JP2010029878A - Delivering apparatus and its delivering method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a delivering apparatus which is excellent in workability and with which productivity is improved. <P>SOLUTION: The delivering apparatus 100 is provided with; a first delivering part 1 which is provided with a first taking-out position 11a where a stack consisting of a plurality of blank materials 15 is placed; a second delivering part 2 which is provided with a second taking-out position 12a where the stack consisting of the plurality of blank materials 15 is placed; a measuring means 3 for measuring the position of the blank materials 15 which is placed in the first taking-out position 11a or the second taking-out position 12a and a robot arm 20 for carrying the blank materials 15 in a press line from the first taking-out position 11a or the second taking-out position 12a. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a delivery device and a delivery method thereof.

  In general, the blank material is carried into the press line using a robot arm provided in a destack feeder or the like. That is, in this method, the blank material is sucked and held one by one from the stack placed at a predetermined position, and is carried into the press line.

  However, in this method, it is necessary to separately arrange the stack at a predetermined position every time the stack runs out. Therefore, it takes time to arrange the stack, and it cannot be said that productivity is excellent.

On the other hand, the pallet loaded with the sheet stack in a predetermined arrangement is loaded into the destack position, the pallet loading device for unloading the pallet from the destack position after supplying the sheet stack on the pallet, and the destack position, An XY table that moves the loaded pallet in the X-axis and Y-axis directions to position the selected sheet stack on the pallet at the destack point, and is disposed below the destack point and is destacked. A destack feeder is disclosed that includes a stack lifter that lifts a sheet stack positioned at a point to a position where the vacuum lifter can be held through a through-hole opened in the pallet (for example, Patent Document 1). reference). According to this method, productivity is improved as compared with the above method.
Japanese Patent Laid-Open No. 06-154919

  However, since the destack feeder described in Patent Document 1 must move to the next pallet when the sheet stack placed on the pallet is exhausted, it takes time to move to this pallet, and the productivity is sufficiently high. It cannot be said that it will improve.

  This invention is made | formed in view of the said situation, and it aims at providing the delivery apparatus which is excellent in workability | operativity and can improve productivity.

  The present inventor has intensively studied in order to solve the above-mentioned problems, and as a result, the measurement means for measuring the position of the blank material placed at the extraction position, and two extraction positions are provided, thereby The present inventors have found that the problems can be solved and have completed the present invention.

  That is, the present invention includes (1) a first delivery portion having a first take-out position on which a stack made of a plurality of blank materials is placed, and a second take-out position on which a stack made of a plurality of blank materials is placed. A second feeding part, a measuring means for measuring the position of the blank material placed at the first extraction position or the second extraction position, and the blank material from the first extraction position or the second extraction position to the press line. And a robot arm for carrying in.

  In the present invention, (2) the first delivery part further includes a first positioner for correcting the position of the stack placed at the first removal position, and the second delivery part is placed at the second removal position. The dispensing device according to the above (1) further includes a second positioner for correcting the position of the stacked.

  The present invention resides in (3) the delivery device according to the above (1), wherein the measuring means is a CCD camera.

  In the present invention, (4) the first take-out position and the second take-out position are equidistant from the carry-in entrance into which the blank material of the press line is carried in and are symmetrical with respect to the carry-in direction of the blank material. It exists in the delivery apparatus of the said (1) description currently positioned.

  According to the present invention, (5) the first supply unit further includes a first standby position for waiting the stack, and a first stage base movable between the first standby position and the first extraction position, The delivery device according to the above (1), wherein the two delivery units further include a second standby position for waiting the stack and a second stage base movable between the second standby position and the second extraction position. .

  The present invention comprises (6) a robot arm having a central axis, an arm connected to the central axis so as to be rotatable, and an adsorption portion capable of adsorbing and holding a blank material at the tip of the arm. It exists in the delivery apparatus of the said (1) description in which a part can be rotated in a horizontal direction.

  The present invention resides in (7) the feeding device according to (1), wherein the press line is a transfer press line or a tandem press line.

