JPH032781B2 - - Google Patents
Info
- Publication number
- JPH032781B2 JPH032781B2 JP2119285A JP2119285A JPH032781B2 JP H032781 B2 JPH032781 B2 JP H032781B2 JP 2119285 A JP2119285 A JP 2119285A JP 2119285 A JP2119285 A JP 2119285A JP H032781 B2 JPH032781 B2 JP H032781B2
- Authority
- JP
- Japan
- Prior art keywords
- items
- clamping
- sides
- item
- holding device
- 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.)
- Expired
Links
- 238000003780 insertion Methods 0.000 description 20
- 230000037431 insertion Effects 0.000 description 20
- 230000003028 elevating effect Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000001010 compromised effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Load-Engaging Elements For Cranes (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、パレツト荷積み装置等に使用する品
物の保持装置に係り、特に、パレツトの四辺上に
囲壁を設けたボツクスパレツトに品物を荷積みす
るパレツト荷積み装置、あるいは上方を開口した
箱状のケースに品物を収納するケース収納装置に
使用可能なものに関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an article holding device used in a pallet loading device, etc., and particularly for loading articles onto a box pallet having surrounding walls on the four sides of the pallet. The present invention relates to a device that can be used in a pallet loading device for storing items, or a case storage device for storing items in a box-like case with an opening at the top.
パレツトの四辺上に囲壁を設けたボツクスパレ
ツトに品物を荷積みするパレツト荷積み装置、あ
るいは上方を開口した箱状のケースに品物を収納
するケース収納装置において、品物を保持する保
持装置として容易に考えられるのは、品物の上面
を吸着して品物を保持するバキユームカツプであ
るが、品物の上面の状態、品物の重量等の諸条件
によつてはバキユームカツプでは品物を保持でき
ない場合も多くあり、このような場合には、一対
の挟持体で品物を側方から挟持して品物を保持す
る保持装置を用いることが考えられるが、品物の
重量等の諸条件によつては挟持だけでは品物の保
持が不十分となることがあり、この場合には、挟
持体の他にＬ字状の支持体を保持装置に設け、こ
の支持体の下部水平部分を品物の下側部に差込ん
で品物を支持することが考えられる。
It can be easily thought of as a holding device for holding items in a pallet loading device that loads items into a box pallet with surrounding walls on the four sides of the pallet, or a case storage device that stores items in a box-like case with an opening at the top. Vacuum cups are used to hold items by adsorbing the top surface of the item, but depending on conditions such as the condition of the top surface of the item and the weight of the item, vacuum cups may not be able to hold the item in many cases. In such cases, it may be possible to use a holding device that holds the item by holding the item from the sides with a pair of clamping bodies, but depending on various conditions such as the weight of the item, it may not be possible to hold the item by just holding the item. In this case, in addition to the clamping body, an L-shaped support is provided on the holding device, and the lower horizontal part of this support is inserted into the lower side of the item to support the item. It is possible to do so.
しかしながら、一対の挟持体の他にＬ字状の支
持体を備えた保持装置の場合、パレツト上の囲壁
内あるいはケース内で品物を離す際に、支持体の
下部水平部分を品物の下側部から抜くためのスペ
ースが必要で、このスペースを多く取られるの
で、荷積みあるいは収納の効率を悪くすることに
なる。
However, in the case of a holding device that includes an L-shaped support in addition to a pair of clamping bodies, when separating the goods within an enclosure on a pallet or within a case, the lower horizontal portion of the support is placed against the lower side of the goods. A space is required to remove the items from the container, and this takes up a lot of space, which reduces the efficiency of loading or storage.
本発明は、このような点に鑑みなされたもの
で、バキユームカツプによる上面の吸着では品物
の保持ができず、しかも、一対の挟持体による側
方からの挟持だけでは品物の保持が不十分な場合
に、荷積みあるいは収納の効率を悪くすることな
く、品物の保持を確実に行なうことのできる保持
装置を提供することを目的とするものである。 The present invention has been developed in view of the above points, and is intended to be used in cases where the article cannot be held by suctioning the upper surface with the vacuum cup, and the article is not sufficiently held by only being held from the side by a pair of clamping bodies. Another object of the present invention is to provide a holding device that can securely hold items without impairing loading or storage efficiency.
第１の発明の保持装置は、たとえば品物Ｂの搬
入位置２から品物Ｂの荷積み装置３に移動する移
動体２５に取付けられる支枠３４と、この支枠３
４の両側下部に垂直状に設けられ少なくともその
一方が他方に対して進退駆動して１個または複数
個の品物Ｂを側面から挟持する一対の挟持板３
５，３６等の挟持体とを備え、この挟持体の挟持
面に上記品物Ｂの側面を吸着する吸着部４４を設
けたことを特徴とするものである。
The holding device of the first invention includes a support frame 34 attached to a movable body 25 that moves, for example, from a carry-in position 2 for an item B to a loading device 3 for the item B, and this support frame 3.
