JPH09150386A - Workpiece suction type conveyer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To always such a workpiece safely to be hoisted in good balance even when a sucked surface of the workpiece is in various different sized, and to convey the workpiece. SOLUTION: A plurality of workpiece sucking suckers 20 are provided in a lift carriage 12 liftably suspended in a conveying electric vehicle 1, and a device has a vacuum pump 22a applying a negative pressure to act in each of these suckers 20, workpiece sucked surface size detection means 21 provided with a plurality of sensors 23 detecting a sucked surface Wa of a workpiece W when the lift carriage 12 is lowered down and a switching valve switching a number of the negative pressure acting suckers 20. In the switching valve, only the sucker 20, belonging to a region of size of the sucked surface Wa of the workpiece W discriminated by the workpiece sucked surface size detection means 21, is selectively connected to the vacuum pump 22a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for transporting various kinds of works, which is capable of adsorbing and lifting an adsorbed surface at the upper end by a suction cup connected to a negative pressure source such as a vacuum pump.

[0002]

2. Description of the Related Art As described in Japanese Patent Laid-Open No. Hei 6-32585, a work suction type transfer device of this type is mounted on an elevator carriage which is suspended from an overhead traveling transfer train. A suction suction cup is provided, and a negative pressure generation source that applies a negative pressure to the suction cup is provided.However, the conventional work suction type transfer device of this type is configured to transfer a work of a certain size. A plurality of suction cups are arranged according to the size and weight of the suction surface of the work to be handled, and a negative pressure is applied to all of these suction cups to suck and lift the predetermined work. Was there.

[0003]

In the conventional work suction type transfer device as described above, for example, when various kinds of cases having different sizes of the upper end surface (adsorbed surface) are to be sucked and transferred, among the cases to be handled, , It is necessary to adsorb and lift a large and heavy case with the largest adsorbed surface by the minimum number of suction cups arranged so that the case with the smallest adsorbed surface can be adsorbed and lifted. Even if the suction capacity of the suction cup can be sufficiently increased so that even a heavy-weight case can be surely sucked and lifted, the balance when sucking and lifting a large and heavy-weight case becomes poor, It becomes difficult to lift the case in a stable posture and safely transport it.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work suction type conveying apparatus which can solve the above-mentioned conventional problems, and the means thereof will be described in the embodiments described later. When indicated by reference numerals, a plurality of suction cups 20 for adsorbing a work are provided on an elevating carriage 12 that is hung up and down on a transportation train 1, and a negative pressure generation source that applies a negative pressure to each of these suction cups 20. (Vacuum pumps 22a to 22c)
And a switching valve 40a to 40f for switching the number of negative pressure acting suction cups 20. The workpiece suction surface size detection means 21 is provided with: A plurality of sensors 23 for detecting the adsorbed surface of the work is provided below the elevating carriage 12 and distributed at substantially the same level. Among these sensors 23, the adsorbed surface Wa of the work W when the elevating carriage 12 descends. From the position of the sensor 23 that detects the workpiece W
The size of the attracted surface Wa of the switching valve 40a ...
Reference numeral 40f denotes a negative pressure generation source (vacuum pumps 22a to 22a) selectively for only the suction cups 20 belonging to the area of the size of the attracted surface Wa of the work W determined by the workpiece attracted surface size detection means 21.
22c).

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of the present invention will be described below with reference to the accompanying drawings. In FIGS. 1 to 3, reference numeral 1 is a transportation train, which is erected at an appropriate height above a floor surface. The guide rail 2 is suspended so as to be able to travel via a drive trolley 3 and a driven trolley 4, and the drive trolley 3 rolls on the guide rail 2 and a vertical axis roller 5 for regulating the direction in which the guide rail 2 is sandwiched. A drive wheel 6, a motor 7 for driving the drive wheel 6, and a current collecting unit 9 slidably contacting a power supply line 8 laid on a side surface of the guide rail 2 are provided. The driven trolley 4 is provided with the guide rail 2. A vertical axis roller 10 for controlling the pinching direction and an idle wheel 11 rolling on the guide rail 2 are provided.

