JP2001058723A - Method and device for transporting product in plate processing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out products at a low cost by holding constant the stacking level difference between an unloader and the height of products using a product stacking dolly not requiring use of any expensive lifter device. SOLUTION: Products G processed by a plate processing machine are placed on a stacking dolly 33, and when the dolly 33 is put in travelling, the height of the products stacked on the dolly 33 is sensed by a plurality of photoelectric switches SW73 installed at certain intervals in the direction over the height. Processed products G are carried out by an unloader to the dolly 33, and because the unloader lowers to the position right over substantially the level of that one of the photoelectric switches 73 which has sensed the product stacking level, and it is practicable to hold constant substantially the stacking level difference between the unloader and the height of products on the dolly 33 even if no lifter device expensive is used. The products G in the unloader can be placed on the dolly 33 in stable condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for unloading a product from a sheet material processing machine.

[0002]

2. Description of the Related Art Conventionally, for example, in a laser processing system 101 as a processing system of a plate processing machine, as shown in FIG. 7, a plurality of shelves 103 for storing a pallet P loaded with a work W are vertically moved. A plurality of storage shelves 105 are established. An elevator 107 for moving the pallet P in and out of the shelf 103 and moving the pallet P up and down is provided beside the storage shelf 105 (the right side in FIG. 7).

[0003] A single work picking device 109 is arranged adjacent to the storage shelf 105, and a laser processing machine 111 and a carry-out accumulating device 113 are sequentially arranged on the left side of the single work picking device 109 in FIG. In addition, the guide rail 11 for moving the work piece taking apparatus 109 and the unloading unloader 115 in the left-right direction in FIG.
7 are provided.

With the above configuration, a pallet P selected from the pallets P stored in the plurality of shelves 103 in the storage shelf 105 is pulled out to the elevator 107. Next, the pallet P on which the work W is loaded from the elevator 107 stopped at the lowest position of the storage shelf 105 by moving down the elevator 107 is provided at a position below the single work take-up device 109 and can be moved up and down. It is transferred onto the pallet table 119.

[0005] The work W on the pallet P transferred onto the pallet table 119 is transferred to the work piece take-up device 109.
When one piece is taken out by the operation of
09 is guided by the guide rail 117 and the laser processing machine 1
The workpiece W is transferred to the processing table of the laser processing machine 111. And the laser processing machine 111
The laser processing is performed on the work W. The product G that has been subjected to the laser processing is unloaded by the unloader 115 for unloading the product accumulation cart
1 and is carried out onto the product stacking trolley 121.

[0006] A table surface 123 is provided on the product accumulation trolley 121.
7. A plurality of stoppers 127 are provided at appropriate intervals in a direction perpendicular to the paper surface of FIG. 7 on the left rear end side of the table surface 123 in FIG. In FIG. 7, it is freely movable in the left-right direction.

In front of the traveling direction of the product accumulation trolley 121, a photoelectric SW 129 is provided as a product loading height detecting device for detecting the upper surface of the products G accumulated on the table surface 123 of the product accumulation trolley 121. Have been. For example, as shown in FIG. 8, when the photoelectric SW 129 emits light from the light-emitting side photoelectric switch 129A on the left side and the optical axis 131 is received by the light-receiving side photoelectric switch 129B on the right side, the product G
Lifter device 125 until the upper surface of
Is raised, the product loading height is detected, so that the accumulation drop S is provided slightly below the optical axis 131.

In this state, when the product stacking cart 121 is moved forward in FIG.
The product G is abutted against the stopper 127 and is moved with the forward movement of the product accumulation trolley 121, and is placed on the upper surface of the product G already accumulated on the product accumulation trolley 121 as shown in FIG. Is done.

[0009]

In the conventional product unloading device of the conventional sheet material processing machine, the stacking drop S between the unloading unloader 115 and the table surface 123 of the product stacking trolley 121 is adjusted to be substantially constant and stable. In order to perform the accumulation operation, the lifter device 12 is attached to the product accumulation cart 121.
5, the lifter device 125 is expensive.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and an object of the present invention is to use a product stacking truck that does not require an expensive lifter device to make the height difference between the unloader for unloading and the product height constant. It is an object of the present invention to provide a method and an apparatus for unloading a product in a plate processing machine capable of holding the product in a stable state and inexpensively discharging the product.

