JP6452891B1 - Pallet gripping device and pallet gripping system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress the size of a device as much as possible and prevent a pallet gripping device capable of gripping a pallet regardless of the size of the pallet, and a displacement of empty pallets stacked with respect to a gripping position of the pallet gripping device. A pallet gripping system is provided. SOLUTION: A base part 11, two arm parts 7a and 7b extending in a direction intersecting with the base part 11 from the base part 11, and an arm part 7a or an arm part 7b are arranged and opposed to the other arm part. In the hook unit 1 that includes the hook claws 33a, 33b, 33c, and 33d arranged in the manner described above, and holds the pallet by the hook claws 33a, 33b, 33c, and 33d arranged on the arm portion 7a or the arm portion 7b, the hook claws 33a , 33b, 33c and 33d are movable in the longitudinal direction of the base 11 and in the longitudinal direction of the arm 7a and arm 7b. [Selection] Figure 6

Description

  The present invention relates to a pallet gripping apparatus for gripping a pallet when storing parts and products in stacked empty pallets (including empty containers and empty trays) and stacking each pallet at another position, and the pallet gripping thereof. The present invention relates to a pallet gripping system including an apparatus.

Conventionally, a pallet gripping device that grips empty pallets or pallets (including containers and trays) that contain parts or products when storing parts or products in empty pallets and stacking the pallets at other positions. It has been known.

For example, Patent Document 1 discloses a gripping device that grips the tray 400 using a total of four jaws, that is, a jaw 312 and a jaw 313 provided on the clamp plate 310 and a jaw 312 and a jaw 313 provided on the clamp plate 311. (See FIG. 10 and FIG. 13 etc.). In the gripping device described in Patent Document 1, after the clamp plate 310 and the clamp plate 311 are moved along the guide rail 301 and the clamp plate 310 and the clamp plate 311 are brought into contact with the tray 400, a total of four jaws 312 are obtained. The upper surface of the jaw 313 supports the rim 406 and the lower surface of the rim 407 of the tray 400 to hold the tray 400 (see the description in the paragraph “0087” and FIG. 13).

JP-A-8-318447

However, since the gripping device described in Patent Document 1 moves the clamp plate 310 and the clamp plate 311 along the guide rail 301, the size of the pallet extends or shortens along the longitudinal direction of the guide rail 301. However, when the size of the pallet is extended or shortened in the direction crossing the guide rail 301, it cannot be handled and there is a restriction on the size of the pallet to be gripped. .

In order to make the gripping device compatible with various pallets, it is necessary to increase the movable width of the clamp plate and jaws according to the size of the pallet. There was also a problem that the size of the camera also increased.

On the other hand, since the tray 400 described in Patent Document 1 moves on the plurality of rollers 111 or the rollers 211, there is a problem that the position of the tray 400 is shifted from the position of the gripping device.

The present invention has been made in response to the above-described problems of the prior art, and can change the size of a pallet gripping device that can change the size of a pallet to be gripped, and can also change the size of a pallet to be gripped while suppressing the size of the device as much as possible. It is an object of the present invention to provide a pallet gripping device and further a pallet gripping system that prevents the positional deviation of the empty pallets stacked with respect to the gripping position of the gripping device.

In order to solve the above-described problem, a first aspect of the present invention includes a base, two arm portions extending from the base in a direction intersecting the base, and each arm portion, and the other arm portion. A pallet gripping device that grips the pallet by the gripping portions disposed on the arm portions, the gripping portion being movable in the longitudinal direction of the base portion. The first moving means and the second moving means capable of moving the grip portion in the longitudinal direction of the arm portion are provided.

According to a second aspect of the present invention, in the pallet gripping apparatus according to the first aspect, the second moving means moves the gripping portion in the longitudinal direction of the arm portion by rotating a shaft extending in the longitudinal direction of the base portion. The shaft that is movable in the direction and extends in the longitudinal direction of the base portion is disposed below the arm portion.

According to a third aspect of the present invention, in the pallet gripping apparatus according to the first aspect or the second aspect, the gripping portion includes a first flat plate extending in the longitudinal direction of the arm portion, and the first flat plate. The first flat plate and a second flat plate intersecting an obtuse angle are formed continuously from the end of the arm portion toward the end of the arm portion.

  According to a fourth aspect of the present invention, in the pallet gripping apparatus according to the third aspect, the gripping portion is continuously formed downward from an end portion of the second flat plate, and the second flat plate A third flat plate intersecting with an obtuse angle is provided.

  The fifth aspect of the present invention is the pallet gripping apparatus according to any one of the first aspect to the fourth aspect, the first mounting table on which the pallet can be mounted, and the pallet mounting. Pallet gripping system comprising: a possible second mounting table; and a control unit that causes the pallet gripping device to grip the pallet mounted on the first mounting table and transfer the pallet to the second mounting table. The first moving means and / or the second moving means corrects the position of the pallet before the pallet gripping device grips the pallet.

According to a sixth aspect of the present invention, in the pallet gripping system according to the fifth aspect, the first moving means and / or the second moving means are mounted on the first mounting table. The contact and separation with the pallet is performed a plurality of times.

According to a seventh aspect of the present invention, in the pallet gripping system according to the fifth aspect or the sixth aspect, pallet information reading means for reading pallet information from the pallet is provided, and the control means is configured to read the pallet information. Based on the pallet information read by the means, the pallet gripping device is held by the pallet gripping device, and the first moving means and / or the second moving means are read by the pallet information reading means. The position of the pallet is corrected based on the pallet information.

According to an eighth aspect of the present invention, in the pallet gripping system according to the seventh aspect, the pallet information reading means is arranged on the first mounting table.