A pair of clamping plates 3 provided vertically at the lower sides of both sides of the clamping plates 3, at least one of which moves forward and backward relative to the other to clamp one or more items B from the sides.
5, 36, etc., and a suction part 44 for suctioning the side surface of the item B is provided on the clamping surface of the clamping body.
第２の発明の保持装置は、複数の品物Ｂをより
確実に保持するためのもので、上記第１の発明の
保持装置の構成に加えて、複数の品物Ｂの挟持時
に品物Ｂの間に挿入されて品物Ｂの側面に当接す
る１個または複数個の挿入板５２等の挿入体を、
上記支枠３４の下部に、上記一対の挟持板３５，
３６等の挟持体の間に所定の間隔をおいて、垂直
状に設け、この挿入体の両側の当接面に上記挟持
体の吸着部４４と同様に品物Ｂの側面を吸着する
吸着部５５を設けたものである。 The holding device of the second invention is for holding a plurality of items B more reliably, and in addition to the structure of the holding device of the first invention, there is a an insert, such as one or more insert plates 52, which are inserted and abut against the side of item B;
At the bottom of the support frame 34, the pair of clamping plates 35,
A suction section 55 is provided vertically at a predetermined interval between the clamping bodies such as 36, and suctions the side surface of the item B on the contact surfaces on both sides of the insert body in the same manner as the suction section 44 of the clamping body. It has been established.
本発明の保持装置は、上記挟持板３５，３６等
の挟持体、あるいはこの挟持体及び上記挿入板５
２等の挿入体で、品物Ｂを側方から挟持し、これ
らに設けた吸着部４４，５５で品物Ｂの側面を吸
着するものである。
The holding device of the present invention includes clamping bodies such as the clamping plates 35 and 36, or this clamping body and the insertion plate 5.
The article B is held between the sides by an inserter such as No. 2, and the side surfaces of the article B are sucked by suction parts 44 and 55 provided thereon.
第１の発明の保持装置の実施例を、第１図ない
し第３図を参照して説明する。
An embodiment of the holding device of the first invention will be described with reference to FIGS. 1 to 3.
第１図及び第２図はパレツト荷積み装置を示
し、図において、１は水平な基台で、この基台１
上の両側部に箱状の品物Ｂの搬入位置２及び荷積
み位置３が隣接して設定されており、右側部の搬
入位置２には品物Ｂを搬入するローラコンベヤか
ら成る搬入コンベヤ４の先端部が基台１の右方か
ら配設されているとともに、左側部の荷積み位置
３にはその四辺上に垂直な囲壁Ｐ１を備えた矩形
のボツクスパレツトＰが載置されている。 Figures 1 and 2 show a pallet loading device, in which 1 is a horizontal base;
A carry-in position 2 and a loading position 3 for a box-shaped item B are set adjacent to each other on both sides of the top, and a carry-in position 2 on the right side is set at the tip of a carry-in conveyor 4 consisting of a roller conveyor for carrying the item B. A rectangular box pallet P having vertical surrounding walls P1 on its four sides is placed at a loading position 3 on the left side.
そして、上記基台１の中央後部には支柱７が上
記搬入位置２及び荷積み位置３に近接して垂直に
立設され、この支柱７の前部つまり搬入位置２及
び荷積み位置３側に両側方向つまり搬入位置２及
び荷積み位置３に沿つた左右方向に長い水平な昇
降体８が昇降自在に設けられている。 A column 7 is vertically installed at the rear center of the base 1 in the vicinity of the carry-in position 2 and the loading position 3. A horizontal elevating body 8 that is long in both directions, that is, in the left-right direction along the carry-in position 2 and the loading position 3, is provided so as to be able to rise and fall freely.
すなわち、上記支柱７の両側部にはガイドレー
ル１１が垂直方向に設けられているとともに、上
記昇降体８の中央後部には複数のローラ１２が相
対向する両側一対の支枠１３を介して軸支され、
この複数のローラ１２が上記各ガイドレール１１
に係合されており、これによつて、支柱７の前部
に昇降体８が昇降自在に設けられている。そし
て、この昇降体８は支柱７の上端部に設けられた
モータ１４等から成る駆動機構により昇降するよ
うになつている。 That is, guide rails 11 are vertically provided on both sides of the support column 7, and a plurality of rollers 12 are installed at the rear center of the elevating body 8 via a pair of supporting frames 13 on both sides facing each other. supported,
The plurality of rollers 12 are connected to each of the guide rails 11
As a result, an elevating body 8 is provided in the front part of the support column 7 so as to be movable up and down. The elevating body 8 is moved up and down by a drive mechanism including a motor 14 and the like provided at the upper end of the support column 7.
また、上記昇降体８の前部つまり搬入位置２及
び荷積み位置３側に前後方向つまり昇降体８と交
差する方向に長い水平な横行体１７が搬入位置２
及び荷積み位置３の間の両側方向に移動自在に設
けられている。 Further, in the front part of the elevating body 8, that is, on the carry-in position 2 and loading position 3 side, there is a horizontal transverse body 17 that is long in the front-rear direction, that is, in the direction intersecting the elevating body 8.
and loading position 3 so as to be movable in both directions.
