JPS6164626A - Loading device - Google Patents
Loading deviceInfo
- Publication number
- JPS6164626A JPS6164626A JP18708184A JP18708184A JPS6164626A JP S6164626 A JPS6164626 A JP S6164626A JP 18708184 A JP18708184 A JP 18708184A JP 18708184 A JP18708184 A JP 18708184A JP S6164626 A JPS6164626 A JP S6164626A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- loading
- station
- vertical
- holding unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003028 elevating effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000286209 Phasianidae Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、パレットなどの上に品物を荷積みするための
荷積み装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a loading device for loading articles onto a pallet or the like.
従来のこの種の荷積み装置として、実開昭５８−１３０
８８２号公報等に示されているように、支柱と、この支
柱に沿って上下方向に垂直移動する昇降体と、この昇降
体に治って左右方向に水平移動する横行体と、この横行
体に治って前後方向に水平移動する移動体と、この移動
体に設けられた保持装四とから成るものがある。As a conventional loading device of this type,
As shown in Publication No. 882, etc., there is a support, an elevating body that moves vertically along the support, a transverse body that moves horizontally in the left and right directions by the elevating body, and a There is one that consists of a movable body that moves horizontally in the front-back direction after healing, and a retainer 4 provided on this movable body.
〔発明が解決しようとする問題点］ 上述したように支柱、昇降体及び横行体で（Ｘ。[Problems that the invention attempts to solve] As mentioned above, the support, elevating body, and transverse body (X.
Ｙ、Ｚ）の直交座標系を構成した構造の場合、これらが
広い範囲に渡って設置されるので、占有スペースが大き
く、しかも、品物の移動領域外において、水平方向に長
い昇降体が上下動するので、この区域の立入り防止等の
危険対策も必要であった。In the case of a structure with an orthogonal coordinate system (Y, Z), these are installed over a wide area, so they occupy a large space.Moreover, the horizontally long elevating body cannot be moved up and down outside the area where the goods are moved. Therefore, it was necessary to take measures to prevent people from entering this area.
本発明は、上述したような点に鑑みなされたもので、占
有スペースが小さくコンバク１〜で、しかも危険性の少
ない荷積み装置を捉口（ｉ１１′ることを目的とするも
のである。The present invention has been made in view of the above-mentioned points, and an object of the present invention is to provide a loading device that occupies a small space, is compact, and is less dangerous.
（問題点を解決するための手段）
本発明の荷積み装置は、本体１の前方側にたとえば上下
一対の第１アーム１１．１２を上下方向回動可能に設け
、この第１アームＮ、１２の先端に第２アーム１４を上
下方向回動可能に設け、この第２アーム１４の先端にた
とえば取付枠１５等の姿勢維持体を設け、この姿勢維持
体を第１アーム１１．１２及び第２アーム１４の回動に
より上下動及び前後動しても同一姿勢を維持するように
形成し、この姿勢維持体に上記第１アーム１１．１２及
び第２アーム１４の回動による姿！！Ａ維持体の移動方
向と直交する左右方向に向いたレール２２を設け、この
レール２２に荷積み物４０を保持する荷積み物保持装置
２６を移動可能に設け、上記本体１の前方に荷積み物４
０の荷積みステーション４１を設定し、この荷積みステ
ーション４１と本体１との間に荷積み物４０の搬入ステ
ーション４５を設定したことを特徴とするものである。(Means for Solving the Problems) The loading device of the present invention includes, for example, a pair of upper and lower first arms 11 and 12 provided on the front side of the main body 1 so as to be rotatable in the vertical direction. A second arm 14 is provided at the tip of the second arm 14 so as to be rotatable in the vertical direction, and a posture maintaining body such as a mounting frame 15 is provided at the tip of the second arm 14, and this posture maintaining body is attached to the first arm 11.12 and the second It is formed so that the same posture is maintained even when the arm 14 moves up and down and back and forth by rotation, and this posture maintenance body has a shape due to the rotation of the first arm 11, 12 and the second arm 14! ! A rail 22 facing in the left-right direction perpendicular to the moving direction of the maintenance body A is provided, and a cargo holding device 26 for holding the cargo 40 is movably provided on the rail 22, and the cargo is loaded in front of the main body 1. Thing 4
0 loading station 41 is set up, and between this loading station 41 and the main body 1 is set a carry-in station 45 for cargo 40.
