JP2000177806A - Work piece auto-loading device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work piece auto-loading device excellent in workability as compared with a conventional one. SOLUTION: In a work piece auto-loading device provided with a pallet stage changing device 10, a work piece picking-out device 20 for picking out a work piece (w) from a second station 2st of the pallet stage changing device and a transferring device 30 for transferring the picked-out work piece, the work piece picking-out device 20 has a robot 21 movable between the work piece (w) received in a work piece receiving pallet 40 located at the second station 2st, and the transferring device 30, and a tool 22 capable of holding the work piece attached to the tip of the robot. The transferring device 30 has a hanger 31 provided with a supporting part for leaning the work piece, and a work piece receiving part formed at the lower part of the supporting part and extending in the direction intersecting with the supporting part, and a rail for guiding the movement of the hanger.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for transferring a work-containing pallet to a pallet changer, automatically taking out the work from the work-containing pallet, loading the work on a transfer device,
The present invention relates to an automatic work loading device that unloads an empty pallet from a pallet changer.

[0002]

2. Description of the Related Art Heretofore, pallets accommodating works to be supplied to a line have been arranged near a line (manufacturing line) for performing a process of assembling works such as side member panels of an automobile. Since a plurality of types of works are prepared according to the type of vehicle and are accommodated in pallets for each type, a large space for arranging a plurality of pallets corresponding to the number of types of works is required near the line. Therefore, Japanese Patent Application Laid-Open No. Hei 5-337760 discloses a work transfer system in which a space for disposing a pallet is not provided near a line. As shown in FIG. 6, the system includes a pallet loading section 50 at the upper stage.
And a rail arranged to transport the work taken out from the pallet loading section 50 to the production line, and a collection conveyor 51 below the pallet loading section 50. The pallet carry-in section 50 has a lifter 52 with a conveyor for raising the pallet transferred from the truck to a predetermined position.
And an intermediate conveyor 53 for transporting the pallet on the lifter 52 to the stock position S, a lifter 54 with a guide roller mechanism disposed at the stock position S, and a cart 55 on the rail for transferring the work on the pallet carried into the stock position. A work transfer mechanism 56 is provided. In the conventional work transport system, the pallet 60 transferred from the truck is first lifted by the lifter 52, and the conveyor provided on the lifter 52 and the intermediate conveyor 53 are driven to move the pallet 60 to the stock position S.
Transported to The guide roller 54 is located at the stock position S.
However, since the guide roller 54 has no driving means, the pallet 60 is transported from the intermediate conveyor 53 to the stock position S by the pallet pushing device provided between the intermediate conveyors. The work is taken out of the pallet at the stock position S by the work transfer mechanism 56 and is placed on a cart. The empty pallet from which all the work is taken out and emptied is lowered by the lifter 54 with the guide roller mechanism, and the recovery conveyor 51 at the lowered position is driven to return to the pallet loading side.

[0003]

However, in the conventional work transfer system (work automatic loading device), workability is not preferable for the following reasons. Pallets of different sizes cannot be transported. A lot of energy is consumed for transporting empty pallets by the recovery conveyor. An object of the present invention is to provide a work automatic loading device that is superior in workability to the conventional one.

[0004]