すなわち、上記昇降体８の上部及び下部にはガ
イドレール２０が両側方向に設けられているとと
もに、上記構行体１７の後端部には複数のローラ
２１が側面視コ字状の支枠２２を介して軸支さ
れ、この複数のローラ２１が上記各ガイドレール
２０に係合されており、これによつて、昇降体８
の前部に横行体１７が両側方向に移動自在に設け
られている。そして、この横行体１７は図示しな
い駆動機構により移動するようになつている。 That is, guide rails 20 are provided on both sides at the upper and lower parts of the elevating body 8, and a plurality of rollers 21 are mounted on a support frame 22 which is U-shaped in side view. The plurality of rollers 21 are engaged with each of the guide rails 20, whereby the elevating body 8
A transverse body 17 is provided at the front portion of the vehicle so as to be movable in both directions. The transverse body 17 is moved by a drive mechanism (not shown).
また、上記横行体１７に横行体１７を囲繞する
正面視ロ字状の移動体２５が前後方向に移動自在
に設けられている。 Further, a movable body 25 that surrounds the transverse body 17 and has a rectangular shape when viewed from the front is provided on the transverse body 17 so as to be movable in the front-rear direction.
すなわち、上記横行体１７の両側部にはガイド
レール２８が前後方向に設けられているととも
に、上記移動体２５には複数のローラ２９が軸支
され、この複数のローラ２９が上記各ガイドレー
ル２８に係合されており、これによつて、横行体
１７に移動体２５が前後方向に移動自在に設けら
れている。そして、この移動体２５は図示しない
駆動機構により移動するようになつている。 That is, guide rails 28 are provided on both sides of the transverse body 17 in the front-rear direction, and a plurality of rollers 29 are pivotally supported on the movable body 25, and these rollers 29 are connected to each guide rail 28. As a result, the movable body 25 is provided on the transverse body 17 so as to be movable in the front-rear direction. The movable body 25 is moved by a drive mechanism (not shown).
そして、上記移動体２５の下部に垂直な支持部
材３２を介して保持装置３３が設けられている。
この保持装置３３は、支持部材３２を介して移動
体２５に取付けられた支枠３４と、この支枠３４
の両側下部に垂直状に設けられた平行な一対の挟
持体としての挟持板３５，３６とを備え、この挟
持板３５，３６で品物Ｂを側面から挟持するよう
になつている。 A holding device 33 is provided below the movable body 25 via a vertical support member 32.
This holding device 33 includes a supporting frame 34 attached to the movable body 25 via a supporting member 32, and a supporting frame 34 attached to the moving body 25 via a supporting member 32.
A pair of parallel clamping plates 35 and 36 are provided perpendicularly to the lower portions of both sides, and the clamping plates 35 and 36 are adapted to clamp the item B from the sides.
上記支枠３４は、両側方向に長い一対の水平な
レール体３９の上部間を複数の横継ぎ部材４０で
連結した梯子状に形成され、この実施例では、レ
ール体３９の左端つまり上記荷積み位置３側の下
部に一方の挟持板３５が固定され、横継ぎ部材４
０の下部に取付けられたエヤシリンダ４１により
他の挟持板３６がレール体３９の右端外方つまり
上記搬入位置２側の下部において上記一方の挟持
板３５に向かつて進退するようになつている。 The support frame 34 is formed into a ladder shape in which the upper parts of a pair of horizontal rail bodies 39 that are long in both directions are connected by a plurality of cross members 40. One clamping plate 35 is fixed to the lower part on the position 3 side, and the horizontal joint member 4
An air cylinder 41 attached to the lower part of the rail body 39 allows the other clamping plate 36 to advance and retreat toward the one clamping plate 35 at the outer right end of the rail body 39, that is, at the lower part on the carry-in position 2 side.
なお、上記他方つまり右側の可動の挟持板３６
は上記支枠３４の各レール体３９にその進退方向
にのみ移動自在に支持されており、また、上記支
枠３４は常に各挟持板３５，３６の内側に位置し
ている。 Note that the other movable clamping plate 36 on the right side
is supported by each rail body 39 of the support frame 34 so as to be movable only in the forward and backward directions thereof, and the support frame 34 is always located inside each of the clamping plates 35 and 36.
そうして、上記固定及び可動の各挟持板３５，
３６は、第３図に示すように、その内側面つまり
品物Ｂの側面を挟持する挟持面に複数の吸着部４
４が設けられ、この各吸着部４４で品物Ｂの側面
を吸着するようになつている。 Then, each of the fixed and movable holding plates 35,
36, as shown in FIG.
4 are provided, and each suction portion 44 is configured to suction the side surface of the item B.