Furthermore, a ninth aspect of the present invention comprises pallet information changing means capable of changing a combination of the type of pallet and the pallet information in the pallet gripping system of the seventh aspect or the eighth aspect, The information reading means reads the pallet information based on the type of the pallet changed by the pallet information changing means.

According to the pallet gripping device of the first aspect of the present invention, the base, the two arm portions extending in the direction intersecting the base from the base, and each arm portion are arranged so as to face the other arm portion. In a pallet gripping apparatus that includes a pair of gripping portions arranged and grips the pallet by the gripping portions disposed on each arm portion, a first moving means capable of moving the gripping portion in the longitudinal direction of the base portion, and gripping Since the second moving means capable of moving the part in the longitudinal direction of the arm part is provided, there is an effect that each pallet can be reliably gripped even if the size of the pallet is changed.

According to the pallet gripping apparatus of the second aspect of the present invention, in the pallet gripping apparatus of the first aspect, the second moving means moves the grip part to the arm part by rotating the shaft extending in the longitudinal direction of the base part. Since the shaft extending in the longitudinal direction of the base portion is disposed below the arm portion, even if the size of the pallet is slightly longer in the longitudinal direction of the arm portion, the gripping portion can be moved between the gripping portions. It can be set widely, and there is an effect that each pallet can be securely gripped.

Further, according to the third aspect of the present invention, in the pallet gripping device of the first aspect or the pallet gripping device of the second aspect, the gripping portion includes the first flat plate extending in the longitudinal direction of the arm portion, Since the first flat plate is formed continuously from the end of the first flat plate in the direction of the end of the arm portion, and the second flat plate intersects the obtuse angle, the pallet grip in the first mode In addition to the effect of the apparatus or the pallet gripping device of the second aspect, even when the pallet is misaligned when gripping the pallet, the pallet position can be corrected and the pallet can be securely gripped Play.

Moreover, according to the pallet gripping apparatus of the fourth aspect of the present invention, in the pallet gripping apparatus of the third aspect, the gripping part is continuously formed downward from the end of the second flat plate, and the second In addition to the effect of the pallet gripping device of the third aspect, the position of the pallet is displaced when the pallet is gripped by moving the gripping device from above. Even if it is, the position of the pallet is further corrected, and the pallet can be securely gripped.

Moreover, according to the pallet gripping system of the fifth aspect of the present invention, the pallet gripping apparatus according to any one of the first to fourth aspects, the first mounting table on which the pallet can be mounted, A pallet gripper comprising: a second mounting table on which a pallet can be mounted; and a control unit that causes the pallet gripping device to grip the pallet mounted on the first mounting table and transfer the pallet to the second mounting table. In the system, the first moving means and / or the second moving means corrects the position of the pallet before the pallet gripping device grips the pallet. Therefore, when the pallet is gripped, the position of the pallet is shifted. Even if it does, there exists an effect which can correct | amend the position of a pallet and can hold | grip a pallet reliably.

According to the pallet gripping system of the sixth aspect of the present invention, in the pallet gripping system of the fifth aspect, the first moving means and / or the second moving means are mounted on the first mounting table. Since the contact / separation with the pallet is performed a plurality of times, even when the position of the pallet is misaligned when gripping the pallet, the position of the pallet can be further corrected and the pallet can be securely gripped. Play.

According to the pallet gripping system of the seventh aspect of the present invention, in the pallet gripping system of the fifth aspect or the sixth aspect, the pallet information reading means for reading the pallet information from the pallet is provided, and the control means includes: Based on the pallet information read by the pallet information reading means, the pallet holding device is made to hold the pallet, and the first moving means and / or the second moving means is based on the pallet information read by the pallet information reading means. Since the position of the pallet is corrected, in addition to the effect of the pallet gripping system of the fifth aspect or the sixth aspect, the size of the pallet is automatically read, and even if the position of the pallet is shifted, The position is automatically corrected, and the pallet can be securely gripped.

According to the pallet gripping system of the eighth aspect of the present invention, in the pallet gripping system of the seventh aspect, since the pallet information reading means is arranged on the first mounting table, In addition to the effects of the pallet gripping system, the pallet size is automatically read without increasing the pallet gripping system, and even if the pallet position is misaligned, the pallet position is automatically corrected and the pallet is The effect which can be hold | gripped reliably is produced.

Furthermore, according to the pallet gripping system of the ninth aspect of the present invention, in the pallet gripping system of the seventh aspect or the eighth aspect, the pallet information changing means capable of changing the combination of the pallet type and the pallet information. The pallet information reading means reads the pallet information based on the type of pallet changed by the pallet information changing means, so even when the specification of the pallet used or the pallet standard etc. is changed The user of the system can easily cope with this, and even if the position of the pallet is misaligned, there is an effect that the position of the pallet is automatically corrected and the pallet can be securely gripped.

