JP2013177235A - Method of taking one sheet of workpiece in shelf device, and the shelf device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of taking one sheet of a workpiece from the inside of a shelf of a shelf device, and the shelf device used for the method.SOLUTION: A method of taking one sheet of a workpiece in a shelf device 1 is disclosed, in which a shelf lifter 11 for putting in/putting out a pallet 5 to/from each of shelves 7 is vertically movably provided to one side of a shelf frame 3 including the plurality of stages of shelves 7 for freely putting in/putting out the pallet 5 on which plate-like workpieces W are loaded and/or the pallet 5 on which products are placed, and a one sheet taking lifter 23 including a one sheet taking device 19 taking one sheet of the workpiece from the top part of the pallet in the shelf so that the device 19 can be put in/out to/from the shelves, is vertically movably provided to the other side of the shelf frame 3. After transferring the pallet in the upper side shelf of the shelves 7 housing the pallet 5 where the workpiece W the one sheet of which is to be taken to the top of the shelf lifter 11 and making the shelf empty, the one piece taking lifter 23 is positioned to a height position corresponding to the empty shelf, the one sheet taking device 19 is advanced to the empty shelf, and one sheet taking of the workpiece is performed by the one sheet taking device 19 from the top of the pallet in the shelf under the empty shelf. The shelf device is also provided.

Description

  The present invention relates to a single piece picking operation for picking up a single piece of a workpiece on the pallet in a state where the pallet is stored in the shelf in a shelf device having a plurality of shelves in which a pallet loaded with plate-like workpieces can freely enter and exit. More specifically, when the height of the shelf is slightly larger than the sum of the height of the pallet and the height of the loaded workpiece, and the number of shelves is increased. The present invention relates to a single-sheet picking method and a shelf device that can be used.

  Conventionally, a shelf device has been used as means for storing a plate-like workpiece to be supplied to a plate material processing machine such as a punch press or a laser processing machine. The shelf device is configured to have a plurality of shelves in which a pallet loaded with workpieces can be taken in and out, and on one side of the shelf frame in the shelf device, the pallet is placed in and out of each shelf. A shelf lifter is provided to move up and down. When a workpiece on the pallet is picked up and supplied to the plate processing machine, the pallet loaded with the workpiece to be supplied is transported to a position corresponding to the single picking device, and one piece is taken. ing. Therefore, in the case of various kinds of small-volume production, the number of times each pallet carrying various workpieces is transported is large, and there is a problem in improving efficiency.

  Therefore, it has been proposed that a single picking device directly enters a shelf in which a pallet on which a work is loaded is stored, and picks up a single piece of work from the pallet in each shelf (for example, Patent Documents). 1 and 2).

JP-A-8-108905 JP 2002-68412 A

  In the configurations described in Patent Documents 1 and 2, in a state in which a pallet loaded with a work is stored in each shelf, a single picking device is entered into each shelf to pick up a single piece of work. is there. Therefore, when the height of the vertical direction of each shelf in the shelf device is increased and it is intended to install the shelf device in a factory with a height restriction, the number of shelf stages for storing more workpieces is increased. There was a problem above.

  The present invention has been made in view of the problems as described above, on one side of a shelf frame provided with a plurality of shelves in which a pallet loaded with plate-like workpieces and / or a pallet loaded with products can be freely inserted and removed, A shelf lifter for moving the pallet in and out of each shelf is provided so as to be movable up and down, and a single-sheet picking device for taking a single workpiece from the pallet in the shelf is provided in such a manner that the shelf can be freely moved in and out of the shelf. A method for picking a workpiece in a shelf apparatus having a pick-up lifter on the other side of the shelf frame so as to be movable up and down, above the shelf on which a pallet on which a workpiece to be picked up is placed is stored After the pallet in the shelf is transferred onto the shelf lifter and made empty, the single picker is positioned at a height corresponding to the empty shelf, and the single picker is entered into the empty shelf. From the pallet in the lower shelf of the empty shelf. By one winding device is characterized in carrying out the one-up work.

