JPH05292B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a device that automatically takes out and stacks a plurality of plate-shaped members (for example, electronic components such as liquid crystal panels) arranged and stored in a storage shelf. be.

[Background of the invention]

Plate-shaped electronic components are generally stored horizontally in multi-stage and multi-row storage shelves. Devices that automatically grip and take out such stored plate-shaped items have been put into practical use, but conventional devices had a structure in which a pair of pinching claws grips one plate-shaped member and takes it out one by one. Therefore, there was a limit to the improvement in efficiency.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and
An object of the present invention is to provide an automatic device capable of simultaneously pinching and taking out plate-like members stored in multiple stages from a storage shelf in one motion, and stacking a large number of taken-out plate-like members one by one with high efficiency. It is.

[Summary of the invention]

In order to achieve the above objectives, the device of the present invention:
In a device for pinching and taking out a plate-shaped member in a storage shelf with a pair of pinching claws, a plurality of pairs of the above-mentioned pinching claws are provided and arranged vertically, and each of the plurality of pairs of pinching claws has a plate-shaped member. A spring is provided to apply a force to clamp the member, and a means is provided for simultaneously abutting and separating from the plurality of pairs of clamping claws to simultaneously perform a gripping release operation and a gripping operation, and Means is provided for moving up along the pinching claws arranged in the vertical direction and sequentially abutting on these pinching claws to perform a release operation from below, furthermore, when the pinching claws release the gripping A receiver is provided for receiving the plate-like member, and the receiver is raised as the sequential release means is raised, and the rising speed of the receiver is set to be slower than the rise speed of the sequential release means. do.

[Embodiments of the invention]

Next, an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

Figures 1 and 3 are plan views of the device of the present invention;
The figure and FIG. 4 are also front views.

Reference numeral 1 denotes a clamping tool assembly having a pair of clamping claws, and a pair of clamping claws 2a and 2b are visible in the plan view (FIGS. 1 and 3).

The above-mentioned clamping tools 1 are arranged vertically in multiple stages as shown in the front view (Figs. 2 and 4).
In the plan views (FIGS. 1 and 3), only one is shown, overlapping each other.

3 is a plate-shaped member to be transported, and 4 is a storage shelf thereof. For convenience of explanation, the plate-like members in the storage shelf 4 are given the drawing reference number 3, and the plate-like members held by the clamping tool 1 are given the drawing reference number 3'. 3'' is a plate-like member that is stacked after being released from the clamp.

As shown in FIG. 1, plate-like members 3 are stored horizontally in a storage shelf 4, and arranged vertically in 19 stages as shown in FIG. This embodiment is an example in which 19 plate-like members in 19 vertical stages are extracted in one movement, and then these 19 plate-like members are successively stacked one by one.

FIGS. 1 and 2 are explanatory views of the function of taking out and holding the 19-plate plate member 3 from the storage shelf 4, and the components for achieving this function.

FIGS. 3 and 4 are explanatory views of the function of stacking the 19 sandwiched plate-like members 3' on the receiver 5 in a 3'' configuration, and of the constituent parts for achieving this function.

First, FIG. 1 and FIG. 2 will be explained. As shown in FIG. 1, the clamping tool 1 has two clamping claws 2
a and 2b are rotatably supported by vertical shafts 6a and 6b, respectively, and a spring 7 applies a rotational force in a direction to clamp the plate member 3'.

A roller 8 is attached to each of the pinch claws 2a and 2b.
a and 8b are attached. As a result, when the push plate 9 pushes the rollers 8a, 8b in the direction of arrow A, the pinch claws 2a, 2b are rotated in the direction of releasing the pinch.

Further, a roller 10 is attached to the pinching claw 2b, and the pinching is released when the roller 10 is pushed in the direction of arrow b. This roller 10 is used when stacking plate-like members 3' as described later.

Reference numeral 11 shown in FIG. 2 is a movable base provided at the tip of the arm of the carrier, which supports the aforementioned vertical shafts 6a, 6b.
is supported by 19 stages (two sets at the upper end stage and three sets at the lower end stage are shown, and the others are omitted).

The movable base 11 moves the push plate 9 in the direction of arrow A- through a bearing 12 and a shaft 13.
The push plate 9 is supported slidably in the A' direction, and the push plate 9 is reciprocated in the arrow A-A' direction by a cylinder 14. This allows the cylinder 14 to be telescopically operated to open and close the 19 stages of clamping tools 1 all at once.

By extending the cylinder 14, the pinching claws 2a,
2b are opened all at once, the movable base is brought close to the storage shelf 4, the 19 clamping tools 1 are respectively opposed to the 19 plate-shaped parts 3, and the cylinder 14 is contracted to close the clamping claws 2a and 2b. The plate-shaped parts 3 are each held in place. When the movable base 11 is retreated to the left in the figure, the 19 plate-shaped parts 3 are pulled out from the storage shelf 4 all at once.

For convenience of explanation, FIG. 5 shows the clamping tool 1 from FIG.
FIG. 6 is a diagram with the clamping claws 1 removed from FIG. 4 in the same way. This figure 5,
The component shown in FIG. 6 is a receiving section for the plate-like member and is installed apart from the storage shelf 4.

