JPS61155117A - Work turnover device - Google Patents

Abstract

PURPOSE:To make a work turn over safely, accurately and automatically, by constituting the work so as to be turned over after positioning it in a way of holding both sides of the work with a clamp piece and a pressing unit of a width aligning mechanism, in case of a turnover device for specially formed components including a cathode-ray tube or the like. CONSTITUTION:A cathode-ray tube 70 is transferred and mounted on a work lifter 5 from a feed conveyor. At this time, a front end of a pallet 4 hits a positioning unit 40 which adjusts a stopper roller 43 in a manner conformable to work size in clusive of the center of gravity of the work in advance. With this taction, a holding mechanism 30 comes to both sides of the work. Next, with a rotary actuator 18, symmetrical moving bodies 16L and 16R are aligned in width, and the cathode-ray tube 70 is held with a clamp piece 31 and a pressing unit 32 while making sure it with an encoder 27. Then, they are turned over as far as 90 deg. with a turnover driving cylinder 51, and clamp preparations for a clamp unit (unillustrated herein) is all over. With this constitution, the work can be turned over accurately and safely.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for changing and reversing a specially shaped article such as a finished cathode ray tube at a predetermined angle.

[Prior Art] Various machines, devices, or their parts may be required to be turned around at a predetermined angle, such as 90 degrees or 180 degrees, around an axis during the production and distribution process.

Reversing the workpiece is easy if it is relatively lightweight, has no risk of being damaged by the impact of reversing, and has a stable reversing position, but it is relatively heavy and the reversing position is unstable. For items that are easily damaged, it is necessary to carefully turn over the workpiece. For example, in cathode ray tube production factories, automation of production equipment has made considerable progress, but in the shipping process of finished products, the shape of the valve is unique and ff1ffi is large, etc. It was not easy to automate tasks such as reversing and loading. In other words, completed cathode ray tube products that are transported with the panel facing down and the neck tube upright are inverted 90 degrees so that the neck tube is horizontal in order to increase transportation efficiency during shipping, and the stacking is carried out in an inverted position at intervals. However, since it is difficult to automate the process from turning over to stowing, everything has to be done manually.

[Problem to be solved by the invention 1 Recently, various robots and labor-saving machines are being introduced as factory production becomes more flexible, and it is necessary to change the posture of the workpiece to a desired position, but the product As machines become more complex, larger, and heavier, the reversing work becomes more intense, and there is an increasing demand for automation. Therefore, an object of the present invention is to provide a workpiece reversing device that can safely and automatically pick up workpieces using a Cartesian coordinate robot during work such as stacking the workpieces as described above.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a workpiece width adjusting mechanism in a frame having a reversing shaft protruding therein, and the width adjusting mechanism includes a claw bead and a workpiece holding unit. A gripping mechanism for pressing and gripping both sides of the workpiece is provided, a workpiece positioning mechanism is attached to the center of the front part of the frame, and a reversal drive mechanism for reversing the workpiece by 90 degrees is provided on the reversal shaft.

Before the workpiece is gripped by the gripping mechanism of the reversing device, it is positioned by the positioning device so that the pick piece is located on a horizontal axis that includes the center of gravity of the workpiece. Next, a Tsukami bead is inserted into the center lower side of both sides of the workpiece, a presser unit is pressed against the upper side of the workpiece to completely grip the workpiece, and the workpiece is turned over 90 degrees by driving the reversal drive mechanism.

If the workpiece is a cathode ray tube, the tube is carried with the neck tube upright, and the tube is held and turned 90 degrees so that the neck tube is horizontal. The metal fittings) are oriented upward to ensure clamping by the Tsuka mini-knit of the Cartesian coordinate robot, making it easier to transport or stow after lifting.

Example 11 Next, the present invention will be specifically explained with reference to the drawings.

Fig. 1 shows a side view of the work reversing equipment including a supply conveyor and a work lifter, in which 1 is the work supply conveyor, 2 is the pallet return conveyor, and 3 is when the work is accumulated on the supply conveyor 1. 4 is a pallet, 5 is a work lifter, and a support column 6
．． It consists of a table 7 guided by a table 6, a drive roller 8 inserted into the table 7, and an air cylinder 9 for raising and lowering the table. 10 is a work reversing device.

In the example shown below, a cathode ray tube 70 is carried as a workpiece with the panel facing down and the neck tube upright.
The case where this is held and turned over 90 degrees so that the neck tube becomes horizontal will be explained.

