CN102233527A - Flexible automatic conveyance system between processes - Google Patents
Flexible automatic conveyance system between processes Download PDFInfo
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- CN102233527A CN102233527A CN2011100082489A CN201110008248A CN102233527A CN 102233527 A CN102233527 A CN 102233527A CN 2011100082489 A CN2011100082489 A CN 2011100082489A CN 201110008248 A CN201110008248 A CN 201110008248A CN 102233527 A CN102233527 A CN 102233527A
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Abstract
The invention provides a flexible automatic conveyance system between processes, which is suitable for automatically moving processing objects, and can improve the free degree of layout change and conduct the layout change with low cost. The flexible automatic conveyance system comprises workpiece station accessories (100) corresponding to a plurality of processing centers (10), rail accessories (200) connecting the workpiece station accessories, turning accessories (300) disposed between the rail accessories or between the rail accessories and the workpiece station accessories, workpiece feeding accessories (415) connected to either the rail accessories or the workpiece station accessories, workpiece discharge accessories (425) connected to either the rail accessories or the workpiece station accessories, and a plurality of workpiece transporting trolleys capable of moving on the accessories that are mutually connected. The rail accessories are smooth in loading and unloading with respect to the workpiece station accessories, the turning accessories, the workpiece feeding accessories and the workpiece discharge accessories.
Description
Technical field
The present invention relates to be suitable for the flexible automated material handling systems of inter process of the processed object of the automatic conveyance of inter process that constitutes at a plurality of processing machines of configuration.
Background technology
As the device of conveyance workpiece automatically between each processing machine such as machining center, known in the past gate feed (gantry loader) carrying device, conveyer belt (convey) carrying device, pallet (pallet) carrying device etc., wherein, this machining center is for example processed (for example with reference to patent documentation 1) to the such engine components of connecting rod.
Patent documentation 1: TOHKEMY 2009-34801 communique
Gate feed carrying device (following note is done " gate feed machine ") is the device that carries out work transporting between many spaced machining centers, disposes the ceiling conveyance track and the crane that hangs on this ceiling conveyance track in workshop.When carrying out the top conveyance with this kind gate feed machine, layout only comprises the straight line production line, therefore need guarantee to have the length of abundant surplus at the facilities plan initial stage with regard to being contemplated to the ability increase, must guarantee also that thereupon the space, workshop is fully big.
Few and measure under the situation of big production in kind as in the past because what adopt is the form of making definite product in large quantities, in case therefore can utilize this gate feed machine that is disposed at the workshop with workpiece conveyance efficiently to each machining center.Yet, in recent years wide in variety and measure under the situation of few production, have to according to the frequent modification of the production schedule of multi-assortment production and change the layout of the manufacturing line in workshop continually.Yet in case the situation that the gate feed machine that is arranged at the workshop ceiling is reset along with the layout changing of manufacturing line, expense is very high aspect equipment investment, and is difficult to reply.
More specifically, under the situation of utilizing the conveyance of gate feed machine, because the arm of fastening workpiece and the structure that workpiece is moved up and down become big, frame shape with conveyance track becomes linear structure, therefore and form fairly largely at the top, have the shortcoming that easily to extend, cut down.
Particularly, produced the expense of transforming carrying device and become high, and transformed also time-consuming problem as current economic situation, waiting under the merging of carrying out equipment continually and the discarded environment because of rapid decline.
In addition, under the situation of using the gate feed machine, be difficult to even may do not make produce parts that the platform number reduced in each manufacturing line flexible flow.And in the configuration aspects of gate feed machine, owing to comprise that the drive division up and down of conveyance pawl always can be very big, therefore the power that moves up and down, delivers needs bigger motor, power.Specifically, for example want 2～4 parts of workpiece weight below 1kg as connecting rod of conveyance, just must use motor, aspect energy-conservation, have problems with tens of kilowatts of outputs.
On the other hand, utilizing the conveyer belt conveyance to carry out under the situation of the part conveyance between each machining center, along with layout changing, transmission belt, the chain of having to connect the conveyer belt between each machining center disconnect setting respectively.That is, in this case, also need prepare the conveyer belt that adapts to this layout changing, exist the problem of equipment investment aspect consumption costs along with the layout changing of manufacturing line.In addition, bring the conveyance workpiece owing to need work in-process heart front that conveying is set, each workpiece all can be unrestricted free state, therefore the device that need be used to locate when workpiece being dropped into the anchor clamps of machining center especially, the equipment investment appropriate litigation fees is high, thereby becomes problem.In addition, for raising, the layout changing of production capacity, exist and the same problem of gate feed machine conveyance.
On the other hand, utilizing pallet to carry out under the situation of the part conveyance between each machining center, owing to be that pallet self directly is equipped on conveyer belt and conveyance member, therefore not only need to make the intensity of pallet enough to tolerate vibration and impact in the conveyance, and, must implement the processing that be used to improve the positioning accuracy when stopping at each machining center to all pallets for the processing of the workpiece that makes each machining center place becomes easily.In addition, the clamp (anchor clamps) of the workpiece of fixing each pallet must be set, the carrying device of conveyance pallet also becomes special product, becomes the structure that can't tackle layout changing.
Because such reason, the manufacturing cost of each pallet is high.In addition,, when carrying out the design alteration of workpiece, all have to make not at all easy like this pallet that produces and this workpiece to change accordingly, because this has also caused the cost rising on the one hand wide in variety and measure under the situation of few production at every turn.In addition, under situation, need make the precision unanimity of each pallet with pallet conveyance workpiece, therefore with high costs.In addition, also become on a large scale, under the situation that will increase ability, exist and utilize the gate feed machine to carry out the same problem of situation of work transporting at the device of conveyance pallet.
Summary of the invention
The object of the present invention is to provide a kind of flexible automated material handling systems of inter process that is suitable for the processed object of automatic conveyance, even at a plurality of processing machines of configuration and the inter process that constitutes carries out continually with wide in variety and measure under the situation of the device layout change that few production accompanies, also can improve the free degree of layout changing, can implement described layout changing with low cost simultaneously.