  According to the present invention, (8) a stack of a plurality of blank materials is placed at a first take-out position, the position of the stack is measured by a measuring means, and the robot arm is blanked based on the measured position information. The first step of repeating the operation of sucking and holding and carrying it into the press line, and placing a stack made of a plurality of blank materials at the second take-out position, measuring the position of the stack by the measuring means, the measurement Based on the position information, the robot arm sucks and holds the blank material and repeats the second step of repeating the operation of carrying it into the press line.

  According to the present invention, (9) the feeding according to (8), wherein after the first positioner or the second positioner corrects the position of the stack based on the position information, the robot arm sucks and holds the blank material at the corrected position. Lies in the way.

Since the feeding device according to the present invention includes the first take-out position and the second take-out position on which a stack made of a plurality of blank materials is placed, the second time during which the robot arm carries the blank material from the first take-out position. The stack can be prepared at the take-out position, and the stack can be prepared at the first take-out position while the robot arm carries the blank material from the second take-out position.
For this reason, according to the said delivery apparatus, productivity improves.

Moreover, when the stack is placed at the first take-out position or the second take-out position, the feeding device can measure the position of the blank material of the stack by the measuring means. Then, based on the information, the robot arm can suck and hold the blank material at an accurate position.
For this reason, since the precision of the position which mounts a stack is not calculated | required, workability | operativity improves.

When the first delivery unit further includes the first positioner and the second delivery unit further includes the second positioner, delivery can be performed even when the robot arm has a stack at a position where it cannot be sucked and held. It becomes. That is, the first positioner or the second positioner moves a stack at a position where the robot arm cannot be sucked and held to a position where the robot arm can be sucked and held.
In this case, the position where the stack (blank material) is placed at the take-out position is not constrained by a range in which the robot arm can suck and hold the blank material. Therefore, workability is further improved.

  If the measuring means is a CCD camera, the delivery device can be easily attached and detached and does not take up space. Also, remote work is possible.

The delivery device is positioned such that the first take-out position and the second take-out position are equidistant from the carry-in entrance into which the blank material of the press line is carried and are symmetrical with respect to the carry-in direction of the blank material. In this case, the distance from the first take-out position to the carry-in port of the press line is equal to the distance from the second take-out position to the carry-in port of the breath line.
From this, the movement distance of the blank material when the blank material is carried in by the robot arm becomes equal.

Therefore, if the loading speed of the robot arm is constant, the time during which the blank material is carried in from the first take-out position can be made equal to the time during which the blank material is carried in from the second take-out position. Thus, it is possible to carry in the blank material, and no adjustment is required when switching from the first removal position to the second removal position.
For these reasons, according to the feeding device of the present invention, it is possible to improve the productivity sufficiently even at a low cost and in a relatively narrow space.

The delivery device further includes a first standby position where the first delivery section waits for the stack, and a first stage base movable between the first standby position and the first removal position, and the second delivery When the unit further includes a second standby position for waiting the stack and a second stage base that can move between the second standby position and the second take-out position, the first stage base at the first standby position It is only necessary to place the stack, and it is only necessary to place the stack on the second stage base at the second standby position, so that it is possible to work more safely.
Note that after the stack is placed on the first stage base at the first standby position, the stack is moved to the first take-out position, and after the stack is placed on the second stage base at the second standby position. Will move the stack to the second removal position.

When the robot arm includes a central axis, an arm connected to the central axis so as to be rotatable, and a suction portion capable of sucking and holding a blank material at the tip of the arm, the robot arm If the arm is rotated around the central axis of the blank, the blank material can be efficiently carried into the press line from the first extraction position or the second extraction position.
In addition, when the suction portion is rotatable in the horizontal direction, the position for sucking and holding the stack can be easily adjusted according to the position of the stack.

When the press line is a transfer press line or a tandem press line, productivity of the delivery device is reliably improved.
Moreover, since the said delivery apparatus can be arrange | positioned even if it is a narrow space, it is suitably arrange | positioned to a comparatively large transfer press line or a tandem press line.

According to the delivery method of the present invention, a stack made of a plurality of blank materials is placed at a first removal position, the position of the stack is measured by a measuring means, and the robot arm is blanked based on the measured position information. The first step of repeating the operation of sucking and holding and carrying it into the press line, and placing a stack made of a plurality of blank materials at the second take-out position, measuring the position of the stack by the measuring means, the measurement While the robot arm carries in the blank material from the first take-out position by alternately performing the second step in which the robot arm sucks and holds the blank material and repeats the operation of carrying it into the press line based on the position information. The stack can be prepared at the second take-out position, and the stack can be placed at the first take-out position while the robot arm carries the blank material from the second take-out position. It is possible to Bei.
For this reason, according to the said delivery method, productivity improves.