The finished cathode ray tubes delivered from the production factory are placed on the pieces 4a, 4a of the pallet 4 with the panel 71 facing down and the neck tube 75 standing vertically, as shown in FIG. The pieces are accumulated and sent one by one to the work lifter 5, and then turned over by the work reversing device 10. The workpiece (cathode ray tube) after being reversed is
As will be described later with reference to FIG. 3, the lugs (mounting fittings) 13 at the corners of the reinforcing band 72 are in an upwardly protruding position.
Using the hole 74 of this lug, it is clamped to a Tsuka mini-knit 60 of a Cartesian coordinate robot as shown in FIG.
Transfer to another line or stack to a packing position while giving movement (direction) and turning (α angle). On the other hand, the empty pallet after the cathode ray tube 70 was taken away,
It is lowered by the operation of the air cylinder 9, transferred to the return conveyor 2 by the reverse rotation of the drive roller 8 in the table 7, and then returned to the starting end of the supply conveyor 1.

Next, the reversing device 10 of the present invention will be described in detail.As shown in enlarged form in FIGS.
The main components include a frame 12 which is supported in a reversible manner by a portion of the frame 12, a width adjusting mechanism 20, a gripping mechanism 30, a positioning unit 40, and a reversing drive mechanism 50.

Bearing 1 is mounted on the top of bearing stand 11 assembled at an appropriate height using shapes etc.
3.13 is provided to support the frame 12 so that it can rotate at a certain angle. Reversing shafts 14.14 are horizontally projected from the left and right end plates 12a of the frame 12, and a reversing mechanism 50 as described later is attached to one of the reversing shafts.

A pair of front and rear shafts 15.15 are horizontally suspended in the frame 12, and left and right moving bodies 16L, 1 can be moved in the width direction of the workpiece.
I support 6R. As shown in FIG. 5, this movable body 161.16R has arm casings 23L, 23R and 24L 12 fitted to the front and rear shafts 15.15.
4R, a joint material 25.25 that connects the left and right arm casings 23L, 24L or 23R124R, and an arm 26.26 that projects from the bottom of the joint material to the front of the frame.
It is becoming more and more. Racks 17L and 17R are provided oppositely from the top of both moving bodies and parallel to the shaft, and
A rotary actuator 18 is provided at the center of the upper part of the frame, and a pinion 21 that engages with the racks 17L and 17R is attached to its output shaft 19 to constitute a width adjustment mechanism 20.

An intermediate plate 22 from which a positioning unit 40, which will be described later, is suspended is fixed approximately at the center of the frame 12. This intermediate plate 22 supports the central portion of the shaft 15.15, and has a relief near the central portion through which the racks 17L and 17R are inserted. One of the racks 17 above
L extends from an arm casing 23L fitted to the rear shaft, and the other rack 17R extends from an arm casing 24R fitted to the front shaft, each meshing with the pinion 21 at the center of the frame.

Note that the width adjustment mechanism 20 is provided with a detection means for checking the width of the workpiece. For example, as shown in Fig. 6, the encoder 21 attached to the shaft of the rotary actuator 18 can be used to check the number of pulses corresponding to the workpiece width preset, or a group of limit switches that come into contact with a moving object within the frame. 28 (FIG. 4) is provided, and the width of the workpiece is confirmed by a limit switch, and the movement of the hand of the Tsuka mini-knit 60, which will be described later, is started.

On the arms 26 and 26 protruding from the front of each moving body, there is a gripping mechanism 30 that presses and grips both sides of the workpiece using a claw piece 31 and a workpiece holding unit 32, as shown in FIGS.
will be established. The Tsukami bead 31 is bent in a single-shape shape so that it can easily hold both sides of the lower part of the workpiece. As shown in FIGS. 2 and 4, the presser unit 32 includes a rotating arm 33 disposed opposite to the Tsukami bead 31 at the lower end of the arm 26, and a presser foot made of an elastic material provided at the tip of the rotating arm 33. Roller 34 and gears 35 and 36 provided on the shaft of the moving arm 33
and a rotary actuator 37.

In addition, a positioning unit 40 is located at the center of the front part of the frame 12.
have. As shown in FIG. 2, FIG. 4, and FIG. It is composed of a pair of stopper rollers 43 and a forward/reverse DC motor 44 that rotates the screw mechanism 41.