In order to solve above-mentioned problem, first of the flexible automated material handling systems of the inter process that a first aspect of the present invention relates to is characterised in that, the flexible automated material handling systems of this inter process has: workpiece processing stations accessory, described workpiece processing stations accessory and machining center dispose accordingly, and described machining center is that each operation at the manufacturing process of components that comprises a plurality of operations is provided with; The track accessory, described track accessory links up described each workpiece processing stations accessory; Turn to accessory, described turn to accessory to be disposed between the described track accessory or track accessory and workpiece processing stations accessory between; Workpiece drops into accessory, and described workpiece drops into any one binding in accessory and described track accessory or the workpiece processing stations accessory; Workpiece is discharged accessory, and described workpiece is discharged any one track accessory or the binding of workpiece processing stations accessory that described workpiece drops into accessory that be different from accessory and described track accessory or the workpiece processing stations accessory; And a plurality of work transporting cars, described a plurality of work transporting car can drop into accessory at the workpiece of described mutual binding, workpiece processing stations accessory, the track accessory, turning to accessory and workpiece to discharge on the accessory moves, and, described track accessory forms with respect to described workpiece processing stations accessory, turn to accessory, workpiece drops into accessory, workpiece is discharged the accessory loading and unloading freely, the configuration direction of each track accessory of the described travel direction that turns to accessory to form to change the described work transporting car of decision, described work transporting car forms the tray (tray) with the workpiece of the mode mounting that can change and each manufacturing of conveyance, possesses sub-controller at described workpiece processing stations accessory, described sub-controller is managed having or not about described work transporting car at least, the workpiece of work transporting car institute conveyance and the information of the relation between the described machining center, and possesses master controller at workpiece processing stations accessory that does not possess described sub-controller or workpiece input accessory, this master controller is by the information of radio communication or wire communication centralized management from described sub-controller, and controls the transport condition of described a plurality of work transporting cars on the track accessory by radio communication, and at workpiece input accessory, workpiece processing stations accessory, workpiece is discharged the halted state on the accessory.
Owing to have such structure, therefore the present invention has eliminated when after as in the past the gate feed machine being arranged at ceiling the layout changing of each operation in the workshop taking place, and makes the whole rough sledding that changes and cause the cost rising of equipment investment aspect of configuration of this gate feed machine.In addition, under the situation that the gate feed machine is set, in order to prepare to tackle layout changing in the future, the gate feed machine need be set in the scope that comprises unnecessary scope, cause the rising of equipment cost, yet, can eliminate such rough sledding according to the present invention.
In addition, avoided as in the past, being undertaken the inconvenience of the part conveyance between each machining center by the conveyer belt conveyance, promptly need not along with layout changing transmission belt, the chain of conveyer belt are disconnected in the mode that is fit to this layout changing respectively, can with low-cost, simply and easily carry out layout changing.
In addition, avoided as in the past, using pallet to carry out the inconvenience of the situation of the part conveyance between each machining center, promptly need not to make pallet self to possess enough intensity, the folder (anchor clamps) of fixation workpiece perhaps is set, also need not to prepare carrying device as the special product of conveyance pallet, can be easily and carry out layout changing simply.
Like this, according to the present invention, can be rapidly and need not the frequent layout changing that new equipment input etc. becomes the manufacturing process that local reply and many kinds produced in small quantities accompany, can successfully regulate current many kinds limited-production flow process.
In addition, since the track accessory form with freely mode of loading and unloading link workpiece processing stations accessory, turn to accessory, workpiece drops into accessory, workpiece is discharged accessory, even therefore in the space that will carry out layout changing, there are the barriers such as pillar in other equipment or workshop, also can walk around this barrier and carry out layout changing, improve the free degree of layout changing.
In addition, because forming, the work transporting car can therefore can promptly tackle of the conveyance of work transporting car with the tray of the workpiece of removable mode mounting and each manufacturing of conveyance to various workpiece.That is, can promptly tackle the switching of the kind of workpiece, be suitable for many kinds produced in small quantities.
In addition, the flexible automated material handling systems of the inter process that a second aspect of the present invention relates to is characterised in that, in the flexible automated material handling systems of the inter process of first aspect record, described track accessory is made of a row driving path, described workpiece processing stations accessory has the workpiece that is configured to link with the driving path of described track accessory and passes through stop position, and be positioned at the work delivery position that leaves the position of this workpiece by stop position, by mobile unit described work transporting car can be moved between described workpiece is by stop position and work delivery position, move under the state of described work delivery position at described work transporting car, other work transporting cars can pass through described workpiece processing stations accessory through the workpiece driving path of the track accessory that is connected with the both sides of described workpiece by stop position.
Because the present invention has such structure, the structure of track accessory forms row, so the change of the structure of entire system is simple.Thus, the cost that helps equipment integral body reduces.In addition, can reduce the height of track accessory.Thus, the operator can stride across from the track accessory, and mobile become easily of operator in the operating area can be realized the raising of operating efficiency.
In addition, the flexible automated material handling systems of the inter process that a third aspect of the present invention relates to is characterised in that, in the flexible automated material handling systems of the inter process of second aspect record, when described workpiece processing stations accessory is set, the any one party of passing through in stop position and the work delivery position of this workpiece processing stations accessory is positioned at upside, and the opposing party is positioned at downside arbitrarily, and described mobile unit is made of the lifting unit that makes the lifting between workpiece is by stop position and work delivery position of described work transporting car.
Because the present invention has such structure, even guarantee that therefore the space of width of workpiece processing stations accessory is also passable with exceeding.Thus, the save spaceization of device layout can be further realized, and free space can be effectively utilized.
In addition, the flexible automated material handling systems of the inter process that a fourth aspect of the present invention relates to is characterised in that, in the flexible automated material handling systems of the inter process of second aspect record, when workpiece processing stations accessory is set, described workpiece is positioned at downside by stop position, and described work delivery position is positioned at upside.
Because the present invention has such structure, therefore the gate feed machine can be located at the upside of workpiece processing stations accessory, can realize the further save spaceization of working space, and can make the conveyance car of workpiece and the handing-over of the workpiece between the machining center become easy.
According to the present invention, a kind of flexible automated material handling systems of inter process that is suitable for the processed object of automatic conveyance is provided, even at a plurality of processing machines of configuration and the inter process that constitutes carries out continually with wide in variety and measure under the situation of the device layout change that few production accompanies, also can improve the free degree of layout changing, can implement described layout changing with low cost simultaneously.
Description of drawings
Fig. 1 is the summary vertical view that an example of the Production Line Configured that utilizes the flexible automated material handling systems of inter process that an embodiment of the invention relate to is shown.
Fig. 2 is the example that the Production Line Configured different with Fig. 1 is shown, and promptly is provided with the summary vertical view of the Production Line Configured under the situation of barrier on the ground in workshop.
Fig. 3 is the stereogram that a concrete form of present embodiment is shown.
Fig. 4 is with workpiece processing stations accessory among Fig. 3 and the stereogram shown near the amplification thereof.
Fig. 5 is with the stereogram shown in the amplifying as the workpiece feeding device of workpiece processing stations accessory among Fig. 3.
Fig. 6 is in the present embodiment, from observe as the track length direction of the workpiece feeding device of workpiece processing stations accessory, the work transporting car travels on the end view drawing of the state of workpiece processing stations accessory.
Fig. 7 illustrates the master controller of action of each inscape of control in the present embodiment and the general block diagram of sub-controller.
Fig. 8 is the stereogram that the surface structure of the wireless type work transporting car that uses in the present embodiment is shown.