Reference numeral 12 denotes an elevator carriage, which is suspended from the transport train 1 by four chains 13 so that it can be elevated. Each of these chains 13 is a transportation train 1.
The end portions are separately locked to the pair of left and right driving toothed wheels 14 supported in the front and rear, respectively. The two drive toothed wheels 14 forming a pair of left and right are connected to each other by a pair of front and rear rotating shafts 15.
a and 15b are attached to both ends and one rotary shaft 15a
A pinion gear 16 is attached to one end of the rack gear 17, which engages with the pinion gear 16, and an electric cylinder unit 1 for pushing and pulling the rack gear 17.
8 are installed side by side, and the four drive teeth 14 are driven to rotate forward and backward in the same direction at the same circumferential speed by pushing and pulling the rack gear 17, and the four chains 13 are paid out or wound up, so that the elevator carriage 12 is lifted. It is configured to move up and down while maintaining a horizontal posture.

The raising and lowering carriage 12 has a lower portion as shown in FIG.
In the arrangement as shown in, A1 to A3, B1, B2, C1,
A total of 11 workpiece suction cups C2, D1 and D2, and E1 and E2, and workpiece suction surface size detection means 2
1 is attached, and 3 is attached at one end in the train running direction.
The vacuum pumps 22a to 22c of the table are mounted. The work adsorbed surface size detecting means 21 has a total of eight work adsorbed surface detection sensors 23 of a, b1, b2, c1, c2, d1, d2, and e in an array as shown in FIG.
It is configured with a control panel 24 (see FIG. 2) mounted on the transportation train 1.

Each work suction cup 20 is attached to the lower end of an elevating rod 26 as shown in FIG. 4A, and the elevating rod 26 is within a certain range of an elevating guide 28 attached to a frame 27 of the elevating carriage 12. It is supported so as to be able to move up and down, and is urged in the descending direction by the compression coil spring 29 to be held at the descending limit position shown.

As shown in FIG. 4B, each of the workpiece suction surface detection sensors 23 of the workpiece suction surface size detecting means 21 includes an elevating rod 30 and two horizontal rods at a lower end of the elevating rod 30 which are orthogonal to each other. A sensor main body 33 that is swingably attached around the direction support shafts 31, 32, a compression coil spring 34 that is interposed between the direction main shafts 31 and 32 to hold the sensor main body 33 in a vertical posture shown by a solid line, and a lifting rod 3
Plate 35 attached to the upper end of 0 and the plate 35 to be detected when the elevating rod 30 rises to a predetermined level.
And a proximity switch 36 for detecting

The elevating rod 30 is an elevating carriage 12.
The proximity switch 34 is attached to the frame 27 via a bracket 38 while being supported by an elevation guide 37 attached to the frame 27 so as to be able to rise and fall within a certain range. Although the lifting rod 30 is held at the lower limit position by its own weight, a spring that biases downward may be used together. In this way, when the elevating rod 30 is at the lower limit position, the sensor body 33 projects slightly below each suction cup 20 that is also at the lower limit position.

The three vacuum pumps 22a to 22c are shown in FIG.
As shown in FIG. 11, it is connected to eleven workpiece suction cups 20 via six switching valves 40a to 40f. 41
Reference numerals a to 41c are check valves, 42a and 42b are communication passages for connecting the negative pressure circuits of the three vacuum pumps 22a to 22c to each other, 43 is an adsorption opening switching valve, 44 is each suction cup 20 and switching valves 40a to 40f. It is a negative pressure detector interposed between and. The six switching valves 40 a to 40 f connect the suction cup 20 connected via the negative pressure detector 43 to the vacuum pump 22.
a to 22c and vacuum pumps 22a to 22c
It is switched to a state in which it is separated from c and opened to standby.

The transport train 1 can be made to run along the guide rail 2 by rotating the drive wheels 6 of the drive trolley 3 by the motor 7. Then, the transport train 1 is stopped immediately above the work W loading position, and the elevating carriage 12 is lowered by unwinding the chain 13 so that the work W waiting at a predetermined position on the floor surface side is stopped. The sensor main body 33 of each work adsorbed surface detection sensor 23 of the work adsorbed surface size detection means 21 is received on the upper end adsorbed surface Wa, and thereafter, the elevating rod 30 moves the elevating rod 30 as the elevating carriage 12 descends. It will rise relative to the twelve frames 27.