  In the above delivery method, when the stack is placed at the first extraction position or the second extraction position, the position of the blank material of the stack is measured by the measuring means, and the robot arm removes the blank material based on the position information. Since it can be sucked and held, the accuracy of the position for placing the stack is not required. For this reason, workability | operativity improves.

In the above delivery method, after the first positioner or the second positioner corrects the stack position based on the position information, the robot arm sucks and holds the blank material at the corrected position. Even if there is a stack at a position where it cannot be held, it can be dispensed. That is, the first positioner or the second positioner moves a stack at a position where the robot arm cannot be sucked and held to a position where the robot arm can be sucked and held.
In this case, the position where the stack is placed at the take-out position is not constrained by a range in which the robot arm can suck and hold the blank material of the stack. Therefore, workability is further improved.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary.
In the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.
Further, the positional relationship such as up, down, left and right is based on the positional relationship shown in the drawings unless otherwise specified.
Further, the dimensional ratios in the drawings are not limited to the illustrated ratios.

FIG. 1 is a plan view showing one embodiment of a dispensing device according to the present invention, and FIG. 2 is a perspective view showing one embodiment of a dispensing device according to the present invention.
As shown in FIG.1 and FIG.2, the delivery apparatus 100 which concerns on this embodiment is the 1st delivery part 1 provided with the 1st extraction position 11a in which the stack which consists of a some blank material 15 is mounted, and a some blank The position of the blank material 15 of the 2nd delivery part 2 provided with the 2nd extraction position 12a in which the stack which consists of material 15 is laid, and the 1st extraction position 11a or the 2nd extraction position 12a is laid is measured. Measuring means 3 and a robot arm 20 for carrying the blank material 15 into the press line from the first take-out position 11a or the second take-out position 12a.

The first delivery unit 1 includes a first standby position 11b for waiting the stack, a first rail 11c laid between the first standby position 11b and the first extraction position 11a, the first standby position 11b, And a first stage base 11 that can move between the first extraction positions 11a.
The first stage base 11 is slidable on the first rail 11c.
Thereby, the stack placed on the first stage base 11 is transported from the first standby position 11b to the first extraction position 11a.

Moreover, the 1st delivery part 1 is further provided with the 1st positioner 5a for correcting the position of the stack mounted in the 1st extraction position 11a.
The first positioner 5a has a stack position when the stack placement position is largely deviated on the first take-out position 11a. Specifically, when the stack is in a position where the robot arm 20 cannot be sucked and held, The robot arm 20 is moved to a position where the blank material 15 can be sucked and held. However, the correction of the position of the blank 15 does not require strict accuracy.

Similar to the first delivery unit 1 described above, the second delivery unit 2 has a second standby position 12b for waiting the stack and a second standby position 12b laid between the second standby position 12b and the second extraction position 12a. A rail 12c and a second stage base 12 movable between the second standby position 12b and the second take-out position 12a are provided.
The second stage base 12 can slide on the second rail 12c.
Thereby, the stack placed on the second stage base 12 is transferred from the second standby position 12b to the second extraction position 12a.

The second delivery unit 2 further includes a second positioner 5b for correcting the position of the stack placed at the second removal position 12a.
The second positioner 5b has a stack position when the stack placement position is largely deviated on the second extraction position 12a. Specifically, when the stack is at a position where the robot arm 20 cannot be sucked and held, The robot arm 20 is moved to a position where the blank material 15 can be sucked and held. However, the correction of the position of the blank 15 does not require strict accuracy.

Since the delivery device 100 includes the first take-out position 11a and the second take-out position 12a on which a stack of a plurality of blank materials 15 is placed, the robot arm 20 carries the blank material 15 from the first take-out position 11a. In the meantime, a stack can be prepared at the second extraction position 12a, and a stack can be prepared at the first extraction position 11a while the robot arm 20 carries the blank material 15 from the second extraction position 12a. Can do.
For this reason, according to the said delivery apparatus 100, a setup change is very efficient and productivity improves.

