JP2000302245A - Work carry-out device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve work carry-out tact and reduce cost. SOLUTION: A device for picking one work, having an up-and-down movable sucking member 15, is provided above a pallet P on which a work W is placed and a pipe roller table 13 is provided to be moved in and out between the sucking member 15 of the device 17 for picking one work and the work W. The straight movement of the pipe roller table 13 is performed in carrying one picked work, improving a work carry-out tact and reducing cost with simple structural members.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work unloading device for unloading a work.

[0002]

2. Description of the Related Art Conventionally, as a work unloading device for supplying a work of a processing machine, for example, a work unloading device as shown in FIG. 10 is generally widely known.

[0003] That is, the work unloading device 201 has a length of the work W among two endlessly connected chains 203 (two chains 203 are provided in parallel in a direction perpendicular to the paper surface of FIG. 10). A pipe roller 205 is stretched by an amount corresponding to the length, and a chain 203 is provided so as to be able to run freely by a drive motor 207 via a drive pulley 209. In addition, the surrounding two chains 203
A lifter 213 composed of a plurality of link members 211 is provided inside, and a pallet receiver 215 capable of supporting or releasing the pallet P loaded with the work W is provided in the frame 2.
17 are provided opposite to each other.

[0004] Further, above the chain 203, there is provided a work piece picking device 219. The work piece picking device 219 has a support member 223 provided with a plurality of suction members 221 suspended therefrom, and a frame. 217 is connected to a piston rod 227 of a cylinder 225 vertically provided. Note that reference numeral 229 is a table of the processing machine.

[0005] With the above configuration, the operation is as shown in FIG.
Referring to FIGS. 1, 12 and 13, first, as shown in FIG. 11, the pipe roller 205 provided on the chain 203 is positioned at the lower part of the lifter 213, that is, at the retracted position. In this state, the upper part of the chain 203 is opened, and the pallet P on which the work W placed on the lifter 213 rides is supported by the pallet receiver 215 by the vertical movement of the lifter 213.

From the above state, as shown in FIG. 12, the cylinder 225 is operated to lower the suction member 221 to suck the uppermost work W and hold it upward.

Then, as shown in FIG. 13, the chain 203 is moved to move the pipe roller 205 upward, and the work W sucked onto the pipe roller 205 is released and transferred. The work W transferred onto the pipe roller 205 is moved along the chain 203 and is carried out to the table 229 of the processing machine, and the process for taking out and carrying out one work is completed.

[0008]

In the above-described conventional work unloading device 201, the speed must be increased to move the pipe roller 205 to a predetermined position, that is, a position for receiving a single workpiece W. However, there is a problem that it takes a lot of time to move, the structure is complicated and the noise is loud.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work unloading device which improves work unloading tact and reduces cost.

[0010]

In order to achieve the above object, according to a first aspect of the present invention, there is provided a work unloading device, comprising: a work unloading device provided above a pallet on which a work is placed;
Work transfer means capable of entering and retracting in the horizontal direction is provided between the work piece take-up device and the pallet, and the roller table for carrying out the work in a direction orthogonal to the transfer direction of the work transfer means is provided with the work transfer means. It is characterized by being provided for the means.

Therefore, a work transfer means for unloading the work is provided between the work on the pallet and the single work picking-up device so that the work can be moved in and out, so that the work picked up by one work is unloaded. Since the work is carried out by the linear movement of the work transfer means, the speed is increased, and the cost of the work is reduced by the improvement of the work takeout tact and the simple structure.

According to a second aspect of the present invention, there is provided a work unloading device according to the first aspect, wherein the pallet is mounted on a transport carriage with a lifter.

Therefore, by placing the pallet on a transport carriage with a lifter, the vertical stroke of the single workpiece picking-up device is reduced.

According to a third aspect of the present invention, there is provided a work unloading device according to the present invention, wherein a plurality of pallet places for placing a pallet on which a work is placed are arranged, and a single work picking device is provided above the pallet place. Work transfer means is provided between the work pallet and the work pallet, the work transfer means being movable in the direction of each pallet place, and the work is provided in a direction orthogonal to the transfer direction of the work transfer means. The work transport means is provided with a roller table for carrying out the workpiece.