[0011]

According to a first aspect of the present invention, there is provided a method for unloading a product in a sheet processing machine according to the present invention. At least, the product loading height integrated in the product integrating means is detected by a plurality of detectors provided at appropriate intervals in the height direction, and the product loading height among the plurality of detectors. The unloader on which the product processed by the plate processing machine is placed is lowered to almost the position just above the height position of the detector that detected the unloader, and the accumulation drop between the unloader and the product loading height of the product accumulation means is almost constant And the product of the unloader is carried out to the product accumulating means and placed thereon.

Therefore, the product stacking height accumulated in the product accumulating means is the height of the detector that detects the upper surface of the integrated product among a plurality of detectors provided at appropriate intervals in the height direction. The unloader is moved up and down in accordance with the height position of the detected detector, even if an expensive lifter device is not determined, so that the accumulation drop between the unloader and the product height of the product accumulation means is kept almost constant Is done. The product of the unloader is stably placed on the product accumulation means.

According to a second aspect of the present invention, there is provided a product unloading device for a sheet material processing machine according to the present invention, wherein an unloader for unloading a product processed by the sheet material processing machine is provided so as to be able to move up and down and to move freely. A product accumulating means for accumulating is provided so as to be able to travel freely, and a plurality of detectors for detecting a product stacking height accumulated on the product accumulating means are provided at appropriate intervals in the height direction in the traveling direction of the product accumulating means. Product unloading height detecting device, and an unloader height position adjusting device that moves the unloader up and down and stops according to the height position of each of the plurality of detectors of the product loading height detecting device. It is characterized by the following.

Therefore, the operation of the present invention is the same as that of the first aspect, and the product stacking height accumulated in the product accumulating means is an integrated product among a plurality of detectors provided at appropriate intervals in the height direction. Determined by the height of the detector that has detected the upper surface of the unloader, the unloader is moved up and down in accordance with the detected height of the detector without the need for an expensive lifter device. The accumulation drop with the product height is kept almost constant. The product of the unloader is stably placed on the product accumulation means.

According to a third aspect of the present invention, there is provided a product unloading apparatus for a sheet material processing machine according to the second aspect of the present invention, wherein the product accumulating means includes a table on which a product is loaded. A plurality of product abutment members are erected on the table surface at the rear end side in the traveling direction of the product accumulation trolley on the table surface at appropriate intervals from each other, and the unloader sets an interval between the plurality of product abutment members. It is characterized by comprising a plurality of forks arranged so as to be able to pass through.

Therefore, when the product stacking truck travels forward after a plurality of forks as unloaders are positioned at a substantially constant stacking drop with the product loading height of the product stacked on the table of the product stacking cart, the plurality of forks move forward. The rear end edge of the product placed on the fork is abutted by the product abutment member on the table and pushed forward, and the product on the fork is placed on the product of the product stacking cart.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method and an apparatus for unloading a product in a sheet material processing machine according to the present invention will be described below with reference to the drawings.

Referring to FIG. 3, FIG. 4, and FIG. 5, the plate material processing system 1 includes an upright storage shelf 3, and the storage shelf 3 comprises a framed frame 5. A plurality of shelves 7 are provided in the vertical direction of the frame 5, and each of the shelves 7 stores a pallet P in which a plurality of works W are accumulated.

On the lowermost shelf 7A of the storage shelf 3, a single work picking-up device 9 is provided. As the work piece taking device 9, a vertical cylinder 11 is provided on a shelf 7A. A pad frame 15 is attached to a lower end of a piston rod 13 mounted on the vertical cylinder 11. The pad frame 15 is provided with a plurality of vacuum pads 17.

A pallet holding frame 19 as pallet means for temporarily holding a pallet P on which a plurality of works W are accumulated is provided below the shelf 7A. In addition, a table cart 21 as work table means is provided adjacent to the storage shelf 3, and the table cart 21 is provided movably to the left in FIG. 5 to the position of the lowest shelf 7 </ b> A in the storage shelf 3. . Support frames 23 for supporting the work W are provided on the upper surface of the table carriage 21 at appropriate intervals in the left-right direction in FIG.