The present invention to achieve the above object is as follows. (1) There are first and second stations arranged on the upper stage and on both sides in the left-right direction, and third and fourth stations arranged on the lower stage and on both sides in the left-right direction. The fourth station is arranged on the side,
A rack in which the third station is arranged below the second station, a left-right moving device for moving a pallet placed on the rack in the left-right direction of the rack, A pallet changer having a lifting device for moving the work vertically, a work take-out device for taking out a work from the second station of the pallet changer, and a transfer device for conveying the work taken out; Is loaded at the first station and moved to the second station by the left-right moving device,
The work is taken out from the work storage pallet by the work take-out device, and the empty pallet that has been emptied is
It is lowered to the third station by the elevating device, moved from the third station to the fourth station by the left-right moving device, and carried out.
In the automatic work loading device, the work take-out device is a robot movable between a work accommodated in a work accommodation pallet in the second station and the transfer device, and is attached to a tip of the robot. A tool capable of gripping the work, wherein the transfer device includes a support portion for leaning the work, and a work receiving portion provided below the support portion and extending in a direction crossing the support portion. An automatic work loading device having a hanger and a rail for guiding the movement of the hanger. (2) There are first and second stations arranged on the upper stage and on both sides in the left-right direction, and third and fourth stations arranged on the lower stage and on both sides in the left-right direction. The fourth station is arranged on the side,
A rack in which the third station is arranged below the second station, a left-right moving device for moving a pallet placed on the rack in the left-right direction of the rack, A pallet changer having a lifting device for moving the work vertically, a work take-out device for taking out a work from the second station of the pallet changer, and a transfer device for conveying the work taken out; Is loaded at the first station and moved to the second station by the left-right moving device,
The work is taken out from the work storage pallet by the work take-out device, and the empty pallet that has been emptied is
It is lowered to the third station by the elevating device, moved from the third station to the fourth station by the left-right moving device, and carried out.
In the automatic work loading device, the left-right moving device includes a roller disposed on both sides in a direction orthogonal to the left-right direction of the lower stage of the rack and capable of holding a lower surface of a pallet, and a driving device for driving the roller. Is an automatic workpiece loading device inclined downward from the fourth station toward the third station. (3) There are first and second stations arranged on the upper stage and on both sides in the left-right direction, and third and fourth stations arranged on the lower stage and on both sides in the left-right direction. The fourth station is arranged on the side,
A rack in which the third station is arranged below the second station, a left-right moving device for moving a pallet placed on the rack in the left-right direction of the rack, A pallet changer having a lifting device for moving the work vertically, a work take-out device for taking out a work from the second station of the pallet changer, and a transfer device for conveying the work taken out; Is loaded at the first station and is moved to the second station by the left-right moving device,
The work is taken out from the work storage pallet by the work take-out device, and the empty pallet that has been emptied is
It is lowered to the third station by the elevating device, moved from the third station to the fourth station by the left-right moving device, and carried out.
In the work automatic loading device, the left and right direction moving device includes a roller disposed on both sides in a direction orthogonal to the left and right direction of the upper stage and the lower stage of the rack, and a driving device for driving the roller, and An automatic work loading device, wherein the rollers located at the second station are movable in a direction orthogonal to the left-right direction, and the intervals between rollers disposed on both sides in the direction orthogonal to the left-right direction are changeable. .

[0005] In the above-mentioned automatic work loading device of (1), the work take-out device has a robot and a tool attached to the tip of the robot that can grip the work, and is easily located at the second station by the tool. The workpiece can be gripped and taken out of the pallet. The work held by the tool is placed on the hanger by the operation of the robot. The hanger has a supporting part and a receiving part, and the receiving part prevents the work from falling off the hanger and the supporting part supports the work to lean on, so that the work can be mounted on one type of hanger regardless of its size. The workability is excellent because the hanger has versatility. In the automatic work loading device of the above (2), the left and right direction moving device has a roller which is disposed on the upper stage of the rack and can hold the lower surface of the pallet and a driving device which drives the roller,
Since the rollers are inclined downward from the third station toward the fourth station, the pallet can easily move to the fourth station, the driving force of the rollers can be reduced, and the workability is excellent. In the automatic workpiece loading device of the above (3), the rollers located at the second station of the rack are movable in the direction orthogonal to the left-right direction, and the rollers disposed on both sides of the rack in the direction orthogonal to the left-right direction. The gap between the rollers can be changed, so if the width of the pallet is large, the gap between the rollers is increased,
When the width of the pallet is small, the width between the rollers is reduced, so that pallets having different sizes can be held, and workability is excellent.