When positioning, the DC motor 44 is driven by a setting signal based on the size of the work to be handled in advance, and the pulley 45
．． A screw mechanism 41 consisting of a female threaded cylinder and a screw is driven via a 46 chain or a belt 47, and a stopper roller 43 provided at the tip of a movable frame 48 is moved forward and backward (FIG. 8). By moving back and forth, the gripping point of the gripping mechanism 30 (the position at which the gripping piece 31 and presser roller 34 press) is positioned on both sides of the workpiece including its center of gravity. The advanced position of the stopper roller 43 is confirmed by a limit switch (not shown) that detects the position corresponding to the rotation of the screw mechanism or the movement of the guide shaft. In FIG. 8, reference numeral 49 indicates a guide shaft provided on both sides of the movable frame 48, 42 indicates a support cylinder of the guide shaft 49, and S indicates a stroke of the stopper roller 43.

Furthermore, an air cylinder 51 is attached to the side of the bearing stand 11, a lever 53 is fixed to one of the reversing shafts 14, and a piston rod 52 is pin-jointed to the rotating end of the lever to perform reversing drive! A IIJJljM structure 50 is formed (FIG. 3). The reversal angle is determined by the stroke of the air cylinder 51, but in order to absorb the shock at the end of the stroke, a contact piece 54 is provided on the back of the frame 12 as shown in FIGS. It is provided so as to come into contact with a shock absorber 55 provided on the 11 side. Note that 56 in the above figure is a beam provided on the bearing stand 11;
7 is a shock absorber mounting bracket, and 58 is a mounting arm thereof.

Next, the operation of the above device will be described. The finished cathode ray tube product is the first
As shown in FIG. 2, the work piece is placed on the pallet 4 with the neck pipe 75 vertical, and is sent to the present apparatus by the supply conveyor 1 and the work lifter 5. The supply conveyor 1 is a chain-driven roller slat conveyor, and by actuation of a stopper 3 at the end of the conveyor, cathode ray tubes are accumulated on the conveyor, and by release of the stopper, the most advanced pallet 4 is transferred to a work lifter 5. When adjusting the width of the work, the work lifter 5 maintains the table 7 at a standard height by lifting it up, and lowers the table 7 slightly as the presser roller 34 presses. After the gripping of the work by the claw beads and the presser roller is completed, the empty pallet is lifted down to the same level as the return conveyor 2 with the empty pallet placed thereon.

The pallet 4 has several (six pieces in the figure) pieces 4a that support the peripheral edges of the cathode ray tube panels in the soil, and each piece 4a has a step-like slope on the inside to support the cathode ray tubes of different sizes. 10 can be placed on it.

The front end of the pallet 4 advanced from the work lifter 5 hits the positioning unit 40 of the reversing device 10 as shown in FIG.

As described above, this unit drives the forward/reverse DC motor 44 and moves the stopper roller 43 forward and backward according to the size of the workpiece to be picked up in advance, so that the gripping point of the gripping mechanism 30 can be adjusted to both sides including the center of gravity of the workpiece. It is set to come.

When the front end of the pallet 4 carrying the workpiece hits the positioning unit 40, a limit switch (not shown) is turned on to drive the rotary actuator 18, and move the movable bodies 16L, 16R in the frame 12 via the pinion 21 and racks 17L, 17R. Move synchronously to adjust the width.

At the same time as this width adjustment, the size of the workpiece is confirmed using the encoder 27 or the limit switch group 28 in the frame.

As the movable body moves during width alignment, the claw pieces 31 and 31 are inserted into the center lower edge of both sides of the cathode ray tube panel 71, and then the rotary actuator 37 is slightly rotated to lightly touch the presser roller 34 to the funnel 16 of the cathode ray tube. . When the cathode ray tube 70 is placed on the pallet 4, it is necessary that the neck portion 75 is placed vertically, but the posture may be distorted during loading or transportation. Even in such a case, the correct posture can be corrected by inserting the Tsukami Beads 31 and 31.

Next, while lowering the table 7 of the work lifter 5 a little, the air pressure of the rotary actuator 3 is increased and the funnel 1G is pressed by the presser roller 34, and the cathode ray tube is strongly clamped by the claw piece and the presser roller. After clamping, the table 7 of the work lifter 5 is lowered to the position where the return competition≠2, and the row 58 is driven to transfer the empty pallet to the return conveyor 2.