A vertically movable elevator 25 as pallet transfer means is provided beside the frame 5 (left side in FIG. 3 and left side in FIG. 4) in the storage shelf 3. A guide rail 27 extending in the up-down direction in FIG. 3 is laid on the elevator 25, and is guided by the guide rail 27 to move in the up-down direction in FIG.
Traverser 29 that can move by itself in the left and right direction
Is provided. The traverser 29 is provided with a plurality of hooks 31.

A product stacking unit 33, for example, as a product stacking unit is provided on the elevator 25 side with a position where the table cart 21 retreats from the lowermost shelf 7A in the storage shelf 3 (the position indicated by the solid line in FIG. 4). . A plurality of stoppers 37 are provided on the rear side (the left side in FIG. 4) of the product accumulation cart 33 at appropriate intervals in the left-right direction in FIG.

A frame 39 is erected on the left side of the product accumulation trolley 33 in FIG. 4, and a guide rail 41 extending in the left-right direction in FIG. Is extended to the laser processing machine 35. The guide rail 41 includes, for example, a loader / unloader 4 as a work carrying-in / out means.
3, and is provided so as to be movable in the left-right direction in FIG. This loader and unloader 4
3 is provided with an up / down cylinder 45. A plurality of forks 49 are provided at the lower end of a piston rod 47 mounted on the up / down cylinder 45 between a plurality of support frames 23 provided on the upper surface of the table carriage 21. It is provided to penetrate.

As shown in FIG. 3, the laser processing machine 35 is provided with a work table 51 extending in the left-right direction (X-axis direction).
On the upper side, a ball screw 53 extending in the X-axis direction is provided. A drive motor 55 is connected to the left end of the ball screw 53. A nut member (not shown) is screwed to the ball screw 53, and a carriage 57 is provided on the nut member. Moreover, the carriage 57 is provided with a plurality of work clamps 59.

A straddle-shaped frame 61 is erected on the work table 51 at substantially the center in the left-right direction (X-axis direction) in FIG. The portal frame 61 is provided with a ball screw 63 extending in the vertical direction (Y-axis direction) in FIG. 3, and a drive motor 65 is connected to the upper side of the ball screw 63.
A nut member (not shown) is screwed to the ball screw 63, and a laser processing head 67 is provided on the nut member.

A description will be given of a product loading height detecting device constituting a main part of the embodiment of the present invention.

Referring to FIG. 1, the above-mentioned product accumulation trolley 3
Reference numeral 3 is provided to be able to run on a rail 69 extending in the Y-axis direction. In the middle of the traveling direction of the product accumulation trolley 33,
As shown in FIGS. 1 and 3 to 5, photoelectric SW posts 71 constituting a product loading height detecting device are provided upright on both sides of the traveling path of the product accumulation trolley 33. Is a detector for detecting the height of the upper surface of the product G integrated on the product accumulation trolley 33, for example, a photoelectric S
A plurality of W73s are provided at predetermined intervals at a fine pitch in the height direction. Each photoelectric switch 73 is electrically connected to a control device 75 described later.

More specifically, one photoelectric SW post 71
A plurality of light emitting side photoelectric switches are provided at a fine pitch in the height direction, and a plurality of light receiving side photoelectric switches are provided on the other photoelectric SW post 71 at positions opposed to the plurality of light emitting side photoelectric SWs. SW is provided. Therefore, the light emitting side photoelectric SW
Optical axis 77 that passes through the light receiving side photoelectric switch SW in a substantially horizontal direction
Are provided at a fine pitch in the height direction.
Therefore, the product height of the product accumulation trolley 33 is detected by detecting to which photoelectric switch 73 the upper surface of the product G of the product accumulation trolley 33 passing through the photoelectric SW post 71 blocks light.

For example, as shown in FIG. 2, the photoelectric switch 73 is a height over photoelectric switch 73U for detecting a product stack height over position in order from top to bottom, and a full load detection for detecting a full position of the product stacking cart 33. A photoelectric switch 73F and photoelectric switches 73A to 73D for detecting a product stacking height are provided.