本発明の荷積み装；コ・フは、伺（＾み物４０を保１“
ｊＸＪる荷積み物保持装置２６を、姿９１５紺１ｉ ｆ
Ａにより姿勢を維持した状態で、第１アーム１１．１２
及び第２アーム１４の回動により上下方向及び前後方向
に移動するとともに、この何＋ａみ物保持￥ｉ首２６を
、レール２２に沿って左右方向に移動するものである。The loading system of the present invention;
The load holding device 26 is
While maintaining the posture by A, the first arm 11.12
As the second arm 14 rotates, it moves vertically and longitudinally, and the object holding neck 26 moves horizontally along the rail 22.
本発明の荷積み装置の実施例を、図面を参照して説明す
る。An embodiment of the loading device of the present invention will be described with reference to the drawings.
第１図及び第２図においで、１は本体で、この本体１の
上部に、垂直駆動源２によって垂直方向に移動する重直
移！ＩＪＩ＠■が水平に設けられているとともに、この
垂直移動軸■の前側方に、水平駆動源３によって垂直移
動軸■に対して接近・は１間する前後方向に水平移動す
る水平移動軸］−１が垂直移動軸■と平行に設けられて
いる。In FIGS. 1 and 2, 1 is a main body, and on the upper part of this main body 1 is a vertically moving device that moves in the vertical direction by a vertical drive source 2. IJI@■ is provided horizontally, and a horizontal movement axis that moves horizontally in the front and rear direction by a horizontal drive source 3 in front and side of this vertical movement axis ■ approaches and approaches the vertical movement axis ■. -1 is provided parallel to the vertical movement axis ■.
そして、上記垂直移動軸■に上側第１７−１い１１が軸
支されているとともに、上記水平移動＠Ｈに下側第１ア
ーム１２が軸支され、これらの上下の各第１アーム１１
．１２の先端が上記本体１の前方側（こ上下方向回動自
在に突設され、この上側第１アーム１１と上記水平移動
ＩＮＩ Ｈとがリンク１３及び軸ａを介して、ａＨ＝ａ
ｙとなるように、軸着連結されているとともに、上記各
第１アーム１１．１２の先端ト１ｃ、ａＨｊｂｃ、すな
わち、ａｂ＝Ｈｃ、ａｔ−１＝ｂｃとなるように、軸着
連結され、この第２アーム１４の先端部に姿勢維持体と
しての取付枠１５が軸ｐを介して軸着されている。The upper 17-1 11 is pivotally supported on the vertical movement axis (2), and the lower first arm 12 is pivotally supported on the horizontal movement @H, and each of the upper and lower first arms 11
．． The tip of 12 protrudes from the front side of the main body 1 so as to be rotatable in the vertical direction, and the upper first arm 11 and the horizontally movable INIH are connected via the link 13 and the shaft a, so that aH=a
y, and the tips of the first arms 11.12 are pivoted and connected so that ab=Hc, at-1=bc, A mounting frame 15 serving as a posture maintaining body is pivotally attached to the tip of the second arm 14 via a shaft p.
なお、各軸ａ、ｂ、ｃ、ｐは全て上記垂直移動軸■及び
水平移動軸Ｈと平行である。The axes a, b, c, and p are all parallel to the vertical movement axis (2) and the horizontal movement axis (H).