The stack may be placed on the first stage base 11 at the first standby position 11b and transported to the first take-out position 11a. The stack is placed on the second stage base 12 at the second standby position 12b. Since it only has to be conveyed to the 2 extraction position 12a, it becomes possible to work more safely.
Further, by providing the first positioner 5a and the second positioner 5b, the position where the stack is placed in the first extraction position 11a and the second extraction position 12a is within a range in which the robot arm 20 can hold the blank material 15 by suction. Not restrained. Therefore, workability is further improved.

In the delivery device 100, an elevating mechanism 16 is attached to the first take-out position 11a, and the stack disposed at the first take-out position 11a is preferably moved up and down by the elevating mechanism 16. .
Moreover, it is preferable that the raising / lowering mechanism 16 is attached to the 2nd extraction position 12a, and the stack arrange | positioned at the 2nd extraction position 12a by the raising / lowering mechanism 16 moves up and down.

In this case, in the delivery device 100, the stack can be raised to the same height as the carry-in port 30 by the lifting mechanism 16, and the blank material 15 can be carried into the carry-in port 30 by the robot arm 20.
Therefore, the transport device 20 can carry in the blank material 15 only by moving in parallel.

Examples of the measuring means 3 include a CCD camera and a laser scanner. Among these, the measuring means 3 is preferably a CCD camera.
In this case, the measuring means 3 can be easily attached and detached, and does not take up space. Also, remote work is possible.

The measuring means 3 measures the position of the blank material 15 after the stack is placed at the first extraction position 11a or the second extraction position 12a.
Then, the position information measured by the measuring means 3 is transmitted to the robot arm 20, and the robot arm 20 sucks and holds the blank material 15 at an accurate position.
In this case, strict accuracy of the position when placing the stack is not required, so that workability is improved.

FIG. 3 is a perspective view showing a robot arm in the delivery device according to the present embodiment.
As shown in FIG. 3, the robot arm 20 includes a central shaft 21, an arm 22 connected to the central shaft 21 so as to be rotatable, and a suction portion capable of sucking and holding a blank material at the tip of the arm 22. 27.

The arm 22 includes a main arm portion 25 connected to the central shaft 21 and a slave arm portion 26 connected to the main arm portion 25 so as to be rotatable.
The main arm portion 25 is rotatable in the horizontal direction around the central axis 21, and the slave arm portion 26 is rotatable in the horizontal direction around the connection portion with the main arm portion 25. It has become.
Therefore, the robot arm 20 can carry the blank material into the carry-in port 30 of the press line at the shortest distance by folding the main arm portion 25 and the slave arm portion 26.

The suction portion 27 is provided with a suction port (not shown) at the center, and the blank material 15 is sucked and held by sucking the blank material 15 from the suction port.
Further, the suction portion 27 can be expanded and contracted in the vertical direction, and can be sucked and held corresponding to the position of the blank material 15.

The robot arm 20 can carry the blank 15 into the carry-in port 30 of the press line from the first take-out position or the second take-out position by rotating the arm 22 around the central axis 21.
Moreover, since the adsorption | suction part 27 can be rotated in a horizontal direction, according to the position of a stack, the position which adsorbs and hold | maintains a stack can be adjusted easily.

Returning to FIG. 1, in the dispensing device 100 according to the present embodiment, the first removal position 11 a and the second removal position 12 a are positioned so as to be equidistant from the carry-in entrance 30 into which the blank material 15 of the press line is carried. And the first take-out position 11a and the second take-out position 12a are positioned so as to be symmetric with respect to the carrying-in direction A of the blank material 15.
In addition, the above-described robot arm 20 is positioned such that the first extraction position 11a and the second extraction position 12a are equidistant from the central axis 21.

That is, in the delivery device 100, the distance from the first take-out position 11a to the carry-in port 30 of the press line is equal to the distance from the second take-out position 12a to the carry-in port 30 of the press line. The distance from the extraction position 11a to the central axis 21 is equal to the distance from the second extraction position 12a to the central axis 21.
Therefore, the central shaft 21 is arranged on a line that is orthogonal to the midpoint of the line that connects the first extraction position 11a and the second extraction position 12a, and the blank material 15 is carried in.