Therefore, a movable work transfer means is provided between a work on a pallet placed on a pallet place provided at a plurality of locations and a movable single work taking device for taking one work. Was. In order to carry out the work on each pallet place where one piece has been taken out, the work transfer means is performed by a linear motion, so that the speed is increased and the work in a plurality of pallet places is reduced to one work piece. A number of unloading lines can be obtained by the picking-up device and a single work transfer unit, and the cost can be reduced by improving the unloading tact time of the work and by a simple configuration.

[0016]

Embodiments of the present invention will be described below in detail with reference to the drawings.

First, the overall arrangement of a work unloading device, a storage shelf, and a stacker crane for loading a work into a plate material processing machine will be schematically described.

Referring to FIG. 6, a reversing machine pipe roller table 5 is provided adjacent to the input work table 3 of the plate material processing machine 1, and a work unloading device 7 for feeding a work W to the reversing machine pipe roller table 5. Are provided above the reversing machine pipe roller table 5 in FIG.

The work unloading device 7 moves the transfer cart 11 for unloading the pallet P on which the work W is loaded from the storage shelf 9 to Y.
A pipe roller table 13 is provided movably in the axial direction (left-right direction in FIG. 6), and is a work transport means movable in the Y-axis direction above the transport trolley 11. Further, a single work picking device 17 including a plurality of suction members 15 for picking up one work W is provided above the pipe roller table 13.

An orthogonal conveyor 19 for unloading an empty pallet P is provided adjacent to the retreat limit (left side in FIG. 6) of the carriage 11 and an empty pallet P is provided on the exit side of the orthogonal conveyor 19. The first traverser 21 for storing the へ in the storage shelf 9 is provided movably in the Y-axis direction.

The storage shelf 9 has a large number of storage portions 25 formed in a frame 23 extending in the X-axis direction (vertical direction in FIG. 6). The storage portion 25 has a Z-axis direction (in FIG. A plurality of shelves 27 are provided in a direction (perpendicular to), and pallets P on which works W are stacked are stored in the shelves 27.

A stacker crane 29 is provided adjacent to the storage shelf 9. More specifically, the traveling rail 31 for the stacker crane is laid so as to extend in the X-axis direction, and the crane body 33 is movable on the traveling rail 31 for the stacker crane in the X-axis direction. The crane body 33 is provided with an elevator device 35 movable in the Z-axis direction. The elevator device 35 is provided with a self-propelled second traverser 37 for carrying the pallet P into and out of the shelf 27. ing.

Next, the work unloading device 7, which is a main part of the present invention, will be described in more detail.

Referring to FIGS. 1 and 2, the storage shelf 9 and the stacker crane 29 for supplying the work W to the work unloading device 7 will be described first.

The storage shelf 9 is composed of a frame 23, which is in the X-axis direction (the direction orthogonal to the drawing in FIG. 1,
2 and a plurality of shelves 27 are provided in a vertical direction, that is, a Z-axis direction (a vertical direction in FIG. 1 and a direction orthogonal to the drawing in FIG. 2). I have. The lowermost shelf 27A among the shelves 27 of the appropriate storage section 25 is constituted by a pallet receiver 39.

More specifically, the pallet receiver 39 is provided as shown in FIG.
As shown in FIG. 4, a plurality of cylinders 41 are erected on a horizontal beam 23 </ b> A provided at a lower portion of the frame 23, and L is provided opposite to a vertical beam 23 </ b> B of the frame 23 via a pin 43. A pallet receiving body 45 having a shape is rotatably mounted,
The piston rod 47 of the cylinder 41 is connected to the pallet receiving body 45.

With the above structure, when the cylinder 41 is operated and the piston rod 47 is extended, the pallet receiving body 45 is rotated and the state shown in FIG. 45 is in a horizontal state, and can support the pallet P on which the work W is placed. When the piston rod 47 is contracted, the state shown in FIG.
5 rotates to the retracted position, and the pallet P can be released.