[0006]

FIG. 1 shows an automatic work loading device according to an embodiment of the present invention, and FIGS. 2 and 3 show a pallet changing device of the automatic work loading device according to an embodiment of the present invention.
FIG. 5 shows a transfer device of the automatic work loading device according to the embodiment of the present invention, and FIG.

First, an automatic work loading apparatus according to an embodiment of the present invention will be described with reference to FIGS. Work W
Is, for example, a side member panel that is part of the car skin. As shown in FIG. 1, the automatic work loading device includes a pallet stage changing device 10, a work take-out device 20, and a transfer device 30.

As shown in FIGS. 1 to 3, the pallet changer 10 includes a rack 11, a left-right moving device 12A,
12B and an elevating device 13.

The rack 11 is a two-tiered shelf. A plurality of stations are arranged on the upper stage of the rack 11 in the left-right direction. FIG. 1 shows an example in which two stations, a first station 1st and a second station 2st, are arranged in the left-right direction. When there are three or more stations, one or more stations are arranged between the first station 1st and the second station 2st. A plurality of stations are arranged in the lower direction of the rack 11 in the left-right direction. FIG. 1 shows an example in which two stations, a third station 3st and a fourth station 4st, are arranged in the left-right direction. 3 stations
In the case of more than one station, one or more stations are arranged between the third station 3st and the fourth station 4st. The station located below the first station 1st is the fourth station 4st. A station located below the second station 2st is a third station 3st.

The left and right moving devices 12A and 12B are shown in FIG.
As shown in the figure, the rack 11 is provided on each of the upper and lower tiers. The upper left-right moving device 12A moves the pallet 40 from the first station 1st to the second station 2st. Lower horizontal movement device 12
B moves the pallet 40 from the third station 3st to the fourth station.
To the station 4st. In the embodiment of the present invention, the upper and lower horizontal moving devices 12A, 12B
However, there is an example in which the upper and lower stages of the rack 11 are provided with rollers 12r arranged on both sides in a direction (front-back direction) orthogonal to the left-right direction as shown in FIG. 1 and a power motor (not shown) for driving the rollers 12r. Is shown. As shown in FIG. 3, the rollers 12 r arranged at the lower stage of the rack 11
From the third station 3st to the fourth station 4s
It is inclined downward toward t. Note that the roller 12r from the first station 1st to the second station 2st may also be inclined downward. Further, the rollers 12r located at the first station 1st, the third station 3st, and the fourth station 4st, which are disposed on both sides in the front-rear direction of the rack 11, have large widths in the front-rear direction. Each of the rollers 12r located at the second station 2st has a smaller width in the front-rear direction than the other rollers 12r. Further, since the roller 12r located at the second station 2st is movable in the front-rear direction, the distance between the rollers 12r in the front-rear direction (the width at which the roller 12r is provided) can be changed. The other rollers (the rollers located at the first station 1st, the third station 3st, and the fourth station 4st) 12r may also be variable in the front-rear direction width. Also, the second station 2s of the rack 11
Within the t, the pallet 4 is moved by the left-right moving device 11A.
A stop device is disposed to prevent 0 from jumping out of the rack 11. The stopping device detects, for example, a positioning pin that can be retracted and engages with the pallet 40 when the pallet 40 is moved to the second station 2st. A sensor that stops driving can be used. The fourth station 4s of the rack 11
Within t, the pallet 4 is moved by the left-right moving device 11B.
A stop device is disposed to prevent 0 from jumping out of the rack 11.

The elevating device 13 includes an elevating plate 13a and an elevating plate 13 provided at the fourth station 4st of the rack 11.
and a drive device (not shown) that moves up and down a. The lift plate 13a is a roller 1 located at the second station 2st.
It can move up to above 2r.

