JPS623723B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a pick-up head for sheet-like objects, and more specifically, for picking up sheet-like objects such as cloth stacked on a table or the like to one another.
This invention relates to an improvement in a pick-up head for transferring sheets one by one.

Conventionally, a pick-up head that has the function of grasping the sheet-like materials stacked on a table or the like one by one and releasing them at the transfer position has been proposed, for example, in a patent application filed in 1983.
- No. 18015, Jitsugan No. 10099, Special Publication No. 1973 -
Various proposals have been made, such as No. 19260. However, with these conventional pick-up heads, there are cases where the gripping surface of the sheet-like object does not separate from the sheet-like object when releasing the sheet-like object. To solve this problem, it is necessary to take measures such as blowing compressed air onto the sheet, applying vibration to the pick up head, or pressing down the sheet with other pressing means when releasing the sheet. It had been.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, it is an object of the present invention to provide a pick-up head for a sheet-like object that can reliably remove the sheet-like object from the gripping surface when releasing the sheet-like object, and that is easy to manufacture and assemble. There is.

The present invention will be explained below based on the drawings.

First, to explain the configuration, FIGS. 1 to 12 show one embodiment of the present invention, and the housing 1
A plate 5 is fixed to one end surface of the solenoid holder 6, and a solenoid holder 6 is connected to the plate 5.

As shown in FIGS. 1, 3, and 4, the housing 1 has a first insertion hole 2 in the center.
is formed, and second insertion holes 3 are formed on the outside thereof at intervals of 120 degrees in the circumferential direction. Further, on the other end surface of the housing 1, first protrusions 4 are provided at positions apart from the second fitting holes 3 and extend in the radial direction at intervals of 120 degrees in the circumferential direction.

A reversibly rotatable rotary solenoid 7 is attached to the solenoid holder 6, and a rotor 9 is connected to a rotating shaft 8 of the rotary solenoid 7.

As shown in FIGS. 1, 5, and 6, the rotor 9 has a hollow shaft 10 and second protrusions 11 provided at the end thereof at intervals of 120 degrees in the circumferential direction. The hollow shaft 10 is fitted into the first fitting hole 2 of the housing 1 and coupled to the rotating shaft 8 of the rotary solenoid 7 so as not to be relatively rotatable. The rotor 9 has a second protrusion 1 of a hollow shaft 10.
A drive gear 12 is attached to the end of the first side so as to be relatively non-rotatable.

On the other hand, a clothing holder 13 is attached to each second insertion hole 3 of the housing 1. Each clothing holder 13 has a shaft 14 and a holder portion 15, as shown in FIGS. 1, 7, and 8, and the holder portion 15 is provided eccentrically with respect to the shaft 14. ing. A sector-shaped driven gear 16 that meshes with the drive gear 12 is attached to the shaft 14 of the clothing holder 13 so as not to be relatively rotatable, and the holder portion 15 is integrally provided with a clothing 17.

The rotary solenoid 7, the rotor 9, the driving gear 12, and the driven gear 16 constitute a rotational driving section of the clothing holder 13, and when the rotary solenoid 7 is rotationally driven in the forward direction, the rotor 9, the driving gear 12 , the clothing holder 13 via the driven gear 16
is rotated in the forward direction, the holder part 15 of the clothing holder 13 is rotated eccentrically with respect to the shaft 14, and the clothing 17
are moved away from each other as shown by the arrows in FIG. 2, and then the rotary solenoid 7
When the is rotated in the opposite direction, the clothing holder 13 is rotated in the opposite direction through the rotor 9, the driving gear 12, and the driven gear 16, and the clothing 17 is moved toward each other in the opposite direction to the arrow direction shown in FIG. It is now being moved in the direction that matches.