  Further, in the shelf apparatus used for the one-sheet picking method, on one side of a shelf frame provided with a plurality of shelves in which a pallet on which a plate-shaped workpiece is loaded and / or a pallet on which a product is placed can freely enter and exit, A shelf lifter for moving the pallet in and out of each shelf is provided so as to be movable up and down, and a single picking device for taking a single piece of workpiece from the pallet in the shelf is provided so as to be able to enter and leave the shelf. A control device provided with a single picker lifter on the other side of the shelf frame so as to be movable up and down, and for controlling the operation of the shelf lifter and the single picker lifter for picking up a single workpiece from a pallet in the shelf The control device includes a pallet that stores input information, workpiece information such as shape data and material data of a workpiece to be processed, pallet No. data, and shelf data in which the pallet is stored in association with each other. Storage list memory, search means for searching the pallet storage list memory based on work information input from the input means, calculation means for adding one stage to the shelf data searched by the search means, A determining means for determining whether or not the shelf calculated by the calculating means has a pallet, and when the determination result of the determining means is that there is a pallet, to the position corresponding to the calculated height position of the shelf Refer to the shelf lifter control means for positioning the shelf lifter to control the pallet unloading operation, the determination result of the determination means and the operation result of the shelf lifter by the shelf lifter control means. And a single sheet picking control means for controlling a single picking operation.

  In the shelf apparatus, a movable table that can carry a workpiece picked up to the plate material processing machine side and can convey a skeleton processed by the plate material processing machine is movable to a lower position of the single piece picking device. A skeleton clamp capable of clamping a skeleton conveyed by the moving table is provided at a lower position of the one-sheet picking device, and a skeleton stacking device is provided at a lower position of the skeleton clamp. is there.

  Further, in the shelf apparatus, the uppermost shelf for storing the pallet loaded with the workpiece is configured to have a height dimension that allows the single picking device to enter and exit in a state where the pallet loaded with the workpiece is stored. It is characterized by this.

  According to the present invention, the shelf on the upper side of the shelf on which the pallet on which the workpiece to be picked up is placed is stored as an empty shelf, the single picking device enters the empty shelf, and the empty shelf The workpiece stored in the lower shelf is picked up. Therefore, even when the height of the shelf in the shelf device is small, it can be easily handled, and the conventional problems as described above can be solved.

It is an operation explanatory view showing notionally and schematically the configuration of the shelf device according to the first embodiment of the present invention. It is action explanatory drawing which showed notionally and schematically the structure of the shelf apparatus which concerns on the 2nd Embodiment of this invention. It is a functional block diagram.

  Hereinafter, a shelf device according to an embodiment of the present invention will be described with reference to the drawings. A shelf device 1A according to the first embodiment is a frame in which steel materials are combined as conceptually and schematically shown in FIG. A shelf frame 3 having a body structure is provided, and the shelf frame 3 is provided with a plurality of shelves 7 in which a pallet 5 loaded with workpieces W can freely enter and exit. As is well known, a pair of rail members 9 that are long in the front-rear direction (left-right direction in FIG. 1, Y-axis direction) are accommodated in the left-right direction (direction perpendicular to the paper surface in FIG. 1) inside the shelf frame 3. By providing a plurality of stages, the shelf 7 is configured in a plurality of stages. Therefore, each shelf 7 is in the form of communicating vertically. In other words, there is no floor member between the shelves 7.

  On the rear side of the shelf frame 3 (on the right side in FIG. 1), shelf lifters 11 that allow the pallets 5 to enter and exit the shelves 7 are provided so as to be movable up and down. This type of shelf lifter 11 has a well-known configuration, but will be briefly described conceptually and schematically. The shelf lifter 11 includes a vertical operation device 13 such as a hoisting device provided at the upper portion of the shelf frame 3 and an elevator 15 that is moved up and down by the vertical operation device 13. Is provided with a traverser 17 for moving the pallet 5 in and out of the shelf 7 so as to be movable back and forth. Therefore, by positioning the elevator 15 at a height corresponding to the desired shelf 7, the pallet 5 can be taken in and out of the shelf 7.