The work take-out device 20 is configured to operate the work W on the work storage pallet 40 in the second station 2st.
The robot 21 includes a robot 21 that can move between the robot 21 and the transfer device 30, and a tool 22 that can hold a workpiece W attached to the tip of the robot 21. The robot 21 can take various postures by using an articulated robot. The robot 21 is in the second station 2
It is arranged next to st. FIG. 1 shows an example in which two robots are arranged. As the tool 22, a tool that can easily grip the work W, such as a type that sandwiches the work W and a type that sucks the work W, is used.

The transfer device 30 includes a vertically extending support portion 31a (in FIG. 4, a rectangular frame is shown, but a plate shape may be used) and a support portion 31a for leaning the work W thereon.
, A hanger 31 provided with a receiving portion 31b of a work W extending in a direction (for example, a horizontal direction) intersecting with the support portion 31a, a rail 32 for guiding the movement of the hanger 31, and a hanger 31 And a driving device (not shown) that moves along the line 32. The receiving portion 31b includes a locking portion 31c protruding upward from the receiving portion 31b at a position away from the support portion 31a. Further, a hook portion 31d for hanging the work W may be provided on the upper portion of the support portion 31a. As shown in FIG. 4, receiving portions 31b and locking portions 31c are provided on both sides (front side and back side) of the support portion 31a.
Is provided, two works W can be placed on one hanger 31. The rail 32 extends above the pallet changing device 10 to a line for processing the work W.

Since the work W is accommodated in the pallet 40 for each type, when there are a plurality of types of the work W, a plurality of types of the pallets 40 are prepared. It is desirable that pallets 40 of the same type be placed on one pallet change device 10. Therefore, a number corresponding to the number of types of the pallets 40 is prepared for the pallet stage changing device 10. In that case, the pallet level change device 10 positions the second station 2st of the rack 11 on the robot 21 side, and is arranged before and after and / or right and left. FIG. 1 shows an example in which six pallets 40 (work W) can be placed by arranging six pallets 40 (work W) in total by arranging three pallet changers 10 on the left and right sides of the robot 21 on the left and right sides respectively. Is shown. When the work W is a side member panel of an automobile, two pieces, a right panel and a left panel, form one set and are processed in a line. In this case, as shown in FIG. 5, two sets of a plurality (six in FIG. 1) of pallet change devices 10 arranged as shown in FIG. 1 are prepared. Thus, one pallet changer 10 can accommodate the right panel R, and the other pallet changer 10 can accommodate the left panel L. The rail 32 is disposed so as to pass above both pallet change devices 10. Thereby,
The right panel R is loaded above the one pallet changing device 10, and the left panel L is loaded above the other pallet changing device 10, and two of them are conveyed to the line.

Next, the operation of the automatic work loading apparatus according to the embodiment of the present invention will be described. 1st station 1st in the upper stage of rack 11 of pallet changer 10
Then, a work storage pallet 40 storing a plurality of works W is placed by using, for example, a lift. The work storage pallet 40 is in a state where the lower surface rides on rollers arranged on the rack 11. Since the width of the rollers 12r located in the first station 1st, the third station 3st, and the fourth station 4st is increased in the front-rear direction, the width of the pallet 40 in the front-rear direction may be large or small. Also, the lower surface of the pallet 40 can be held. In addition, the distance between the rollers on both sides in the front-rear direction of the roller 12r located in the second station is adjusted in advance to a size that can hold the work storage pallet 40. Therefore, the roller 12r located at the second station 2st is
Even if the width in the front-back direction is smaller than r, pallets 40 of different sizes can be held.

When the roller 12r is driven, the work storage pallet 40 moves from the first station 2st to the second station 2st. Roller 12r moves from first station 1st to second station 2s
When inclined downward toward t, the work storage pallet 40 moves smoothly even if the driving force for driving the roller 12r is small.