1 is a front view of a pallet gripping system according to a first embodiment of the present invention. It is a perspective view of the pallet gripping system of a 1st embodiment. It is a left view of the pallet gripping system of a 1st embodiment. It is a block diagram of a control circuit that controls the pallet gripping system of the first embodiment. It is a front view of the hook unit (pallet holding device) of 2nd Embodiment. It is the perspective view which showed the state which the hook unit (pallet holding device) of 2nd Embodiment hold | maintained the pallet. It is a perspective view of the hook nail | claw (gripping part) of the hook unit (pallet gripping apparatus) of 2nd Embodiment. It is a top view of the hook nail | claw (gripping part) of the hook unit (pallet gripping apparatus) of 2nd Embodiment. It is a side view of the hook nail | claw (gripping part) of the hook unit (pallet gripping apparatus) of 2nd Embodiment. It is the top view which showed the state which the hook unit (pallet holding device) of 2nd Embodiment hold | gripped the big pallet. It is the top view which showed the state which the hook unit (pallet holding device) of 2nd Embodiment hold | gripped the small pallet. It is a flowchart of a pallet position shift correction program. It is explanatory drawing which showed a mode that a hook unit (pallet holding device) raises within a pallet holding system by a pallet position shift correction program. It is explanatory drawing which showed a mode that a hook unit (pallet holding device) descend | falls within a pallet holding system by a pallet position shift correction program. It is the 1st top view showing a mode before a hook unit (pallet gripping device) corrects a position shift of a pallet in a pallet gripping system by a pallet position shift correction program. It is the top view which showed the mode after the hook unit (pallet gripping device) correct | amended the position shift of the pallet within a pallet gripping system with a pallet position shift correction program. It is the 2nd top view showing a mode before a hook unit (pallet gripping device) corrects a position shift of a pallet in a pallet gripping system by a pallet position shift correction program.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
First, a first embodiment of the present invention will be described.

FIG. 1 is a front view of the pallet gripping system according to the first embodiment of the present invention, FIG. 2 is a perspective view of the pallet gripping system according to the first embodiment, and FIG. 3 is a pallet gripping of the first embodiment. FIG. 4 is a left side view of the system, and FIG. 4 is a block diagram of a control circuit that controls the pallet gripping system of the first embodiment.

As shown in FIGS. 1 and 2, the pallet gripping system 100 according to the present embodiment sequentially moves the empty pallet input from the left side toward the right side toward FIG. 1, and puts a part or product in the empty pallet on the way. After that, it is discharged from the right side.

The pallet gripping system 100 of the present embodiment is arranged on three bases 22a, 22b and 22d arranged in the left-right direction toward FIG. 1, a conveyor 27a arranged on the base 22a, and the base 22b. Conveyor 27b (corresponding to "first mounting table" of the present invention) and conveyor 27c (corresponding to "second mounting table" of the present invention), and a conveyor disposed on the base 22d. 27d.

Further, the pallet gripping system 100 of the present embodiment includes a frame 20 connected to the base 22b, a slide bar 29 extending in the left-right direction toward the FIG. 1 at a predetermined height position of the frame 20, and a slide thereof. The Z-axis 21 is movable in the left-right direction on the bar 29, and the hook unit 1 is movable in the vertical direction with respect to the Z-axis 21.

1 and 2, five pallets 25a are stacked on the conveyor 27a, one pallet 25b is placed on the conveyor 27b, and four pallets 25b are placed on the conveyor 27c. The base pallet 25c (note that the pallet 25c originally stores parts or products, but the parts and products stored in the pallet 25c are not shown in FIG. 2). .

On the conveyor 27d, five pallets 25d (parts or products are originally stored in the pallet 25d, but in FIG. 2, the parts and products stored in the pallet 25d are illustrated. Is not laminated).

  The conveyor 27a is a conveyor system composed of a plastic belt, and the pallet 25a stacked on the conveyor 27a is adjacent to the right side of the conveyor 27a as viewed in the drawing by the rotation of the power motor 31a arranged on the left side of the drawing. It can be transferred to the conveyor 27b.

The conveyor 27b is also a conveyor system composed of a plastic belt, and the pallet 25b stacked on the conveyor 27b is adjacent to the right side of the conveyor 27b in the drawing by the rotation of the power motor 31b arranged on the left side of the drawing. It can be transferred to the conveyor 27c.

Further, the conveyor 27c is also a plastic belt conveyor system, and the pallet 25c stacked on the conveyor 27c is moved to the right side of the conveyor 27c by the rotation of the power motor 31c arranged on the left side of the drawing. It can be transferred to the adjacent conveyor 27d.

The conveyor 27b is provided with a pallet identification sensor 60 for detecting pallet information of pallets 25b stacked on the conveyor 27b described later.

In the present embodiment, the pallet identification sensor 60 is disposed on the conveyor 27b, but is not necessarily disposed on the conveyor 27b. For example, the pallet identification sensor 60 may be disposed on the Z-axis 21, and the pallet identification sensor 60 may be disposed in the vicinity of the pallet 25 b with other fixtures.

However, if the pallet identification sensor 60 is arranged in the conveyor 27b, the pallet gripping system 100 itself is not increased.

Further, the conveyor 27d is also a plastic belt conveyor system, and the pallet 25d stacked on the conveyor 27d is discharged from the right side toward the drawing of the conveyor 27d by the rotation of the power motor 31d arranged on the left side as viewed in the drawing. Is possible.

The Z-axis 21 is movable in the left-right direction on the slide bar 29 by the rotation of the timing belt wound around the motor shaft of the Z-axis slide drive motor 23.

  Further, the hook unit 1 is movable in the vertical direction toward the drawing by the rotation of a chain (not shown) wound around the motor shaft of the hook unit vertical drive motor 30 disposed at the lower end of the Z-axis 21. It is.

  A hook unit upper limit sensor 50 for restricting the upward movement of the hook unit 1 is disposed on the Z axis 21.

  As shown in FIG. 3, an operation panel 55 is disposed in the vicinity of the slide bar 29 of the pallet gripping system 100, and is used for inputting size information and the like of pallets stacked on the conveyor. The operation panel 55 accommodates a control circuit that controls the operation of the pallet gripping system 100 of this embodiment.

Next, a block diagram of a control circuit that controls the pallet gripping system 100 of the present embodiment will be described.