The stacker crane 29 is provided with a stacker crane running rail 31 extending in the X-axis direction adjacent to the storage shelf 9, and is mounted on the stacker crane running rail 31 via wheels 49. The crane main body 33 is provided so as to be freely movable by a drive motor or the like, though the main body 33 rides thereon, although not shown.

A drive pulley 57 connected to an output shaft 55 of a drive motor 53 for chain running is rotatably mounted below a column 51 erected on both sides of the crane body 33 in the X-axis direction. A driven pulley 59 is rotatably mounted on the upper part, and an endless chain 61 is wound around the driven pulley 59 and the driving pulley 57.
The elevator main body 63 of the elevator device 35 is connected and supported by the chains 61 provided opposite to each other.

On the elevator main body 63, the shelf 2
Self-propelled second for loading and unloading pallets P to and from
A traverser 37 is provided.

With the above configuration, the crane main body 33 is moved and positioned in the storage section 25 in which the desired pallet P is stored, and the elevator main body 63 is moved in the Z-axis direction to store the desired pallet P. It is positioned on the shelf 27. Then, the second traverser 37 provided on the elevator main body 63 is brought closer to the shelf 27, the hook of the traverser 37 is engaged with the pallet P, and the traverser 37 is returned, so that the pallet P is unloaded from the shelf 27 to the elevator main body 63. And the lowest shelf 27A of the shelf 27 with the work unloading device 7
And stored in the pallet P.

Next, the work unloading device 7, which is a main part of the present invention, will be described.

The work unloading device 7 is composed of a carrier 11, a pipe roller table 13, a single work take-up device 17, and an orthogonal conveyor 19.

A plurality of rail members 65 extending in the Y-axis direction (left and right directions in FIGS. 1 and 2) and entering the storage shelf 9 are laid on one side of the carriage 11. A cart 69 with a lifter rides via a plurality of wheels 67, and the cart 69 with a lifter is constituted by a plurality of link members 71 to form a lifter 73.

Although not shown, the lifter-equipped truck 69 can be moved in the Y-axis direction by a drive motor or the like, and the link member 71 of the lifter 73 can be expanded or contracted by operating a cylinder or the like (not shown). Lifter 73
Is movable in the Z-axis direction.

A chain conveyor 77 is provided on the upper support plate 75 of the lifter so as to extend in the Y-axis direction. The chain conveyor 77 loops a drive pulley 79 and a driven pulley 81 provided on the upper support plate 75. And an endless chain belt 83. This chain conveyor 7
Although not shown, the drive pulley 79 is rotated by a drive motor, and the chain belt 83 runs.

On the exit side of the chain conveyor 77, an L-shaped pallet stopper 85 is rotatably provided. One end of the pallet stopper 85 is connected to a piston rod 89 of a pallet stroke drive cylinder 87. .

With the above configuration, the pallet stopper 85 can be erected on the upper surface of the chain conveyor 77 or can be lowered from the upper surface of the chain conveyor 77 by the operation of the pallet stopper driving cylinder 87. The pallet P on which the transported works W are stacked is positioned. A stop sensor (not shown) for detecting that the pallet P has contacted the pallet stroke 85 is provided on the pallet stopper 85.

Above the carrier 11, a single work picking device 17 is provided. In the single workpiece picking device 17, a fluid pressure-operated cylinder 93 is provided so as to hang down a horizontal beam 91A of an L-shaped support 91 erected on the floor, and a large number of suction members are attached to the tip of a piston rod 95 of the cylinder 93. The support plate 97 provided with the reference numeral 15 is connected.

With the above arrangement, when the cylinder 93 is operated and the piston rod 95 is protruded, the support plate 97 provided with the suction member 15 is lowered, and the work W on the pallet P on the carrier 11 is moved by the suction member 15. And take it up to a predetermined position.

Between the work W on the pallet P on the transfer carriage 11 and the suction member 15 of the single work picking device 17, a pipe roller table 13 as work transfer means can enter or retract. Is provided.