また、上記上側第１アーム１１と第２アーム１４を連結
した軸すにはＬ形すンク１６が回動自在に支持され、こ
のＬ形すンク１６の前端部と上記取付枠１５が軸ｄ、ｅ
及び連結杆１７を介して、ｂｄ／ ｐｅ、ｂＰｊｄｅ、
すなわちｂｄ＝Ｐｅ、ｂＰ＝ｄｅとなるように、軸着連
結されているとともに、Ｌ形すンク１６の後端部と上記
垂直移動＠Ｖに係合した結杆１９を介して、■ｆｌｂｇ
、■ｂｌｆｇ、寸なわち、Ｖｆ＝ｂｇ、Ｖｂ＝ｆｇとな
るように、連着連結されている。Further, an L-shaped sunk 16 is rotatably supported on the shaft connecting the upper first arm 11 and the second arm 14, and the front end of the L-shaped sunk 16 and the mounting frame 15 are connected to the shaft d. , e
and through the connecting rod 17, bd/pe, bPjde,
That is, they are pivoted and connected so that bd=Pe, bP=de, and via a connecting rod 19 that engages the rear end of the L-shaped sink 16 and the vertical movement @V, ■flbg
, ■blfg, that is, Vf=bg, Vb=fg, and are connected in series.
なお、各＠ｆｅｄ、ｅ、ｆ、ｇは全て上記Ｉｒ？ｌｌｖ
、ｂ。In addition, each @fed, e, f, and g are all the above Ir? llv
,b.
Ｐなどと平行である。It is parallel to P etc.
そして、第３図にも示すように、上記取付枠１５の下部
に連結枠２１を介して一対のレール２２がｎいに平行に
かつ左右方向に向けて設けられ、この一対のレール２２
に複数のローラ２３を介して８動体２４が左右方向移動
可能に支持され、この移動体２４の下部に＠２５を介し
て荷積み物深持装置２Ｇが水平方向回動可能に支持され
ている。As shown in FIG. 3, a pair of rails 22 are provided at the bottom of the mounting frame 15 via a connecting frame 21, extending parallel to each other in the left-right direction.
Eight movable bodies 24 are supported so as to be movable in the left and right directions via a plurality of rollers 23, and a load holding device 2G is supported so as to be rotatable in the horizontal direction via @25 at the bottom of the movable bodies 24. .
上記保持装置２６は、支枠３１の両側下部に丙子１）伜
３２を接近・離間する方向に位置調節自在に設け、この
両側の可動枠３２に荷積み物４０をづくい取るＬ形フ４
−り状のすくい取り用開閉体３３を開閉自在に１柚支す
るとともに、このすくい取り用開閉体３３の内側に４：
ｌ Ｙシて上記両側の可動枠３２にＩ′１１積み物を挟
着して位置決めするフＡ−り状の位置決め用開閉体３４
を開閉自在に軸支し、両側のずくい取り用開閉体３３及
び位置決め用開閉体３４をくれ・どれＩ−ヤシリング３
５．３６で独自に聞ｒｉＩ駆動するようにしたもので、
支枠３１が上記移動体２４に支持される。The above-mentioned holding device 26 is provided at the bottom of both sides of the supporting frame 31 so that its position can be freely adjusted in the direction of approaching and separating the ridges 1) and 32, and an L-shaped frame for holding the cargo 40 on the movable frames 32 on both sides. 4
- A scoop-shaped opening/closing body 33 is supported so that it can be opened and closed freely, and 4:
L An A-shaped positioning opening/closing body 34 that clamps and positions the I'11 stack on the movable frames 32 on both sides of the Y-shape.
Give me the opening/closing body 33 for scooping and the opening/closing body 34 for positioning on both sides, supported by a shaft so that it can be opened and closed freely・Dore I- Palm ring 3
5.36, it was made to drive independently,
A support frame 31 is supported by the movable body 24.
なお、上記荷積み物保持装置２６は、図示しない駆動ぼ
購によって、上記軸２５を中心に回動するようになって
いるとともに、上記レール２２に沿って移動するように
なっている。The load holding device 26 is configured to rotate around the shaft 25 and move along the rail 22 by a drive unit (not shown).