Fig. 9 is the stereogram that the internal structure of the wireless type work transporting car that uses in the present embodiment summarily is shown.
Label declaration
10 (11,12,13 ...): machining center; 10a (11a, 12a, 13a ...): (gate-type) feeder; 100 (110,120,130 ...): (master) workpiece processing stations accessory (workpiece feeding device); 101: bedplate; 102: pillar; 103: self-powered platform; 104: the conveyance car passes through workbench; 105: guiding piece; 106: sliding part; 107: control panel; 108: hinge portion; 109: cover; 200 (210,220,230 ...): the track accessory; 201: driving path; 205: bedframe; 206: the support portion; 300 (310,320,330 ...): turn to accessory; 415: workpiece drops into accessory; 425: workpiece is discharged accessory; 435: the workpiece input is discharged accessory; 450: hole type station (pit station); 465: the cleaning station; The 500:(workpiece) conveyance car; 510: framework; 520: gripper shoe; 530: wheel (531～533); 551: motor; 552: driver; 553: battery; 554:PLC (programmable logic controller (PLC)); 555: wireless machine; 570: main body panel; 571: the anticollision sensor; 572: position sensor; 573: conquassation forecast sensor; 580: tray; 581～584: have sensor; 590: the conquassation absorbing buffer; 611: hub (HUB); 612: radio receiving and transmitting part; 615: master controller; 625: sub-controller; W: workpiece.
The specific embodiment
Below, based on accompanying drawing the flexible automated material handling systems of inter process that an embodiment of the invention relate to is described.
Fig. 1 is the summary vertical view that an example of the Production Line Configured that utilizes the flexible automated material handling systems of inter process that an embodiment of the invention relate to is shown.In addition, Fig. 2 is an example of the Production Line Configured different with Fig. 1, and the ground that promptly is illustrated in the workshop is provided with the summary vertical view of the Production Line Configured under the situation of barrier.
As shown in Figure 1, the flexible automated material handling systems of the inter process that an embodiment of the invention relate to has: workpiece processing stations accessory 100 (110,120,130 ...), itself and machining center 10 (11,12,13 ...) configuration accordingly, described machining center 10 (11,12,13 ...) be that each operation at the parts manufacturing process that comprises a plurality of operations is provided with; Track accessory 200 (210,220,230 ...), it links up each workpiece processing stations accessory 100; Turn to accessory 300 (310,320,330 ...), its be disposed between the track accessory or track accessory 200 and workpiece processing stations accessory 100 between; Workpiece drops into accessory 415, any one binding in itself and track accessory 200 or the workpiece processing stations accessory 100; Workpiece is discharged accessory 425, itself and the track accessory 200 that is different from workpiece input accessory 415 or any one binding in the workpiece processing stations accessory 100; And a plurality of work transporting cars 500, it can drop into accessory 415, workpiece processing stations accessory 100, track accessory 200 at the workpiece that links mutually, turn on accessory 300 and the workpiece discharge accessory 425 and move.In addition, in Fig. 1, workpiece input accessory 415 forms as one and constitutes the workpiece input with workpiece discharge accessory 425 and discharges accessory 435.In addition, dispose hole type station 450 in the side of track accessory 240, this hole type station 450 carries out battery charge and the replacing to work transporting car 500.
As shown in Figure 3 and Figure 4, track accessory 200 is by constituting for the row driving path that work transporting car 500 travels.Be arranged under the state on ground under the state that is provided with of track accessory and with each track accessory, the driving path 201 that is disposed at track accessory 200 has equal height apart from ground.Each machining center 10 possess between work transporting car 500 and each machining center 10 the feeder 10a that handles workpiece W (11a, 12a, 13a ...) (seeing figures.1.and.2).
The configuration direction that turns to accessory 300 to form can to change each track accessory 200, described each track accessory 200 is determined the travel direction of work transporting cars 500.Turn to accessory 300 will be connected with the driving path of the opposing party's track accessory 200 with the driving path of a side's of its binding track accessory 200 in respectively corresponding mode.
In addition, form can mounting and the tray 580 (with reference to Fig. 8) of the workpiece of each manufacturing of conveyance for work transporting car 500.To the control of travelling, stopping of work transporting car 500 by utilizing wireless receiving and dispatching information to carry out with master controller 615.
In addition, other workpiece processing stations accessories 100 except a workpiece processing stations accessory 100 that is provided with master controller 615 described later possess sub-controller 625 (with reference to Fig. 7) respectively, and described sub-controller 625 is managed at least about the having or not of work transporting car 500, the workpiece of 500 conveyances of work transporting car and the information of the relation between the machining center 10.
In addition, possesses master controller 615 on the workpiece processing stations accessory 100 in workpiece processing stations accessory 100, that sub-controller 625 is not set, this master controller 615 forms by the information of wire communication centralized management from sub-controller 625, and controls a plurality of work transporting cars 500 and discharge the halted state on the accessory 425 at the transport condition on the track accessory and at workpiece input accessory 415, workpiece processing stations accessory 100, workpiece.In addition, also can be, workpiece drops into accessory 415 and possesses master controller 615, and each workpiece processing stations accessory 100 possesses sub-controller 625.
Below, each inscape that constitutes the flexible automated material handling systems of above-mentioned inter process is explained.Fig. 3 is the stereogram that a concrete form of present embodiment is shown.In addition, Fig. 4 is with workpiece processing stations accessory among Fig. 3 and the stereogram shown near the amplification thereof.In addition, Fig. 5 is with the stereogram shown in the amplifying as the workpiece feeding device of workpiece processing stations accessory among Fig. 3.In addition, Fig. 6 is in the present embodiment, from observe as the track length direction of the workpiece feeding device of workpiece processing stations accessory, the work transporting car travels on the end view drawing of the state of workpiece processing stations accessory.In addition, Fig. 7 illustrates the master controller of action of each inscape of control in the present embodiment and the general block diagram of sub-controller.
Can be clear and definite according to Fig. 3, workpiece processing stations accessory 100 (110,120,130 ...) possess the feeder 10a of workpiece input usefulness, and possess control panel 107.
In addition, in the embodiment of reality, a large amount of as depicted in figs. 1 and 2 arrangement of above-mentioned each accessory shown in Figure 3 constitutes.Its arrangement mode for as described above based on the relation in the space in the workshop and whether exist factor such as barrier with freely towards arrangement, this belongs to characteristic point of the present invention.In addition, because by each accessory being made up simply, freely sorting and just can carry out layout changing, therefore the shortcoming of Production Line Configured of gate feed machine, belt-type conveyer belt, pallet etc. of can having eliminated existing such employing fully is in case promptly be arranged at the workshop with these carrying devices then very big cost and the time-consuming shortcoming of needs when carrying out the change of Production Line Configured afterwards.