4, the control circuit of the pallet gripping system 100 is connected to a CPU (Central Processing Unit) 40, a RAM (Random Access Memory) 43 connected to the CPU 40 so as to be able to input / output, and to the CPU 40 so as to be able to input / output. ROM (Read Only Memory) 45, a drive circuit 41 connected to the CPU 40, a pallet presence / absence detection sensor 10, a hook unit upper limit sensor 50, a pallet detection sensor 2, a pallet identification sensor 60 and an operation described later connected to the CPU 40 A panel 55.

  The RAM 43 includes a pallet data table 43a storing pallet information such as pallet size, and the ROM 45 corrects a positional deviation of the pallet, which will be described later, a hook unit control program 45a that controls the overall operation of the pallet gripping system 100 of the present embodiment. A pallet position deviation correction program 45b, a pallet identification program 45c for reading pallet information from a pallet described later, and a pallet data change program 45d for changing a pallet data table 43a described later.

  The drive circuit 41 includes an arm portion opening / closing drive motor 5 that opens and closes an arm portion of the hook unit 1 described later, a hook claw opening / closing drive motor 3 that opens and closes a hook claw of the hook unit 1 described later, and a Z-axis slide drive. The motor 23 and the hook unit vertical drive motor 30 are driven.

  In the pallet gripping system 100 described above, first, when a user pushes the start button on the operation panel 55 after the pallet 25a is stacked on the conveyor 27a disposed on the base 22a, the conveyor 27a and the conveyor 27b Are simultaneously rotated to transfer the pallet 25a to the conveyor 27b (becomes the pallet 25b).

  When the pallet 25b is transferred to the conveyor 27b, the pallet identification program 45c is executed, and the pallet 25b transferred to the conveyor 27b is pasted to the lower surface of the pallet 25b by the pallet identification sensor 60 arranged on the conveyor 27b. A bar code (not shown) is read and pallet information of the pallet 25 b is stored in the RAM 43.

  In this embodiment, a barcode is attached to the lower surface of the pallet 25b. However, the present invention is not limited to this. For example, an IC tag may be inserted on the lower surface of the pallet 25b, and colored paper is attached. It can be anything, as long as it is for identifying the pallet.

  In the present embodiment, the barcode is attached to the lower surface of the pallet 25b. This is based on the position of the pallet identification sensor 60. Therefore, the barcode attachment position depends on the position of the pallet identification sensor 60. Can be changed.

  The pallet identification sensor 60, the RAM 43, and the pallet identification program 45c correspond to the “pallet information reading unit” of the present invention.

  Next, (1) the hook unit 1 grips the uppermost pallet 25b among the pallets 25b stacked on the conveyor 27b, and ascends by the rotation of the hook unit vertical drive motor 30; By the rotation of the motor 23, the slide bar 29 moves rightward together with the Z axis 21.

(2) The hook unit 1 holds the pallet 25b, and after the parts or products are accommodated inside the pallet 25b, the hook unit 1 lowers the pallet 25b by rotating the hook unit vertical drive motor 30 (pallet 25c).

Here, (3) when the pallet 25b stacked on the conveyor 27b disappears, the pallet 25a, the pallet 25c and the pallet 25d are simultaneously transferred to a conveyor adjacent to the right side or discharged from the right side of the conveyor.

  When the pallet 25b is transferred to the conveyor 27b, the pallet gripping system 100 repeats the operations (1) to (3) again until the pallet 25a is removed from the conveyor 27a. Repeat the operation.

  In the present embodiment, the pallet gripping system 100 reads the pallet information of the pallet 25b by the pallet identification sensor 60, but the user of the pallet gripping system 100 uses the operation panel 55 to display the pallet information such as the pallet size. May be entered directly.

  However, when the pallet information of the pallet 25b is read by the pallet identification sensor 60, the pallet information can be automatically read by the pallet identification program 45c, and time can be saved.

  The pallet data table 43a can change the combination of the pallet type (for example, model number, standard number, etc.) and pallet information such as the pallet size according to the pallet type by the pallet data change program 45d. is there.

  That is, the user of the pallet gripping system 100 inputs on the operation panel 55 in accordance with the instruction displayed by the pallet data change program 45d, and the pallet type (for example, model number, standard number, etc.) The combination with pallet information such as pallet size according to the type can be changed.

By doing so, the user of the pallet gripping system 100 can easily cope with the case where the specification of the pallet to be used is changed or the standard of the pallet is changed.

The pallet data table 43a, the operation panel 55, and the pallet data change program 45d correspond to the “pallet information change means” of the present invention.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

FIG. 5 is a front view of the hook unit (pallet gripping device) of the second embodiment, and FIG. 6 is a perspective view showing a state in which the hook unit (pallet gripping device) of the second embodiment grips the pallet. is there.

FIG. 7 is a perspective view of a hook claw (gripping part) of the hook unit (pallet gripping device) of the second embodiment, and FIG. 8 is a hook claw of the hook unit (pallet gripping device) of the second embodiment. FIG. 9 is a side view of the hook claw (gripping part) of the hook unit (pallet gripping device) of the second embodiment.

Further, FIG. 10 is a plan view showing a state in which the hook unit (pallet gripping device) of the second embodiment grips a large pallet, and FIG. 11 shows the hook unit (pallet gripping device) of the second embodiment. It is the top view which showed the state which hold | gripped the small pallet.

5 and 6, the hook unit 1 includes a base portion 11, two L-shaped arm portions 7 a that extend in parallel with the base portion 11, and extend perpendicularly from the end portion to the base portion 11. The arm portion 7b, hook claws 33a and 33b (corresponding to the “gripping portion” of the present invention) disposed on the arm portion 7a, and hook claws 33c and 33d disposed on the arm portion 7b (“gripping portion of the present invention” (Refer to FIG. 10).