More specifically, referring also to FIG.
A plurality of rail members 1 are extended on a stand 99 erected from the floor in the Y-axis direction (a direction perpendicular to the drawing in FIG. 3).
01 is laid. A pipe roller table main body 105 rides on the rail member 101 via a plurality of guide members 103, and is movable in the Y-axis direction by a driving member 107 provided on the pipe roller table main body 105.

As shown in FIG. 2, the driving member 107 is screwed to the driving bevel gear 111 by the table moving driving motor 109, and provided with driven bevel gears 113A and 113B on both sides in the X-axis direction. Extending shafts 115A and 115B extend from the bevel gears 113A and 113B in the X-axis direction, respectively.

Driving pulleys 117A and 117B are attached to the tip ends of the extension shafts 115A and 115B, respectively, and driven pulleys 119A and 119 are driven at appropriate positions on the gantry 9A.
B is provided on the driven pulleys 119A and 119B and the drive pulleys 117A and 117B.
A, 121B. Both ends of the chains 121A and 121B are supported by support members 123A and 123A.
B, and the support members 123A and 123B are provided integrally on both sides of the pipe roller table main body 105.

With the above configuration, when the table moving drive motor 109 is driven, the driven bevel gears 113A, 113B rotate from the drive bevel gear 111, and the drive pulleys 117A, 117B are extended via the extension shafts 115A, 115B.
17B rotates, the chains 121A and 121B run, and the pipe roller table main body 105 becomes movable in the Y-axis direction via the support members 123A and 123B.

A plurality of pipe rollers 125 are rotatably arranged side by side in the X-axis direction on the pipe roller table main body 105. A driving device 127 for rotating the pipe rollers 125 is, as shown in FIG. The pipe roller table main body 105 is provided with a roller driving motor 129. The roller driving motor 12
9 and the driven pulleys 133 and the guide pulleys 135 provided at both ends in the X-axis direction of the pipe roller table main body 105.
7, and the upper surface of the friction belt 137 is in contact with the pipe roller 125. Also, above the pipe roller 125, a work upper surface detector 126 for detecting the upper surfaces of the plurality of works W at appropriate positions on the gantry 99.
A, 126B are provided (see FIG. 2).

With the above configuration, the roller driving motor 12
9 is driven, the driving pulley 131 rotates, the driven pulley 133, the friction belt 137 wrapped around the guide pulley 135 runs, and rotates each pipe roller 125, and the work W riding on the pipe roller 125 is transferred to the plate material. It is carried out to the reversing type pipe roller table 5 of the processing machine 1.

The orthogonal conveyor 19 is provided adjacent to the carrier 11 (left side in FIGS. 1 and 2). The orthogonal conveyor 19 is for taking out one work W on the carrier 11 and unloading the empty pallet P. The belt driving motor 139
An endless belt 145 wrapped around a driving pulley 141 and a driven pulley 143 connected in the Y direction travels in the Y-axis direction, and the endless belt 145 is provided at a plurality of locations. In order to carry out the empty pallet P carried out by the endless belt 145 to the first traverser 21, a plurality of rollers 147 are rotatably provided by a roller drive motor 149.

With the above-described configuration, the operation of the stacker crane 29 will be described with reference to FIGS. 7 and 8 in step S1 of the flowchart shown in FIG.
At the bottom of the storage shelf 9 at the second traverser 37
Then, a pallet P on which the works W carried out from the desired shelf 27 are stacked is carried in (arrow J in the drawing of FIG. 7). Then, in step S2, the transport cart 11 is moved into the storage shelf 9 (K arrow in FIG. 7), and the lifter 73 is raised (L arrow in FIG. 7).
Then, the pallet P is supported on the chain conveyor 77 of the carrier 11.

Next, in step S3, the pallet receiver 39
Is released, and the lifter 73 of the transport vehicle 11 is
(M arrow in FIG. 7). And step S
At 5, the transport vehicle 11 moves forward (N arrow in FIG. 7) and stops at the forward limit.