Since the distance from the first take-out position 11a to the carry-in entrance 30 is equal to the distance from the second take-out position 12a to the carry-in entrance 30 in the feeding device 100, the arm 22 is moved around the central axis 21 of the robot arm 20. If the carry-in speed at which the blank material 15 is carried from the first take-out position 11a or the second take-out position 12a to the carry-in port 30 of the press line is fixed, the blank material 15 is carried from the first take-out position 11a. And the time when the blank material 15 is carried in from the second extraction position 12a become equal.
Accordingly, it is possible to carry in the blank material 15 at a constant speed and a constant time, and no adjustment is required when switching from the first extraction position 11a to the second extraction position 12a.

  Therefore, according to the delivery device 100, since a special device is not required, the cost is low. By arranging the first extraction position 11a, the second extraction position 12a, and the robot arm 20 as described above, Even in a relatively narrow space, the productivity can be sufficiently improved.

In the delivery apparatus 100, the press line into which the blank material 15 is carried is preferably a transfer press line or a tandem press line.
Since the delivery apparatus 100 can be arranged even in a narrow space, it can be suitably used for a relatively large transfer press line or tandem press line, and productivity can be reliably improved.

Next, an embodiment of the delivery method according to the present invention will be described.
The delivery apparatus 100 mentioned above is used for the delivery method which concerns on this embodiment.
Specifically, a stack made of a plurality of blank materials 15 is placed at the first take-out position 11a, the position of the stack is measured by the measuring means 3, and the first positioner 5a is based on the measured position information. After the stack position has been corrected, the robot arm 20 includes the first step of repeating the operation of sucking and holding the blank material 15 at the corrected position and carrying it into the carry-in port 30 of the press line, and a plurality of blank materials 15. After the stack is placed at the second take-out position 12a, the position of the stack is measured by the measuring means 3, and after the second positioner 5b corrects the position of the stack based on the measured position information, the robot arm 20 The robot arm 20 sucks and holds the blank material 15 at the position where is corrected, and alternates with the second step of repeating the operation of carrying it into the carry-in entrance 30 of the press line. Do.

  (A), (b), (c), (d), (e), and (f) of FIG. 4 are explanatory diagrams for explaining a delivery method using the delivery device according to the present embodiment.

First, as shown in FIG. 4A, when the stack is placed at the first take-out position 11a in the first step, a sensor (not shown) detects the stack, and based on the detection signal, the measuring means 3 (CCD camera) measures the position of the blank 15 of the stack.
Then, based on the measured position information, the first positioner 5a corrects the position of the stack, and then the stack placed on the first stage base 11 is raised to the height of the carry-in entrance 30 by the elevating mechanism 16. The

Here, a control method for sucking and holding the blank 15 using the measuring means 3 will be described.
FIG. 5 is a flowchart showing a control method in the delivery method according to the present embodiment.
As shown in FIG. 5, in the above delivery method, the position information of the blank 15 is calculated by the calculation unit 50 of the computer.

That is, first, position information of the blank material 15 (hereinafter referred to as “basic position information” for convenience) is input to the calculation unit 50.
Then, the position information measured by the measuring means 3 (hereinafter referred to as “measured position information” for convenience) is transmitted to the calculation unit 50, and the calculation unit 50 calculates an error between the basic position information and the measured position information.

Based on the calculated error position information (hereinafter referred to as “error information” for convenience), a movement command is issued to the positioners 5a and 5b, thereby correcting the position of the stack.
Thereafter, a movement command is issued to the robot arm 20 based on the error information of the calculation unit 50. Then, the robot arm 20 sucks and holds the blank material 15 at an accurate position according to the position of the stack.

Next, as shown in FIG. 4B, based on the position information (error information), the blank material 15 is sucked and held by the suction portion 27 of the robot arm 20, and the blank material 15 is removed from the first stage base 11. Is carried into the carry-in entrance 30 by the robot arm 20. In addition, the amount of the blank material 15 is reduced by repeatedly carrying the blank material 15, and accordingly, the height of the blank material 15 to be sucked and held gradually decreases, and the suction portion 27 can be expanded and contracted in the vertical direction. Therefore, the same position of the blank material 15 can always be sucked and held.
Thereby, it can suppress that the position shift of the blank material 15 by the robot arm 20 arises.
On the other hand, the stack is placed on the second stage base 12 at the second standby position 12b.