A sheet-like object presser holder 18 having a bushing 22 fixed to its inner circumferential surface is slidably attached to the outer circumferential surface of the housing 1, and an end surface of the sheet-like object presser holder 18 has an uneven surface. A sheet-like object pressing member 19 is fixedly arranged and arranged in a ring shape on the outside of the clothing group 17. As shown in FIG. 1, FIG. 9, and FIG. 10, the sheet-like object holding holder 18 has a flange 2 on the inner circumferential surface approximately in the middle part in the axial direction.
0, and cut grooves 21 are formed in the flange 20 at intervals of 120 degrees in the circumferential direction. Further, the sheet-like object holding holder 18 is non-rotatably engaged with the housing 1 through fitting between each notch structure 21 and each first protrusion 4 provided on the housing 1. Further, the sheet-like object holding holder 18 has a bush 22 interposed in the circumferential gap between the housing 1 and the sheet-like object holding holder 18, and a first compression spring 23 provided between the plate 5 fixed to the end surface of the housing 1. As a result, the sheet-like object pressing member 19 presses the end surface 1 of the clothing 17.
It is urged to advance in the direction of protruding from 7'. Note that the sheet-like object holding holder 18 and the bushing 22 are such that the lower end of the bushing 22 is connected to the first protrusion 4 of the housing 1.
It is prevented from falling off from the housing 1 by coming into contact with the housing 1 . Second protrusion 1 of the rotor 9
1, the flange 20, the notch groove 21, and the first compression spring 23 of the sheet-like object holding member 18 are connected to the sheet-like object holding member 1 through the sheet-like object holding holder 18.
9 to a retracted position at least to the end surface 17' of the clothing 17 (see FIG. 11) and the end surface 1 of the clothing 17.
It constitutes a holding means that can be selectively held in two positions, including a position protruding from 7' (see FIG. 1). This holding means is such that when the second protrusion 11 of the rotor 9 is fitted into the notch groove 21, the first compression spring 23 causes the sheet-like object holding member 19 to be held on the clothing 17 via the sheet-like object holding holder 18. is advanced to a position protruding beyond the end surface 17' of the sheet, and then the pick up head is moved in the direction approaching the sheet at the sheet-like object gripping position, and after the sheet-like object holding member 19 comes into contact with the sheet-like object, Further, as the pick up head is moved in the direction approaching the sheet-like object, the sheet-like object holding member 1
9 is retracted to the position of the end surface 17' of the clothing 17, and in this retracted position, the sheet presser holder 1
The second protrusion 11 of the rotor 9 escapes from the notch groove 21 of No. 8, and at this point, the rotor 9 is rotated by a certain angle in the forward direction, thereby shifting the phase of the second protrusion 11 with respect to the notch groove 21. , the second protrusion 11 is engaged with the flange 20 of the sheet-like object holding holder 18, and the sheet-like object holding member 19 is held at the retreated position. Next, when the rotor 9 is rotated at a certain angle in the opposite direction at the sheet-like object release position, the second protrusion 11 is moved to a position where it can be fitted and fitted into the notch groove 21, and the sheet-like object holding holder 18 is moved to the position where it can be fitted. The sheet-like object pressing member 19 is advanced to a position protruding beyond the end surface 17' of the clothing 17, and is held in this advanced position.

A cylindrical bracket 24 is fitted onto the outer peripheral surface of the solenoid holder 6, and the bracket 24 is integrally connected to the solenoid holder 6 via a bush 25. A mounting plate 26 having mounting holes 27 is fixed to the open end of the bracket 24. A second compression spring 28 is provided between the mounting plate 26 and the end face of the solenoid holder 6, and the second compression spring 28 prevents irregularities in the end face 17' of each clothing 17, which is the gripping surface of the sheet-like object. It has become absorbable.

The entire pickup head is connected to an operating member (not shown) through a mounting hole 27 formed in the mounting plate 26.

Next, the action will be explained. Now, with the sheet-like object pressing member 19 being held at a position protruding beyond the end 17' of the clothing 17, the pick up head is operated in a direction to approach the sheet-like objects S accumulated on a table or the like. As shown in FIG. 1, after the sheet-like material holding member 19 comes into contact with the sheet-like material S' at the top of the sheet-like material S, the pick up head is further moved in the direction approaching the sheet-like material S. Then, the sheet-like object holding member 19 is moved backward relative to the housing 1 via the sheet-like object holding holder 18, and the clothing 1 is placed on the uppermost sheet-like object S'.
The end face 17' of the pick up head 7 comes into contact with the clothing 17, and at this point the movement of the pick up head is stopped.
The rotary solenoid 7 is rotated by a constant angle in the forward direction.

When the rotary solenoid 7 is rotated in the forward direction, the rotor 9, the driving gear 12, and each driven gear 16 are rotated, and by rotating each driven gear 16, each clothing holder 13 is rotated, and each holder member is rotated. By the eccentric rotation of the cloths 15, the clothes 17 are moved away from each other as shown by the arrows in FIG. 2, and the uppermost sheet S' is gripped.

At the stage where the sheet-like object pressing member 19 is retracted to the position of the end surface 17' of the clothing 17, the second protrusion 11 of the rotor 9 escapes from each notch groove 21 of the sheet-like object pressing holder 18, and the rotor 9 11 and 12 as it is rotated by a certain angle in the forward direction.
As shown in the figure, the second protrusion 11 is moved to a position out of the notch groove 21, and the second protrusion 11 is attached to the flange 20 of the sheet-like object holder 18.
By being engaged with the sheet-like object pressing member 19
is held in the retracted position.

When the clothing 17 grips one sheet S', the pick up head is moved in the direction away from the sheet S, and when it is lifted to a certain position, the pick up head picks up the sheet S'. It is operated to move parallel to the release position.

When the pick up head reaches the position where the sheet material S' is to be released, the pick up head is moved close to the table for transferring the sheet material S', and at the release position of the sheet material S', the rotary solenoid 7 is activated. is rotated by a certain angle in the opposite direction, the rotor 9, the driving gear 12, and the driven gear 16 are rotated, and each clothing holder 13 is rotated by the rotation of each driven gear 16, and each clothing holder 13 is rotated as shown in FIG. The sheets S' are moved in the opposite direction to the direction of the arrow, that is, in the direction in which they approach each other, and the sheet-like materials S' are released.