Next, in step S6, the lifter 73 is raised (arrow P in the drawing of FIG. 7), and the work upper surface detectors 126A, 126A are detected.
When 26B is turned on, the lifting of the lifter 73 is stopped, the pallet stopper 85 is raised in step S7, and the
At 8, the pallet P contacts the stop sensor (not shown) by driving the chain conveyor 77 provided on the transport carriage 11,
When the stop sensor is turned on, the driving of the chain conveyor 77 is stopped.

In this state, the suction member 15 of the single workpiece pick-up device 17 is lowered (arrow Q in FIG. 7) in step S9, and the work W is sucked by the suction member 15. Then, the workpiece W taken one in step S10 is lifted (R arrow in FIG. 7).

Next, in step S11, the pipe roller table 13 is made to enter immediately below the suspended work W from the retracted position (arrow S in FIG. 7). Then, the work W lifted in step S12 is transferred onto the pipe roller table 13 by releasing the suction member 15.

When the work W is on the pipe roller table 13, the pipe roller 1 of the pipe roller table 13
The work W is carried out to the plate material processing machine 1 by rotating 25. Then, after the work W is carried out, the pipe roller table 13 is returned to the retracted position, which is the old position (arrow T in FIG. 7).

Thus, the unloading process of the single workpiece W is completed. Thereafter, steps S6 and S9 to S9
The steps 14 are repeated to supply the workpieces W loaded on the pallet P to the plate processing machine 1 one by one.

After all the workpieces W have been carried out, the empty pallet P is moved down the carriage 11 (arrow U in FIG. 7) and carried out onto the orthogonal conveyor 19 by the operation of the chain conveyor 77 (see FIG. 7). (V arrow in FIG. 7), and return to the storage shelf 9 by the first traverser 21 from the orthogonal conveyor 19.

Therefore, since the linear motion is performed in the single-sheet picking process, the speed can be increased, the tact time can be increased, and the cost can be reduced by a simple configuration and space saving.

FIG. 9 shows another embodiment. The work unloading device 7 includes three transport carts 151A.
151C, a work piece take-up device 153, and a pipe roller table 155 as a work transfer means.

The transport carts 151A to 151C extend on the floor in the X-axis direction (a direction orthogonal to the drawing in FIG. 9), and a plurality of rail members 157 are laid thereon. On the rail members 157, a plurality of wheels 159 are interposed. Trolley body 16
Three units 1A, 161B and 161C are provided movably in the X-axis direction. That is, the pallet storage 163A,
163B and 163C are provided in three rows.

A reference plate 165 is provided upright on the carriage body 161A to 161C, and the pallet P and the work W loaded on the pallet P are set along the reference plate 165.

A pipe roller table 155 is provided above the carriages 151A to 151C so as to be movable on the gantry 167 in the Y-axis direction (the horizontal direction in FIG. 9). More specifically, a pipe roller table main body 173 rides on a plurality of rail members 169 extending on the gantry 167 in the Y-axis direction via a plurality of wheels 171, and a drive motor or the like (not shown) is provided. Are movable in the Y-axis direction. The pipe roller table body 173 has a plurality of rotatable pipe rollers 175.
Are provided in parallel in the X-axis direction.

Above the pipe roller 155, a work piece take-up device 153 is provided. More specifically,
Guide rails 1 on a plurality of pillars 177 erected from the floor
A guide member 181 is provided on the guide rail 179 so as to be movable in the Y-axis direction by a drive motor or the like, although not shown in the figure. A fluid-operated cylinder 183 is provided upright on the guide member 181, and a support plate 189 having a large number of suction members 187 is connected to the tip of a piston rod 185 of the cylinder 183.

According to the above configuration, for example, in order to carry out the work W on the pallet P placed on the carriage 151A in the first pallet place 163A, the pipe roller table 155 is retracted to a position where it does not interfere. Then, the single work picking device 153 is moved to the first pallet place 163A, and the cylinder 183 of the single work picking device 153 is moved.
Is operated, the suction member 187 takes one work W of the transport carriage 151A and lifts it. Thereafter, the pipe roller table 155 is positioned at the position of the pallet place 163A, and the work W held by the suction member 187 is transferred to the pipe roller table 155,
The work W is carried out by the rotation of 5.

