JPH07954U - Transfer arm - Google Patents

Abstract

(57) [Abstract] [Purpose] When storing stacked products in a container, the work of storing a partition member that prevents the product from collapsing in the container and storing the stacked products in the container is automated. A partition attaching / detaching member 3 for engaging with a partition member 2 to attach / detach the member 2 and an eccentric shaft 4 provided with a claw 4a at its tip.
The frame 5 arranged at a predetermined position is mounted on the bracket 7b attached to the arm 7a of the transfer robot 7. The partition attaching / detaching member 3 and the eccentric shaft 4 are attached in a direction orthogonal to the bracket 7b. When the partition member 2 is attached to or detached from the container 1, the bracket 7b is swung so that the partition attachment / detachment member 3 faces above the container 1, and when the stacked product B is stored in the container 1, the eccentric shaft 4 is attached. The container 1 is made to face above.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a transfer arm for attaching and detaching a partition member for partitioning the container into a plurality of chambers inside the container and for maintaining the stacked state of the stacked products and transferring the stacked products to the chambers.

[0002]

[Prior art]

 When a product such as a press-formed product having the same shape is transported from the pressing process to the next process such as the welding process or heat treatment process, multiple products are stacked and stored in a container, and the container or conveyor is used. Generally, it is transported by.

When the product discharged from the press line is to be stored in a container, a worker is arranged at the product discharge part, and the product discharged by the worker at a constant time interval is stored in the container. It is stacking while doing.

[0004]

[Problems to be solved by the device]

 As described above, if the workers store the products discharged from the press line in a container, the workability is poor and it is difficult to increase the quantity processed per unit time. There is a problem that workers are forced to work hard, such as being unable to leave the site while they are there.

An object of the present invention is to provide a transfer arm capable of rationalizing a transfer work and freeing a worker from heavy labor.

[0006]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, a transfer arm according to the present invention is a transfer arm for attaching and detaching a partition member for partitioning the inside of a container into a predetermined chamber and transferring pre-stacked products and storing them in the container. , An eccentric shaft for engaging a part of the product laminated on the tip and holding the product and eccentrically rotating to move the claws in the horizontal direction, and a plurality of the eccentric shafts at predetermined positions. And a partition attaching / detaching member that engages with the partition member to attach / detach the partition member to / from the container. It is configured to move and rotate the member three-dimensionally.

[0007]

[Action]

 According to the transfer arm, by storing the partition member in the container, the inside of the container can be partitioned into a predetermined chamber, and the stacked products can be stored in the chamber while maintaining the stacked state.

That is, a partition attaching / detaching member that engages with the partition member to attach / detach the partition member to / from the container is provided, and a claw for engaging a part of the stacked products and holding the product is provided at the tip. A frame is provided in which a plurality of eccentric shafts are arranged at predetermined positions and a drive member for driving the eccentric shafts is provided, and the partition attachment / detachment member and the frame are three-dimensionally moved and rotated. With this configuration, the transfer arm is rotated in a desired direction so that the partition attaching / detaching member engaged with the partition member faces the opening of the container, and then the partition attaching / detaching member is housed inside the container. By moving, the partition member can be housed in the container and the container can be partitioned into a predetermined chamber.

Further, the transfer arm is rotated and moved so that the eccentric shaft faces the laminated product, and then the eccentric shaft is lowered to move the claw provided at the tip from the lower end of the lowermost product. It is also possible to position the claw below the lower end of the product by rotating the eccentric shaft with the drive member. Then, by moving the transfer arm and raising the eccentric shaft, the claws come into contact with the lower end of the lowermost product, and the stacked products can be lifted while maintaining the stacked state.

The products stacked as described above are conveyed to the container in a suspended state, the products are opposed to the desired chamber to lower the eccentric shaft, and further the eccentric shaft is rotated to move the claws to the product. The product can be stored in a room formed in a container by detaching it from the lower end of the. At this time, even if the stacked products are inclined, the side surfaces of the products come into contact with the partition member, so that the load does not collapse.

When a predetermined number of products are stored in the container, the transfer arm performs the same operation as when the partition member is stored in the container, so that the partition member stored in the container is removed. It can be done.

[0012]

【Example】

 An example of the above-mentioned transfer arm will be described below with reference to the drawings. FIG. 1 is a front view illustrating the configuration of a transport arm, FIG. 2 is a diagram illustrating the configuration of a partition member and the configuration of a partition attachment / detachment member engaged with the partition member, and FIG. 3 is a configuration of a frame portion. FIG. 4 is a perspective view illustrating a product stacked with a container containing a partition member, FIG. 5 is a plan view illustrating an operation of holding the stacked products, and FIG. 6 is a view illustrating a predetermined number of products stored. It is a perspective view of a container.

In the figure, a transfer arm A stores a partition member 2 for partitioning the container 1 in the container 1 and a stacked product B in the container 1, and a predetermined number of products B in the container 1. The partition member 2 is configured to be detached after storing the above.