  In addition, a single-sheet pick-up device 19 is provided on the front side of the shelf frame 3 so as to be movable in and out of each shelf 7. This type of single-sheet pickup device 19 has a well-known configuration, but will be briefly described conceptually and schematically. The upper part of the shelf frame 3 is provided with an up-and-down actuating device 21 similar to the up-and-down actuating device 13, and a single pick lifter 23 moved up and down by the up-and-down actuating device 21 is provided on the front side of the shelf frame 3. Yes. A slider 25 that can enter the shelf 7 is provided on the lower surface of the single pick lifter 23 so as to be movable back and forth. The slider 25 includes a plurality of vacuum pads (suction pads) 27 on the lower surface. A pad support member 29 is provided to be movable back and forth.

  In the above configuration, in order to pick up a desired workpiece W loaded on the pallet 5, the pallet 5 in the shelf 7 above the shelf 7 in which the pallet 5 loaded with the desired workpiece W is stored. 1 is transferred onto the shelf lifter 11 to make the upper shelf 7 empty. Then, the single picking device 19 enters the empty shelf and picks up a single piece of the workpiece W loaded on the pallet 5 in the shelf 7 below the empty shelf.

  Note that the uppermost shelf 7 for storing the pallet loaded with the workpiece W is configured to have a height dimension that allows the single-sheet pick-up device 19 to enter and exit in the state in which the pallet 5 loaded with the workpiece W is stored. That is, in the shelf apparatus 1A, only the uppermost shelf 7 for storing the pallet loaded with the workpiece W is configured to be substantially equal to the height dimension of the shelf in the conventional shelf apparatus, and the height dimension of the other shelf 7 Is configured to have a small height dimension that allows the pallet 5 loaded with the workpiece W to enter and exit. Therefore, when the shelf apparatus 1A is installed in a factory with a height restriction, the number of shelves can be increased and more workpieces W can be stored.

  By the way, the work W picked up by the single picking device 19 is supplied to the shelf device 1A and supplied to a plate processing machine (not shown) such as a punch press or a laser processing machine arranged adjacent to the shelf W. A workpiece carry-in device 31 is provided. More specifically, a guide rail 33 is provided below the lowermost shelf 7 provided in the shelf frame 3 and is long in the left-right direction and protrudes above the work table in the plate material processing machine. The guide rail 33 is provided with a carry-in slider 35 movably in the left-right direction. A pad support member 39 including a plurality of vacuum pads 37 that can adsorb the workpiece W is provided below the carry-in slider 35 so as to be movable up and down.

  In order to transfer the workpiece W picked up by the single picking device 19 from a position corresponding to the single picking device 19 to a position corresponding to the work loading device 31, the moving table 41 is movable back and forth. Is provided. More specifically, a guide rail 43 that is long in the front-rear direction is provided from a vertically moving region in which the single picking device 19 moves up and down to a lower position of the work loading device 31, and the guide rail 43 includes the guide rail 43. A moving table 41 is provided to be movable back and forth.

  Therefore, by moving and positioning the moving table 41 to a position below the one-sheet picking device 19, the workpiece W picked up by the one-sheet picking device 19 can be transferred onto the moving table 41. Then, by moving and positioning the moving table 41 to a position below the workpiece carry-in device 31, the workpiece W on the movable table 41 is adsorbed by the vacuum pad 37 in the workpiece carry-in device 31 and carried into the plate material processing machine. It is something that can be done.

  As already understood, in the shelf apparatus 1A, in a state where the pallet 5 loaded with the workpieces W is stored in the shelf 7, the workpiece W is picked up by the single picking device 19 to be used in the plate processing machine. On the other hand, the workpiece W can be carried in. Accordingly, when the workpiece W is processed in the plate material processing machine, the workpiece W to be processed next can be transferred in advance onto the moving table 41 by the single picking device 19, and supply of workpieces corresponding to various small-quantity productions. As a matter of course, the number of shelves 7 can be increased to store more workpieces W.

  FIG. 2 conceptually and schematically shows the shelf device 1B according to the second embodiment, and the same reference numerals are given to components having the same functions as the configuration of the shelf device 1A according to the first embodiment described above. A duplicate description is omitted.

  In the shelf apparatus 1B according to the second embodiment, a shelf frame 3 having a plurality of shelves 7 through which the pallet 5 can be moved in and out, and a single-sheet pickup frame 45 having a single-sheet pickup device 19 that can be moved up and down. Are individually connected and integrally connected. Therefore, it is possible to retrofit the single frame 45 to the conventional general shelf frame 3. Note that the single frame 45 may be provided integrally with the shelf frame 3 in advance.