上記各吸着部４４は、挟持面に拡径状の吸着孔
４７を開口し、この吸着孔４７の周囲にゴム等か
ら成るリング状のパツキン４８を取付けたもの
で、各吸着孔４７は、挟持板３５，３６の内部に
穿設された吸気路４９を介して図示しない真空ポ
ンプ等の吸気装置に連結されている。 Each of the suction parts 44 has an enlarged diameter suction hole 47 on the clamping surface, and a ring-shaped packing 48 made of rubber or the like is attached around the suction hole 47. It is connected to an air intake device such as a vacuum pump (not shown) via an air intake path 49 bored inside the plates 35 and 36.
このパレツト荷積み装置の作動を説明する。 The operation of this pallet loading device will be explained.
フオークリフト等で荷積み位置３にボツクスパ
レツトＰを搬送して位置決めしておき、搬入コン
ベヤ４で搬入位置２に品物Ｂを順次に搬入して図
示しないストツパ等で位置決めする。なお、搬入
位置２のコンベヤ４上に荷積みパターンの１段分
たとえば２個の品物Ｂが揃つたら、後続の品物Ｂ
の搬入を一時的に停止し、搬入位置２の品物Ｂが
保持装置３３により持ち去られたら、後続の品物
Ｂの搬入を再開する。 The box pallets P are transported and positioned at the loading position 3 using a forklift or the like, and the articles B are sequentially transported to the loading position 2 using the loading conveyor 4 and positioned using a stopper or the like (not shown). In addition, when two items B for one stage of the loading pattern are arranged on the conveyor 4 at the carry-in position 2, the subsequent items B
When the item B at the loading position 2 is removed by the holding device 33, the loading of the subsequent item B is resumed.
そして、搬入位置２のコンベヤ４上に１段分２
個の品物Ｂが揃つたら、支柱７に沿つて昇降体８
を所定位置まで下降し、保持装置３３を搬入位置
２のコンベヤ４に下降してその挟持板３５，３６
をコンベヤ４上の１段分２個の品物Ｂの両側方に
位置させた後、エヤシリンダ４１を短縮駆動し、
右側の可動の挟持板３６を左側の固定の挟持板３
５に向かつて進出させて挟持板３５，３６で２個
の品物Ｂを側面から挟持するとともに、図示しな
い真空ポンプ等の吸気装置を作動し、吸気路４９
を介して挟持板３５，３６の各吸着孔４７内の空
気を吸引して挟持板３５，３６の各吸着部４４で
２個の品物Ｂの側面を吸着し、これによつて、搬
入位置２のコンベヤ４上の１列分２個の品物Ｂを
保持する。 Then, one stage is placed on the conveyor 4 at the carry-in position 2.
When the items B are assembled, move the elevator 8 along the support 7.
is lowered to a predetermined position, and the holding device 33 is lowered to the conveyor 4 at the carry-in position 2, and its clamping plates 35, 36 are
are positioned on both sides of the two items B for one stage on the conveyor 4, and then the air cylinder 41 is driven to shorten.
The movable clamping plate 36 on the right side is connected to the fixed clamping plate 3 on the left side.
5 and sandwich the two items B from the sides with the clamping plates 35 and 36. At the same time, an intake device such as a vacuum pump (not shown) is operated to open the intake passage 49.
The air in each suction hole 47 of the clamping plates 35, 36 is suctioned through the suction holes 47 of the clamping plates 35, 36, and the sides of the two items B are suctioned by the suction parts 44 of the clamping plates 35, 36. Holds two items B for one row on the conveyor 4.
ついで、支柱７に沿つて昇降体８を所定位置ま
で上昇し、保持装置３３を搬入位置２から上昇し
てその挟持板３５，３６間に保持した品物Ｂをボ
ツクスパレツトＰの囲壁P1の上方に位置させた
後、昇降体８に沿つて横行体１７を左方の所定位
置まで移動するとともに、必要に応じて横行体１
７に沿つて移動体２５を前方の所定位置まで移動
し、保持装置３３を荷積み位置３のボツクスパレ
ツトＰの方に移動してその挟持板３５，３６間に
保持した２個の品物Ｂを荷積み位置３のボツクス
パレツトＰの前部または後部の上方に位置させ
る。 Next, the lifting body 8 is raised to a predetermined position along the support 7, and the holding device 33 is raised from the carry-in position 2, and the article B held between the clamping plates 35 and 36 is positioned above the surrounding wall P1 of the box pallet P. After that, move the transverse body 17 along the elevating body 8 to a predetermined position on the left, and move the transverse body 1 as necessary.
7 to a predetermined position in front, the holding device 33 is moved toward the box pallet P at the loading position 3, and the two items B held between the clamping plates 35 and 36 are loaded. It is located above the front or rear of the box pallet P at stacking position 3.