The transfer arm A engages with the partition member 2 to move up and down and transfer the partition member 2 to and from the container 1, thereby attaching and detaching the partition member 2 and a plurality of eccentric shafts 4 provided with claws 4 a at their ends. And a rotor 6 serving as a driving member for driving the eccentric shaft 4.

The transfer arm A is configured as a part of the transfer robot 7 so that the transfer arm A can move along a preset path by a numerical control method or a teaching method and can operate according to a preset order. It is configured.

The container 1 is formed in a basket shape or a box shape, and is configured so that the stacked products B can be arranged in a plurality of columns and a plurality of rows to be stored.

The partition member 2 prevents the collapse of the stored products when the products B stacked inside the container 1 are stored, and is placed at a position corresponding to the width and length dimensions of the product B. It is configured by providing a plurality of partition walls 2a.

A hook-shaped engaging member 2b is provided above the partition member 2, and the engaging member 3a of the partition attaching / detaching member 3 is engaged with this engaging member 2b to move up and down, thereby moving the partition member 2 up and down. It is possible to store it in the container 1 and detach it from the container 1.

The partition attaching / detaching member 3 is a part of the transfer robot 7 and is fixed to a bracket 7 b attached to the tip of an arm 7 a that constitutes the transfer arm A. The partition attaching / detaching member 3 is composed of an engaging member 3a made of a rod-shaped member that engages with a locking member 2b provided on the partition member 2. The engaging member 3a is attached to the bracket 7b in a direction orthogonal to the eccentric shaft 4.

The eccentric shaft 4 has a dimension longer than a preset stacking height of the product B to be conveyed, and a claw for holding the stacked product B by engaging the end of the product B at the tip. 4a is provided. Further, the rear end side of the eccentric shaft 4 is rotatably supported by the frame 5, and an eccentric portion 4b is formed in the vicinity of the frame 5 and at a position separated from the claw 4a by the stacking height of the product B. There is.

Therefore, by rotating the eccentric shaft 4, the entire eccentric portion 4c from the claw 4a to the eccentric portion 4b is brought into contact with and separated from the laminated product B, and at the same time, on the side of the laminated product B with the pawl 4a. It moves horizontally and enters below the lower end of the product B. Therefore, the laminated product B can be held by inserting the claw 4a below the lower end of the product B and bringing the eccentric portion 4c close to the product B, and then lifting the eccentric shaft 4. It is possible.

The frame 5 is constructed by disposing a plurality of eccentric shafts 4 at a position where the product B can be held most reliably according to the shape of the product B to be transported. In this embodiment, the frame 5 is composed of a plate-shaped member, and four eccentric shafts 4 are arranged at the corners of this member.

However, the disposition position of the eccentric shaft 4 in the frame 5 and the mounting structure of the eccentric shaft 4 are not limited to the above configuration. That is, it is preferable that the arrangement position of the eccentric shaft 4 in the frame 5 can be appropriately set according to the shape and size of the product B to be conveyed. For example, in the case where a plurality of screw rods arranged in a direction orthogonal to the plate-shaped member are provided, and the position of the holding member configured by combining the eccentric shaft and the rotor can be changed by these screw rods, By properly setting the position of the holding member, it is possible to hold a plurality of types of products having different shapes and dimensions.

When holding the product B, the eccentric shaft 4 needs to rotate in an appropriate direction according to the shape of the product B. That is, as shown in FIG. 5, the position of the laminated product B is set by a plurality of positioning pins 8, and four eccentric shafts 4 are arranged so that the neck portion of the product B can be held. In this case, the eccentric shafts 4 on the diagonal line can rotate in the same direction. For this reason, the rotor 6 that drives the eccentric shaft 4 is provided for each eccentric shaft 4. As the rotor 6, it is possible to use a motor such as a pulse motor, an air motor that supplies compressed air to rotate, or a rotary actuator.

The transfer robot 7 is configured by a teaching type or numerical control type three-dimensional robot. The frame 5 having the engaging member 3a, the eccentric shaft 4, and the rotor 6 is arranged in the orthogonal direction and fixed to the arm 7a of the transfer robot 7 to form the carrying arm A. Therefore, by starting the operation of the transfer robot 7, it is possible to transfer the engaging member 3a and the frame 5 according to a preset route.

Next, a procedure for storing the partition member 2 in the container 1, the stacked product B in the container 1, and further removing the partition member 2 by the transfer arm A configured as described above will be described. .

The container 1 is placed on a conveyor or a trolley (not shown) and stopped at a preset stop position. When the bracket 7b of the transfer arm A is rotated and the partition member 2 is engaged with the engaging member 3a of the partition attaching / detaching member 3 attached to the bracket 7b, the operation of the transfer robot 7 is started. Performs an operation according to a preset order, and first, as shown in FIG. 2, the arm 7a moves to transfer the partition member 2 to above the container 1.

Next, the arm 7a descends to store the partition member 2 in the container 1, and then the bracket 7b is swung to release the engagement of the engagement member 3a with the locking member 2b. As a result, the partition member 2 is housed inside the container 1, and as shown in FIG. 4 (A), the interior of the container 1 is divided by the partition wall 2a of the partition member 2 into a plurality of sizes corresponding to the product B. Divided into chamber 9.