  The base 11 has a pallet presence / absence detection sensor 10 for determining whether or not the hook unit 1 is holding the pallet 25b at a central position, and a pallet for detecting the highest pallet position among the stacked pallets. And a detection sensor 2.

  The pallet detection sensor 2 is disposed at the lower end of the lever 18 that extends downward from the hook unit 1 main body in order to prevent the hook unit 1 from contacting the pallet 25b.

  Further, as shown in FIG. 5, an arm portion opening / closing drive motor 5 for changing the interval between the arm portion 7a and the arm portion 7b is mounted on the right rear surface side of the base portion 11 (see FIG. 6).

  A driving pulley (not shown) is inserted into the motor shaft of the arm opening / closing driving motor 5, and a timing belt is wound around the driving pulley in the longitudinal direction of the base 11 (left and right as viewed in FIG. 5). Of the timing belts, the arm portion 7a is fixed to the upper timing belt in FIG. 5, and the arm portion 7b is fixed to the lower timing belt in FIG.

Therefore, when the arm portion opening / closing driving motor 5 rotates, the timing belt rotates, and the arm portion 7a and the arm portion 7b are opened and closed depending on the rotation direction of the timing belt.

A hook claw opening / closing drive motor 3 is disposed below the hook unit 1. A drive pulley 12 is engaged with the motor shaft of the hook claw opening / closing drive motor 3, and one end of a timing belt 15 is wound around the drive pulley 12.

  The other end of the timing belt 15 is wound around a driven pulley 14, and a first drive shaft 16 is inserted and fixed to the central axis of the driven pulley 14.

  The first drive shaft 16 is connected to the first ball spline bearing 26a via the first universal joint 19a and the second drive shaft 17a in the left direction toward FIG. 5, and rotates coaxially with the first ball spline bearing 26a. A timing belt 13a is wound around the pulley.

  Further, the first drive shaft 16 is connected to the second ball spline bearing 26b via the second universal joint 19b and the second drive shaft 17b in the right direction toward FIG. 5, and is coaxial with the second ball spline bearing 26b. A timing belt 13b is wound around a pulley that rotates in a straight line.

  The other end of the timing belt 13a is wound around a pulley P (not shown) rotatably arranged in the arm portion 7a, and another pulley Q (not shown) that rotates coaxially with the pulley P A hook claw opening / closing timing belt 24a is wound.

The hook claw opening / closing timing belt 24a extends in the vertical direction of the arm portion 7a between two pulleys Q and R (not shown) disposed at both ends of the arm portion 7a along the longitudinal direction of the arm portion 7a. The belt is rotatably wound so that the belt is disposed.

  A hook claw 33a and a hook claw 33b (see FIG. 10) are fixed to the hook claw opening / closing timing belt 24a, and the rotation of the hook claw opening / closing driving motor 3 is transmitted to the hook claw opening / closing timing belt 24a. The hook claw 33a and the hook claw 33b are opened and closed by the rotation of the hook claw opening / closing timing belt 24a.

  The first ball spline bearing 26a is fixed to the arm 7a. Even if the arm portion 7a slides on the second drive shaft 17a by the rotation of the arm portion opening / closing driving motor 5, it is for hook claw opening / closing driving. The driving force of the motor 3 can be transmitted to the hook claw 33a and the hook claw 33b.

  Similar to the other end of the timing belt 13a, the other end of the timing belt 13b is wound around a pulley S (not shown) that is rotatably arranged in the arm portion 7b, and rotates separately from the pulley S. A hook claw opening / closing timing belt 24b is wound around the pulley T (not shown).

The hook claw opening / closing timing belt 24b extends in the vertical direction of the arm portion 7b between two pulleys T and U (not shown) disposed at both ends of the arm portion 7b along the longitudinal direction of the arm portion 7b. The belt is rotatably wound so that the belt is disposed.

  Further, the hook claw 33c and the hook claw 33d are fixed to the hook claw opening / closing timing belt 24b, and the rotation of the hook claw opening / closing driving motor 3 is transmitted to the hook claw opening / closing timing belt 24b. The rotation of the timing belt 24b opens and closes the hook claw 33c and the hook claw 33d.

  The second ball spline bearing 26b is also fixed to the arm portion 7b. Even if the arm portion 7b slides on the second drive shaft 17b by the rotation of the arm portion opening / closing drive motor 5, the hook claw opening / closing drive is performed. The driving force of the motor 3 can be transmitted to the hook claw 33c and the hook claw 33d.

As described above, the hook claws 33a, 33b, 33c, and 33d are provided with the drive shaft 16, the first universal joint 19a, the second universal joint 19b, the second drive shaft 17a, and the second drive that extend in the longitudinal direction of the base 11. By rotation of the shaft 17b, the arm portion 7a and the arm portion 7b can move in the longitudinal direction.

The drive shaft 16, the first universal joint 19a, the second universal joint 19b, the second drive shaft 17a, and the second drive shaft 17b extending in the longitudinal direction of the base 11 are disposed below the arm portion 7a and the arm portion 7b. (See FIGS. 5 and 6), even if the width of the pallet becomes longer in the longitudinal direction of the arm portion 7a and the arm portion 7b, the hook claw 33c and the hook claw are between the hook claw 33a and the hook claw 33b. 33d can be set widely, and the pallet can be securely gripped.

  On the other hand, the pallet 25b is gripped by four pallet support portions 37a, 37b, 37c, and 37d (described later) of the hook claws 33a, 33b, 33c, and 33d (see FIG. 10).

  Here, the hook claw 33a, the hook claw 33b, the hook claw 33c, and the hook claw 33d (corresponding to the “gripping part” of the present invention) will be described with reference to FIGS. As shown in FIG. 10, the hook claws 33a, 33b, 33c, and 33d are fixed to the arm portion 7a because they have the same basic form although they are fixed to the arm portion 7a or the arm portion 7b. The hook claw 33b will be described as an example.