15 is a vertically movable base that is driven vertically.
The support 5 is connected to the shaft 1 with respect to the vertically movable base 15.
6. It is supported to be slidable up and down via a bearing 17, and rotation around the axis is locked.

An L-shaped lever 18 is pivotally supported on the vertically movable base 15 by a shaft 19. 20 in FIG. 5 is a bracket (omitted in FIG. 6).

A roller 21 for pushing up the shaft 16 is provided at the left end of the L-shaped lever 18. 22 is a spring that presses down the shaft 16. A cam follower roller 22 is provided at the lower end of the L-shaped lever and is brought into rolling contact with a cam plate 23. A spring 24 presses the cam follower roller 22 against the cam plate 23.

A cam rod 25 is supported and fixed in a vertical position on a vertically movable base 15. B is a cam surface that is inclined with respect to the horizontal plane.

With the above configuration, when the vertically movable base 15 rises, the cam rod 25 rises at the same speed. At this time, the pivot shaft of the L-shaped lever 18 is connected to the above-mentioned cam rod 25.
rises at a constant speed. However, since the L-shaped lever 18 is raised and rotated counterclockwise in the drawing by the action of the cam 23, the rising speed of the roller 21 is slower than the rising speed of the cam rod 25. Therefore, the receiver 5 rises with a delay compared to the rise of the cam rod 25.

In FIGS. 3 and 4, reference numeral 1 denotes the above-mentioned clamping tool, and 3' denotes a plate-shaped member that is clamped.

(See Figure 4) When the vertically movable base 15 is raised, the cam rod 25 is raised, and the cam surface B moves the rollers 10 of each of the multi-stage clamping tools 1 in the backward direction (towards the left in the figure) in sequence from the lower stage. ). The pushed clamping tool 1 releases the plate-shaped member 3' that it is clamping, and the plate-shaped member falls under its own weight and is piled up on the receiving fixture 5 located immediately below.

The head height H at this time is kept constant as follows.

When viewed with the support 5 as a reference, the released plate members 3'' are successively stacked on the support 5, so the head height H decreases. Tayoku cam plate 23L type lever 1
8, the rising speed of the receiver 5 is increased by the cam rod 25.
This speed difference acts to increase the above-mentioned head dimension H. in the end,
The head dimension H is kept almost constant because the increasing factors and the decreasing factors cancel each other out.

As a result, when the vertically movable base 15 rises from the lowest end to the highest end of its stroke, the 19 plate-like parts 3' are sequentially and continuously released one by one within a short period of time, and the holder 5 is stacked on top. At this time, if the head dimension H is set as small as possible, the impact received by the plate-shaped part will be extremely weak.
It can be ignored in practice. What is shown by imaginary lines in FIGS. 4 and 6 is a state in which the vertically moving member rises and stacks the plate-shaped parts 3''.

〔Effect of the invention〕

As described in detail above, when the device of the present invention is applied, plate-like members stored in multiple stages can be simultaneously held and removed from the storage shelf in one motion, and a large number of the taken-out plate-like members can be processed into a single unit with high efficiency. It has an excellent practical effect of being able to be stacked one by one.

[Brief explanation of the drawing]

The accompanying drawings show an embodiment of the apparatus of the present invention, in which FIG. 1 is a plan view of a component that performs the function of taking out a plate-shaped component, and FIG. 2 is a front view. FIG. 3 is a plan view of a component that performs the function of stacking plate-shaped parts, and FIG. 4 is a front view of the same. 5 is a plan view of FIG. 3 with the clamping tool removed, and FIG. 6 is a front view of FIG. 4 with the clamping tool removed. 1...Pinch tool assembly, 2a, 2b...Pinch claws,
3... Plate member stored in the storage shelf, 3'...
...Plate member held by the clamping tool, 3''...Plate member stacked on the receiver, 4...Storage shelf, 5
...Bracket, 6a, 6b...Vertical axis, 8a, 8b...
Roller, 9... Push board, 10... Roller, 1
1...Moving base, 14...Cylinder, 15...
Vertical movement base, 18... L-shaped lever, 19...
Shaft, 20...Bracket, 21...Roller, 22
...Cam follower roller, 23...Cam plate, 25
...Cam rod.

Claims (1)

[Claims] 1. In a device for pinching and taking out a plate-like member in a storage shelf using a pair of pinching claws, a plurality of pairs of the above-mentioned pinching claws are provided and arranged side by side in the vertical direction, and
Each of the plurality of pairs of pinching claws is provided with a spring that applies a force to pinch the plate-shaped member, and the plurality of pairs of pinching claws simultaneously contact and separate from each other to release the grip and perform the gripping operation. a means for causing the releasing operation to be performed all at once, and a means for moving up along the vertically arranged pinching claws and sequentially abutting these pinching claws to perform the release operation sequentially from below; A receiver is provided to receive the plate-shaped member when the pinching claws release the clamp, and this receiver rises as the above-mentioned sequential release means rises, and the rising speed of the receiver is controlled by the rising speed of the successive release means. A device for taking out and stacking plate-shaped members, characterized in that the speed is set slower than the speed.