As shown by the phantom line in FIG. 4B, when the lifting rod 30 of the workpiece suction surface detecting sensor 23 is raised by a predetermined amount relative to the frame 27 of the lifting carriage 12, the detection plate 35 is moved to the proximity switch. This is detected by 36, which means that the workpiece suction surface detection sensor 23 is turned on. Then, the sensor body 33 of the workpiece suction surface detection sensor 23 located outside the upper suction surface Wa of the workpiece W continues to descend as it is with the elevating carriage 12, so that the proximity switch 36 causes the detection plate 35 to move. Will not be detected. That is, the workpiece suction surface detection sensor 23 located outside the upper end suction surface Wa of the workpiece W remains in the off state.

As described above, when the lifting carriage 12 is lowered to the level at which the workpiece suction surface detection sensor 23 operates, the workpiece suction cups 20 located right above the upper end suction surface Wa of the workpiece W are sucked. , Abutting on the upper surface attracted surface Wa of the work W, and as the elevator carriage 12 descends thereafter, as shown by the phantom line in FIG.
The lifting rod 26 and the frame 27 of the lifting carriage 12 are lifted relative to the urging force of the lifting and lowering rod 9.

When the work adsorbed surface size detecting means 21 lowers the elevating carriage 12 to a level at which the work adsorbed surface size detection means 21 operates as described above, the work adsorbing suction cup 20 is positioned just above the upper end adsorbed surface Wa of the work W. Since the suction cup 20 for adsorbing the workpiece surely abuts on the adsorbed surface Wa, the descent of the elevating carriage 12 is stopped to operate the vacuum pumps 22a to 22c and the switching valve 40a in this state.
To 40f are selectively operated to suck the work suction cup 20.
Among these, by applying a negative pressure only to the suction cup 20 for workpiece suction that is completely in contact with the upper suction surface Wa of the work W, the suction cup 20 is suctioned to the upper suction surface Wa of the work W. Then, by hoisting the chain 13, the elevation carriage 12 is raised to the ascent limit level,
As shown by the phantom line in FIGS. 1 and 2, the work W can be lifted, and the work train 1 can be run to carry the work W. At this time, the upper end attracted surface Wa of the work W
The suction cup 20 adsorbed on is returned to the state of being lowered to the lower limit level together with the elevating rod 26 due to the weight of the work W.

An example of selectively operating the switching valves 40a to 40f based on the detection result of the work adsorbed surface size detection means 21 will be described with reference to FIGS. 7 and 8. The work W has its upper end. Regardless of the size of the attracted surface Wa, the center line CL on the reference line SL is such that one side of the upper attracted surface Wa coincides with the reference line SL in plan view and passes through the center of the one side. Positioned to pass through a fixed position. On the other hand, the transportation train 1 is stopped in a state where the suction cups 20 and the sensors 23 are symmetrically positioned with the center line CL as the axis of symmetry, and the lift carriage 12 is lowered.

In FIG. 7A, among the sensors 23 for detecting the adsorbed surface of the work, only one sensor a on the center line CL close to the reference line SL is turned on, and all the other sensors b1.
When the attracted surface Wa of the size S1 in which ~ e is turned off is detected, a negative pressure is applied only to the suckers A1 to A3 and B1 and B2 of the suckers 20 that can completely face the attracted surface Wa of the size S1. It means to act. Therefore, in this case, of the switching valves 40a to 40f shown in FIG. 6, only the switching valves 40a to 40c operate to connect the suction cups A1 to A3 and B1 and B2 to the vacuum pumps 22a to 22c.