ついで、支柱７に沿つて昇降体８を下降し、保
持装置３３の挟持板３５，３６間に保持した２個
の品物ＢをボツクスパレツトＰの前部上または後
部上に位置させた後、エヤシリンダ４１の駆動を
停止し、右側の可動の挟持板３６をフリーな状態
として挟持板３５，３６による２個の品物Ｂの挟
持を解除するとともに、図示しない真空ポンプ等
の吸気装置を作動を停止し、吸気路４９を介して
挟持板３５，３６の各吸着孔４７内を大気圧に戻
して挟持板３５，３６の各吸着部４４による２個
の品物Ｂの側面の吸着を解除し、これによつて、
１列分２個の品物Ｂを荷積み位置３のボツクスパ
レツトＰ上に離す。なお、この荷積み位置３にお
ける昇降体８の下降は、２段目以降の品物Ｂを荷
積みする際には、すでに荷積みされている品物Ｂ
の高さの分だけ少なくなる。 Next, the elevating body 8 is lowered along the support 7, and after positioning the two items B held between the clamping plates 35 and 36 of the holding device 33 on the front or rear part of the box pallet P, the air cylinder 41 , and the right movable clamping plate 36 is set free to release the clamping of the two items B between the clamping plates 35 and 36, and at the same time, the operation of a suction device such as a vacuum pump (not shown) is stopped; The suction holes 47 of the clamping plates 35 and 36 are returned to atmospheric pressure via the air intake passages 49, and the suction of the sides of the two items B by the suction parts 44 of the clamping plates 35 and 36 is released. Then,
Two items B for one row are released onto the box pallet P at the loading position 3. Note that the lowering of the elevating body 8 at the loading position 3 is such that when loading the items B on the second and subsequent stages, the lowering of the elevator 8 at the loading position 3 is performed by
will be reduced by the height of
ついで、支柱７に沿つて昇降体８を所定位置ま
で上昇し、保持装置３３を荷積み位置３から上昇
してその挟持板３５，３６をボツクスパレツトＰ
の囲壁P1の上方に位置させた後、昇降体８に沿
つて横行体１７を右方の所定位置まで移動すると
ともに、必要に応じて横行体１７に沿つて移動体
２５を後方の所定位置まで移動し、保持装置３３
を搬入位置２の搬入コンベヤ４の上方に位置さ
せ、さらに、エヤシリンダ４１を伸長駆動し、右
側の可動の挟持板３６を左側の固定の挟持板３５
から離れる方向に退避させる。 Next, the elevating body 8 is raised to a predetermined position along the column 7, the holding device 33 is raised from the loading position 3, and the clamping plates 35 and 36 are moved to the box pallet P.
After positioning it above the surrounding wall P1, move the transverse body 17 along the elevating body 8 to a predetermined position on the right, and if necessary, move the movable body 25 along the transverse body 17 to a predetermined position on the rear side. Moving and holding device 33
is positioned above the carry-in conveyor 4 at carry-in position 2, and furthermore, the air cylinder 41 is driven to extend, and the movable holding plate 36 on the right side is moved to the fixed holding plate 35 on the left side.
Evacuate in the direction away from.
そして、上述したような動作を順次に繰返し
て、ボツクスパレツトＰの囲壁P1内に品物Ｂを
所定の荷積みパターンで所定段に荷積みする。 Then, by sequentially repeating the above-described operations, the articles B are loaded in a predetermined stage within the surrounding wall P1 of the box pallet P in a predetermined loading pattern.
以上に説明したように、この第１の発明の保持
装置３３では、挟持板３５，３６の挟持面に複数
の吸着部４４を設け、挟持板３５，３６による品
物Ｂの側面の挟持、及び各吸着部４４による品物
Ｂの側面の吸着により、品物Ｂを保持したので、
品物Ｂの保持が確実となり、しかも、荷積みした
品物ＢとボツクスパレツトＰの囲壁P1との間に
は、挟持板３５，３６の板厚程度のスペースがあ
れば、挟持板３５，３６間に保持した品物Ｂを囲
壁P1内で離すことができるので、余分なスペー
スを必要とせず、荷積みの効率を悪くすることが
ない。 As explained above, in the holding device 33 of the first invention, a plurality of suction parts 44 are provided on the clamping surfaces of the clamping plates 35, 36, and the clamping plates 35, 36 can clamp the sides of the item B, and each Since the article B was held by suctioning the side surface of the article B by the suction unit 44,
If the product B can be held reliably and there is a space between the loaded product B and the surrounding wall P1 of the box pallet P, which is about the thickness of the clamping plates 35 and 36, the product can be held between the clamping plates 35 and 36. Since the loaded items B can be separated within the surrounding wall P1, no extra space is required and loading efficiency is not compromised.
そして、この実施例では、保持装置３３で荷積
みパターンの１列分の２個の品物Ｂを保持した
が、これれに限らず、品物を１個ずつ保持しても
よく、このような場合、保持装置３３を移動体２
５に水平方向回動可能に取付けると、複雑な荷積
みパターンで品物Ｂを荷積みすることができる。 In this embodiment, the holding device 33 holds two items B for one row of the loading pattern; however, the holding device 33 is not limited to this, and may hold the items one by one. , the holding device 33 is attached to the moving body 2
5 so as to be horizontally rotatable, it is possible to load the item B in a complicated loading pattern.