By rotating the rotor 9 in the opposite direction by a certain angle, each notch groove 2 of the sheet-like object holding holder 18 is
The second protrusion 11 of the rotor 9 is moved to a position where it matches the second protrusion 11 of the rotor 9.

At the stage when the clothing 17 is moved toward each other, the pick up head is lifted in a direction away from the sheet S', and the sheet presser holder 18 is advanced by the first compression spring 23. , the clothing 17 is held down by the sheet-like object pressing member 19.
The sheet-like object S' is actively pulled away from the sheet-like object S', and the sheet-like object S' is reliably placed at the transfer position.

While the pick up head is being lifted up, the sheet-like object pressing member 19 presses the end surface 1 of the clothing 17.
The pick up head is set at a fixed position where it can be protruded from 7', and then the pick up head is operated in parallel to the gripping position for the next sheet-like object.

It goes without saying that the present invention can also be applied to a combination of clothing that can be moved toward and away from each other and fixed clothing that is arranged around the clothing, and the means for moving the clothing 17 may also be the same as shown in the drawings. Rotary solenoid 7, rotor 9, driving gear 12, driven gear 16
The method is not limited to one in which the clothing holder 13 is rotated through the
The holding means for selectively holding the cloth 17 in two positions, ie, a position retracted to the end surface 17' of the clothing 17 and a position protruding beyond the end surface 17' of the clothing 17, is not limited to the one shown in the illustrated embodiment.

The present invention has the structure and operation described above, and when the clothing releases the sheet-like object, the sheet-like object pressing member arranged around the clothing group advances to a position protruding from the end surface of the clothing. The sheet-like object released by the clothing is actively pulled away from the clothing by the sheet-like object pressing member, so that the sheet-like object can be reliably separated from the clothing at the sheet-like object release position. be.

Furthermore, the present invention arranges a sheet-like object holding member around the clothing group via a sheet-like object holding holder, and places the sheet-like object holding member at a retreated position to the end face of the clothing and at a position protruding from the end face of the clothing. Since it is sufficient to provide a holding means that can selectively hold the device in two positions, it is not only easy to manufacture and assemble each member, but it also has the effect that it can be easily assembled and used in a ready-made pick-up head. .

[Brief explanation of the drawing]

FIG. 1 shows an embodiment of the present invention; FIG. 2 is a vertical cross-sectional view of the state immediately before gripping a sheet-like object, FIG. 2 is a bottom view of the same, and FIG. 3 is a vertical cross-sectional front view of the housing.
Figure 4 is a bottom view of the rotor, Figure 5 is a plan view of the rotor, Figure 6 is a longitudinal front view of the same, Figure 7 is an enlarged plan view of the assembly of the clothing holder and driven gear, and Figure 8 is the same. 9 is a vertical sectional front view of the assembly of the sheet-like object holding holder and the sheet-like object holding member, FIG. 10 is a cross-sectional view taken along the line -- in FIG. A corresponding action explanatory diagram, a longitudinal sectional front view of a state in which a sheet-like object is being gripped, Fig. 12 is in Fig. 11.
It is a cross-sectional view taken along the line XII-XII. 1...Housing, 7...Rotary solenoid, 9
...Rotor, 11...Second protrusion constituting holding means, 12...Drive gear, 13...Clothing holder, 16...
Driven gear, 17...clothing, 17'...end face of clothing, 1
8... Sheet-like object holding holder, 19... Sheet-like object holding member, SS'... Sheet-like object, 20... Flange constituting the holding means, 21... Same notch groove, 23... Same first
compression spring.

Claims (1)

[Scope of Claims] 1 Comprising a housing 1, a rotary solenoid 7 fixed to the housing, and a rotor 9 attached to a rotating shaft 8 of the rotary solenoid, and a plurality of motors connected to the rotor via a clothing holder. The arranged clothing 17 is stuck into a sheet-like object, and the rotary solenoid moves the clothing in a direction away from each other to grip the sheet-like objects S and S', and the clothing is brought closer to each other. In an apparatus configured to be able to release a sheet-like object by moving it in a direction, a sheet-like object presser holder 1 is arranged around the clothing group.
A sheet-like object pressing member 19 is disposed through the housing, and the sheet-like object pressing member 19 is arranged in the housing at a position where the sheet-like object pressing member is retracted to at least the end surface of the clothing, and at a position protruding from the end surface of the clothing. The holding means includes a notch groove 21 provided in the sheet-like object holding holder and a notch groove 21 provided in the rotor so as to fit into the notch groove. 2 and the sheet-like object pressing member 19 on the end surface 17' of the clothing 17.
A compression spring 23 that is always biased to a protruding position than the
A pick-up head for a sheet-like material, characterized in that it consists of.