また、上記本体１の前方側には荷積み物４０の荷積みス
テーション４１が設定され、この荷積みステーション４
１にチェンコンベヤから成るパレットコンベヤ４２が上
記各アームＮ、 １２．１４の方向と直交する方向に向
けて設置され、このパレットコンベヤ４２の基）ん部に
パレット！＋３をパーツ１〜コンベ°＼フ４２上に供給
するパレット供給装置４４が設けられている。なお、図
示しないがパレットコンベＡ７４２にはパレットＰを荷
積みステーション４１に位置決めづるストッパが設けら
れている。Further, a loading station 41 for cargo 40 is set on the front side of the main body 1, and this loading station 4
A pallet conveyor 42 consisting of a chain conveyor is installed in a direction perpendicular to the direction of each of the arms N and 12. A pallet supply device 44 is provided for supplying +3 onto the parts 1 to conveyor 42. Although not shown, the pallet conveyor A742 is provided with a stopper for positioning the pallet P at the loading station 41.
そして、上記荷積みステーション４１と上記本体１の間
には荷積み物４０の搬入ステーションノ１５が設定され
、この搬入ステーション４５にローラコンベヤからなる
搬入コンベヤ４６の先端部が上記パレットコンベＡ７４
２と平行に配設され、この搬入コンベヤ４６の先端にス
トッパ４７が設けられている。A carry-in station 15 for the cargo 40 is set between the loading station 41 and the main body 1, and the tip of a carry-in conveyor 46 consisting of a roller conveyor is connected to the pallet conveyor A74 at the carry-in station 45.
A stopper 47 is provided at the tip of this carry-in conveyor 46.
次に、動作を説明する。Next, the operation will be explained.
まず、各アーム１４．１２．１４の動作を第４図を釡照
して説明１′る。First, the operation of each arm 14, 12, 14 will be explained with reference to FIG.
垂直移動軸Ｖを動かさずに、水平移！ｒ！ＩＪ４１＋
Ｈを水平駆動源３ ’ＣＩ−ｌ ａ −Ｈ＋に移動する
と、各アーム１１、１２．１４カ＋ｈｔ＋Ｖ、 Ｈ，ｂ
ヲ中心ニ揺動して取６」枠１５を連結した第２アーム１
４先喘の軸ＰはＰ ０４１→Ｐｕ＋に水平移動Ｊる。（
実線で示り°状態から一点鎖線で示す状態となる。）
また、水平移動軸ト１を動かさずに、垂面移動軸Ｖを垂
直駆動源２でＶｏ→■１に移動すると、各７−ムｌｌ、
１２．１４カ＠Ｖ、 Ｈ，ｂを中心に揺動して取付枠
１５を連結した第２アーム１４先端の軸ＰはＰＯＪＩ→
Ｐ Ｏｊに垂直移動する。（実線で示ず状態から二点鎖
線で示す状態となる。）
ざらに、水平移動＠ＨをＨａ−Ｈ＋に移！ＩＩＪすると
ともに、垂直移動軸■をＶｏ→■１に移動すると、取付
枠１５を連結した第２アーム１４先端の軸ＰはｐＨＬｏ
−＋Ｐ１１に対角移動する。（実線で示す状態から三点
鎖線で示す状態となる。）
したがって、水平移動軸Ｈの移動と垂直移動軸Ｖの移動
を粗金わせることによって、取付枠１５を連結した’Ｎ
Ｉ ＰはＰｕ、Ｐｕ＋、Ｐ＋ｊ及びＰ Ｏｊで囲まれた
垂直面内で任意に移動させることができ、荷積み物保持
装置２６を荷積みステーション４１、搬入ステーション
４５、搬入ステーション４５の上方および荷積みステー
ション４１の上方の垂直面内で任意に移動させことが可
能となる。Horizontal movement without moving the vertical movement axis V! r! IJ41+
When H is moved to the horizontal drive source 3' CI-l a -H+, each arm 11, 12.14 k+ht+V, H, b
The second arm 1 swings from the center and connects the frame 15.
The axis P of the 4th pant moves horizontally from P 041 to Pu+. (
The state shown by the solid line changes to the state shown by the dashed line. ) Also, if the vertical movement axis V is moved from Vo to ■1 by the vertical drive source 2 without moving the horizontal movement axis To 1, each 7-ml,
12.14 The shaft P at the tip of the second arm 14, which swings around the forces V, H, and b and connects the mounting frame 15, is POJI→
Move vertically to P Oj. (The state is changed from the state not shown by the solid line to the state shown by the two-dot chain line.) Roughly, move the horizontal movement @H to Ha-H+! IIJ and move the vertical movement axis ■ from Vo to ■1, the axis P at the tip of the second arm 14 connected to the mounting frame 15 becomes pHLo.