また、この実施例では、一対の挟持板３５，３
６の一方を固定とし、他方を可動としたが、これ
に限らず、両方とも可動として互いに接近離間す
るようにしてもよい。 Further, in this embodiment, a pair of clamping plates 35, 3
6 is fixed and the other is movable, but the invention is not limited to this, and both may be movable so that they approach and separate from each other.
第２の発明の保持装置の実施例を、第４図及び
第５図を参照して説明する。 An embodiment of the holding device of the second invention will be described with reference to FIGS. 4 and 5.
なお、この第２の発明の保持装置の実施例の説
明に際しては、先に説明した第１の発明の保持装
置の実施例と異なる部分を説明して他の詳しい説
明は省略し、第１の発明の保持装置の実施例にお
いて説明した部分については同一の符号を付して
おく。 In addition, when explaining the embodiment of the holding device of the second invention, only the parts different from the embodiment of the holding device of the first invention described above will be explained, and other detailed explanations will be omitted. The same reference numerals are given to the parts described in the embodiments of the holding device of the invention.
第４図は保持装置５１の概要を示し、この保持
装置５１は、上記一対の挟持板３５，３６の間に
所定の間隔をおいて、図示しない上記支枠３４の
下部に垂直状に設けられた平行なたとえば２個の
挿入体としての挿入板５２を備えており、この各
挿入板５２が、上記挟持板３５，３６が荷積みパ
ターンの１列分たとえば３個の品物Ｂを挟持する
時に、３個の品物Ｂの間に挿入されて品物Ｂの側
面に当接するようになつている。 FIG. 4 shows an outline of the holding device 51, which is vertically provided at the lower part of the supporting frame 34 (not shown) with a predetermined interval between the pair of holding plates 35 and 36. For example, two parallel insert plates 52 are provided as insert bodies, and each of these insert plates 52 is used when the clamping plates 35 and 36 clamp, for example, three items B for one row of the loading pattern. , is inserted between the three items B so as to come into contact with the sides of the items B.
そうして、上記各挿入板５２は、第５図に示す
ように、その両側面つまり品物Ｂの側面に当接す
る当接面に複数の吸着部５５が設けられ、この各
吸着部５５が、上記挟持板３５，３６の各吸着部
４４と同様に、品物Ｂの側面を吸着するようにな
つている。 As shown in FIG. 5, each of the insertion plates 52 is provided with a plurality of suction portions 55 on both sides thereof, that is, on the contact surface that abuts the side surface of the item B, and each of the suction portions 55 Like the suction portions 44 of the clamping plates 35 and 36 described above, the side surfaces of the item B are suctioned.
上記各吸着部５５は、当接面に拡径状の吸着孔
５８を開口し、この吸着孔５８の周囲にゴム等か
ら成るリング状のパツキン５９を取付けたもの
で、各吸着孔５８は、上記挟持板３５，３６の各
吸着孔４７と同様に、挿入板５２の内部に穿設さ
れた吸気路６０を介して図示しない真空ポンプ等
の吸気装置に連結されている。 Each suction portion 55 has an enlarged-diameter suction hole 58 on the contact surface, and a ring-shaped packing 59 made of rubber or the like is attached around the suction hole 58. Like the suction holes 47 of the holding plates 35 and 36, the suction holes 47 are connected to an air intake device such as a vacuum pump (not shown) via an air intake passage 60 formed inside the insertion plate 52.
したがつて、この保持装置５１では、３個の品
物Ｂを一対の挟持板３５，３６で挟持すると、こ
の挟持板３５，３６及び各挿入板５２で個々の品
物Ｂを挟持した状態となり、この状態で、挟持板
３５，３６の各吸着部４４及び各挿入板５２の各
吸着部５５が個々の品物Ｂの両側面を吸着するの
で、複数の品物Ｂをより一層確実に保持すること
ができる。 Therefore, in this holding device 51, when three items B are held between the pair of holding plates 35 and 36, each item B is held between the holding plates 35 and 36 and each insertion plate 52, and this In this state, the suction portions 44 of the holding plates 35 and 36 and the suction portions 55 of the insertion plates 52 suction both sides of each item B, so that the plurality of items B can be held even more reliably. .
なお、この保持装置５１を第１図及び第２図に
示したようなパレツト荷積み装置に適用する場
合、搬入位置２における品物Ｂの搬入方向が第４
図において右方から左方のときには、右側の挟持
板３６及び各挿入板５２を上方に退避可能に形成
するとともに、各挿入板５２を両側方向つまり左
右方向に少しだけ遊動自在に形成して常時は右方
に付勢しておく。 Note that when this holding device 51 is applied to a pallet loading device as shown in FIGS. 1 and 2, the loading direction of the item B at the loading position 2 is
When moving from the right to the left in the figure, the right side holding plate 36 and each insertion plate 52 are formed so as to be retractable upward, and each insertion plate 52 is formed so as to be freely movable slightly in both directions, that is, in the left and right direction, so that the right side is always is biased to the right.