Next, as shown in FIG. 4C, in the second step, the second stage base 12 on which the stack is placed is slid from the second standby position 12b to the second extraction position 12a.
When the stack is placed at the second take-out position 12a, a sensor (not shown) detects the stack, and the measuring means 3 measures the position of the blank material 15 of the stack based on the detection signal.
Then, based on the measured position information, the second positioner 5b corrects the position of the stack, and then the stack placed on the second stage base 12 is raised to the height of the carry-in entrance 30 by the elevating mechanism 16. .
On the other hand, in the first step, the blank material 15 is carried in by the robot arm 20 continuously from the first take-out position 11a.

Next, as shown in FIG. 4 (d), when the blank material 15 (stack) placed on the elevating mechanism 16 disappears at the first extraction position 11a, the arm 22 of the robot arm 20 is reversed, As shown in FIG. 4E, the stack blank 15 placed on the elevating mechanism 16 is sucked and held by the sucking portion 27 of the robot arm 20 at the second extraction position 12 a.
In addition, carrying in of the blank material 15 in the 2nd extraction position 12a is performed similarly to the 1st extraction position 11a mentioned above.
On the other hand, the elevating mechanism 16 at the first take-out position 11a where the blank material 15 disappears is lowered to the original position, and then the first stage base 11 is slid from the first take-out position 11a to the first standby position 11b, The first step ends. Note that the next stack is placed on the first stage base 11.

  Next, as shown in FIG. 4 (f), the first stage base 11 on which another stack is placed is slid from the first standby position 11b to the first extraction position 11a, and as described above, The position of the blank material 15 is measured, and then the stack is raised to the height of the carry-in port 30 by the lifting mechanism 16.

Next, when the blank material 15 (stack) placed on the lifting mechanism 16 disappears at the second extraction position 12a, the arm 22 of the robot arm 20 is reversed, and the same as described above at the first extraction position 11a. In addition, the blank material 15 (stack) placed on the elevating mechanism 16 is carried into the carry-in entrance 30 by the robot arm 20.
At this time, the elevating mechanism 16 having no blank material 15 (stack) is lowered to the original position, and then the second stage base 12 is slid from the second take-out position 12a to the second standby position 12b, and the second The process ends.

In the delivery method according to the present embodiment, the first step and the second step are alternately repeated.
Therefore, while the robot arm 20 carries in the blank material from the first extraction position 11a, a stack can be prepared at the second extraction position 12a, and the robot arm 20 can remove the blank material from the second extraction position 12a. During loading, a stack can be prepared at the first removal position 11a.

  Further, in the above delivery method, when the stack is placed at the first extraction position 11a or the second extraction position 12a, the position of the blank material of the stack is measured by the measuring means 3, and the robot arm 20 is based on the position information. However, since the blank 15 can be sucked and held, the accuracy of the position where the stack is placed is not required. For this reason, workability | operativity improves.

The above delivery method is based on the position information, after the first positioner 5a or the second positioner 5b corrects the stack position, the robot arm 20 sucks and holds the blank material 15 at the corrected position. Even if there is a stack at a position where the robot arm 20 cannot be sucked and held, it can be dispensed.
That is, the first positioner 5a or the second positioner 5b moves a stack at a position where the robot arm 20 cannot be sucked and held to a position where the robot arm 20 can be sucked and held.
In this case, the position where the stack is placed at the take-out position is not constrained by the range in which the robot arm 20 can hold the blank material 15 by suction. Therefore, workability is further improved.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.

  For example, although the delivery apparatus 100 according to the present embodiment includes the first positioner 5a and the second positioner 5b, it is not always necessary to provide them.

In the delivery device 100 according to the present embodiment, the elevating mechanism 16 is attached to each of the first take-out position 11a and the second take-out position 12a, but the elevating mechanism 16 is not necessarily attached.
That is, in order to make the take-out position and the carry-in port the same height, the take-out position itself may be made the same height as the carry-in port.

  The delivery device 100 according to the present embodiment includes a standby position for waiting the stack and a stage base on which the stack is placed, but it is not always necessary to include these.

