation of the drawing]

FIG. 1 is a front view of the workpiece pick-up and transfer device of the present invention;
FIG. 2 is an enlarged side view showing essential parts of the present invention, FIGS. 3 to 5 are diagrams for explaining the present invention in detail, and FIGS. 6 to 11 are views of a conventional workstation. FIG. 1... Cylinder device, 2... Moving support body, 3.4.
5... Suction tube, 3a, 4a, 5a... Suction pad,
7.8... Cylinder device, 7a, 8a... Suction support tube, 10.11... Suction pad.

Claims (1)

[Claims] A movable support provided to move above the stacked workpieces, a plurality of suction tubes having suction pads arranged in a row below the movable support, and a plurality of suction tubes provided at one end of the movable support. 1. A workpiece pick-up and transfer device comprising: at least two cylinder devices; and a plurality of suction support tubes having suction pads attached to the output shaft of each cylinder device.