  In the above-described configuration, the shelf 7 in which the single take frame 45 is lower than the shelf frame 3 and the single take device 19 can enter is the third shelf from the top. Therefore, when the pallet 5 loaded with the workpiece W is stored in the upper shelf 7 from the third shelf 7 in the shelf frame 3, it is difficult to pick one workpiece W on the pallet 5 by the one-sheet picking device 19. become. Accordingly, the pallet 5 on which the product (processed product) WP processed by the plate material processing machine is stored is stored in the shelf 7 above the shelf 7 at the third level from the top.

  The pad support member 39 in the work carry-in device 31 is provided in the carry-in slider 35 in order to adsorb the product WP corresponding to the size of the product WP processed by the plate material processing machine and carry it out from the plate material processing machine. The guide portion 35G in the front-rear direction is provided so that the position can be adjusted in the front-rear direction. The pad support member 39 is provided with a skeleton clamp (not shown) that can clamp the edge of the skeleton after being processed by the plate material processing machine.

  Therefore, in the workpiece carry-in device 31 according to the second embodiment, the workpiece W on the moving table 41 can be carried in and supplied to the plate material processing machine, and the product WP processed by the plate material processing machine is vacuum padded. It can be adsorbed by 37 and carried out. In order to place the unloaded product WP on the pallet 5, a guide rail 47 in the front-rear direction is provided below the moving table 41, and the product WP is loaded on the guide rail 47. A travel lifter 49 that supports the pallet 5 so as to be movable up and down is supported so as to be movable back and forth.

  With the above configuration, when the product WP is adsorbed by the vacuum pad 37 in the workpiece carry-in device 31 and is carried out of the plate material processing machine, the moving table 41 is retracted to the lower position (left side in FIG. 2) of the single-sheet pick-up device 19. Thus, the product WP can be loaded on the pallet 5 on the traveling lifter 49.

  Further, the edge of the skeleton on the work table in the plate material processing machine can be gripped by the skeleton clamp provided in the work carry-in device 31 and carried out onto the moving table 41. In order to load the unloaded skeleton S onto the pallet 5, a lifter 51 that supports the pallet 5 so as to be movable up and down is disposed at a position below the single-sheet pick-up device 19. The front edge of the skeleton transported by the moving table 41 can be gripped at an appropriate position of the single frame 45, that is, at a height position of the moving table 41 and above the lifter 51. A skeleton clamp 53 is provided.

  With the above configuration, after the skeleton S is unloaded from the plate material processing machine onto the moving table 41 by the work loading device 31, the moving table 41 is moved to a position below the single picking device 19 (left side in FIG. 2). The front edge of the skeleton S on 41 is gripped by the skeleton clamp 53. Thereafter, when the moving table 41 is returned to the lower position of the work loading device 31 and the grip of the skeleton clamp 53 is released, the skeleton S is dropped and loaded on the lower pallet 5.

  As already understood, in the shelf apparatus 1B according to the second embodiment, the pallet 5 loaded with the product WP and the pallet 5 loaded with the workpiece W can be stored in each shelf 7. When one workpiece W loaded on the pallet 5 in the shelf 7 is picked up, the upper side of the shelf 7 in which the pallet 5 loaded with the workpiece W to be picked up is stored is stored. As shown in FIG. 2, the pallet 5 stored in the shelf 7 is moved onto the shelf lifter 11 to make the upper shelf 7 empty.

  In this way, by moving the pallet 5 onto the shelf lifter 11 to make it an empty shelf, the single picking device 19 enters the empty shelf and the workpiece stored in the lower shelf 7 is stored. Can be obtained, and the same effects as those of the shelf apparatus 1A according to the first embodiment described above can be obtained.

  By the way, the vertical movement of the shelf lifter 11 and the single picking device 19 in the shelf device 1A is controlled, and the operation for picking up the workpiece W from the pallet 5 in the desired shelf 7 is controlled. A control device 55 (see FIG. 3) is provided. The control device 55 is composed of a computer and includes a CPU 57, a RAM 59, a ROM 61, and an input means 63. The control device 55 includes a pallet storage list memory 65.