In the delivery device according to the present invention, one arm is connected to the central axis of the robot arm, but the arms may be connected as a pair (two).
In this case, one arm can carry in the blank material from the first take-out position, and the other arm can carry in the blank material from the second take-out position.

In the delivery device according to the present invention, two robot arms may be arranged.
FIG. 6 is a plan view showing another embodiment of the dispensing device according to the present invention.
As shown in FIG. 6, in the dispensing device 200 according to the present embodiment, two robot arms 51 and 52 are arranged, and the robot arm 51 moves the blank material 15 from the first removal position 51 a, and the robot arm 52 moves the robot arm 52. You may make it carry in the blank material 15 from the 2nd extraction position 52a.
At this time, the loading order is alternately performed between the robot arm 51 and the robot arm 52.

FIG. 1 is a plan view showing an embodiment of a dispensing device according to the present invention. FIG. 2 is a perspective view showing an embodiment of the dispensing device according to the present invention. FIG. 3 is a perspective view showing a robot arm in the delivery device according to the present embodiment. (A), (b), (c), (d), (e), and (f) of FIG. 4 are explanatory diagrams for explaining a delivery method using the delivery device according to the present embodiment. FIG. 5 is a flowchart showing a control method in the delivery method according to the present embodiment. FIG. 6 is a plan view showing another embodiment of the dispensing device according to the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... 1st delivery part 2 ... 2nd delivery part 3 ... Measuring means 5a ... 1st positioner 5b ... 2nd positioner 11 ... 1st stage stand 11a, 51a ... 1st extraction position 11b ... 1st standby position 11c ... 1st rail 12 ... 2nd stage stand 12a, 52a ... 2nd extraction position 12b ... 2nd standby position 12c ... 1st 2 rails 15 ... blank material 16 ... lifting mechanism 20, 51, 52 ... robot arm 21 ... central axis 22 ... arm 25 ... main arm portion 26 ... sub arm portion 27・ ・ ・ Suction unit 30 ... Carrying in port 50 ... Calculating unit 100,200 ... Delivery device A ... Carrying direction

Claims (9)

A first delivery portion having a first removal position on which a stack of a plurality of blank materials is placed;
A second delivery unit having a second removal position on which a stack of a plurality of blank materials is placed;
Measuring means for measuring the position of the blank placed on the first take-out position or the second take-out position;
A robot arm for carrying the blank material into the press line from the first take-out position or the second take-out position;
A dispensing device comprising: The first delivery part further comprises a first positioner for correcting the position of the stack placed at the first removal position;
The dispensing device according to claim 1, wherein the second dispensing unit further includes a second positioner for correcting a position of the stack placed at the second removal position.   2. The dispensing apparatus according to claim 1, wherein the measuring means is a CCD camera. The first take-out position and the second take-out position are positioned so as to be equidistant from the carry-in entrance into which the blank material of the press line is carried in and symmetrical with respect to the carry-in direction of the blank material. The dispensing apparatus according to claim 1, wherein The first delivery unit further comprises a first standby position for waiting the stack, and a first stage base movable between the first standby position and the first extraction position,
The second delivery unit further includes a second standby position for waiting the stack, and a second stage base movable between the second standby position and the second extraction position. Item 1. The feeding device according to Item 1. The robot arm includes a central axis, an arm connected to the central axis so as to be rotatable, and a suction portion capable of sucking and holding the blank material at a tip of the arm,
The dispensing device according to claim 1, wherein the suction portion is rotatable in a horizontal direction.   2. The feeding device according to claim 1, wherein the press line is a transfer press line or a tandem press line. A stack made of a plurality of blank materials is placed at the first take-out position, the position of the stack is measured by a measuring means, and the robot arm sucks and holds the blank material based on the measured position information, and presses A first step of repeating the operation of carrying in the line;
A stack made of a plurality of blank materials is placed at the second take-out position, the position of the stack is measured by a measuring means, and based on the measured position information, the robot arm sucks and holds the blank material, A second step of repeating the operation of carrying into the press line;
The delivery method characterized by performing alternately.   9. The feeding according to claim 8, wherein after the first positioner or the second positioner corrects the position of the stack based on the position information, the robot arm holds the blank material by suction at the corrected position. Method.

Images