-Move diagonally to +P11. (The state shown by the solid line changes to the state shown by the three-dot chain line.) Therefore, by adjusting the movement of the horizontal movement axis H and the movement of the vertical movement axis V, the mounting frame 15 is connected to the
I P can be moved arbitrarily within the vertical plane surrounded by Pu, Pu+, P+j, and P Oj, and the cargo holding device 26 can be moved above the loading station 41, loading station 45, loading station 45, and loading station 45. Any movement in the vertical plane above the stacking station 41 is possible.
そして、取付枠１５は、垂直駆動源２の移動部１８の姿
勢が変わらないため、常に同じ姿勢を保ち、したがって
、保持装置２６も常に同じ姿勢を維持する。Since the attitude of the moving part 18 of the vertical drive source 2 does not change, the mounting frame 15 always maintains the same attitude, and therefore the holding device 26 also always maintains the same attitude.
次に、荷積み動作を説明する。Next, the loading operation will be explained.
パレット供給装置へ４がパレット４３をパレットコンベ
ヤ４２に供給し、このパレット４３は荷積みステーショ
ン４１に搬送されて図示しないストッパで位置決めされ
る。A pallet supply device 4 supplies a pallet 43 to a pallet conveyor 42, and this pallet 43 is conveyed to a loading station 41 and positioned by a stopper (not shown).
そして、荷積み物４０が搬入コンベヤ４６によって搬入
ステーション４５に搬入されるど、上記各アーム１１．
１２．１４の回動により保持装置２６が搬入ステーショ
ン４５に垂直に下降し、両側のすくい取り用開閉体３３
及び（ヴ置決め用開閉体３４が荷積み物４０の外側に位
置決めされ、ついで、両側の（＜／置決め用開閉体３４
がエヤシリンダ３Ｇにより閉じて６１積み１力４０を挟
持し、ついで、両側のすくい取り用開閉体３３がエヤシ
リンダ３５により閉じて何積み物４０の下部に差し込ま
れる。なお、このすくい取り用開閉体３３は搬入コンベ
＼７４６のローラの間隙を介しｒ ｉ′噛：＋偵み物４
０の下部に差し込まれる。Then, as the cargo 40 is carried into the carry-in station 45 by the carry-in conveyor 46, each of the arms 11.
By the rotation of 12.14, the holding device 26 is vertically lowered to the loading station 45, and the scooping opening/closing bodies 33 on both sides are
The opening/closing body 34 for positioning is positioned outside the cargo 40, and then the opening/closing body 34 for positioning
is closed by the air cylinder 3G to sandwich the 61 piles 40, and then the scooping opening/closing bodies 33 on both sides are closed by the air cylinders 35 and inserted into the lower part of the piles 40. In addition, this scooping opening/closing body 33 passes through the gap between the rollers of the carry-in conveyor \746.
It is inserted into the bottom of 0.
その後、上記各アーム１１．１２．１４の回動により保
持装置２６が搬入ステーション４５から荷積みステーシ
ョン４１のパレット４３上に移動し、さらに、必要に応
じて、保持装置２６を、レール２２に沿って移動すると
ともに、軸２５を中心に回動じ、ついて、すくい取り用
開閉体３３がエヤシリンダ３５により聞いて荷積み物４
０の下部から引き抜かれ、これによって、荷積み物４０
が位置決め用開閉体３４に案内されて所定位置に自重落
下し、ついで、位置決め用開閉体３４がエヤシリンダ３
Ｇにより聞く。Thereafter, the holding device 26 is moved from the loading station 45 onto the pallet 43 of the loading station 41 by the rotation of each arm 11, 12, 14, and if necessary, the holding device 26 is moved along the rail 22. At the same time, it rotates around the shaft 25, and the scooping opening/closing body 33 is moved by the air cylinder 35 to remove the cargo 4.