  The pallet storage list memory 65 stores workpiece information such as shape data, thickness data, material data, etc. of the workpiece W to be processed, No data of the pallet 5 on which the workpiece W is loaded, and the pallet 5. Stored is information (data) in association with shelf address data such as the shelf level of the shelf 7 in the shelf frame 3. Further, when the product WP is loaded on the pallet 5, the No. data of the pallet 5 and the data in which the product information such as the product WP number, delivery destination, delivery date, next process destination and the shelf address data are associated with each other are stored. Has been. The information stored in the pallet storage list memory 65 is constantly updated every time information related to each other changes.

  The control device 55 is provided with search means 67 and calculation means 69. The search means 67 searches for a shelf address in which the pallet 5 on which the work W corresponding to the work information input from the input means 63 is placed is stored. The calculation means 69 adds one level to the shelf address data searched by the search means 67 (in this case, the number of levels of the shelf level), and obtains a shelf above the shelf 7 searched and searched by the search means 67. It is.

  Further, the control device 55 is provided with a discrimination means 71. The determining means 71 determines whether or not the shelf 7 calculated by the calculating means 69 is the uppermost shelf 7 and determines whether or not the calculated shelf 7 is an empty shelf. Is. That is, when the calculated shelf 7 is the uppermost shelf 7, it is determined that the vertical movement of the shelf lifter 11 is unnecessary. Whether or not the calculated shelf 7 is an empty shelf is determined by searching the pallet storage list memory 65 and determining whether or not there is pallet No. data associated with the calculated shelf address data of the shelf 7. It is determined by

  When it is determined that the calculated shelf 7 is an empty shelf, it is determined that the vertical movement of the shelf lifter 11 is unnecessary. However, when it is determined that the shelf 7 has a pallet, an operation for positioning the shelf lifter 11 to a position corresponding to the shelf 7 and carrying the pallet 5 in the shelf 7 to the shelf lifter 11 is necessary. It is determined that

  Further, the control device 55 is provided with a shelf lifter control means 73 and a single pick control means 75. The shelf lifter control means 73 determines the height position corresponding to the shelf 7 when the result of determination by the determination means 71 is determined that the pallet 5 is in the shelf 7 calculated by the calculation means 69. The operation of the shelf lifter 11 is controlled so that the shelf lifter 11 is positioned and the pallet 5 is carried out and the pallet 5 is stored in the shelf 7.

  The single-sheet pick-up means positions the single-sheet pick-up device 19 at a height position corresponding to the shelf 7 calculated by the calculation means 69. And when the said discrimination means 71 discriminate | determines the said shelf 7 as an empty shelf, irrespective of the presence or absence of the carrying-out operation | movement of the pallet 5 by the said shelf lifter 11, the single picking apparatus 19 approached into the said shelf 7 Is controlled to perform the single-sheet picking operation. However, when the determination means 71 determines that there is a pallet in the shelf 7, the pallet 5 is carried out on the shelf lifter 11 to become an empty shelf, and then the single work picking operation of the workpiece W is performed. It is something to control.

  In the above configuration, when workpiece information to be processed is input from the input unit 63 to the control device 55, the shelf 7 storing the workpiece W corresponding to the workpiece information is retrieved from the pallet storage list memory 65 by the retrieval unit 67. Searched. Then, the shelf 7 one level above the searched shelf 7 is calculated by the calculation means 69, whether or not the calculated shelf 7 is the uppermost shelf, and the calculated shelf 7 is an empty shelf. The determination means 71 determines whether or not there is.

  When it is determined that the determination unit 71 determines that the uppermost shelf 7 or the empty shelf, the one-sheet pickup control unit 75 causes the single-sheet pickup device 19 to have a height corresponding to the uppermost shelf 7 or the empty shelf. The workpiece W is picked up by being positioned at the position. If the determination by the determination means 71 is not the top shelf and is not empty (the pallet 5 is stored), the shelf lifter 11 is controlled under the control of the shelf lifter control means 73. The operation is controlled, and the pallet 5 is carried out from the shelf 7 calculated by the calculation means 69 to the shelf lifter 11.