そして、品物Ｂを保持する際には、品物Ｂの搬
入に先立つて、昇降体８を介して保持装置５１を
搬入コンベヤ４に下降しておくとともに、右側の
挟持板３６及び各挿入板５２を上方に退避させて
おき、先頭の品物Ｂが左側の挟持板３５に当接し
たら左側の挿入板５２をこの先頭の品物Ｂの右側
に下降し、２番目の品物Ｂが左側の挿入板５２に
当接したら右側の挿入板５２をこの２番目の品物
Ｂの右側に下降し、３番目の品物Ｂが右側の挿入
板５２に当接したら右側の挟持板３６をこの３番
目の品物Ｂの右側に下降し、その後に、エヤシリ
ンダ４１を短縮駆動して挟持板３５，３６及び挿
入板５２で３個の品物Ｂを側面から挟持するとと
もに、図示しない真空ポンプ等の吸気装置を作動
して挟持板３５，３６の各吸着部４４及び各挿入
板５２の各吸着部５５で３個の品物Ｂの側面を吸
着し、これによつて、搬入位置２のコンベヤ４上
の１列分３個の品物Ｂを保持する。 When holding the item B, the holding device 51 is lowered to the carry-in conveyor 4 via the elevating body 8 and the right-hand holding plate 36 and each insertion plate 52 are moved before carrying in the item B. When the first item B contacts the left holding plate 35, the left insertion plate 52 is lowered to the right of the first item B, and the second item B is placed on the left insertion plate 52. When the right insertion plate 52 makes contact, lower the right insertion plate 52 to the right side of this second item B, and when the third item B makes contact with the right insertion plate 52, lower the right side clamping plate 36 to the right side of this third item B. After that, the air cylinder 41 is driven to shorten and the three items B are clamped from the sides by the clamping plates 35, 36 and the insertion plate 52, and the suction device such as a vacuum pump (not shown) is operated to remove the clamping plates. The sides of the three items B are suctioned by the suction parts 44 of 35 and 36 and the suction parts 55 of each insertion plate 52, and the three items B are separated into one row on the conveyor 4 at the carry-in position 2. Hold B.
また、搬入位置２における品物Ｂの搬入方向が
第４図において前後方向のときには、右側の挟持
板３６及び各挿入板５２を上方に退避可能に形成
する必要は無く、各挿入板５２を両側方向つまり
左右方向に少しだけ遊動自在に形成して常時は右
方に付勢しておけばよく、品物Ｂを保持する際に
は、品物Ｂの搬入に先立つて、昇降体８を介して
保持装置５１を下降しておき、品物Ｂをガイドレ
ール等で、挟持板３５と挿入板５２の間、各挿入
板５２の間及び挿入板５２と挟持板３６の間に誘
導し、３個の品物Ｂが揃つたら、挟持板３５，３
６及び各挿入板５２で３個の品物Ｂを側面から挟
持するとともに、挟持板３５，３６の各吸着部４
４及び各挿入板５２の各吸着部５５で３個の品物
Ｂの側面を吸着し、これによつて、搬入位置２の
１列分３個の品物Ｂを保持する。 Moreover, when the carrying-in direction of the item B at the carrying-in position 2 is the front-back direction in FIG. In other words, it is sufficient to form the structure so that it can freely move a little in the left and right direction and always bias it to the right. 51 is lowered, and the three items B are guided between the clamping plate 35 and the insertion plate 52, between each insertion plate 52, and between the insertion plate 52 and the clamping plate 36 using a guide rail or the like. When all are aligned, clamp plates 35, 3
6 and each insertion plate 52 to clamp the three items B from the sides, and each suction part 4 of the clamping plates 35 and 36
4 and each suction part 55 of each insertion plate 52 suctions the side surfaces of the three items B, thereby holding three items B in one row at the carry-in position 2.
なお、以上に説明した各保持装置３３，５１
は、上述したような囲壁P1を備えたボツクスパ
レツトＰ上に品物Ｂを荷積みするパレツト荷積み
装置に限らず、上方を開口した箱状のケースに品
物を収納するケース収納装置に適用することもで
き、さらに通常のパレツト荷積み装置に適用する
こともできる。 In addition, each holding device 33, 51 explained above
The present invention is not limited to a pallet loading device that loads the items B onto a box pallet P equipped with the surrounding wall P1 as described above, but can also be applied to a case storage device that stores items in a box-like case with an opening at the top. It can also be applied to conventional pallet loading equipment.