Subsequently, from among the plurality of pallet changers 10 arranged, the work W required for the line is selected.
The robot 21 is driven toward the pallet change device 10 on which the workpiece storage pallet 40 storing the pallet is placed. The robot 21 is moved from the work storage pallet 40 at the second station 2st of the pallet changer 10 by the tool 22 to the position closest to the robot.
One work W is gripped. While holding the work W, the robot 21 is driven, the lower side of the work W is placed on the receiving portion 31b of the hanger 31 above the pallet changing device 10, and the upper portion of the work W is leaned on the support portion 31a,
The tool 22 releases the grip of the work W. This allows
The work W is loaded on the hanger 31. Since the lower portion of the work W abuts on the locking portion 31c, the posture of leaning on the support portion 31a can be maintained even if the work W is inclined at a certain angle. Since the hanger 31 leans and holds the work W, the work W having different shapes and sizes is used.
Can be placed and transported. The work W placed on the hanger 31 is transported to the line by a rail 32 extending to a line (not shown) using the work W. After the work W is unloaded and emptied at the line, the hanger 31 returns to the pallet changing device, and repeats the process of placing another work W and transporting it to the line again. The work W is taken out from the work storage pallet 40 in order, and finally, the pallet 40 becomes empty.

At the second station 2st, the pallet 40
Is detected by a sensor or the like, the elevating plate 31 of the elevating device 30 located below is raised, and the empty pallet 40 is raised above the roller 12r. At this time,
The pallet 40 is not arranged in the third station 3st. When the pin provided in the second station 2st is engaged with the pallet 40, the pallet 40
As a result, the engagement of the pin is released. Then, the respective rollers 12r on both front and rear sides in the second station 2st move to both front and rear ends of the rack 11. Subsequently, the lifting plate 31 is lowered while holding the lower surface of the empty pallet 40, and the empty pallet 40 is lowered. Roller 12r
Are located at both front and rear ends, the empty pallet 40 passes through the second station 2st without being held by the roller 12r located at the second station 2st,
Station 3st.

Subsequently, the lower roller 12 of the rack 11
r is driven and the empty pallet 40 is moved to the third station 3
Move from the st to the fourth station 4st. When the roller 12r is inclined downward from the third station 3st to the fourth station 4st, the work storage pallet 40 moves smoothly even if the driving force for driving the roller 12r is small. . Therefore, the driving force consumed for driving the roller 12r can be reduced as compared with the case where the roller 12r is not inclined. Empty pallet 4 that has reached the fourth station 4st
0 is carried out of the pallet changer.

When a work storage pallet 40 is arranged from the first station 1st to the second station 2st, the next work storage pallet 40 can be arranged at the first station 1st.

[0021]

According to the first aspect of the present invention, the work take-out device has a robot and a tool attached to a tip of the robot and capable of holding a work, and the second tool can be easily loaded by the tool. The work can be taken out and picked up from the pallet in the station. The work held by the tool is placed on the hanger by the operation of the robot. The hanger has a supporting part and a receiving part, and the receiving part prevents the work from falling off the hanger and the supporting part supports the work leaning on it, so put any size work on the hanger And excellent workability. According to the workpiece automatic loading device of the second aspect, the left-right moving device has a roller disposed on the upper stage of the rack and capable of holding the lower surface of the pallet and a motor for driving the roller, and the roller is moved from the third station to the third station. As it slopes down towards Station 4,
The pallet can be easily moved to the fourth station, the driving force of the roller can be reduced, and the workability is excellent. According to the workpiece automatic loading device of the third aspect, the rollers located at the second station of the rack are movable in the direction orthogonal to the left-right direction, and are disposed on both sides of the rack in the direction orthogonal to the left-right direction. Since the interval between the rollers can be changed, the interval between the rollers is increased when the width of the pallet is large, and the width between the rollers is decreased when the width of the pallet is small. Pallet can be held, and workability is excellent.

[Brief description of the drawings]

FIG. 1 is a perspective view of an automatic work loading apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of the automatic work loading apparatus according to the embodiment of the present invention.

FIG. 3 is a side view of the work automatic loading apparatus according to the embodiment of the present invention.