FIG. 7B shows one sensor a on the side closer to the reference line SL on the center line CL and a pair of sensors b next closer to the reference line SL among the sensors 23 for detecting the adsorbed surface of the work.
Only 1 and b2 are turned on, and all other sensors c1 to
When the suction surface Wa of the size S2 at which e is turned off is detected, suction disks A1 to A3, B1, B2, and C of the suction disks 20 that can completely face the suction surface Wa of the size S2.
This means that negative pressure is applied only to C1 and C2. Therefore, in this case, the switching valves 40a to 40 shown in FIG.
Only the switching valves 40a to 40d of f operate to connect the suction cups A1 to A3, B1 and B2, and C1 and C2 to the vacuum pumps 22a to 22c.

FIG. 7C shows two sensors a, which are located on the center line CL among the sensors 23 for detecting the adsorbed surface of the work.
When only the e is turned on and all the other sensors b1 to d2 are turned off, when the suction surface Wa of the size S3 is detected, among the suction cups 20 that can completely face the suction surface Wa of the size S3, The negative pressure is applied only to the suction cups A1 to A3, E1 and E2. So in this case,
Of the switching valves 40a to 40f shown in FIG. 6, only the switching valves 40a and 40d and the switching valve 40f operate to connect the suction cups A1 to A3, E1 and E2 to the vacuum pumps 22a to 22c.

FIG. 7D shows a sensor a on the side of the center line CL that is closer to the reference line SL and a pair of sensors d1 and d that are farthest from the reference line SL among the sensors 23 for detecting the surface to be attracted by the workpiece.
2 turns on and all other sensors b1-c2 and e
When the suction surface Wa of the size S4 that is turned off is detected, among the suction cups 20 that can completely face the suction surface Wa of the size S4, suction cups A1 to A3, B1, B2, and D
This means that negative pressure is applied only to D1 and D2. Therefore, in this case, the switching valves 40a to 40 shown in FIG.
Switching valves 40a to 40c and switching valve 40e of f
Only the suction cups A1 to A3, B1, B2, and D
1, D2 are connected to the vacuum pumps 22a to 22c.

In FIG. 8A, among the sensors 23 for detecting the adsorbed surface of the work, the two sensors a and e on the center line CL and the pair of sensors d1 and d2 farthest from the reference line SL are turned on, and the other sensors are turned on. Size S at which b1 to c2 are off
When the suction surface Wa of No. 5 is detected, the suction disk A1 among the suction disks 20 that can completely face the suction surface Wa of the size S5.
~ A3, D1 and D2, and E1 and E2 are applied with a negative pressure. Therefore, in this case, among the switching valves 40a to 40f shown in FIG.
0b and the switching valves 40e, 40f operate to sucker A1
Vacuum pump 22a for A3, D1, D2, and E1, E2
~ 22c.

FIG. 8B shows a size S6 in which the sensors a to c2 are turned on and the remaining sensors d1, d2 and e are turned off among the sensors 23 for detecting the adsorbed surface of the work, and the sensors a to b2 and d1. When the adsorbed surface Wa of size S7 in which d2 is turned on and the remaining sensors c1 and c2 and e are turned off, and size S8 in which the sensors a to d2 are turned on and only the remaining sensor e is turned off is detected. , Of the sizes S5 to S7 that can completely face the attracted surface Wa, negative pressure is applied to all the suction cups except the suction cups E1 and E2. Therefore, in this case, all of the switching valves 40a to 40f shown in FIG.
1 to D2 are connected to the vacuum pumps 22a to 22c.

FIG. 8C shows that when all the workpiece suction surface detection sensors 23 detect the suction surface Wa of the size S9 on which the ON operation is performed, the suction surfaces Wa of the size S9 can completely face each other. The negative pressure is applied to all the suction cups 20 of FIG. Therefore, in this case, all the switching valves 40a to 40f shown in FIG.
~ E2 are connected to the vacuum pumps 22a to 22c.

The sizes S1, S3 to S5, S7, S
When 8 is detected, the suction pressure may be controlled to act on all the suction cups 20 that can completely face the attracted surface Wa of each size. In addition, the selection of the suction cups to apply the negative pressure according to the number and arrangement of the suction cups 20 and the detected size of the attracted surface is as follows.
It may be set appropriately according to the weight and the position of the center of gravity of the work W to be handled, and is not limited to the example described based on FIGS. 7 and 8 above. Furthermore, the arrangement of the workpiece suction surface detection sensor 23 that constitutes the workpiece suction surface size detection means 21 is not limited to the above embodiment, and for example, one workpiece suction surface detection sensor 2 for each suction cup 20.
It is also possible to install 3 together.