As shown in FIG. 2, the upper and lower cylinders 45 for lifting and lowering the loader / unloader 43 are adapted to stop the fork 49 in accordance with the positions of the photoelectric switches 73U, 73F, 73A to 73D. Piston 79
For example, a plurality of cylinders SW81 as an unloader height detecting device constituting an unloader height position adjusting device for stopping the operation are provided in the vertical direction. The plurality of cylinder SWs 81 are located at positions corresponding to the positions of the plurality of photoelectric switches 73, for example, in order from top to bottom.
A to 81E are provided.

As shown in FIG. 6, the control device 75 includes, for example, a CPU 83 as a central processing unit, an input device 85 for inputting data such as a machining program in advance, a display device 87, and the input data. Memory 8 for storing
9 is connected.

Further, the CPU 83 is provided with various photoelectric S
A comparison / judgment device 91 for giving a command to move and stop the piston 79 of the vertical cylinder 45 to a position detected by the corresponding cylinder SW 81A to 81E based on the detection signal detected at W73 is connected.

With the above configuration, the pallet P loaded with the works W stored in the plurality of shelves 7 in the storage shelf 3 is taken out and laser-processed by the laser processing machine 35. Thereafter, the processed works W are integrated into products. The operation up to stacking on the carriage 33 will be described.

First, the elevator 25 moves up and down to be positioned at a required position of the shelf 7. Then, elevator 25
Is moved to the right in FIG.
Is engaged with the pallet P. In this state, the elevator 25
Is moved to the left in FIG. 4, the pallet P loaded with the work W is pulled out onto the elevator 25.

Next, the elevator 25 descends and stops at the position of the lowest shelf 7A in the storage shelf 3. In this state, by moving the traverser 29 to the right in FIG. 4, the pallet P is temporarily held on the pallet holding frame 19 on the lowermost shelf 7A, and then the hook 31 comes off the pallet P. Is returned to the position.

The vertical cylinder 1 of the work piece take-up device 9
1 is operated, the vacuum pad 17 is lowered via the piston rod 13, and the uppermost work W of the plurality of works W is raised after being sucked by the vacuum pad 17. With the work W lifted upward, the table cart 21 is moved from the side position of the storage shelf 3 to the position of the shelf 7A. Then, the work W is transferred to the work piece taking device 9.
When the table cart 21 is placed on the support frame 23 of the table cart 21 at the position of the shelf 7A away from the vacuum pad 17, the table cart 21 moves from the lowermost shelf 7 to the side position of the storage shelf 3 (see FIG. 3). To the right).

In this state, the loader / unloader 43
Is moved to the right in FIG. 4, and the fork 49 is lowered via the piston rod 47 by the operation of the vertical cylinder 45, and each of the plurality of forks 49 enters between the support frames 23, and the work W is The work W is transferred from the support frame 23 of the table carriage 21 onto the fork 49 because the fork 49 rises after being placed on the fork 49.

With the work W transferred to the fork 49, the loader / unloader 43 is guided by the guide rail 41 to the right in FIG.
9 and the work W is clamped on the work table 51 of the laser processing machine 35 by the work clamp 59. In this state, the drive motors 55 and 65 are driven to rotate the ball screws 53 and 63, so that the carriage 57 is moved in the X-axis direction and the laser processing head 67 is moved in the Y-axis direction. Laser processing is performed on a desired position of the work W by the laser beam emitted from the laser beam 67.

During the laser processing, one second work W is taken out in the same manner as described above, and is placed on the table carriage 21 and kept on standby.

When the laser processing of the work W is completed, the processed product G is again moved by the loader / unloader 43, so that the fork 49 enters below the product G on the work table 51 and is placed on the fork 49. Clamp 5
9 is unclamped and then lifted. The loader / unloader 43 is moved to the left retreat end in FIG. The product accumulation trolley 33 is a loader / unloader 43.
The stopper 37 stands by at a position below the retracted end of the loader / unloader 43.