0, thereby causing the cargo 40
is guided by the positioning opening/closing body 34 and falls to a predetermined position under its own weight, and then the positioning opening/closing body 34 is guided by the air cylinder 3
Listen by G.
そうして、このような動作のくり返しによって、荷積み
物４ｏを所定の荷積みパターンでパレット４３上に多段
に荷積みする。なお、荷積みが完了したパレット４３は
パレットコンベヤ４２によって搬入ステーション４１か
ら搬出される。By repeating these operations, the cargo 4o is stacked in multiple stages on the pallet 43 in a predetermined stacking pattern. Note that the pallet 43 that has been loaded is carried out from the carry-in station 41 by the pallet conveyor 42.
本発明によれば、荷積み物保持装置を第１アームおよび
第２アームの上下方向の回動により上下方向及び前後方
向に移動するので、保持装置の上下方向及び前後方向の
移動用ガイドを設ける必要がなく、したがって、占有ス
ペースを小さくできるとともに、不使用時には保持装置
、第１アーム及び第２アームを本体近傍あるいは上方に
退避させておくことができ、しかも、保持装置の前後方
向及び上下方向の移動範囲は、移動用ガイドなどに規制
されず、比較的に自由なので、搬入ステーション及び荷
積みステーションさらにはこれらのステーションに配設
するコンベヤなどのレイアウトに自由度が大きく、設置
が容易にできる。また、荷積み物の移動以外（こは地ｌ
二ｆ・１近で移（Ｆｌｊｉｊろ部分がないので、作業古
に対ηる安全性し１昌い。According to the present invention, since the cargo holding device is moved in the vertical direction and the front-back direction by vertical rotation of the first arm and the second arm, a guide for moving the holding device in the vertical direction and the front-back direction is provided. Therefore, the space occupied can be reduced, and the holding device, the first arm, and the second arm can be retracted near or above the main body when not in use. The range of movement is not restricted by movement guides and is relatively free, so there is a great degree of freedom in the layout of loading stations, loading stations, and conveyors placed at these stations, making installation easy. . In addition, other than the movement of cargo (this is the land)
It was moved near 2F.1 (because there is no Fljij part, it is safer than the old one).
４、図面の商？１層囚１明
図は本発明のｖ８積み装置の実施例を丞し、第１図はそ
の側面図、第２図はその平面図、第３図はその荷積み物
保持装置部分の側面図、第４図（，１各アームの動作を
示寸説明図である。4. Drawing quotient? Figure 1 shows an embodiment of the V8 stacking device of the present invention, FIG. 1 is a side view thereof, FIG. 2 is a plan view thereof, and FIG. 3 is a side view of the cargo holding device portion thereof. , FIG. 4 (,1) is a dimensional explanatory diagram showing the operation of each arm.
１・・本体、４１．１２・・第１アーム、１４・・第２
アーム、１５・・姿９Ａ雉持体としての取（＝Ｊ枠、２
Ｇ・・荷積み物保持装置、４０・・ｌ４積み物、・１１
・・荷積みステーション、４５・・搬入ステーション。1...Main body, 41.12...First arm, 14...Second
Arm, 15... Figure 9A pheasant holding body (= J frame, 2
G... Load holding device, 40... l4 Load, 11
... Loading station, 45... Loading station.