  As described above, when the pallet 5 is carried out to the shelf lifter 11 and the calculated shelf 7 becomes an empty shelf, the operation of the single picking device 19 is controlled under the control of the single picking control means, One workpiece W is picked up. When the single workpiece picking device 19 picks up the workpiece W, the workpiece W picked up is transferred onto the moving table 41 and moved to a position corresponding to the workpiece loading device 31 as described above. After the table 41 is moved, it is carried in and supplied to the plate material processing machine by the work carry-in device 31.

  As will be understood from the above description of the embodiment, after the shelf on the upper side of the shelf 7 storing the pallets 5 on which the workpieces W to be processed are stored is emptied, a single picking device is placed in the vacant shelf. 19 is entered to pick up one workpiece W in the lower shelf 7, so that the height dimension of the shelf 7 can be suppressed, and the number of shelf steps in a predetermined height range can be increased. It is possible to store more workpieces.

1, 1A, 1B Shelf device 3 Shelf frame 5 Pallet 7 Shelf 11 Shelf lifter 19 Single picking device 27 Vacuum pad (Suction pad)
31 Work loading device 37 Vacuum pad 41 Moving table 45 Single pick frame 49 Travel lifter 51 Lifter 53 Skeleton clamp 55 Control device 65 Pallet storage list memory 67 Search means 69 Calculation means 71 Discriminating means 73 Shelf lifter control means 75 Single pick control means

Claims (4)

  On one side of a shelf frame having a plurality of shelves on which a pallet loaded with plate-shaped workpieces and / or products can be moved in and out, a shelf lifter for moving the pallet into and out of each shelf A single-sheet lifter equipped with a single-sheet picking device that can be freely moved in and out of the shelf, and can be moved up and down on the other side of the shelf frame. A method for picking a single piece of work in a shelf apparatus provided for a pallet, wherein a pallet in a shelf on an upper side of a shelf storing a pallet on which a work to be picked up is stored is transferred onto the shelf lifter. After the empty shelf, the single picker is positioned at a height corresponding to the empty shelf, the single picker is entered into the empty shelf, and from above the pallet in the shelf below the empty shelf. Taking a single piece of workpiece with the single picking device One up method of the work in the shelving system according to claim. A shelf apparatus for use in the one-sheet picking method according to claim 1, wherein the shelf frame is provided with a plurality of shelves in which a pallet on which plate-like workpieces are loaded and / or a pallet on which products are placed can be freely moved. On the side, a shelf lifter for moving the pallet in and out of each shelf can be moved up and down, and a single picking device that picks up a single workpiece from the pallet in the shelf can be moved in and out of the shelf. The one-piece lifter provided on the shelf frame can be moved up and down on the other side of the shelf frame, and the operations of the shelf lifter and the one-piece lifter are controlled in order to take one piece of workpiece from the pallet in the shelf. A control device that
The control device includes an input means, a pallet storage list memory that stores work information such as shape data and material data of a work to be processed, pallet No data, and shelf data in which the pallet is stored in association with each other, Search means for searching the pallet storage list memory based on the work information input from the input means, calculation means for adding one level to the shelf data searched by the search means, and calculation by the calculation means A determining means for determining whether or not there is a pallet on the shelf, and when the determination result of the determining means is that there is a pallet, the shelf lifter is positioned at a position corresponding to the calculated height position of the shelf. The shelf lifter control means for controlling the pallet unloading operation, the determination result of the determination means and the shelf lifter control means by the shelf lifter control means. Referring to work result, the shelf device, wherein the one-up control means for controlling the one-up operation by one winding device, in that it comprises.   3. The shelf apparatus according to claim 2, wherein a movable table that can carry a workpiece picked up to the plate material processing machine side and transport a skeleton processed by the plate material processing machine to a lower position of the single piece picking device. A skeleton clamp is provided at a position below the single-sheet pick-up device, and a skeleton stacking device is provided at a position below the skeleton clamp, the skeleton clamp being movably provided and capable of clamping a skeleton conveyed by the moving table. Shelf equipment to do.   4. The shelf apparatus according to claim 2, wherein the uppermost shelf for storing a pallet loaded with a workpiece has a height dimension that allows the single-sheet picking device to enter and exit in a state in which the pallet loaded with the workpiece is stored. The shelf apparatus characterized by being comprised in this.

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