As shown in FIGS. 7 to 9, the hook claw 33b is formed from a flat plate 38b (corresponding to the “first flat plate” of the present invention) extending in parallel with the longitudinal direction of the arm portion 7a, and an end of the flat plate 38b. The flat plate 39b (corresponding to the “second flat plate” of the present invention) formed continuously in a direction intersecting the obtuse angle α1 with respect to the flat plate 38b.

Further, the flat plate 38b protrudes horizontally from the flat plate 38b, and a pallet support portion 37b for supporting the upper surface of the pallet 25b from below, and three holes 32b and 34b for fixing the hook claw 33b to the arm portion 7a. And 36b are formed.

The flat plate 39b extends horizontally in a direction that forms an obtuse angle α1 with respect to the flat plate 38b, and a flat plate 35b (continuously formed at the lower end of the flat plate 39b in a direction that intersects the obtuse angle α2 with respect to the flat plate 39b. Corresponding to the “third flat plate” of the present invention.

  The hook claws 33a, 33c and 33d have the same shape as the hook claws 33b. For example, the hook claw 33a includes a flat plate 38a (corresponding to a “first flat plate” of the present invention), a flat plate 39a (corresponding to a “second flat plate” of the present invention), a flat plate 35a (“third plate” of the present invention). And a pallet support portion 37a.

  The hook claw 33c includes a flat plate 38c (corresponding to the “first flat plate” of the present invention), a flat plate 39c (corresponding to the “second flat plate” of the present invention), and a flat plate 35c (corresponding to the “third flat plate” of the present invention). ) And a pallet support portion 37c, and the hook claw 33d is formed of a flat plate 38d (corresponding to the “first flat plate” of the present invention) and a flat plate 39d (corresponding to the “second flat plate” of the present invention). Equivalent), a flat plate 35d (corresponding to the "third flat plate" of the present invention) and a pallet support portion 37d (see FIG. 10).

The hook claw 33a, the hook claw 33b, the hook claw 33c, and the hook claw 33d (corresponding to the “gripping part” of the present invention) including the hook claw 33b described above are connected to the hook claw opening / closing drive motor 3 and the arm part opening / closing drive. By rotating the motor 5 for use, the arm 5a and the arm 7b are fixed at a position slightly larger than the size of the pallet 25b.

Here, when the hook unit 1 is slightly lowered by the rotation of the hook unit vertical drive motor 30, the upper surface of the pallet 25b moves along the flat plates 35a, 35b, 35c and 35d. For example, when the position of the pallet 25b is shifted from the normal position, the position shift of the pallet 25b is corrected.

  Thereafter, the hook claws 33a, 33b, 33c and 33d are moved toward the pallet 25b by the rotation of the hook claw opening / closing drive motor 3 and the arm part opening / closing drive motor 5, and the pallet support portions 37a, 37b, 37c and 37d are moved. Is inserted below the upper surface of the pallet 25b to hold the pallet 25b.

Further, the hook unit 1 has hook claws 33a, 33b, 33c, and 33d that are movable in the longitudinal direction of the base portion 11 by the rotation of the arm portion opening / closing drive motor 5 (referred to as “first moving means” in the present invention). Therefore, it is possible to move in the longitudinal direction of the arm portion 7a or the arm portion 7b by the rotation of the hook claw opening / closing drive motor 3 (corresponding to the “second moving means” of the present invention). Even if the size changes, there is an effect that each pallet can be securely gripped.

  For example, as shown in FIG. 10, with respect to a relatively large pallet 25b, the space between the arm portion 7a and the arm portion 7b is expanded so that the space between the hook claw 33a and the hook claw 33b and the hook claw 33c and the hook claw 33d is increased. The pallet 25b can be gripped by expanding the gap between the hook claws 33a and 33b and between the hook claws 33c and 33d.

On the other hand, as shown in FIG. 11, with respect to the relatively small pallet 125b, the space between the arm portion 7a and the arm portion 7b is narrowed so that the hook claw 33a and the hook claw 33b and the hook claw 33c and the hook claw 33d are The pallet 125b can be gripped by narrowing the gap and narrowing between the hook claw 33a and the hook claw 33b and between the hook claw 33c and the hook claw 33d.

  Next, a method for correcting the positional deviation of the pallet using the pallet gripping system 100 described above will be described with reference to the drawings.

FIG. 12 is a flowchart of the pallet misalignment correction program, and FIG. 13 is an explanatory diagram showing how the hook unit (pallet gripping device) is raised in the pallet gripping system by the pallet misalignment correction program. 14 is an explanatory diagram showing a state in which the hook unit (pallet gripping device) is lowered in the pallet gripping system by the pallet position shift correction program.

FIG. 15 is a first plan view showing a state before the hook unit (pallet gripping device) corrects the position shift of the pallet in the pallet gripping system by the pallet position shift correction program, and FIG. FIG. 17 is a plan view showing a state after the hook unit (pallet gripping device) corrects the position shift of the pallet in the pallet gripping system by the pallet position shift correction program. FIG. It is the 2nd top view showing a mode before a unit (pallet gripping device) corrects a position shift of a pallet within a pallet gripping system.

  Note that the pallet whose position shift is corrected by the pallet position shift correction program 45b is the pallet 125b described above. Further, as described above, the pallet position shift correction program 45b is stored in the ROM 45 (see FIG. 4).

  In FIG. 12, the pallet position deviation correction program 45b first determines whether there is a pallet position deviation correction command based on the data input from the operation panel 55 (S21), and the pallet position deviation correction command is present. If it is (S21: Yes), the pallet information read by executing the pallet identification program 45c is obtained from the pallet 25b stacked on the conveyor 27b (S23).