While the work of storing the partition member 2 in the container 1 by the transfer arm A is being performed, the products B are stacked in a preset quantity as shown in FIG. 4B. The product B may be stacked by a worker or may be sucked by a vacuum cup or a magnet.

After the partition member 2 is housed in the container 1 as described above, the bracket 7b is pivotally operated to set the eccentric shaft 4 in the vertical direction and simultaneously move the product B to the stacking position. When the eccentric shaft 4 reaches above the stacked product B, the arm 7a is lowered to lower the eccentric shaft 4 and the frame 5. At this time, as shown by the solid line in FIG. 5, the eccentric shaft 4 is rotated to a position where it does not come into contact with the product B, and the claw 4a is also retracted to a position where it does not interfere with the product B. There is.

When the arm 7a descends to a preset descent limit, the claw 4a is located below the lower end of the product B which is the lowest of the stacked products B. When each eccentric shaft 4 is individually rotated by the rotor 6 so that the shaft 4 approaches the product B, the eccentric portion 4c of the eccentric shaft 4 approaches the product B as shown by the dotted line in FIG. At the same time, the nail 4a enters below the lower end of the product B.

Next, when the arm 7a is raised, the claw 4a contacts and holds the lower end of the product B. At this time, even if the product B is inclined, the eccentric portion 4c can contact the side surface of the product B 1 to prevent the stacked product B 2 from collapsing. As the arm 7a rises, the stacked products B are separated from the positioning pin 8, and in this state, the arm 7a moves toward the container 1 through a preset path.

After the arm 7 a moves to a position above the container 1 and stops at a predetermined position, the arm 7 a descends. The stacked products B held by the eccentric shaft 4 as the arm 4a descends are stored in any chamber 9 formed in the container 1. Then, when the arm 7a reaches the lower limit, the rotor 6 is driven to rotate each eccentric shaft 4, thereby separating the claw 4a from the lower end of the product B. At this time, when the stacked products B are inclined, a part of the side surface of the products B comes into contact with the partition wall 3a, so that the collapse of the load can be prevented.

The products B laminated as described above can be transported and stored in the container 1. Then, as shown in FIG. 6, after the product B is stored in all of the chambers 9 formed in the container 1, the bracket 7b is swung so that the partition attaching / detaching member 3 faces the upper side of the container 1 and the engaging member The partition member 2 housed in the container 1 can be detached by engaging the locking member 2b of the partition member 2 and raising the partition member 3a. The product B after the partition member 2 is removed does not cause a load collapse because the product B comes into contact with another adjacent product B even if the product B is inclined due to vibration or the like in the process of transporting the container 1.

[0035]

[Effect of device]

 As described in detail above, in the transfer arm according to the present invention, the partition member can be housed inside the container, the partition member housed in the container can be removed, and the stacked products can be eccentric. It can be held by a claw provided at the tip of the shaft, conveyed to the container, and stored in the container. Therefore, workers can be freed from heavy labor and rationalized by mechanization.

Further, since the member for holding the stacked products is the eccentric shaft, even when the product to be transported is close to the transport start position or the transport end position, there is a gap through which the eccentric shaft can pass. If it is secured, this product can be transported. Therefore, the product storage space can be reduced.

Further, since the products stacked by the eccentric shaft are held, the position of the eccentric shaft and the like may be changed even if the sizes are slightly different as long as the products to be transported have a plurality of similar shapes. It has the feature that it can be transported without changing.

[Brief description of drawings]

FIG. 1 is a front view illustrating the configuration of a transfer arm.

FIG. 2 is a diagram illustrating a configuration of a partition member and a configuration of a partition attachment / detachment member engaged with the partition member.

FIG. 3 is a perspective view illustrating a configuration of a frame portion.

FIG. 4 is a perspective view illustrating a product laminated with a container accommodating a partition member.

FIG. 5 is a plan view illustrating an operation of holding stacked products.

FIG. 6 is a perspective view of a container accommodating a predetermined number of products.

[Explanation of symbols]

 A transport arm B product 1 container 2 partition member 2a partition wall 2b locking member 3 partition attaching / detaching member 3a engaging member 4 eccentric shaft 4a claw 5 frame 6 rotor 7 transfer robot 7a arm 9 chamber

Claims (1)

[Scope of utility model registration request] 1. A transfer arm for attaching and detaching a partitioning member for partitioning the inside of a container into a predetermined chamber and for transferring a product laminated in advance and storing it in the chamber of the container, wherein a part of the product laminated on the front end. An eccentric shaft that engages with and holds the product and that eccentrically rotates to move the claws in the horizontal direction; a frame in which a plurality of the eccentric shafts are arranged at predetermined positions; and a frame attached to the frame And a partition attaching / detaching member that engages with the partition member to attach / detach the partition member to / from the container, and moves and rotates the frame and the partition attaching / detaching member three-dimensionally. A transport arm characterized by being configured as described above.