As shown in Figure 4, track accessory 200 has: bedframe 205, and it is fixed in the ground in the workshop that is provided with the flexible automated material handling systems of inter process in the mode that can load and unload; Support portion 206, it is vertical on the bedframe; And driving path 201, this driving path 201 is located on the support portion.And, as depicted in figs. 1 and 2, track accessory 200 have with adjacent workpiece processing stations accessory each other, workpiece processing stations accessory 100 and turn to accessory 300 connected to each other and can be for the length of work transporting car 500 conveyance between described accessory.In addition, the width of the driving path 201 of track accessory 200 (with reference to Fig. 3 and Fig. 4) forms, and can make the width of the degree that work transporting car 500 surplus is arranged travels at driving path 201.In addition, as mentioned above, track accessory 200 is by in this fastening part of detailed icon not, and forming can be with respect to the ground loading and unloading in workshop, thereby can promptly tackle the change of Production Line Configured.
The travel direction that turns to accessory 300 to be used to change to travel the work transporting car 500 on the driving path 201 of track accessory 200 illustrated in figures 1 and 2, describedly turn to accessory 300 to form to be located in track accessory that travel direction for example becomes 90 ° of configurations each other, and change the travel direction of the work transporting car that on these track accessories, travels.Turn to accessory 300 to have respectively the direction conversion work platform corresponding with the driving path 201 of above-mentioned track accessory 200, and possess not shown actuator, this actuator make an all directions conversion work platform and a side's track accessory 200 and the opposing party's track accessory 200 change accordingly towards.And, this actuator form the indication that obtains based on wire communication through master controller 615 described later (with reference to Fig. 7) to suitable towards suitably rotating.
Workpiece processing stations accessory illustrated in figures 1 and 2 100 disposes accordingly with each machining center 10 of the processing of carrying out workpiece W (being connecting rod in the present embodiment), and to be sandwiched between two track accessories or track accessory 200 and turn to the mode between the accessory 300 to dispose.And, under the situation of present embodiment, except a main workpiece processing stations accessory 100 that is provided with master controller 615, be respectively equipped with sub-controller 625 (with reference to Fig. 7) at other workpiece processing stations accessories 100.
On workpiece processing stations accessory 100, be provided with for pass through the path of work transporting car in the position corresponding, and be provided with in the position corresponding with machining center and join the work delivery position (with reference to Fig. 4 and Fig. 5) of workpiece with the upside of the driving path 201 of track accessory 200 by usefulness with the driving path 201 of track accessory 200.
Workpiece processing stations accessory 100 has been realized following effect: carrying out the work delivery operation between by gate feed machine 10a and machining center under the state that work transporting car 500 is risen, and other work transporting cars 500 can pass through this workpiece processing stations accessory in this work delivery operation.
Workpiece processing stations accessory 100 is called as so-called workpiece feeding device 100, therefore followingly as workpiece feeding device 100 its structure is described.
As shown in Figure 4 and Figure 5, workpiece feeding device 100 has the bedplate 101 of rectangular shape and from four jiaos of vertically disposed pillars 102 of bedplate 101, and possess: self-powered platform 103 at bedplate 101, this self-powered platform 103 links with the driving path of track accessory 200, and makes this conveyance car 500 liftings under the state that stops of the conveyance car 500 that crosses track accessory 200 and arrive of being expert at; And the conveyance car is by workbench 104, and when the work transporting car 500 on the self-powered platform rose in conveyance car lowering or hoisting gear, this conveyance car passed through other work transporting cars 500 by workbench 104.
On two pillars 102 that the side on the width of the direction of travelling with respect to the conveyance car is possessed, possesses conveyance car lowering or hoisting gear.Conveyance car lowering or hoisting gear possesses guiding piece 105 and the sliding part 106 that is positioned at pillar and makes the drive actuator that sliding part 106 rises or descend along guiding piece 105 (at this detailed icon not).Sliding part 106 is disposed at two positions up and down of conveyance car lowering or hoisting gear independently, and each sliding part 106 possesses self-powered platform 103 at upside, and possesses the conveyance car by workbench 104 at downside.
Usually, the self-powered platform 103 of upside is positioned at the downside of conveyance car lowering or hoisting gear, be connected with the driving path 201 of adjacent track accessory 200, and receive the conveyance car 500 travel on track accessory 200 and enter this self-powered platform 103, and the conveyance car 500 that stops to be risen to till the work delivery position.
Under the state that the driving path 201 of self-powered platform 103 and track accessory 200 links, the conveyance car is contained to be positioned at the below than this self-powered platform 103 by workbench 104.And rise and when stopping at work delivery position described later at self-powered platform 103, the conveyance car rises slightly by workbench 104 and with driving path 201 bindings of adjacent track accessory 200.Thus, the conveyance car that travels on the track accessory can pass through workpiece processing stations accessory 100 by workbench 104 via the conveyance car.
The height place at the middle part of the pillar 102 of the opposition side of two pillars 102 that possessed at conveyance car lowering or hoisting gear has the cover 109 that can form level and this two states of plumbness by hinge portion 108.Cover 109 vertically erects usually, vertically erects when self-powered platform 103 rises by conveyance car lowering or hoisting gear, makes self-powered platform 103 can move to till the work delivery position of pillar upper end.Cover 109 can fall down to become level as required, and the operator can climb up this cover 109, the step platform when the maintenance of the not shown machining center of these these cover 109 conducts carrying out etc.In addition, cover 109 is also nonessential in the present invention.
After the handing-over that utilizes the gate feed machine being stated from the workpiece W that carries out between the conveyance car of self-powered platform 103 and the machining center finishes, utilize conveyance car lowering or hoisting gear to make self-powered platform 103 drop to the identical height of driving path 201 of the track accessory 200 adjacent with workpiece processing stations accessory 100.At this moment, the conveyance car utilizes conveyance car lowering or hoisting gear to descend slightly by workbench 104, and is incorporated in the downside of self-powered platform 103.
Like this, be positioned at self-powered platform 103 and make the conveyance car form the conveyance car under the state of work delivery position to pass through the path by workbench 104 and adjacent track accessory 200 coordinations, therefore, the work transporting car 500 that can make in the end of job of other workpiece processing stations accessories 100 is via track accessory 200 and the conveyance car of self-powered platform 103 is risen and the conveyance car that carries out workpiece processing stations accessory 100 places in the work delivery freely comes and goes to the position of expection by workbench 104 and track accessory 200.
Next, master controller and the sub-controller to present embodiment describes.As shown in Figure 7, the sub-controller 625 of being located at each the workpiece processing stations accessory 100 except that main workpiece processing stations accessory 100 with corresponding each machining center 10 of this sub-controller 625 by wired transmitting-receiving machining information, and with master controller 615 described later by this information of wired transmitting-receiving.Appropriate protocol has been adopted in the communication of this information.In addition, sub-controller 625 adopts the usual programmable logic controller (PLC) that uses (below be called " PLC ").