  On the other hand, if there is no pallet misalignment correction command (S21: No), the pallet misalignment correction program 45b is not executed and the program is terminated (S39).

  After obtaining the pallet information (S23), the pallet misalignment correction program 45b sets the hook unit 1 to the maximum size (S25), and then raises the hook unit 1 in the A direction as shown in FIG. 13 (S27). ), It is determined whether or not the hook unit upper limit sensor 50 arranged at the upper part of the Z-axis 21 is turned on (S29).

  If the hook unit upper limit sensor 50 is not ON (S29: No), the hook unit 1 is further raised (S27). When the hook unit upper limit sensor 50 is ON (S29: Yes), the hook claw With the 33a, 33b, 33c and 33d spaced apart from the pallet 125b stacked on the conveyor 27b, the hook unit 1 is lowered in the B direction as shown in FIG. 14 (S31).

  Then, it is determined whether or not the hook unit 1 has been lowered to the position of the lowest pallet 125b (S33), and if it is determined that the hook unit 1 has not been lowered to the position of the lowest pallet 125b ( (S33: No), the hook unit 1 is further lowered (S31).

  On the other hand, when it is determined that the hook unit 1 has been lowered to the position of the lowest pallet 125b (S33: Yes), the positional deviation of the pallet 125b is corrected at the position of the lowest pallet 125b ( S35).

Specifically, as shown in FIG. 15, the hook claw 33a and the hook claw are rotated by rotating the hook claw opening / closing driving motor 3 and the arm part opening / closing driving motor 5 based on the obtained pallet information (S23). 33d is moved in the C direction, the hook claw 33b and the hook claw 33c are moved in the D direction, the pallet 125b is moved in the E direction (longitudinal direction of the arm portion 7a and the arm portion 7b), and as shown in FIG. After the claws 33a, 33b, 33c, and 33d are brought into contact with the lower side of the upper surface of the pallet 125b, the claws 33a, 33b, 33c, and 33d are separated from the pallet 125b to correct the positional deviation of the pallet 125b.

If the position of the pallet 125b is not the position shown in FIG. 15 but is stacked at the position shown in FIG. 17, for example, the hook claw opening / closing drive motor is based on the obtained pallet information (S23). 17 and the arm opening / closing drive motor 5 are rotated, as shown in FIG. 17, the hook claw 33a is in the F direction, the hook claw 33b is in the G direction, the hook claw 33c is in the H direction, and the hook claw 33d is FIG. 16 shows a state in which the pallet 125b is moved in the J direction, the pallet 125b is moved in the K direction, and the hook claws 33a, 33b, 33c, and 33d are brought into contact with the lower side of the upper surface of the pallet 125b. Thus, the positional deviation of the pallet 125b is corrected.

  As described above, according to the pallet position deviation correction program 45b, it can be easily understood that the position deviation of the pallet 125b is corrected no matter where the pallet 125b is located in the hook unit 1. I will.

Then, it is determined whether or not the hook claws 33a, 33b, 33c and 33d have made contact and separation with the pallet 125b a predetermined number of times (S37). (S37: No), the above-described positional deviation correction process (S35) of the pallet 125b is repeated.

On the other hand, when the contact and separation to the pallet 125b have been performed a predetermined number of times (S37: Yes), the program is terminated (S39).

  In the present embodiment, in consideration of shortening the process time, the contact and separation with the pallet 125b are performed once.

However, if there is a margin in the process time and it is desired to ensure the positional displacement of the pallet, the contact and separation with the pallet 125b may be performed a plurality of times. Then, since the contact and separation with the pallet are performed a plurality of times, even if the position of the pallet is misaligned when gripping the pallet, the position of the pallet can be further corrected and the pallet can be securely gripped. .

In the above-described embodiment, the arm portion 7 a and the arm portion 7 b extend perpendicular to the base portion 11. However, the present invention is not limited thereto, and the arm portion 7 a and the arm portion 7 b intersect with the base portion 11. It is sufficient if it extends in the direction to do. However, considering that the shape of the pallet is rectangular, the arm portion 7 a and the arm portion 7 b are preferably orthogonal to the base portion 11.

  Further, in the above-described embodiment, the hook claws 33a, 33b, 33c and 33d are formed from the flat plates 38a, 38b, 38c and 38d extending in the longitudinal direction of the arm portion and the end portions of the flat plates 38a, 38b, 38c and 38d. The flat plates 39a, 39b, 39c and 39d formed continuously in the direction intersecting the obtuse angle α1 with respect to the flat plates 38a, 38b, 38c and 38d, and the obtuse angles with respect to them at the lower ends of the flat plates 39a, 39b, 39c and 39d Although the flat plate 35a, 35b, 35c and 35d are formed continuously in the direction intersecting α2, it is not limited thereto.

  For example, the hook claw may not have the flat plates 35a, 35b, 35c and 35d, and may not have the flat plates 39a, 39b, 39c and 39d. However, it is more effective to have the flat plates 35a, 35b, 35c and 35d and / or the flat plates 39a, 39b, 39c and 39d in order to correct the positional deviation of the pallet.

(First other invention)
A first mounting table on which a pallet can be mounted, a second mounting table on which a pallet can be mounted, and a pallet mounted on the first mounting table, and the second mounting table. A pallet gripping system comprising a pallet gripping device for transporting, comprising pallet information reading means for reading pallet information from the pallet, wherein the pallet gripping device is based on the pallet information read by the pallet information reading means, A pallet gripping system for gripping the pallet.