With the above configuration, the work piece taking apparatus 15
3 and the pipe roller table 155 are moved in the Y-axis direction,
The work W placed on the three carriages 151A, 151B, 151C can be unloaded, and many unloading lines can be installed in a small space.

Since the work transfer means is performed by a linear movement, the speed is increased, and one work W in one of the work pallets 163A to 163C is picked up by one work picking device 153. Since one workpiece W is carried out by one pipe roller table 155, the work take-out tact time can be improved and cost can be reduced with simple equipment.

The present invention is not limited to the above-described embodiment, but can be embodied in other forms by making appropriate changes.

[0067]

As will be understood from the above description of the embodiment, according to the present invention according to the first aspect, a work is provided between a work on a pallet and a single work picking device.
Work transfer means for unloading the work is provided so as to be able to enter and retreat, so unloading of a single picked-up work is performed by the linear movement of the work transfer means. The cost can be reduced by the improvement and the simple configuration.

According to the present invention according to claim 2,
By placing the pallet on a transport trolley equipped with a lifter, the vertical stroke of the single workpiece take-up device can be reduced.

Further, according to the third aspect of the present invention,
Movable work transfer means is provided between a work on a pallet placed on a pallet place provided at a plurality of locations and a movable work taking apparatus for taking one work. In order to carry out the work on each pallet place where one piece has been taken out, the work transfer means is performed by a linear motion, so that the speed is increased and the work in a plurality of pallet places is reduced to one work piece. A number of unloading lines can be obtained by the picking-up device and a single work transfer means, and the cost can be reduced by improving the work unloading tact and by a simple configuration.

[Brief description of the drawings]

FIG. 1 is a side view of a work unloading device, showing a main part of the present invention.

FIG. 2 is an explanatory plan view of FIG. 1;

FIG. 3 is an explanatory sectional view taken along a line III-III in FIG.

FIG. 4 is an explanatory sectional view taken along line IV-IV in FIG. 1;

FIG. 5 is an operation explanatory view.

FIG. 6 is an explanatory plan view showing an overall arrangement of a stacker crane, a storage shelf, a work unloading device, and a plate processing machine embodying the present invention.

FIG. 7 is an operation explanatory view.

FIG. 8 is a flowchart.

FIG. 9 shows another embodiment of the present invention and is an explanatory side view of a work unloading device.

FIG. 10 is a side view of a work unloading device, showing a conventional example.

FIG. 11 is an operation explanatory view.

FIG. 12 is an operation explanatory view.

FIG. 13 is an operation explanatory view.

[Explanation of symbols]

7 Unloading device 11 Conveyor truck 13,155 Pipe roller table (work conveying means) 15,187 Suction member 17,153 Single work picking device 73 Lifter 163A-163C Pallet place W Work P Pallet

 ──────────────────────────────────────────────────続 き Continued from the front page F term (reference) CE13 CE16 CE27 CE30 CE36 CF08

Claims (3)

[Claims] A work pick-up device provided above the pallet on which the work is placed; and a work transfer means capable of entering and retracting in the horizontal direction is provided between the work pick-up device and the pallet. A work unloading device comprising: a roller table for unloading a work in a direction orthogonal to a transfer direction of the work transfer means. 2. The work unloading device according to claim 1, wherein the pallet is mounted on a transport trolley with a lifter. 3. A pallet place for placing a pallet on which a work is placed is provided at a plurality of positions, and a single work take-up device is provided above the pallet place so as to be movable in each of the pallet places. Work transfer means which is movable in the direction of each pallet place is provided between the sheet take-up device and the pallet, and the work transfer means is provided with a roller table for carrying out the work in a direction orthogonal to the transition direction of the work transfer means. A work unloading device characterized by comprising: