JP2009148787A - Metal sheet taking-out equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide metal sheet taking-out equipment which has two loaders installed on a common movable frame and nonetheless dispenses with waiting time between two loaders and sufficiently displays the effect of the improvement of taking-out efficiency. <P>SOLUTION: This metal sheet taking-out equipment is provided with an advancing and retreating stand 16 which is moved forward and backward in a front and rear direction Y, the movable frame 17 provided on the advancing and retreating stand 16, two loaders 13, 14 installed in a freely travelable manner on the movable frame 17, and a movable placing table 3. A movable placing table control device 44 is provided for moving the position of the movable placing table 3 where the movable placing table 3 receives the metal sheet w from the loaders 13, 14, according to the positions in the front and rear direction of the movable frame 17. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a plate material unloading facility for unloading a processed plate material from a punch press, a laser processing machine, or the like, and more particularly to a plate material unloading facility in which two loaders are run in parallel.

As a plate material carrying-out facility, a loader is installed on a movable rail that can be moved back and forth, and moved forward and backward and left and right (for example, Patent Document 1). According to this, the plate material processed at the carry-out destination can be placed side by side freely on the pallet, for example, front, back, left and right.
The board material carrying-out facility has been improved, and two loaders are installed on the movable frame so as to be able to travel, and the carrying-out efficiency has been proposed earlier (for example, Japanese Patent Application No. 2007-068644).
In addition, there has been proposed one in which a plurality of loaders are circulated and moved on an endless route to improve the efficiency of carrying out (for example, Patent Document 2).
JP 2000-117373 A JP 2000-351032 A

  In the above proposed example, two loaders are installed on the movable frame so that the loader can run. The single loader grips the plate material processing machine and waits in the vicinity for immediate grip. In the meantime, the other one loader can carry out the plate material to the cart or the like. Therefore, the efficiency of carrying out is good.

  However, the two loaders are installed on the same movable frame, and the pitch in the moving direction (front-rear direction) of the movable frame, which is a direction orthogonal to the length direction (left-right direction) of the movable frame, is fixed. Therefore, for example, when the first loader grips the plate material from the plate material processing machine and moves to the loading position such as the carriage, the front-rear direction position of the second loader also changes. Therefore, in order to hold the plate material with respect to the plate material processing machine by the second loader, it is necessary to move the second loader in the front-rear direction together with the movable frame after being loaded on the carriage with the first loader. The moving time in the left-right direction of the second loader can be absorbed by the loading time by the first loader, but the moving time in the front-rear direction cannot be absorbed and extra time is generated. For this reason, the effect of improving the efficiency of carrying out by providing two loaders is still insufficient.

An object of the present invention is to improve the carry-out efficiency by providing a plurality of loaders while installing a plurality of loaders on a common movable frame, eliminating the need for extra waiting time between the plurality of loaders. It is providing the board | plate material carrying-out equipment which can fully exhibit an effect.
Another object of the present invention is to make it possible to eliminate the need for an extra waiting time between a plurality of loaders even when the loaders are placed side by side in a direction perpendicular to the loader travel direction. is there.
Still another object of the present invention is to further enhance the transfer function of the movable mounting table and suppress the complication of the configuration.

  The plate material unloading facility of the present invention is a plate material unloading facility (4) for unloading a processed plate material (w) from the plate material processing machine (1), and is installed in the vicinity of the plate material processing machine (1). The advance / retreat platform (16) which advances / retreats to / from Y), and extends in a direction (X) perpendicular to the advance / retreat direction (Y) of the advance / retreat platform (16) and is provided on the advance / retreat platform (16), and a part thereof is the plate material processing machine A movable frame (17) extending above (1) and a plate material gripping portion (20) that is installed on the movable frame (17) so as to be able to run and grips the plate material (w) on the plate material processing machine (1). ) And a load path (R) passing below the movable frame (17) so as to be movable in the advancing / retreating direction (Y) of the advancing / retreating stage (16). A movable mounting table (3) on which a plate material (w) is mounted from (13, 14); The movable frame (16) is movable to move the position of the movable mounting table (3) when receiving the plate material (w) from the loader (13, 14) in correspondence with the position of the advancing / retreating direction (Y). And a mounting table controller (44).

  According to this configuration, since the movable mounting table (3) is provided so as to be movable in the advancing / retreating / retreating direction (Y) that is orthogonal to the movable frame (17) along the path passing below the movable frame (17), Even in a state where the loader (13, 14) is positioned with respect to the plate material processing machine (1), by moving the movable mounting table (3) forward and backward, the movable mounting table (3 by the other loader (13, 14) is provided. ) Can be placed on the plate material (w). Therefore, while installing a plurality of loaders (13, 14) on a common movable frame (17), there is no need for an extra waiting time between the plurality of loaders (13, 14). By providing the loaders (13, 14), the effect of improving the carry-out efficiency can be sufficiently exhibited.

In the present invention, the movable mounting table control device (44) includes a plurality of plate members (w) that are sequentially mounted on the movable mounting table (3) by a plurality of travels of the loader (13, 14). It is good also as what has the arrangement | positioning mounting control part (44a) to which the said movable mounting base (3) is moved so that a mounting location may become several places arranged in the said advancing / retreating base advancing / retreating direction (Y).
In the case of this configuration, even when mounting on the movable mounting table (3) side by side in the direction (Y) orthogonal to the loader travel direction (X), there is an excess between the loaders (13, 14). A waiting time can be eliminated.

In the present invention, a plurality of the movable mounting tables (3) may be provided so as to circulate and move on the same endless path (R0).
When the movable mounting table (3) is circulated and moved on the endless path (R0), the movable mounting table (3) on which the plate material (w) is loaded by the loader (13, 14) is transferred to the next step (50). It can be moved to other places, and the transfer function by the movable mounting table (3) is enhanced. In addition, the plate material (w) can be sequentially received from the loader (13, 14) by the plurality of movable mounting tables (3) that circulate and move, and the loader (13, 14) waits for the arrival of the movable mounting table (3). Can be avoided, and the conveyance efficiency is further improved. Further, the configuration for moving the movable mounting table (3) to another position can also be used for the function of moving the movable mounting table (3) for mounting the plate material by the loader (13, 14). Therefore, the complexity of the configuration can be suppressed.

The plate material unloading facility according to the present invention is a plate material unloading facility for unloading a processed plate material from a plate material processing machine, which is installed in the vicinity of the plate material processing machine and advances / retreats in a predetermined direction, and the advance / retreat direction of the advance / retreat table A movable frame that extends in a direction perpendicular to the plate and is provided on the advancing / retreating base and partially extends above the plate material processing machine, and is movably installed on the movable frame and each grips the plate material on the plate material processing machine. A plurality of loaders having a plate material gripping section; a movable mounting table on which a plate material is mounted from the loader provided to be movable in the advancing and retreating direction of the advancing / retreating platform along a path passing below the movable frame; and the movable frame And a movable mounting table controller that moves the position of the movable mounting table when receiving the plate material from the loader corresponding to the position in the forward / backward direction of the plurality of units. While installing the loader, and unnecessary extra waiting time between each other of these multiple loader, it is possible to sufficiently exhibit the effect of improving the discharge efficiency by comprising a plurality of loaders.
The movable mounting table control device is configured such that a plurality of plate materials that are sequentially mounted on the movable mounting table by a plurality of times of travel of the loader are a plurality of locations arranged in the advancing / retreating / retreating direction. In the case of having the side-by-side placement control unit for moving the movable placement table, even when the movable placement table is placed side by side in a direction orthogonal to the loader traveling direction, an extra waiting time between the plurality of loaders is provided. Time can be eliminated.
When a plurality of the movable mounting tables are provided so as to circulate and move on the same endless path, the transfer function of the movable mounting table can be further enhanced, and the complexity of the configuration can be suppressed.

  A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a plate material processing facility provided with this plate material unloading facility. This plate material processing facility includes a plate material processing machine 1 and a plate material carry-out facility 4 including a plate material carry-out device 2 and a movable mounting table 3. In addition to this, this plate material processing facility includes a plate material carry-in device (not shown) for carrying a plate material W as a raw material to the plate material processing machine 1, but description of the plate material carry-in device is omitted.

  The plate material processing machine 1 has a function of cutting a plurality of plate materials w from the material plate material W of the table 5 by punching or the like, and includes a punch press or a laser processing machine. In this example, the plate material processing machine 1 is a punch press, and a processing unit 7 that performs processing by moving a punch tool (not shown) up and down with respect to a die tool (not shown) and a material plate material W on a table 5. And a plate material feed mechanism 8 that moves in the front-rear direction (Y direction) and the left-right direction (X direction).

  The plate material unloading device 2 is a device for unloading the product plate material w from the plate material processing machine 1 to the movable mounting table 3 or the plate material mounting area E between the movable mounting table 3 and the plate material processing machine 1. In the plate material placement area E, for example, a plate material stocker (not shown) in which pallets are installed in a pull-out manner in a plurality of upper and lower stages is installed. Here, description about carrying out to the said board | plate material stocker is abbreviate | omitted.

  The plate material unloading device 2 is installed on the side of the plate material processing machine 1 and advances / retreats in the front / rear direction (Y direction) which is a predetermined direction with respect to the plate material processing machine 1, and the advance / retreat direction (Y A movable frame 17 that extends in a direction (X direction) orthogonal to the direction) and is provided on the advance / retreat platform 16 and partially extends above the plate material processing machine 1. The loaders 13 and 14 are provided. Three or more loaders may be installed on the movable frame 17 so as to be able to run. The advancing / retreating platform 16 includes a pair of support columns 16a that can run on two rails for back and forth movement 8 provided on both the left and right sides of the plate material mounting area E, and a connecting frame 16b that connects both support columns 16a. Is done. The advance / retreat platform 16 is driven forward / backward by an advance / retreat drive source (not shown) such as a servo motor.

  The movable frame 17 is fixed to the upper part of both support columns 16 a of the advance / retreat platform 16. The movable frame 17 is composed of two parallel rails 11 and 12 arranged in the front-rear direction (Y direction), and the loaders 13 and 14 are installed on the rails 11 and 12 so as to be able to run left and right (X direction). ing. Accordingly, the two loaders 13 and 14 are separated from the movable frame 17 by a constant pitch in the traveling path, that is, the traveling route, in the advancing / retreating direction (Y direction) of the advancing / retreating platform 16. The traveling trajectories of the two loaders 13 and 14 may be the same. Each loader 13, 14 is equipped with a drive source such as a servo motor and is driven to travel.

  Each of the loaders 13 and 14 is provided with a plate material gripping portion 20 that grips the plate material w via a lift mechanism 19 having a lift drive source (not shown). The plate material gripping portion 20 is formed by arranging a plurality of vacuum suction pads 22.

  For example, as shown in an enlarged plan view in FIG. 2, the plate material gripping portion 20 includes a gripping portion frame 21 and a gripping portion fixing frame 21a, and a horizontal rotation around the rotation fulcrum a at the base end of the gripping portion fixing frame 21a. It is good also as an expansion / contraction form which consists of the folding frame 21b attached movably. The folding frame 21b is rotated by a drive source 28. Thereby, it is possible to suck and convey a large plate material W part by part by the loaders 13 and 14 in a state where the folding frame 26 is expanded as shown in FIG. Further, even if the pitch of the traveling tracks A and B of both the loaders 13 and 14 is narrow, when the folding frame 21b is folded as shown in FIG. 2A, the two loaders 13 and 14 interfere with each other. It is possible to drive the vehicle without passing.

In FIG. 1, the movable mounting table 3 is provided so as to be movable in the advancing / retreating direction (Y direction) of the advancing / retreating table 16 along a path passing below the movable frame 17, and a plate material w is mounted from the loaders 13, 14. is there. The movable mounting table 3 may be a tracked traveling vehicle with wheels on rails (not shown) or a trackless traveling vehicle that can move along a free path, but can be driven back and forth. It is assumed. The movable mounting table 3 may travel on a route determined along a guide by detecting a travel path detection guide (not shown) provided on the floor surface by a sensor in a non-contact manner.
In this embodiment, the guidance form is not limited, but the movable mounting table 3 is assumed to travel along a predetermined route R.

  The control system will be described. The plate material processing machine 1 is controlled by a processing machine control device 41 including a computer-type numerical control device or the like. In the plate material carrying-out device 2, the loaders 13 and 14 and the advance / retreat platform 16 are controlled by a loader control device 43. The movable mounting table 3 is controlled by the movable mounting table control device 44. The loader control device 43 and the movable mounting table control device 44 constitute a transport control device 42 that controls the entire plate material carry-out facility 4. Each of the loader control device 43 and the movable mounting table control device 44 includes a computer-type programmable controller and the like, and is controlled according to a control program (not shown). These processing machine control device 41, loader control device 43, and movable mounting table control device 44 transmit and receive signals to each other to control operation timing, operation position, and the like.

  The movable mounting table control device 44 has a function of moving the position of the movable mounting table 3 when receiving the plate material w from the loaders 13 and 14 corresponding to the position of the movable frame 17 in the forward / backward movement direction (Y direction). ing. In the movable mounting table control device 44, the mounting positions of the plurality of plate materials w that are sequentially mounted on the movable mounting table 3 by a plurality of times of travel of the loaders 13 and 14 are arranged in the forward / backward moving direction (Y direction). It has the arrangement | positioning mounting control part 44a which moves the movable mounting base 3 so that it may become multiple places.

The operation of the above configuration will be described. In the plate material unloading equipment 4 having this configuration, the positional relationship in the front-rear direction of the first loader 13 and the second loader 14 is fixed to each other, and the front-rear direction (Y direction) of the first and second loaders 13, 14 is fixed. ) Is determined by the front and rear positions of the movable frame 17 as the advance / retreat platform 16 advances and retreats.
For this reason, for example, the operation is performed as shown in FIG. As shown in FIG. 3 (A), the loader control device 43 in FIG. 1 is configured such that when the first loader 13 picks up the plate material (not shown) of the plate material processing machine 1 and loads it at the loading position S, The first loader 13 is moved only in the left-right direction (X direction). In the front-rear direction (Y direction), the advancing / retreating platform 16 is moved to a position where the second loader 14 adsorbs the plate material w on the plate material processing machine 1 ((B) in the figure). In conjunction with this movement, the movable mounting table controller 44 (FIG. 1) moves the position of the movable mounting table 3 to be loaded by the first loader 13 in the front-rear direction (Y direction) (FIG. C)).

  By moving the movable mounting table 3 in this way, the first loader 13 can load the movable mounting table 3 on the Y coordinate where the second loader 14 attracts the plate material of the plate processing machine 1. In addition, it is useless by outputting the carrying-out information of the 2nd loader 14 ahead of time when outputting the carrying-out loading information of the 1st loader 13, and making the operation for the next adsorption ahead. Eliminate movement.

  After adsorbing by the second loader 14, when loading on the movable mounting table 3, the second loader 14 is moved only in the left-right direction (X direction). In the front-rear direction (Y direction), the advancing / retreating platform 16 is moved to a position where the first loader 13 sucks the plate material w on the plate material processing machine 1 (FIGS. (D to (E))). In conjunction with this movement, the position of the movable mounting table 3 for loading with the second loader 14 is moved in the front-rear direction (Y direction) (FIG. 5E).

The loading of the plate material W onto the movable mounting table 3 may be performed at one place, or may be arranged in the front-rear direction as shown in FIG. Even when arranging them side by side in the front-rear direction, the movable mounting table 3 may be moved in accordance with the position. Further, when the plate members w are stacked on the left and right on the movable mounting table 3, the position is determined by controlling the stop positions of the loaders 13 and 14 in the left and right direction.
In this way, while the two loaders 13 and 14 are installed on the common movable frame 17, an extra waiting time between the two loaders 13 and 14 is not required, and the two loaders 13 and 14 are removed. The improvement effect of the carrying-out efficiency by having can be fully exhibited.

  FIG. 4 shows another embodiment of the present invention. In this embodiment, as the movable mounting table 3, a plurality of movable mounting tables 3 that circulate and move on the same endless path R0 are provided. The carry-in part of the apparatus 50 which processes the next process is arrange | positioned in a part of endless path | route R0. The endless route R0 may be composed of rails, or may be a virtual track serving as a control movement route. Other configurations are the same as those of the first embodiment shown in FIGS.

  Thus, when the movable mounting table 3 is configured to circulate and move on the endless route R0, the movable mounting table 3 on which the plate material w is loaded by the loaders 13 and 14 can be moved to the next process or another place. The transfer function by the movable mounting table 3 can be enhanced. Further, the plurality of movable mounting tables 3 that circulate and move can sequentially receive the plate material w from the loaders 13 and 14, and the loaders 13 and 14 can avoid waiting for the arrival of the movable mounting table 3, thereby further improving the transfer efficiency. Is increased. The configuration for moving the movable mounting table 3 to another position can also be used as a function of moving the movable mounting table 3 for mounting the plate material w by the loaders 13 and 14. Therefore, the complexity of the configuration can be suppressed.

It is explanatory drawing which shows the perspective view of the board | plate material processing equipment containing the board | plate material carrying-out equipment concerning 1st Embodiment of this invention, and the block diagram of the control system. It is a top view which shows each operation state of the board | plate material holding part of a loader. It is operation | movement explanatory drawing of the board material carrying-out installation. It is a schematic plan view which shows other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Plate material processing machine 2 ... Plate material carrying-out apparatus 3 ... Movable mounting base 4 ... Plate material carrying-out equipment 13, 14 ... Loader 16 ... Advancement / retraction stand 17 ... Movable frame 20 ... Plate material gripping part 43 ... Loader control device 44 ... Movable mounting table control device 44a ... Arrangement control unit 50 ... Devices A and B for processing the next process ... Traveling track R ... Path R0 ... Endless path W ... Plate material w ... Material plate material

Claims (3)

  A plate material unloading facility for unloading a processed plate material from a plate material processing machine, which is installed in the vicinity of the plate material processing machine and advances and retreats in a predetermined direction, and extends in a direction perpendicular to the advance and retreat direction of the advance and retreat table A movable frame that is provided on the advancing / retreating base and that partially extends above the plate material processing machine, and a plurality of units each having a plate material gripping portion that is movably installed on the movable frame and grips the plate material on the plate material processing machine. A loader, a movable mounting table on which a plate material is mounted from the loader, which is provided so as to be movable in the advancing / retreating direction of the advancing / retreating platform through a path passing under the movable frame, and a position of the movable frame in the advancing / retreating / retreating direction Correspondingly, a platen carrying-out facility comprising: a movable table control device that moves the position of the movable table when receiving the plate material from the loader.   The movable mounting table control device is configured so that a plurality of plate material mounting positions sequentially mounted on the movable mounting table by a plurality of times of travel of the loader are a plurality of positions arranged in the advancing / retreating / retreating direction. The plate material carrying-out facility according to claim 1, further comprising an arrangement placement control unit that moves the movable placement table.   The plate material carrying-out facility according to claim 1 or 2, wherein a plurality of the movable mounting tables are provided so as to circulate and move on the same endless path.

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