FIG. 4 is a perspective view of a transfer device of the automatic work loading apparatus according to the embodiment of the present invention.

FIG. 5 is a view for explaining an arrangement of a pallet changer of the automatic work loading apparatus according to the embodiment of the present invention.

FIG. 6 is a diagram showing a conventional work transfer system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Pallet change-over apparatus 11 Rack 12A, 12B Left-right direction moving apparatus 13 Elevating apparatus 20 Work take-out apparatus 21 Robot 22 Tool 30 Transport apparatus 31 Hanger 31a Support part 31b Receiving part 32 Rail 40 Pallet 1st 1st station 2st 2nd station 3st 3rd station 4st 4th station

Claims (3)

[Claims] 1. A first station having first and second stations arranged on both upper and lower sides in the left-right direction, and third and fourth stations arranged on both lower sides and both sides in the left-right direction.
A rack in which the fourth station is arranged below the second station, and a rack in which the third station is arranged below the second station; Pallet changer provided with a left-right moving device for moving the pallet in the vertical direction of the rack, and a work take-out device for taking out a work from the second station of the pallet changer And a transfer device for transferring the picked-up work. A work storage pallet containing the work is carried in at the first station and moved to the second station by the left-right moving device. The empty pallet taken out of the pallet by the work take-out device and emptied is loaded into the lift In the automatic work loading apparatus, the work take-out device is moved down to the third station, moved from the third station to the fourth station by the left-right moving device, and unloaded. A robot capable of moving between a work accommodated in a work accommodating pallet at the station and the transfer device, and a tool capable of gripping a work attached to a tip of the robot, wherein the transfer device is A hanger including a support portion for leaning the work, a work receiving portion provided below the support portion and extending in a direction crossing the support portion, and a rail for guiding the movement of the hanger. Automatic work loading device. 2. The apparatus according to claim 1, further comprising first and second stations arranged on an upper stage and on both sides in the left-right direction, and third and fourth stations arranged on a lower stage and on both sides in the left-right direction.
A rack in which the fourth station is arranged below the second station, and a rack in which the third station is arranged below the second station; Pallet changer provided with a left-right moving device for moving the pallet in the vertical direction of the rack, and a work take-out device for taking out a work from the second station of the pallet changer And a transfer device for transferring the picked-up work. A work storage pallet containing the work is carried in at the first station and moved to the second station by the left-right moving device. The empty pallet taken out of the pallet by the work take-out device and emptied is loaded into the lift The automatic work loading device is moved down to the third station by the above, moved from the third station to the fourth station by the left-right moving device, and unloaded. A roller which is disposed on both sides in a direction orthogonal to the left-right direction of the pallet and is capable of holding the lower surface of the pallet; and a driving device for driving the roller, wherein the roller moves downward from the third station toward the fourth station. An automatic loading device that is inclined to the workpiece. 3. The apparatus according to claim 1, further comprising first and second stations arranged on an upper stage and on both sides in the left-right direction, and third and fourth stations arranged on a lower stage on both sides in the left-right direction.
A rack in which the fourth station is arranged below the second station, and a rack in which the third station is arranged below the second station; Pallet changer provided with a left-right moving device for moving the pallet in the vertical direction of the rack, and a work take-out device for taking out a work from the second station of the pallet changer And a transfer device for transferring the picked-up work. A work storage pallet containing the work is carried in at the first station and moved to the second station by the left-right moving device. The empty pallet taken out of the pallet by the work take-out device and emptied is loaded into the lift In the automatic work loading apparatus which is moved down to the third station, moved from the third station to the fourth station by the left-right moving device, and unloaded, the left-right moving device is located on the upper stage of the rack. And a roller disposed on both sides in a direction orthogonal to the left-right direction at the lower stage and a driving device for driving the rollers, wherein the roller located in the second station of the rack is in a direction orthogonal to the left-right direction. An automatic work loading device, wherein the distance between rollers disposed on both sides in a direction perpendicular to the left-right direction can be changed.