(Effect of 1st other invention)
The first other invention grips the first mounting table on which the pallet can be mounted, the second mounting table on which the pallet can be mounted, and the pallet mounted on the first mounting table, A pallet gripping system including a pallet gripping device that transfers to the second mounting table includes pallet information reading means for reading pallet information from the pallet, and the pallet gripping device is based on the pallet information read by the pallet information reading means. Since the pallet is gripped, the size of the pallet is automatically read, and the pallet gripping device can securely grip the pallet.

(Second other invention)
The pallet gripping system according to the first other aspect of the invention, wherein the pallet information reading means is provided on the first mounting table.

(Effect of the second other invention)
In the second other invention, in the first other invention, since the pallet information reading means is provided on the first mounting table, in addition to the effects of the first other invention, there is no trouble in work, The size of the pallet is automatically read, and the pallet gripping device can securely grip the pallet.

(Third other invention)
According to a third other aspect of the present invention, a first mounting table capable of mounting a pallet, a second mounting table capable of mounting a pallet, and a pallet mounted on the first mounting table are gripped. In the pallet gripping system including the pallet gripping device transferred to the second mounting table, the pallet gripping device includes a pallet information changing unit capable of changing a combination of the pallet type and the pallet information. A pallet gripping system for gripping the pallet based on the pallet information changed by the pallet information changing means.

(Effect of the third other invention)
The third other invention is to grip the first mounting table on which the pallet can be mounted, the second mounting table on which the pallet can be mounted, and the pallet mounted on the first mounting table, A pallet gripping system including a pallet gripping device for transferring to a second mounting table includes a pallet information changing unit capable of changing a combination of a pallet type and pallet information. Since the pallet is gripped based on the pallet information changed by the system, even if the specifications of the pallet to be used or the pallet standard is changed, the user of the system can easily cope with it. There is an effect that the pallet can be securely gripped.

DESCRIPTION OF SYMBOLS 1 ... Hook unit 2 ... Pallet detection sensor 3 ... Hook claw opening / closing drive motor 5 ... Arm part opening / closing drive motor 7a, 7b ... Arm part 10 ... Pallet presence detection sensor 11 ... Base 16 ... Drive shafts 17a, 17b ... Second drive shaft 19a ... First universal joint 19b ... Second universal joint 20 ... Frame 21 ... Z axes 22a, 22b , 22d ... base 23 ... Z-axis slide drive motors 25a, 25b, 25c, 25d, 125b ... pallets 27a, 27b, 27c, 27d ... conveyor 27b ... conveyor (first loading) Stand)
27c ... Conveyor (second mounting table)
29 ... Slide bar 30 ... Hook unit vertical drive motor 31a, 31b, 31c, 31d ... Power motor 33a, 33b, 33c, 33d ... Hook claw (gripping part)
35a, 35b, 35c, 35d ... flat plate (third flat plate)
37a, 37b, 37c, 37d ... pallet support portions 38a, 38b, 38c, 38d ... flat plate (first flat plate)
39a, 39b, 39c, 39d ... flat plate (second flat plate)
43a ... Pallet data table 45b ... Pallet position shift correction program 45c ... Pallet identification program 45d ... Pallet data change program 55 ... Operation panel 60 ... Pallet identification sensor 100 ... Pallet gripping system

Claims (7)

The base,
Two arm portions extending in a direction intersecting the base portion from the base portion;
A pair of grips disposed on each arm and facing the other arm;
First moving means capable of moving the grip portion in the longitudinal direction of the base;
A second moving means capable of moving the grip portion in the longitudinal direction of the arm portion;
In a pallet gripping device that grips a pallet by the gripping portion disposed in each arm portion,
The second moving means can move the grip portion in the longitudinal direction of the arm portion by rotation of a shaft extending in the longitudinal direction of the base portion.
The pallet gripping device , wherein an axis extending in a longitudinal direction of the base portion is disposed in the base portion below the arm portion . The grip portion includes a first flat plate extending in a longitudinal direction of the arm portion, a support portion extending substantially horizontally from a lower portion of the first flat plate, and an end portion of the arm portion from an end portion of the first flat plate. It is formed continuously in the direction, and the pallet gripping apparatus according to claim 1, characterized in that it comprises a second flat plate that intersects the first flat plate and obtuse. A third moving means capable of moving the base portion in the vertical direction;
The said holding | grip part is provided with the 3rd flat plate which is continuously formed below from the edge part of the said 2nd flat plate, and cross | intersects the said 2nd flat plate at an obtuse angle. The pallet gripping device described. A pallet gripping device according to claim 1 or 3 ,
A first mounting table capable of mounting a pallet;
A second mounting table on which a pallet can be mounted;
Control means for causing the pallet gripping device to grip the pallet placed on the first placement table and transferring it to the second placement table;
In the pallet gripping system with
The first moving means and / or the second moving means may be the first moving means .
A pallet gripping system capable of correcting the position of the pallet mounted on a mounting table The first moving means and / or the second moving means can correct the position of the pallet by performing contact and separation a plurality of times with respect to one pallet placed on the first placing table. pallet gripping system according to claim 5, characterized in that. A pallet gripping device according to claim 4;
A first mounting table capable of mounting a pallet;
A second mounting table on which a pallet can be mounted;
Control means for causing the pallet gripping device to grip the pallet placed on the first placement table and transferring it to the second placement table;
In the pallet gripping system with
The first moving means, the second moving means, and / or the third moving means can correct the position of the pallet placed on the first placing table, and holds the pallet. system. The first moving means, the second moving means, and / or the third moving means perform contact and separation a plurality of times with respect to one pallet placed on the first placing table. The pallet gripping system according to claim 10, wherein the position of the pallet can be corrected.

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