Claims (1)
設けられた第１アームと、この第１アームの先端に上下
方向回動可能に設けられた第２アームと、この第２アー
ムの先端に設けられ第１アーム及び第２アームの回動に
より上下動及び前後動しても同一姿勢を維持する姿勢維
持体と、この姿勢維持体に上記第１アーム及び第２アー
ムの回動による姿勢維持体の移動方向と直交する左右方
向に設けられたレールと、このレールに移動可能に設け
られた荷積み物保持装置と、上記本体の前方に設定され
た荷積み物の荷積みステーションと、この荷積みステー
ションと上記本体との間に設定された荷積み物の搬入ス
テーションとを備えたことを特徴とする荷積み装置。(1) A main body, a first arm provided on the front side of the main body so as to be rotatable in the vertical direction, a second arm provided at the tip of the first arm so as to be rotatable in the vertical direction, and the second arm a posture maintaining body that is provided at the tip of the arm and maintains the same posture even when the first arm and the second arm move up and down and back and forth; A rail provided in the left and right direction orthogonal to the direction of movement of the posture maintaining body due to motion, a cargo holding device movably provided on the rail, and a cargo loading device set in front of the main body. A loading device comprising: a loading station; and a loading station set between the loading station and the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18708184A JPS6164626A (en) | 1984-09-06 | 1984-09-06 | Loading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18708184A JPS6164626A (en) | 1984-09-06 | 1984-09-06 | Loading device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6164626A true JPS6164626A (en) | 1986-04-03 |
Family
ID=16199794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18708184A Pending JPS6164626A (en) | 1984-09-06 | 1984-09-06 | Loading device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6164626A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61263524A (en) * | 1985-05-15 | 1986-11-21 | Dainichi Kiko Kk | Bag grasping hand |
| JPH03113785U (en) * | 1990-03-01 | 1991-11-21 | ||
| JPH10329894A (en) * | 1997-05-30 | 1998-12-15 | Shibuya Kogyo Co Ltd | Treatment device of article |
| KR100568267B1 (en) * | 2003-06-03 | 2006-04-05 | 학교법인 울산공업학원 | High torque fastening aid and its support method |
| WO2006111827A1 (en) * | 2005-04-21 | 2006-10-26 | Mathieu Leclercq | Aid device for the construction of walls and/or treatment of surfaces |
| CN104669252A (en) * | 2015-02-28 | 2015-06-03 | 天津大学 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
| CN106064743A (en) * | 2016-07-21 | 2016-11-02 | 安徽铜峰电子股份有限公司 | Carton palletizing apparatus for films for electrical purposes baling line |
| CN106112968A (en) * | 2016-07-12 | 2016-11-16 | 邢永安 | A kind of logistics robot palletizer |
| CN108639737A (en) * | 2018-04-18 | 2018-10-12 | 淮北智淮科技有限公司 | A kind of new energy materials processing rotary charging device |
| CN111039007A (en) * | 2020-01-02 | 2020-04-21 | 金陵科技学院 | A packing box transport manipulator for using manpower sparingly |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5540397A (en) * | 1978-09-14 | 1980-03-21 | Mecanique Soc Ind De | Fluid seal device |
-
1984
- 1984-09-06 JP JP18708184A patent/JPS6164626A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5540397A (en) * | 1978-09-14 | 1980-03-21 | Mecanique Soc Ind De | Fluid seal device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61263524A (en) * | 1985-05-15 | 1986-11-21 | Dainichi Kiko Kk | Bag grasping hand |
| JPH03113785U (en) * | 1990-03-01 | 1991-11-21 | ||
| JPH10329894A (en) * | 1997-05-30 | 1998-12-15 | Shibuya Kogyo Co Ltd | Treatment device of article |
| KR100568267B1 (en) * | 2003-06-03 | 2006-04-05 | 학교법인 울산공업학원 | High torque fastening aid and its support method |
| WO2006111827A1 (en) * | 2005-04-21 | 2006-10-26 | Mathieu Leclercq | Aid device for the construction of walls and/or treatment of surfaces |
| CN104669252A (en) * | 2015-02-28 | 2015-06-03 | 天津大学 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
| CN106112968A (en) * | 2016-07-12 | 2016-11-16 | 邢永安 | A kind of logistics robot palletizer |
| CN106064743A (en) * | 2016-07-21 | 2016-11-02 | 安徽铜峰电子股份有限公司 | Carton palletizing apparatus for films for electrical purposes baling line |
| CN108639737A (en) * | 2018-04-18 | 2018-10-12 | 淮北智淮科技有限公司 | A kind of new energy materials processing rotary charging device |
| CN111039007A (en) * | 2020-01-02 | 2020-04-21 | 金陵科技学院 | A packing box transport manipulator for using manpower sparingly |
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