In the initial state where the product G has not yet been loaded on the product accumulation trolley 33, the product accumulation trolley 33 travels forward and the product loading height is detected by the product loading height detecting device in advance. That is, in FIG.
It is detected that D is not shielded from light, and this state is stored in the memory 89 of the control device 75 in advance.

After the loader / unloader 43 is moved to the retreat end as described above, the comparison / judgment device 91 performs the fork 49 as shown in FIG. 2 based on the data stored in the memory 89 as described above. Is stopped at the fork position 93E, the piston 79 of the vertical cylinder 45 descends to the cylinder SW81E and stops.

When the product accumulation trolley 33 is moved rightward in FIG. 4, the plurality of stoppers 37 pass between the plurality of forks 49, but the product G on the forks 49 is abutted against the stoppers 37 and the product G is hit. The stacking cart 33 is moved forward with the forward movement. When the product G is completely removed from the fork 49, the product G falls on the product accumulation trolley 33 as shown by the two-dot chain line in FIG.

At this time, the product loading height of the product stacking trolley 33 is detected by the product loading height detecting device,
It is detected that the 3D is not shielded from light, and is stored in the memory 89 of the control device 75 in advance.

As described above, the fork 49 of the loader / unloader 43 picks up the second work W of the table carriage 21 that has exited from the shelf 7A in the storage shelf 3, and then carries it into the laser processing machine 35 to perform laser processing. Then, a product G carry-out and accumulation process is performed. Thereafter, a number of products G are accumulated on the product accumulation trolley 33, and during this product unloading accumulation process, the photoelectric switch 73
When D is shielded, the light-shielded photoelectric switch 73
When the next product G is carried out and accumulated based on the detection signal of D, the piston 79 of the vertical cylinder 45 is lowered to the cylinder SW81D and stopped so that the fork 49 is located at the fork position 93D.

Similarly, if the photoelectric switch 73C is shielded from light during the product unloading / stacking step, the piston 7 is moved so that the fork 49 is positioned at the fork position 93C.
9 stops at cylinder SW81C. When the photoelectric switch 73B is shielded from light, the fork 49 is moved to the fork position 93.
B so that the piston 79 is positioned in the cylinder SW81B.
When the photoelectric switch 73A is shielded from light, the piston 79 stops at the cylinder switch 81A so that the fork 49 is located at the fork position 93A.

As described above, the accumulation drop S between the product G placed on the fork 49 and the upper surface of the product G loaded on the product accumulation trolley 33 is an appropriate distance depending on the distance between the photoelectric switches 73 adjacent vertically. Is held.

When the full-load detection photoelectric switch 73F is shielded from light, a carry-out sign for giving the operator a command to carry out the product stacking cart 33 by the comparison / judgment device 91 of the control device 75 is displayed on the display device 87 of the control device 75, for example. It is displayed and activates an alarm device not shown.

In the case where the product G is still accumulated despite the display of the carry-out sign and the over-height photoelectric switch 73U is shielded from light, the comparison and judgment device 91 of the control device 75 performs the product accumulation. A command to stop traveling of the carriage 33 is given.

When the work W on the pallet P runs out and the laser processing is further performed, the operation is started from the operation of pulling out the pallet P again from the shelf 7 of the storage shelf 3 as described above.

As described above, the product stacking trolley 33 does not have an expensive lifter device, and the fork 49 of the loader / unloader 43 is moved to a position close to the upper surface of the product G integrated on the product stacking trolley 33. As a result, the accumulation head S is kept substantially constant, which greatly contributes to cost reduction.

The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes. In the present embodiment, a laser processing machine has been described as an example of the plate material processing description, but another plate material processing machine such as a punch press may be used.

[0053]

As can be understood from the above description of the embodiments of the present invention, according to the first aspect of the present invention, the product stacking height accumulated in the product accumulating means is appropriately spaced in the height direction. Can be determined by the height of the detector that has detected the upper surface of the integrated product among the plurality of detectors provided through. Therefore,
The unloader can be moved up and down in accordance with the height position of the detected detector without requiring an expensive lifter device as in the past, so that the accumulation drop between the unloader and the product height of the product accumulation means is kept almost constant Thus, the product of the unloader can be mounted on the product accumulation means at a low cost and in a stable state.