Master controller 615 as described above with a specific workpiece processing stations accessory 100 shown in Figure 7, promptly main workpiece processing stations accessory 100 is provided with accordingly, and this master controller 615 carries out the transmitting-receiving of the machining information of each above-mentioned machining center 10 in the present embodiment with the sub-controller 625 that is provided with accordingly with remaining workpiece processing stations accessory 100 by wired mode.Master controller 615 similarly adopts PLC with sub-controller 625, and carries out the transmitting-receiving of machining information by wired mode between the machining center 10 corresponding with master controller 615.
In addition, master controller 615 is different with sub-controller 625, this master controller 615 possesses hub (HUB) 611 and wireless signal receiving and transmitting part 612, described hub 611 is used to collect from the machining information of each sub-controller 625 with from the information of the machining center 10 corresponding with each sub-controller 625, and described wireless signal receiving and transmitting part 612 is undertaken and the communicating by letter of work transporting car 500 described later by wireless mode.And, master controller 615 utilize wireless signal receiving and transmitting part 612 and at workpiece processing stations accessory 100, track accessory 200, turn between the work transporting car 500 on the accessory 300, receive and dispatch success/failure information, machine information, workpiece kind of information of destination, process finishing information, the processing of each work transporting car 500 etc. by wireless mode.
Work transporting car 500 has surface structure shown in Figure 8, and has internal structure shown in Figure 9.Specifically, work transporting car 500 has: the framework 510 that forms the cuboid framework; Be positioned at the gripper shoe 520 of framework 510 downsides; And four jiaos the wheel 530 (only illustrating 531～533) that is positioned at framework 510 lower ends.And, possess the motor 551 that drives wheel 530, driver 552 that motor drives usefulness in gripper shoe 520, as the PLC 554 of the driving of the battery 553 of the driver element of motor 551, control motor 551 and the wireless machine 555 that carries out the transmitting-receiving of data with master controller 615.
In addition, possesses conquassation absorbing buffer 590 on the top of framework 510, this conquassation absorbing buffer 590 prevents 500 breakages of work transporting car carrying out malfunction because of feeder 10a to the tray 580 or the workpiece W on the tray when applying excessive power of mounting on work transporting car 500.Conquassation absorbing buffer 590 is not shown specifically at this, but is by adopting helical spring or rubber-like rubber packing to constitute.
Motor 551 rotates wheel 530 via wheel 530 mechanical link of not shown reduction gearing and work transporting car 500 one by one.Driver 552 is to utilize the electric power of being supplied with by battery 553 to come CD-ROM drive motor 551 and the parts that make wheel 530 rotations.Wireless machine 555 as described above and carry out the transmitting-receiving of information between the master controller 615 in non-contacting mode.In addition, PLC 554 controls travelling, stopping of work transporting car 500 based on the information by communicating between wireless machine 555 and the master controller 615.
Be respectively equipped with at the fore-and-aft direction of main body panel 570 and prevent crash sensor 571, and the suitable position in the inside of work transporting car 500 is provided with the position sensor 572 to the position of master controller 615 notice work transporting cars 500.In addition, between the upper surface of main body panel and tray, be provided with conquassation forecast sensor 573, when loading machine 10a described later applies excessive downward power to tray, when the loading machine 10a that has perhaps maintained workpiece W handles other workpiece W again, prevent from work transporting car 500 is applied excessive power and makes its breakage.
Can be clear and definite by Fig. 8, the tray 580 of mounting on work transporting car 500 do not have structure complicated as pallet in the past, and has easy structure.In the present embodiment, mounting has four connecting rods (workpiece W) side by side in the precalculated position of tray 580, when arriving workpiece processing stations accessory 100 and stopping, utilizing loading machine 10a to handle necessary workpiece W and arrives machining center 10.Near the workpiece incorporating section of tray 580, be respectively equipped with accordingly with the workpiece W of mounting on tray 580 and have sensor 581～584, detect having or not and PLC 554 and the wireless machine 555 of this testing result by work transporting car 500 being notified to master controller 615 of each workpiece W.Tray 580 has the recess (not shown) that cooperates with four conquassation absorbing buffers 590 of work transporting car 500, by this recess is unloaded from conquassation absorbing buffer 590, can be replaced by other trays as required simply.
Then, the flexible automated material handling systems of the inter process that each above-mentioned inscape is combined is described practically based on exemplary Production Line Configured illustrated in figures 1 and 2.
Fig. 1 shows and utilizes above-mentioned track accessory 200, turns to a form of the Production Line Configured of the workpiece manufacturing procedure that accessory 300 and workpiece processing stations accessory 100 form.In addition, Fig. 2 shows same use track accessory 200, turns to another forms of accessory 300 and Production Line Configureds workpiece processing stations accessory 100, different with Fig. 1.In addition, formation between these Production Line Configureds can be as only carrying out simply with the toy building set ordering of planar alignment, this point is different with the conveyance Production Line Configured change of situations such as existing use gate feed machine, conveyer belt, pallet, belongs to inventive point of the present invention.
Relatively two figure can be clear and definite, forms the enclosed Production Line Configured structure that does not have barrier in the Production Line Configured in Fig. 1.On the other hand, the Production Line Configured of Fig. 2 is, because there is barrier in the specific region in the workshop, therefore forms the open Production Line Configured structure of avoiding this barrier configuration.As mentioned above, the change of such Production Line Configured's structure is different with the existing work transporting equipment of gate feed machine, conveyer and pallet that utilizes, not labor intensive, time and expense, simply and promptly change.
Fig. 1 is the structure example of aforesaid ring-like (closed) Production Line Configured, for example carries out the operation of perforate processing, chamfer machining, bore hole processing, tapping processing from a left side at four machining centers 10 shown in the upside of this figure.And, with the workpiece processing stations accessory 100 that is disposed at each machining center 10 dispose accordingly loading machine 10a (15a, 16a, 17a ...).In the present embodiment, each loading machine 10a arrives on each workpiece processing stations accessory and when stopping at work transporting car 500, predetermined connecting rod (workpiece W) is taken out and place anchor clamps on the machining center from tray 580, perhaps be implemented in function the treating apparatus of the connecting rod after the process finishing on from the anchor clamps mounting on the machining center to tray.Loading machine 10a for example adopts the robot of cartesian co-ordinate type.
In addition, four machining centers shown in the downside of Fig. 1 also with the above-mentioned processing operation of similarly carrying out predetermined connecting rod (workpiece W) respectively.
And, also dispose workpiece processing stations accessory 100 at these four machining centers 10, and each workpiece processing stations accessory 100 dispose respectively loading machine 10a (11a, 12a, 13a ...).
In addition, in the present embodiment, shown in the right side among Fig. 1, workpiece drops into accessory 415 and workpiece discharge accessory 425 is provided with as workpiece input discharge accessory 435 publicly.And as shown in the drawing, the operator stands in this workpiece input and discharges before the accessory 435, and manages various pallets, raw material, finished product.In addition, and the workpiece input discharge accessory 435 opposed parts and dispose and turning to the long track accessory 240 of length that links between the accessory.And, dispose the hole type station 450 that work transporting car 500 is carried out battery charge and replacing in the side of this track accessory 200.In addition, downside in the figure of hole type station 450, be adjacent to dispose cleaning station 465 at the downside that turns to accessory 300 with turning to accessory 300, to track accessory 200, workpiece processing stations accessory 100, turn to accessory 300 and workpiece input to discharge the cleaning that accessory 435 cleans in this track, to travel in good time with the car that travels automatically.
In addition, discharge the driving path that accessory 435 forms work transporting car 500 by four workpiece processing stations accessories 100 of the upside among Fig. 1 and four workpiece processing stations of the downside accessory 100 among Fig. 1 and the track accessory 200 that between them, links, workpiece input.That is, the travel route that travels of work transporting car 500 by workpiece processing stations accessory 100, turn to accessory 300, track accessory 200 and workpiece input to discharge accessory 435 to form.
Then, other Production Line Configureds shown in Figure 2 are described.In the present embodiment, change waits under the situation of some incident when manufacturing a product in the Production Line Configured shown in Figure 1, by change workpiece processing stations accessory 100, track accessory 200, turn to the putting in order of accessory 300, orientation, and the configuration workpiece drops into accessory 415 and discharges accessory 435 to replace the workpiece input, and labor intensive, time and expense also do not change to Production Line Configured shown in Figure 2 rapidly and simply.And, according to present embodiment, can be clear and definite by Production Line Configured shown in Figure 2, the part in the workshop exists under the situation of barriers such as pillar or other equipment, can walk around this barrier and carry out layout changing.
Below, Production Line Configured shown in Figure 2 is described.This Production Line Configured forms the open Production Line Configured different with closed Production Line Configured shown in Figure 1.And, shown in the lower-left of Fig. 2, disposing workpiece and drop into accessory 415, the right side of dropping into accessory 415 at this workpiece disposes various pallets and the raw-material place to place that the operator manages.In addition, dispose in the left side that workpiece drops into accessory 415 and carry out the battery charge of work transporting car 500 and the hole type station 450 of replacing.The upside that drops into accessory 415 at workpiece disposes and turns to accessory 310, and turns to the more upside of accessory 310 to dispose cleaning station 465 at this.And, the corresponding workpiece processing stations accessory 100 of the right side configuration that turns to accessory 300 and each machining center 10 (110,120,130 ...) and the track accessory 200 that between these workpiece processing stations accessories, links (210,220,230 ...).And, be adjacent to dispose with the workpiece processing stations accessory 140 of the rightmost side and turn to accessory 320, walking around this barrier that turns to accessory 320 next doors and turning in the track accessory 240 of upside configuration of accessory 320, making the conversion of work transporting car 500 travel directions and travel towards this.In addition, also dispose at upside and to turn to accessory 330, turn to accessory 330 to dispose workpiece processing stations accessory 150,160,170 corresponding and the track accessory 250,260 that between these workpiece processing stations accessories, links to the right with each machining center 15,16,17 from this.And, be provided with the workpiece of discharging the product of finishing on the right side of the workpiece processing stations accessory 170 of the rightmost side and discharge the space.In addition, though not shown in Fig. 2, workpiece is set discharges accessory but also can discharge the space at the workpiece that product are finished in this discharge.
In addition, in open Production Line Configured shown in Figure 2, four machining centers in left side carry out workpiece and process preliminary operations such as the perforate operation of operation, chamfering process, bore hole operation, tapping operation.In addition, three of the right side machining centers 10 carry out finishing steps such as workpiece grinding.
Be provided with lowering or hoisting gear at each workpiece processing stations accessory 100, the work transporting car 500 that this lowering or hoisting gear makes the driving path 201 with adjacent track accessory 200 be positioned at the stop position that travels accordingly rises to till the job position of each workpiece processing stations, perhaps make work transporting car 500 drop to the stop position that travels from the job position of each workpiece processing stations till.Thus, for example in certain workpiece processing stations accessory 100, after the workpiece W that descends after the end of job that machining center 10 is carried out utilizes loading machine 10a to be accommodated on the tray of work transporting car 500, can utilize lowering or hoisting gear to make this work transporting car 500 move to downside and arrive workpiece and discharge the space, perhaps after workpiece W is discharged in this workpiece discharge space, turn back to workpiece and drop into accessory 415 via the driving path that is formed at workpiece processing stations accessory 100 downsides and each track accessory 200.
Promptly, in the present embodiment, promptly carry out operation and load the work transporting car 500 of the work transporting car 500 of workpiece W at workpiece processing stations accessory 100 above other, and discharge accessory 425 towards workpiece and discharge the workpiece W of the end of job and carry the workpiece W of not operation, therefore be particularly suitable for dropping into the situation of accessory 415 towards workpiece.The special effect of the Production Line Configured's structure that can bring into play following record especially so is set.
In closed Production Line Configured shown in Figure 1, each machining center 10 is responsible for perforate operation, chamfering process, bore hole operation, tapping operation etc. respectively, yet be not limited to such form, for example also can be, under the situation of a large amount of production workpiece W, a plurality of so enclosed Production Line Configureds can be set also, and make only responsible perforate operation of machining center all in each Production Line Configured 10 or only responsible chamfering process or only be responsible for the bore hole operation or only responsible tapping operation.
In this case, for example only be responsible in the Production Line Configured of chamfering process, can make with a plurality of machining centers 10 in carry out the corresponding workpiece processing stations accessory 100 of the machining center 10 of chamfering operation of workpiece W at first the lowering or hoisting gear of work transporting car 500 by workpiece processing stations accessory 100 drop to driving path 201, accessory 425 is discharged workpiece W thereby other work transporting cars 500 that surpass the operation station that is positioned at workpiece processing stations accessory 100 by travelling at driving path 201 arrive the workpiece discharge, then travel and get back to workpiece and drop into accessory 415 at driving path 201, carry new workpiece W then and get back to original workpiece processing stations accessory 100, rise and workpiece W is supplied to the loading machine 10a of machining center 10 by lowering or hoisting gear.Thus, can not carry out the processing operation of workpiece W lavishly, productivity significantly improves always.
In addition, though also can be different from the embodiment described above, the self-powered platform and the conveyance car of workpiece processing stations accessory are set up in parallel by workbench along continuous straight runs under the state that is provided with of the flexible automated material handling systems of inter process, then can realize the save spaceization of Production Line Configured yet as above-mentioned embodiment, vertically arrange to be provided with, we can say that according to this some the latter is preferred.
In addition, in the above-described embodiment, by wired mode carry out between master controller and the sub-controller, communicating by letter between master controller and the machining center, yet also can carry out communication between them according to the situation difference by wireless mode.
In addition, for tray, if prepare a large amount of trays corresponding, even identical Production Line Configured's structure with each workpiece, also can change the tray of mounting simply, the few production of kind volume that therefore can corresponding production line at each workpiece in the work transporting car.
Understand as mentioned above, present embodiment is owing to have aforesaid structure, therefore can eliminate when after as in the past, the gate feed machine being arranged at ceiling, the layout changing of each operation in the workshop taking place the trouble that the whole change of the configuration of this gate feed machine is such and cause the situation of the inconvenience of equipment investment aspect cost rising.In addition, under the situation that the gate feed machine is set, needed to prepare the change of layout in the past and the gate feed machine was set in unnecessary scope, and caused the rising of equipment cost, yet, can eliminate the situation of such inconvenience according to the present invention.
In addition, avoided as in the past, being undertaken the inconvenience of the part conveyance between each machining center by the conveyer belt conveyance, promptly need not along with layout changing transmission belt, the chain of conveyer are disconnected in the mode that is fit to this layout changing respectively, can with low-cost, simply and easily carry out layout changing.
In addition, avoided as in the past, using pallet to carry out the inconvenience of the situation of the part conveyance between each machining center, promptly need not to make pallet self to possess enough intensity, the folder (anchor clamps) of fixation workpiece perhaps is set, also need not to prepare carrying device as the special product of conveyance pallet, can be easily and carry out layout changing simply.
Like this, according to the present invention, can be rapidly and need not the frequent layout changing that new equipment input etc. becomes the manufacturing process that the few production of local reply and kind volume accompanies, the flow process that can regulate the few production of current kind volume well.
In addition, since the track accessory form with freely mode of loading and unloading link workpiece processing stations accessory, turn to accessory, workpiece drops into accessory, workpiece is discharged accessory, even therefore in the space that will carry out layout changing, there are the barriers such as pillar in other equipment or workshop, also can walk around this barrier and carry out layout changing, improve the free degree of layout changing.
In addition, because forming, the work transporting car can therefore can promptly tackle of the conveyance of work transporting car with the tray of the workpiece of removable mode mounting and each manufacturing of conveyance to various workpiece.That is, can promptly tackle the switching of the kind of workpiece, be suitable for many kinds produced in small quantities.
In addition, because present embodiment has above-mentioned structure, the structure of track accessory forms row, so the change of the structure of entire system is simple.Thus, the cost that helps equipment integral body reduces.In addition, can reduce the height of track accessory.Thus, the operator can stride across from the track accessory, and mobile become easily of operator in the operating area can be realized the raising of operating efficiency.
In addition, workpiece processing stations accessory pass through stop position and work delivery position is, work delivery position is positioned at upside when workpiece processing stations accessory is set, be positioned at downside by stop position, therefore and has the lift component that makes the lifting between workpiece is by stop position and work delivery position of work transporting car, even guarantee that the space of width of workpiece processing stations accessory is also passable with exceeding.Thus, the save spaceization of device layout can be further realized, and free space can be effectively utilized.
In addition, the gate feed machine can be located at the upside of workpiece processing stations accessory, can realize the further save spaceization of working space, and can make the conveyance car of workpiece and the handing-over of the workpiece between the machining center become easy.
Below, the advantage of the present invention that comprises each above-mentioned embodiment is described in the mode of easy understanding based on an embodiment.This embodiment is based on the disconnection operation of connecting rod, and for example in order to make the explanation facilitation, the disconnection operation that makes connecting rod constitutes according to process sequence these three operations of bore hole operation by the connecting rod of the disconnection operation of the perforate operation of connecting rod, connecting rod and disconnection.And in this case, the workpiece that is dropped into workpiece input accessory carries out perforate by the identical tie rod holes in the perforate operation of being located at connecting rod with machining center (A-1, A-2) concurrent job.Then, disconnect in the operation, connecting rod is disconnected by identical machining center concurrent job at connecting rod as its lower procedure.And then, in bore hole operation, possess two identical bore hole machining centers as the connecting rod of the disconnection of its lower procedure, to the connecting rod concurrent job that disconnects to carry out the bore hole operation.And then, possess workpiece and discharge accessory in the downstream of this operation.And, drop into accessory at each workpiece processing stations accessory of two pairs and workpiece, workpiece is discharged between the accessory possesses the track accessory and possess the accessory of turning to as required.
At this, for whole workpiece processing stations accessories (A-1, A-2) corresponding with perforate connecting rod and with the corresponding workpiece processing stations accessory (B-1, B-2) of the disconnection operation of connecting rod and with the corresponding workpiece processing stations accessory (C-1, C-2) of bore hole operation of the connecting rod that disconnects, suppose workpiece is transported to corresponding machining center, all machining centers are all carrying out operation.
Then, suppose the end of job of for example corresponding machining center with the workpiece processing stations accessory A-1 of the perforate that relates to connecting rod, the end of job of the machining center corresponding with the workpiece processing stations accessory B-2 of the disconnection operation that relates to connecting rod, the end of job of the machining center corresponding with the workpiece processing stations accessory C-2 of the bore hole operation of the connecting rod that relates to disconnection.
In this case, under the state that workpiece processing stations accessory A-1, B-2, C-2 self-powered platform is separately risen, utilize the gate feed machine that the workpiece of the end of job is transferred to the work transporting car from each machining center respectively.And, aspect the time, the self-powered platform of workpiece processing stations accessory C-2 is descended, and makes the conveyance car of taking advantage of on this self-powered platform move to the discharge station.
Next, descend at the self-powered platform that makes workpiece processing stations accessory B-2, after making the conveyance car move to traveling-position, make this conveyance car pass through workbench by the conveyance car of workpiece processing stations accessory C-1 downside, and move to workpiece processing stations accessory C-2, be multiplied by the self-powered platform of workpiece processing stations accessory C-2 then and rise, work delivery is given the gate-type feeder of workpiece processing stations accessory C-2.
Then, make the self-powered platform decline of workpiece processing stations accessory A-1 and make the conveyance car move to traveling-position, pass through workbench via the conveyance car of the workpiece processing stations accessory A-2 conveyance car by workbench and workpiece processing stations accessory B-1, make the conveyance car move to the self-powered platform of workpiece processing stations accessory B-2, this self-powered platform is risen, work delivery is given the gate-type feeder of workpiece processing stations accessory B-2.
Then, when the self-powered platform of workpiece processing stations accessory A-1 and B-2 is positioned at upside, make discharging accessory and discharged the work transporting car of workpiece and get back to workpiece via the conveyance car of each station by the driving path of workbench and the track accessory between them and drop into station, and carry new workpiece again.
In addition, for above-mentioned handing-over and the conveyance that utilizes the workpiece efficiently that the conveyance car carries out, thereby have or not the position of conveyance car and conveyance car to manage in the job status of grasping machining center one by one by master controller that each station possessed and sub-controller, each station.
According to the present invention, by management like this, respectively have at the workpiece processing stations accessory that carries out same kind operation under many situation, can carry out the handing-over of workpiece by the workpiece processing stations accessory corresponding with the machining center that finishes operation the earliest, the traveling-position that makes the conveyance car drop to workpiece processing stations accessory also passes through the downside of other workpiece processing stations accessories of identical type, moves to the workpiece processing stations accessory corresponding with next flow chart.
In addition, according to the present invention, be stated from the conveyance car and after the discharge accessory is all discharged workpiece, can make the conveyance car get back to workpiece input accessory by vehicle line at the workpiece that All Jobs is through with.Thus, need not to produce the free time of the operation of each machining center, can carry out operation at all machining centers always, can improve operating efficiency significantly.
Claims (4)
1. the flexible automated material handling systems of an inter process, it has:
Workpiece processing stations accessory, the corresponding configuration of described workpiece processing stations accessory with machining center, described machining center is provided with at each operation of the manufacturing process of components that comprises a plurality of operations;
The track accessory, described track accessory links up each described workpiece processing stations accessory;
Turn to accessory, described turn to accessory to be disposed between the described track accessory or track accessory and workpiece processing stations accessory between;
Workpiece drops into accessory, and described workpiece drops into any one binding in accessory and described track accessory or the workpiece processing stations accessory;
Workpiece is discharged accessory, and described workpiece is discharged any one track accessory or the binding of workpiece processing stations accessory that described workpiece drops into accessory that be different from accessory and described track accessory or the workpiece processing stations accessory; And
A plurality of work transporting cars, described a plurality of work transporting cars can drop into accessory, workpiece processing stations accessory, track accessory at the workpiece of described mutual binding, turn on accessory and the workpiece discharge accessory and move,
The flexible automated material handling systems of this inter process is characterised in that,
Described track accessory forms with respect to described workpiece processing stations accessory, turns to accessory, workpiece to drop into accessory, the loading and unloading of workpiece discharge accessory freely,
The configuration direction of each track accessory of the described travel direction that turns to accessory to form can to change the described work transporting car of decision,
Described work transporting car forms the tray with the workpiece of the mode mounting that can change and each manufacturing of conveyance,
The place possesses sub-controller at described workpiece processing stations accessory, described sub-controller is managed having or not about described work transporting car at least, the workpiece of work transporting car institute conveyance and the information of the relation between the described machining center, and the workpiece processing stations accessory or the workpiece input accessory place that do not possess described sub-controller possess master controller, this master controller is by the information of radio communication or wire communication centralized management from described sub-controller, and controls the transport condition of described a plurality of work transporting cars on the track accessory by radio communication, and at workpiece input accessory, workpiece processing stations accessory, workpiece is discharged the halted state on the accessory.
2. the flexible automated material handling systems of inter process according to claim 1 is characterized in that,
Described track accessory is made of a row driving path,
Described workpiece processing stations accessory has the workpiece of being arranged to link with the driving path of described track accessory and passes through stop position, and be positioned at the work delivery position that leaves the position of this workpiece by stop position, by mobile unit described work transporting car can be moved between described workpiece is by stop position and work delivery position, move under the state of described work delivery position at described work transporting car, other work transporting cars can pass through described workpiece processing stations accessory through the workpiece driving path of the track accessory that is connected with the both sides of described workpiece by stop position.
3. the flexible automated material handling systems of inter process according to claim 2 is characterized in that,
When described workpiece processing stations accessory is set, the any one party of passing through in stop position and the work delivery position of this workpiece processing stations accessory is positioned at upside, and the opposing party is positioned at downside arbitrarily, and described mobile unit is made of the lifting unit that makes the lifting between workpiece is by stop position and work delivery position of described work transporting car.
4. the flexible automated material handling systems of inter process according to claim 3 is characterized in that,
When workpiece processing stations accessory is set, describedly be positioned at downside by stop position, described work delivery position is positioned at upside.
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| JP2009119355 | 2009-05-17 | ||
| JP2010-107796 | 2010-05-08 | ||
| JP2010107796A JP2011000702A (en) | 2009-05-17 | 2010-05-08 | Flexible automatic conveyance system between processes |
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Cited By (2)
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| CN106976676A (en) * | 2017-05-12 | 2017-07-25 | 京东方科技集团股份有限公司 | A kind of warehousing system, production line and commodity distribution control method |
| CN109947051A (en) * | 2017-12-21 | 2019-06-28 | 发那科株式会社 | Numerical control device |
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| US9672533B1 (en) | 2006-09-29 | 2017-06-06 | Amazon Technologies, Inc. | Acquisition of an item based on a catalog presentation of items |
| US9158741B1 (en) | 2011-10-28 | 2015-10-13 | Amazon Technologies, Inc. | Indicators for navigating digital works |
| US10108186B2 (en) | 2011-12-09 | 2018-10-23 | Daimler Ag | Adaptive workstation assembly in production processing |
| JP6650290B2 (en) * | 2016-02-17 | 2020-02-19 | Dmg森精機株式会社 | Machine Tools |
| DE102019200662A1 (en) * | 2018-08-30 | 2020-03-05 | Deckel Maho Pfronten Gmbh | TRANSPORT DEVICE FOR RECEIVING MODULE UNITS CONTAINING ONE OR SEVERAL MACHINE TOOL ACCESSORIES AND FOR TRANSPORTING THE ONE OR MORE MODULE UNITS INCLUDED |
| US11613431B2 (en) | 2020-04-30 | 2023-03-28 | Kuka Systems North America Llc | Fastener feeding system and method |
| WO2023281702A1 (en) * | 2021-07-08 | 2023-01-12 | ヤマハ発動機株式会社 | Factory management system |
| WO2023282254A1 (en) * | 2021-07-08 | 2023-01-12 | ヤマハ発動機株式会社 | Plant management system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106976676A (en) * | 2017-05-12 | 2017-07-25 | 京东方科技集团股份有限公司 | A kind of warehousing system, production line and commodity distribution control method |
| CN106976676B (en) * | 2017-05-12 | 2019-06-21 | 京东方科技集团股份有限公司 | A kind of warehousing system, production line and commodity distribution control method |
| US11215978B2 (en) | 2017-05-12 | 2022-01-04 | Boe Technology Group Co., Ltd. | Automated warehousing system, display panel production line and logistics delivery method |
| CN109947051A (en) * | 2017-12-21 | 2019-06-28 | 发那科株式会社 | Numerical control device |
| US10866577B2 (en) | 2017-12-21 | 2020-12-15 | Fanuc Corporation | Numerical controller |
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Application publication date: 20111109 |