After the cathode ray tube 70 is completely gripped by the claw beads of the gripping mechanism 30 and the workpiece holding unit, the reversal driving cylinder 51 is driven to reverse it by 90 degrees.

In the inverted cathode ray tube 70, the neck tube 75 becomes horizontal as shown by the broken line in FIG. finish.

One example of the Tsuka Mini Knit 60 is as shown in the enlarged view of FIG. There is.

Hand 62.62 has guide 64.64 and screw 65
and a driving DC motor 66, it is movable in the width matching direction β. Further, an actuator 67 is provided at the lower part of the hand to open and close fingers 63 and 63 so that a pin 68 can be inserted into and removed from the hole γ4 of the lug 73 of the cathode ray tube reinforcing band 72. The tip of the pin 68 is inserted into the pin hole 69 of the opposing finger.

The width adjustment of the hands 62, 62 is determined by playing back the signal of the detection means (encoder 27 or limit switch group 28) during the width adjustment operation in the reversing device 10. After bringing the Tsuka Mini Knit frame 61 close to the inverted □ height of the cathode ray tube and adjusting the width of the hands, drive the fingers 63 and 63, insert the pin 68 into the hole 74 of the lug, and lift it up in that state.
(X direction), horizontal (Y direction), up and down (Z direction) and turning (α
(corner) movement to perform transfer to a predetermined position or palletizing work.

[Effects of the Invention] As described above, according to the present invention, since the reversing drive mechanism is activated after both sides of the work are gripped by the gripping mechanism including the pick piece and the presser unit, the work can be easily reversed. In particular, it is possible to invert workpieces with unique shapes and relatively heavy weights, such as completed cathode ray tube products, into a posture that makes it easier to lift, allowing accurate posture control, which is essential for workpiece transfer work and automatic operation of palletizing operations. can.

[Brief explanation of the drawing]

Fig. 1 is a side view of the work reversing device, Figs. 2 to 4 are enlarged front views, side views and cross-sectional plan views, Fig. 5 is a plan view of the width adjustment mechanism, and Fig. 6 is the 2nd view. FIG. 7 is an enlarged sectional view taken along the v-v line of FIG.
FIG. 8 is a sectional view taken along the line ■--■ in FIG. 6, and FIG. 9 is a perspective view of the Tsuka mini knit. 4... Pallet, 5... Work lifter, 10...
Reversing device, 11... Bearing stand, 12... Frame, 1
4... Reversing axis, 15... Shaft, 16... Moving body, 17... Rack, 18... Pinion, 19...
・Rotary actuator, 20... Width adjustment mechanism, 2
6... Arm, 27... Encoder, 28... Limit switch, 30... Gripping mechanism, 31... Tsukami bead, 32... Work holding unit, 33...
Rotating arm, 34...presser roller. 40... Positioning unit, 50... Reversing drive mechanism, 51... Air cylinder, 53... Lever.

Claims (1)

[Scope of Claims] 1. A bearing stand that supports a frame in a reversible manner, a width adjustment mechanism that is guided by a shaft in the frame and can move in the width direction of the workpiece, and an arm that projects from the moving body of the workpiece width adjustment mechanism. A gripping mechanism that presses and grips both sides of the workpiece at the tip, a positioning unit installed in the center of the frame to grip the workpiece on a line in the width direction that includes the center of gravity of the workpiece, and a reversal drive mechanism installed on the reversal shaft at the end of the frame. Work reversing device with. 2 The width adjustment mechanism consists of a pair of moving bodies guided by the shaft, left and right racks extending parallel to the shaft from both moving bodies, and mounted in the center of the frame to engage with the left and right racks. A work reversing device according to claim 1, comprising a pinion, a rotary actuator for driving the pinion, and a detection means for confirming three work widths. 3. The work reversing device according to claim 2, wherein the detection means is an encoder coupled to the rotating shaft of the rotary actuator. 4. The work reversing device according to claim 2, wherein the detection means is a group of limit switches arranged within the frame. 5. The gripping mechanism consists of a claw piece provided at the tip of an arm extending from the moving body and a work holding unit.
The workpiece holding unit has a rotating arm that rotates in the workpiece gripping direction opposite to a claw piece at the end of the arm, and a holding roller provided at the tip of the rotating arm, as set forth in claim 1. Work reversing device. 6. The reversing drive mechanism is comprised of an air cylinder provided on the side of the bearing stand and a lever having one end fixed to the reversing shaft and the other end connected to the piston rod of the cylinder. Work reversing device.