According to the second aspect of the present invention, it is the same as the effect of the first aspect, and the product stacking height accumulated in the product accumulating means includes a plurality of product stacks provided at appropriate intervals in the height direction. It can be determined by the height of the detector that has detected the upper surface of the integrated product among the detectors. Therefore, the unloader can be moved up and down in accordance with the height position of the detected detector without requiring an expensive lifter device as in the related art, so that the height difference between the unloader and the product height of the product accumulating means is almost constant. And the product of the unloader can be mounted on the product stacking means at low cost and in a stable state.

According to the third aspect of the present invention, the product stacking cart is positioned after the stacking drop between the plurality of forks as the unloader and the product stacking height loaded on the table of the product stacking cart is set substantially constant. By traveling forward, the product abutting members on the table abut the rear edges of the products placed on the plurality of forks, and easily push the products forward to push the products on the forks onto the products of the product accumulation cart. Can be securely mounted.

[Brief description of the drawings]

FIG. 1, showing an embodiment of the present invention, is a perspective view of a product unloading device.

FIG. 2, showing an embodiment of the present invention, is an operation explanatory view schematically illustrating a product unloading operation by an unloader.

FIG. 3, showing an embodiment of the present invention, is a plan view of a plate processing system 1;

FIG. 4 is a front view of FIG.

FIG. 5 is a side view of FIG.

FIG. 6 is a block diagram illustrating a configuration of a control device.

FIG. 7 is a plan view of a conventional plate processing system 1. FIG.

FIG. 8 is an explanatory diagram illustrating a state of detecting a loading height of a product loaded on a conventional product stacking cart.

FIG. 9 is an explanatory view of a state in which a product of an unloader is placed on a conventional product accumulation trolley.

FIG. 10 is an explanatory view of a state in which a product of an unloader is placed on a conventional product accumulation cart.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Sheet material processing system 1 3 Storage shelf 9 Single workpiece pick-up device 17 Vacuum pad 21 Table truck 25 Elevator 33 Product accumulation trolley (Product accumulation means) 35 Laser processing machine (Sheet material processing machine) 37 Stopper 41 Guide rail 43 Loader / unloader ( Unloader) 45 Up / down cylinder 49 Fork 67 Laser processing head 71 Photoelectric SW post (product loading height detection device) 73, 73A to 73D, 73F, 73U Photoelectric SW (detector) 75 Control device 77 Optical axis 81, 81A to 81E Cylinder SW (Unloader height position adjustment device; Unloader height detection device) 83 CPU 91 Comparison judgment device 93A-93E Fork position G Product

Claims (3)

[Claims] 1. A product accumulating means on which a product processed by a sheet material processing machine is mounted is moved and moved, and is accumulated on the product accumulating means by a plurality of detectors provided at appropriate intervals in a height direction. While detecting the product loading height, the product processed by the sheet material processing machine is placed to a position almost immediately above the height position of the detector that has detected the product loading height among the plurality of detectors. Plate material processing, wherein the unloader is lowered to hold the unloading head and the product stacking height of the product stacking means at a substantially constant height, and then the unloader product is carried out to the product stacking means for mounting. How to carry out products on the machine. 2. An unloader for unloading a product processed by a sheet material processing machine is provided so as to be able to move up and down and run freely. A product loading height detection device provided with a plurality of detectors for detecting the product loading height accumulated in the product accumulation means at appropriate intervals in the height direction in the middle of the traveling direction of the product accumulation means, An unloader height position adjusting device that moves the unloader up and down and stops in accordance with the height position of each of the plurality of detectors of the product loading height detecting device is provided. apparatus. 3. The product accumulating means is a movable product accumulating truck provided with a table on which products are stacked, and a plurality of product abutting members are attached to a rear end side of the product accumulating truck on the table surface in a traveling direction. The plate material processing machine according to claim 2, wherein the unloader is configured to include a plurality of forks that are erected at appropriate intervals, and the unloader is disposed so as to pass through the interval between the plurality of product abutting members. Product unloading device.