According to the above-described embodiment, even if the size of the attracted surface Wa of the work W to be sucked up and lifted is different, a predetermined negative pressure is applied only to the suction cup 20 completely facing the attracted surface Wa. The work W can be actuated to be reliably lifted by the lift carriage 12, and can be transported by the transport train 1. When lowering the transported work W, after the transport train 1 is stopped at a predetermined position, the lifting carriage 12 is lowered by unwinding the chain 13 so that the work W is completely placed on the load receiving surface for suction release. The switching valve 43 is switched to the atmosphere open side, or all the switching valves 40
It suffices to switch a to 40f to the atmosphere open side and release the suction action of the suction cup 20 that is suctioned to the suction surface Wa of the work W.

[0026]

As described above, according to the work suction type conveying apparatus of the present invention, a plurality of work suction surface detecting sensors of the work suction surface size detecting means are exposed to the atmosphere at a predetermined position when the lifting carriage is lowered. The size of the attracted surface of the work being detected is detected, and only the suction cups belonging to the detected size of the attracted surface of the work are connected to the negative pressure source by the switching valve. Even if there are many suction cups arranged so that even a workpiece that has a suction surface can be sucked and lifted in a well-balanced and safe manner, work with a small suction surface can be used only as the suction cup that faces the suction surface of the workpiece. By applying a negative pressure, it is possible to reliably adsorb and lift.

That is, there is no inconvenience that the negative pressure acts on the suction cups located at a position deviated from the suction surface of the work, and the negative pressure required for the suction cups facing the suction surface of the work does not work. Even a work having a small suction surface can be reliably sucked and lifted by a suction cup facing the suction surface of the work. Moreover, it is possible to avoid a dangerous unbalanced suction lifting action such as lifting a work having a large attracted surface with a few suction cups centrally arranged so as to attract a work having a small attracted surface.

[Brief description of the drawings]

FIG. 1 is a front view.

FIG. 2 is a side view.

FIG. 3 is a side view showing details of a lifting carriage.

FIG. 4 is a partial vertical side view showing details of a suction cup for workpiece suction, and FIG. 4 is a partial vertical side view showing details of a sensor for detecting a workpiece suction surface.

FIG. 5 is a plan view showing an arrangement example of a suction cup and a sensor.

FIG. 6 is a diagram illustrating a piping system between a vacuum pump and suction cups.

7A to 7D are schematic plan views illustrating the positional relationship between the attracted surface of each size, each sensor, and each suction cup.

8A to 8C are schematic plan views illustrating the positional relationship between the attracted surface of each size, each sensor, and each suction cup.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transport train 2 Guide rail 12 Lifting carriage 13 Chain for lifting and lowering lifting carriage 20 Work suction cup 21 Work suction surface size detection means 22a-22c Vacuum pump (negative pressure generation source) 23 Work suction surface detection sensor 24 Control panel 40a-40f Switching valve W Work Wa Work adsorbed surface

Claims (1)

[Claims] 1. A work adsorption type conveyance device in which a plurality of suction cups for adsorbing a work are provided on an elevating carriage that can be lifted up and down on a transportation train, and a negative pressure generating source for applying a negative pressure to each of these suction cups is provided. The workpiece suction surface size detection means and a switching valve for switching the number of negative pressure acting suction cups are provided, and the workpiece suction surface size detection means are arranged at substantially the same level below the lifting carriage. Equipped with a plurality of workpiece suction surface detection sensors, among these sensors, the size of the suction surface of the workpiece is determined based on the placement of the sensor that detects the suction surface of the workpiece when the lifting carriage is lowered. The valve is a work suction type transfer device for selectively connecting only the suction cups belonging to the area of the size of the work suction surface determined by the work suction surface size detection means to the negative pressure source.