上述したように本発明の保持装置は、一対の挟
持体、あるいはこの一対の挟持体と中間の挿入体
で、品物を側面から挟持するとともに、これらに
設けた吸着部で品物の側面を吸着するので、品物
の保持が確実にでき、特に、パレツトの四辺上に
囲壁を設けたボツクスパレツトに品物を荷積みす
るパレツト荷積み装置、あるいは上方を開口した
箱状のケースに品物を収納するケース収納装置に
適用すると、バキユームカツプによる上面の吸着
では品物の保持ができず、しかも、一対の挟持体
による側方からの挟持だけでは品物の保持が不十
分な場合に、効果的で、囲壁内あるいはケース内
で余分なスペースを必要としないので、荷積みあ
るいは収納の効率を悪くすることがない。
As described above, the holding device of the present invention uses a pair of clamping bodies or an insert between the pair of clamping bodies to clamp an article from the sides, and also suctions the sides of the article with suction parts provided thereon. Therefore, items can be held reliably, especially in pallet loading equipment that loads items into a box pallet with surrounding walls on the four sides of the pallet, or case storage equipment that stores items in a box-like case with an opening at the top. When applied to a vacuum cup, it is effective when it is not possible to hold the item by suctioning the top surface, and when holding the item from the sides with a pair of clamping bodies is insufficient. Since it does not require extra space, it does not reduce loading or storage efficiency.
第１図ないし第３図は第１の発明の保持装置の
実施例を示し、第１図はパレツト荷積み装置の正
面図、第２図はその平面図、第３図はその保持装
置の要部の縦断面図あり、第４図及び第５図は第
２の発明の保持装置の実施例を示し、第４図は保
持装置の概略図、第５図はその要部の縦断面図で
ある。
Ｂ……品物、２５……移動体、３３……保持装
置、３４……支枠、３５，３６……挟持体として
の挟持板、４４……吸着部、５１……保持装置、
５２……挿入体としての挿人板、５５……吸着
部。
1 to 3 show an embodiment of the holding device of the first invention, FIG. 1 is a front view of the pallet loading device, FIG. 2 is a plan view thereof, and FIG. 3 is a main part of the holding device. FIG. 4 and FIG. 5 show an embodiment of the holding device of the second invention, FIG. 4 is a schematic diagram of the holding device, and FIG. 5 is a longitudinal sectional view of the main part. be. B... Goods, 25... Moving body, 33... Holding device, 34... Support frame, 35, 36... Holding plate as a holding body, 44... Adsorption part, 51... Holding device,
52...Insert plate as an insert body, 55...Adsorption portion.
Claims (1)
側下部に垂直状に設けられ少なくともその一方が
他方に対して進退駆動して１個または複数個の品
物を側面から挟持する一対の挟持体とを備え、 上記挟持体の挟持面に上記品物の側面を吸着す
る吸着部を設けたことを特徴とする保持装置。 ２ 移動体に取付けられる支枠と、この支枠の両
側下部に垂直状に設けられ少なくともその一方が
他方に対して進退駆動して複数個の品物を側面か
ら挟持する一対の挟持体と、この一対の挟持体の
間に所定の間隔をおいて上記支枠の下部に垂直状
に設けられ上記品物の挟持時に品物の間に挿入さ
れて品物の側面に当接する１個または複数個の挿
入体とを備え、 上記挟持体の挟持面及び上記挿入体の両側の当
接面に上記品物の側面を吸着する吸着部を設けた
ことを特徴とする保持装置。[Scope of Claims] 1. A support frame attached to a movable body, and at least one of the support frames provided vertically at the bottom of both sides of the support frame, and at least one of the support frames is driven forward and backward relative to the other to move one or more items from the side. A holding device comprising: a pair of clamping bodies that clamp the article; and a suction part that sucks a side surface of the article on a clamping surface of the clamping bodies. 2. A supporting frame attached to a movable body, a pair of clamping bodies provided vertically at the bottom of both sides of the supporting frame, at least one of which moves forward and backward relative to the other to clamp a plurality of items from the sides; One or more inserts are provided vertically at the bottom of the support frame at a predetermined interval between the pair of clamping bodies, and are inserted between the articles and abut against the side surfaces of the articles when the articles are clamped. A holding device, characterized in that suction portions for suctioning side surfaces of the article are provided on the clamping surface of the clamping body and the contact surfaces on both sides of the insert body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2119285A JPS61183016A (en) | 1985-02-06 | 1985-02-06 | Holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2119285A JPS61183016A (en) | 1985-02-06 | 1985-02-06 | Holding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61183016A JPS61183016A (en) | 1986-08-15 |
| JPH032781B2 true JPH032781B2 (en) | 1991-01-16 |
Family
ID=12048091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2119285A Granted JPS61183016A (en) | 1985-02-06 | 1985-02-06 | Holding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61183016A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0183016B1 (en) * | 1984-10-03 | 1989-09-20 | Sumitomo Electric Industries Limited | Material for a semiconductor device and process for its manufacture |
| WO2001024618A1 (en) * | 1999-10-01 | 2001-04-12 | Steris Inc. | Transfer system for animal cages, baskets, and pallets |
| JP4883051B2 (en) * | 2008-06-19 | 2012-02-22 | トヨタ自動車株式会社 | Wire Harness |
| CN104590904A (en) * | 2014-12-03 | 2015-05-06 | 佛山市鼎吉包装技术有限公司 | Direct connection type rotation driving and positioning device |
-
1985
- 1985-02-06 JP JP2119285A patent/JPS61183016A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61183016A (en) | 1986-08-15 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |