JP2669135B2 - Automatic loading device for press-formed products - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading device for press-formed products, and more specifically, after inspecting the quality of press-formed products carried out from a press machine, they are non-defective products. The present invention relates to an automatic loading device that loads a molded product separately into a pallet and a repaired product pallet.

2. Description of the Related Art A so-called auto palletizer device, in which a press-formed product carried out from a press machine is classified into a non-defective product and a repaired product, and then sorted into separate pallets and automatically loaded, is disclosed in, for example, JP-A-1- It is known from Japanese Patent No. 258828.

FIG. 9 is a schematic view of the auto palletizer device according to Japanese Patent Laid-Open No. 1-258828. In the empty pallet 101 for storing non-defective items, the non-defective pallets 101 are loaded from the loading position P1 to the standby position P2. The pallet feeder 102 carries the non-defective product to the non-defective product loading position P3. At the non-defective product loading position P3, the non-defective product is loaded by the panel loader 104.

Good pallets 10 in full condition with good products loaded
1 is conveyed to a standby position P5 via a passing point P4, further conveyed to a discharge position P6 by a chain conveyor, and then conveyed to the outside.

On the other hand, the repaired product pallet 105 in the empty state for loading the repaired products is carried in from the carry-in position P7 and then conveyed to the repaired product loading position P8 by the pallet feeder 106, and at the repaired product loading position P8, the panel loader is loaded.
The repaired items are loaded by 104.

Then, the rework item pallet 10 on which the rework item is loaded
5 is carried to a carry-out position P9 by a pusher (not shown), and then carried out from the carry-out position P9 to the outside by a forklift.

Problems to be Solved by the Invention In the conventional auto palletizer device as described above, since it is basically to load the non-defective product and the reworked product into the corresponding non-defective product pallet or the reworked product pallet at independent loading positions, Pallet feeders also need to be provided separately, and since the feed stroke of the panel loader becomes large, it is difficult for a commercially available robot to cope with it. A dedicated robot must be used as the panel loader.

As a result, the entire apparatus becomes large and complicated, resulting in a high equipment cost. Also, the occupied space becomes large, which is extremely disadvantageous in terms of space efficiency.

The present invention has been made in view of the above problems, and shares a pallet transfer device for a non-defective product pallet and a reworked product pallet, regardless of whether the molding product loading position is a reworked product if it is a non-defective product. It is an object of the present invention to provide an automatic loading device that is common and that switches the position of a pallet on a pallet transport device according to the quality of a molded product, thereby reducing the size of the entire equipment and saving space.

Means for Solving the Problems The present invention inspects the quality of a press-molded product delivered from a press machine at an inspection stage subsequent to the press machine, and determines the molded product delivered from the inspection stage according to its quality. It is an automatic loading device that separately loads a good product pallet and a repaired product pallet, and in order from the upstream side, a good product pallet loading stage, a good product pallet standby stage, a molded product loading stage, a repaired product pallet standby stage, and a repaired product pallet. It has a loading / unloading stage and selectively positions the good product pallet or the repaired product pallet to the molded product loading stage according to the quality of the molded product, while waiting for the good product pallet that is full in the molded product loading stage to be repaired. Good product on stage and good product on pallet standby stage A pallet transfer device that pre-fills the pallet into the molded product loading stage and a molded product that is carried out from the inspection stage, and is molded into a good product pallet or a reworked product pallet on the molded product loading stage according to the quality of the molded product. It is provided between the loading robot for loading and the non-defective pallet unloading stage and the retouched product pallet standby stage adjacent to the refurbished pallet standby stage. When the product is sent out, the non-defective pallet unloading device for unloading the non-defective pallet from the remedy pallet standby stage to the non-defective pallet unloading stage and the full-filled non-defective pallet are unloaded to the non-defective pallet unloading stage. Wait and work And a non-defective pallet loading device for loading the empty mounting good pallets state waiting in good pallet carrying-stage non-defective pallets waiting stage.

Further, the pallet transfer device has a length that spans at least three stages, can reciprocate in the pallet moving direction, and can be positioned at an arbitrary position, and the pallet is intermittently moved with a distance between adjacent stages as a transfer stroke. NC control that has the function of transporting to a non-defective product pallet or a reworked product pallet positioned on the molded product loading stage with a shift stroke smaller than the above-mentioned transport stroke, and intermittently shifting within the molded product loading stage System carrier, and clamping means provided on the carrier for clamping and unclamping the pallets of the three stages to the carrier separately.

When loading the molded products on the good product pallet or the reworked product pallet of the molded product loading stage by the above loading robot, by shifting the pallet by a predetermined amount in the molded product loading stage, the operating area of the loading robot can be expanded. As a loading robot, a commercially available robot, which has a considerably limited operating area, can be sufficiently used.

Action According to the above structure, during normal molding product loading, there is a good product pallet on the molding product loading stage, and there are corresponding items on the good product pallet standby stage and the rework product pallet standby stage next to the molding product loading stage. A pallet is waiting.

Prior to the loading of the molded product by the loading robot, the inspection stage information about the quality of the molded product is given from the inspection stage, and the carrier of the pallet carrier operates in response to the information to check the molded product to be loaded. Either the non-defective product pallet or the reworked product pallet according to the quality is selectively positioned on the molded product loading stage. As a result, the molded products are loaded so as to be distributed to the non-defective product pallet and the repaired product pallet, respectively.

Here, for example, when a panel-shaped molded product is loaded from one end of the pallet to the other end in a so-called vertical stacking posture, generally when the pallet is fixed, the robot must be moved from one end to the other end. Therefore, the operating area of the robot to be loaded becomes large.

On the other hand, in the present invention, the pallet shifts intermittently under the predetermined shift stroke in the molded article loading stage, so that a loading robot having a small operating area can sufficiently cope with the shift.

In addition, when automatic loading of molded products is performed by the loading robot as described above, the quality pallets are very often loaded, whereas the reworked product pallets are rarely loaded.

For this reason, when a non-defective pallet becomes full on the molded product loading stage, the carrier of the pallet carrier conveys the fully loaded non-defective pallet from the molded product loading stage to the adjacent reworked product pallet standby stage, and at the same time The pallet of the pallet standby stage is conveyed to the molded product loading stage, and the pallet that has been in the reworked product pallet standby stage to the reworked product pallet loading / unloading stage. As a result, the non-defective product is continuously loaded in the molded product loading stage.

In the meantime, the non-defective product pallet unloading device carries out the loaded non-defective product pallets on the refurbished product pallet standby stage to the non-defective product pallet unloading stage, and the carrier once again evacuates the refurbished product pallet that had been evacuated to the refurbished product pallet unloading stage. While returning to the reworked product pallet standby stage, the pallet in an empty state is carried in by the non-defective product pallet transfer device to the non-defective product pallet standby stage.

Embodiment FIG. 1 is an explanatory plan view of the whole apparatus showing an embodiment of the present invention.

In the figure, reference numeral 1 denotes a transfer press, 2 denotes an intermittent operation type conveyor for transferring a molded product, 3 denotes a loading robot having a hand 4 at the tip of an arm, and 5 denotes a pallet transfer device. The pallet transfer device 5 includes a non-defective pallet loading stage S1, a non-defective pallet standby stage S2, and
It has a molded product loading stage S3, a repaired product pallet standby stage S4 and a repaired product pallet carry-in / out stage S5, and a non-defective product pallet carry-out stage S6 is provided adjacent to the repaired product pallet standby stage S4.

Processed molded product W delivered from the transfer press 1 (here, a roof panel of an automobile is shown as an example)
Is transferred to the transfer stage S11 shared by the conveyor 2 by the transfer bar (feed bar) 6, and then
Stages S12 to S16 by 1 pitch feed operation of conveyor 2
Then, it is conveyed to the molded product unloading stage S17.

In the middle of the conveyor 2, there is an inspection stage S13. In this inspection stage S13, a surface inspection device (not shown) performs a surface inspection on all the molded products W conveyed from the transfer press 1. This surface inspection determines whether the molded product W is a non-defective product or a reworked product (a product that needs reworking in the post process), and the inspection result information is forwarded along with the movement of the molded product W. Finally, the corresponding molded product W is transmitted to the control system of the loading robot 3 and the pallet transfer device 5 at the timing of reaching the molded product unloading stage S17.

Next, the pallet loading / unloading route will be described. The non-defective pallet 7 for loading non-defective items is mounted on the self-propelled carriage 10 including the general-purpose pallet spacer 8 (see FIG. 2) and the lifter 9 as one set. In FIG. 1, the pallet transport device 5 is mounted on a self-propelled vehicle 10 having a built-in lifter 9 at the start end thereof.
It is conveyed from the direction of arrow a in the figure, and is conveyed to the non-defective pallet conveying stage S1 at the starting end of the pallet conveying device 5.

At the time of loading to the non-defective pallet loading stage S1, the lifter 9 of the self-propelled carriage 10 itself is lifted to lift the non-defective pallet 7 by a predetermined amount, and then the non-defective pallet loading stage S1 is entered, and the lifter 9 is moved again. Then, the non-defective pallet 7 is transferred together with the pallet spacer 8 to the free roller conveyor 15 of the pallet conveyor 5 by lowering.

After the transfer of the non-defective pallet 7 to the non-defective pallet loading stage S1, the self-propelled carriage 10 passes through the pallet transfer device 5 and stands by at the non-defective pallet unloading stage S6, and the non-defective pallet 7 in the full state is loaded as described later. When the good product pallet 7 is transported from the repaired product pallet standby stage S4 to the good product pallet unloading stage S6, the good product pallet 7 is lifted up by the lifter 9 and the pallet 7 is moved in the direction of arrow b to be transported to the next step.

On the other hand, the rework item pallet 11 for loading the rework item
Self-propelled trolley 13 with pallet spacer 12
Enters the refurbished product pallet loading / unloading stage S5 from the direction of arrow c, and operates the lifter 14 incorporated therein similarly to the above to transfer the refurbished product pallet 11 to the free roller conveyor 15 of the pallet conveyor 5. Then, the self-propelled cart 13 will come out in a full state with the supplied repaired product pallet 11,
Alternatively, it waits on the spot until it is instructed to be carried out by the completion of production of the corresponding molded product W and comes out. When the rework item pallet 11 instructed to carry out comes out to the rework item pallet carry-in / out stage S5, the self-propelled vehicle 13 operates the lifter 14 to receive the rework item pallet 11, and the arrow d in FIG.
Traveling in the direction, and the reworked product pallet 11 is conveyed to the next step.

The structures of the self-propelled carriage 13, the pallet spacer 12, and the pallet 11 for processing the reworked products are the same as those for the non-defective product processing.

Next, the details of the pallet transport device 5 will be described.
As shown in FIGS. 2 and 3 in addition to FIG. 1, two free roller conveyors 15 are provided so as to extend over five stages S1 to S5 of the pallet transport device 5,
The non-defective pallet 7 and the reworked pallet 11 combined with the pallet spacers 8 or 12 are placed on these free roller conveyors 15 and transported. A guide roller 16 is arranged adjacent to the side of one free roller conveyor 15, and a carrier 17 of the NC control system is provided on the side of the other free roller conveyor 15, and the guide roller 16 As a result, as shown in FIGS. 1 and 2, one side of the pallets 7 and 11 is restricted.

The carrier 17 has five stages S1 to S5 as shown in FIG.
It has a length that spans the three stages of S5, and is driven via the servo motor 18, the speed reducer 19, and the racks and pinions 20, 21 shown in FIGS. 1 and 2. It is guided by the linear guide 22 and reciprocates in its longitudinal direction.

The carrier 17 is provided with three sets of a clamp cylinder 23 having a tapered piston rod tip and a pusher cylinder 24 having a flat piston rod tip (see FIG. 1). On the other hand, V-grooves 25 are formed in the pallet spacers 8 and 12 as shown in FIG. 1 and FIG.
25 engages with its piston rod when the clamp cylinder 23 extends. The pusher cylinder 24 also extends simultaneously with the clamp cylinder 23 to press the pallet spacers 8 and 12 against the guide roller 16. As a result, the pallet spacers 8 and 12 are sandwiched between the guide roller 16 and the carrier 17 on both sides, and the non-defective pallet 7 or the reworked pallet 11 is always positioned by the locate pin 26 on the pallet spacers 8 and 12. Therefore, if the carrier 17 moves in this state, the pallet spacer 8,
The 12 and the pallets 7 and 11 can be moved forward or backward together with the carrier 17 to be positioned at an arbitrary position.

Here, the clamp cylinder 23 and the pusher cylinder 24 constitute clamping means 27 for positioning and clamping the non-defective pallet 7 and the reworked pallet 11 with respect to the carrier 17.

A lock cylinder 29 is provided in a portion of the frame 28 corresponding to the molded product loading stage S3. The lock cylinder 29 functions substantially the same as the pusher cylinder 24. As described later, regardless of the movement of the carrier 17, the non-defective pallet 7 or the repaired pallet 7
It is used to position 11 on the molded product loading stage S3.

In FIGS. 3 and 4, a table lifter 30 is arranged immediately below the free roller conveyor 15 of the reworked product pallet standby stage S4, and a roller conveyor 31 is provided on the upper and lower parts of the table lifter 30. There is. Further, a two-row roller conveyor 32 and a rodless cylinder type pallet pusher 33 functioning as a non-defective product pallet conveying device are provided so as to extend between the reworked product pallet standby stage S4 and the non-defective product pallet unloading stage S6. (See FIG. 1). These roller conveyors 31,3
2 and the pallet pusher 33 are provided in order to carry out the non-defective pallet 7 in the full state from the remedy pallet standby stage S4 to the non-defective pallet unloading stage S6, and the roller conveyor 31 is normally shown in FIG. As described above, the pallet spacer 8 or 12 is on standby at a height position with a predetermined gap maintained.

Then, as will be described later, when the good product pallet 7 in a full state is positioned on the rework product pallet standby stage S4 by the carrier 17, the clamp cylinder 23 and the busher cylinder that have clamped the good product pallet 7 to the carrier 17 until then. Waiting for the contraction of the 24, the table lifter 30 moves up, and the roller conveyor 31 lifts the good pallet 7 together with the pallet spacer 8 as shown in FIG. As a result, the lower surface of the pallet spacer 8 becomes higher than the upper surface of the guide roller 16 and becomes flush with the conveying surface of the roller conveyor 32. When the pallet pusher 33 is operated in this state, the non-defective pallet 7 in a full state is carried out by the bracket 34 together with the pallet spacer 8 to the non-defective pallet unloading stage S6 and hits the stopper 35. The non-defective product pallet 7 in the full state, which has been conveyed to the non-defective product pallet unloading stage S6, is transferred to the lifter 9 of the self-propelled carriage 10 waiting on the spot as described above and conveyed to the next process.

In addition, as shown in FIG.
A rodless cylinder type pallet pusher that functions as a non-defective pallet loading device similar to the pallet pusher 33 above between S1 and the non-defective pallet standby stage S2.
36 are provided.

Next, a series of operations of the press-formed product loading device configured as described above will be described with reference to FIGS. 5 and 6. However, here, it is assumed that the panel-shaped molded products are loaded on the pallet in a vertical stacking posture.

As shown in FIG. 5 (A), a non-defective pallet 7B in the empty state on the non-defective pallet standby stage S2, a non-defective pallet 7A on the molded product loading stage S3, and a refurbished product on the refurbished pallet standby stage S4. Each pallet 11A is positioned by the carrier 17.

Then, as shown in FIG. 1, the loading robot 3 sucks and supports the molded product W of the molded product unloading stage S17 with the hand 4, and as long as the molded product W is a good product, the molded product W is incorporated into the molded product. It will be sequentially loaded on the non-defective pallet 7A positioned on the stage S3.
Since the loading range by the loading robot 3 is limited to a part of the non-defective pallet of the molded product loading stage S3, that is, a portion having a width e hatched in FIG. 5 (A),
It is not possible to load the non-defective pallet 7A for the entire pallet while it is fixed. The reason why the loading range of the loading robot 3 is limited is that there are restrictions on the operation area of the loading robot 3 itself and restrictions on the cycle time of the loading operation.

Therefore, when the loading range of the shaded area in FIG. 5 (A) becomes full, the carrier 17 shifts the good product pallet 7A of the molded product loading stage S3 by a predetermined shift stroke as shown in FIG. 5 (B). The molded product W is loaded until the shaded portion adjacent to the previous loading completion position is full.
The shift stroke is 1 / the distance between adjacent stages.
It is preset to be n.

At this time, the good product pallet 7A of the molded product loading stage S3
Not only that, the non-defective product pallet 7B and the reworked product pallet 11A on both sides thereof are also positioned and clamped with respect to the carrier 17, so that if the pallet 7A shifts, the pallets 7B and 11A also shift.

By performing the shift operation n times in conjunction with the loading operation of the loading robot 3 in this manner, the good product pallet 7A of the molded product loading stage S3 as shown in FIG.
Molded products W are loaded until the space is full.

When the good product pallet 7A on the molded product loading stage S3 is fully loaded, the molded product W is continuously loaded onto the good product pallet 7B that has been waiting on the good product pallet standby stage S2 until then, as shown in FIG. 5 (D). As shown in the figure, the carrier 17 positions the pallet 7B on the molded product loading stage S3, and at the same time repairs the pallet 7A as a product pallet standby stage.
Position to S4. As a result, it becomes possible to continuously load the molded product W on the shaded portion of the non-defective product pallet 7B positioned on the molded product loading stage S3. At this time, the repaired product pallet 11A is temporarily moved to the repaired product pallet loading / unloading stage S5. Furthermore, when the fully loaded pallet 7A is positioned on the repaired product pallet standby stage S4, the next good product pallet in the empty state
An instruction to load 7C to the non-defective pallet loading stage S1 was issued, and as shown in Fig. 1, the non-defective pallet 7C is moved by the self-propelled carriage 10
Is loaded into the non-defective pallet loading stage S1.

When the fully loaded non-defective product pallet 7A is positioned on the reworked product pallet standby stage S4, the pallet pusher as shown in FIGS. 3 and 4 in addition to FIG. 5 (E).
33 is activated to repair the fully loaded non-defective pallet 7A from the non-defective pallet standby stage S4 to the non-defective pallet unloading stage S6.
Transport to In parallel with this, the molded product loading stage S3
Lock cylinder 29 to lock the non-defective pallet 7B of the stage S3 so that it does not move, and then unlocks the clamp cylinder 23 and pusher cylinder 24 that previously clamped the non-defective pallet 7B to the carrier 17. .

Then, as shown in FIG. 5 (F), whether the non-defective pallet 7A in the full state arrives at the non-defective pallet unloading stage S6,
Alternatively, when the interference with the reworked product pallet 11A is avoided, the carrier 17 moves backward by one pitch as the transfer stroke of the distance between adjacent stages, and the reworked product pallet 11A is refurbished as shown in FIG. 6 (A). Return from the pallet loading / unloading stage S5 to the refurbished product pallet standby stage S4. Further, the repaired product pallet 11A returned to the repaired product pallet standby stage S4 is again clamped by the clamp cylinder 23 and the pusher cylinder 24 as shown in FIG. 6 (B), while the lock cylinder 29 is unlocked and the carrier Push out the stopper pin 37 attached to 17.

Subsequently, the non-defective pallet 7C that has been loaded into the non-defective pallet loading stage S1 and is on standby is loaded into the non-defective pallet standby stage S2 by the pallet pusher 36, and the pallet 7C is loaded as shown in FIG. 6C. Abut the stopper pin 37 for positioning. At this time, since the non-defective item pallet 7C is loaded into the non-defective item pallet standby stage S2 in parallel with the loading operation of the loading robot 3, depending on the loading timing, as shown in FIGS. Carrier 17 may have shifted with 7C. Therefore, the pallet pusher 36 pushes the non-defective pallet 7C until the non-defective pallet 7C hits the stopper pin 37, and positions the non-defective pallet 7C.

Thereafter, as shown in FIG. 6 (D), the clamp cylinder 23 and pusher cylinder 24 corresponding to the non-defective pallet 7C newly loaded onto the non-defective pallet standby stage S2 are operated to clamp and position the non-defective pallet 7C. Then
Further, the pallet pusher 36 and the stopper pin 37 are moved backward. As a result, the state returns to the same state as in FIG.

On the other hand, when the molded product W to be loaded by the loading robot 3 is a reworked product, the carrier 17 carries in a non-defective pallet as shown in FIG. 6 (E) based on the inspection result information from the inspection stage S13 in FIG. Moved to the stage S1 side by one pitch and put the reworked product pellet 11A, which had been on the reworked product pallet standby stage S4, into the molded product loading stage S4.
Position to 3. Then, the molded product loading stage S3
The reworked product pallet 11A positioned at is loaded by the loading robot 3 with the reworked product W requiring rework. At this time, as the positioning position of the reworked product pallet 11A with respect to the molded product loading stage S3, the carrier 17
By the shift function of, the reworked product loaded immediately before is positioned at a position next to the loading position.

Incidentally, as the reworked product pallet 11A is positioned from the refurbished product pallet standby stage S4 to the molded product loading stage S3, the pallets 7A and 7B also move at the same time, and especially the good product pallet 7B in the empty state is transferred to the good product pallet loading stage S1. Although it moves, the next non-defective pallet will not be loaded into the non-defective pallet loading stage S1 unless the non-defective pallet 7A is fully loaded on the molded product loading stage S3, so that the non-defective pallet 7B as shown in FIG. 6 (E). However, no problem will occur even if the product is temporarily moved to the non-defective pallet loading stage S1.

If the next molded product following the loading of the above-mentioned reworked product is a non-defective product, the carrier 17 is set to each pallet 7A, 7B, 11
Although A will be promptly returned to the state of FIG. 6 (D),
At this time, it goes without saying that the non-defective product pallet 7A is positioned at a position adjacent to the non-defective product loaded position immediately before the non-defective product pallet 7A with respect to the molded product loading stage S3.

Here, in a situation where the number of productions per lot is relatively small and quality control is thoroughly implemented, the ratio of reworked products to the number of productions is extremely low, and it is sufficient to prepare one set of reworked product pallets 11A. Therefore, replacement of the repaired product pallet 11A may be performed during the setup work. That is, the unloading work of the repaired product pallet 11A from the repaired product pallet loading / unloading stage S5 is at the completion of the production of the molded product, so that there is no pallet 7B, 7C in FIG. 5 (D), for example. Therefore, the refurbished product pallet 11A may be lifted up by the lifter 14 (see FIG. 1) of the self-propelled carriage 13 waiting immediately below the refurbished product pallet loading / unloading stage S5 and then unloaded.

FIG. 7 and FIG. 8 show the operation when the panel-shaped molded products W are loaded in a so-called flat stacking posture. At the time of flat stacking, both the good product and the reworked product can be loaded at the same position without shifting the pallet at the molded product loading stage S3, so that the control is easier than at the time of vertical stacking.

The outline will be described with reference to FIGS. 7 and 8.
Non-defective pallet standby stage S as shown in FIG.
2. Pallets 7B, 7A, 11A corresponding to molded product loading stage S3 and reworked product pallet standby stage S4, respectively
Are positioned, and all the good products are loaded with the good product pallet 7A being positioned and fixed on the molded product loading stage S3.

When the non-defective pallet 7A is fully loaded on the molded product loading stage S3, as shown in FIG. 7 (B), the pallets 7B, 7A,
11A moves by 1 pitch all at once by the operation of the carrier 17, the good pallet 7B in the empty state is positioned on the molded product loading stage S3, and the good pallet 7A in the full state moves to the reworked product pallet standby stage S4. At the same time, an instruction to carry in the next pallet 7C to the non-defective pallet carry-in stage S1 is issued.

The fully loaded non-defective pallet 7A transferred to the reworked product pallet standby stage S4 is unloaded to the non-defective pallet unloading stage S6 by the pallet pusher 33 as shown in FIG. 7C, and the carrier 17 waits for this operation. As shown in FIG. 6D, the repaired product pallet 11A is returned to the original position, that is, the repaired product pallet standby stage S4.

Further, as shown in FIG. 8E and FIG. 8A, the pallet pusher 36 operates to send the empty good pallet 7C on the good pallet carry-in stage S1 to the good pallet standby stage S2, and the carrier 17 Clamps the sent non-defective pallet 7C as shown in FIG. 8 (B). As a result, the state returns to the state shown in FIG.

If the molded product W to be loaded by the loading robot 3 is a reworked product, as shown in FIG. 8C, the carrier 17 is determined based on the inspection result information from the inspection stage S13.
Positions the rework product pallet 11A on the molded product loading stage S3, whereby the rework product is loaded on the rework product pallet 11A.

EFFECTS OF THE INVENTION As described above, according to the present invention, when a molded product after press molding is classified into a non-defective product and a reworked product and loaded on a non-defective product pallet and a reworked product pallet, it does not matter whether the non-defective product is the reworked product. Instead of using the same loading position on the pallet by the loading robot, depending on the quality of the molded product, either the non-defective product pallet or the reworked product pallet can be selectively moved to the molded product loading position for positioning. Therefore, it is not necessary to separately provide the pallet transport device for the non-defective product and the one for the repaired product as in the conventional case. As a result, it is possible to reduce the size of the entire apparatus and save space.

In addition, when loading a molded product, the pallet of the molded product loading stage can be shifted within the molded product loading stage under a predetermined shift stroke, so that a loading robot having a large transfer stroke as in the past is used. do not need. Therefore, without using a dedicated robot as a loading robot, for example, a commercially available inexpensive articulated robot with a considerably limited operating area can be sufficiently used, which further saves space and equipment costs. There is an effect that can be significantly reduced.

[Brief description of the drawings]

FIG. 1 is an explanatory plan view of the entire apparatus showing an embodiment of the present invention, FIG. 2 is an explanatory sectional view taken along line AA of FIG. 1, and FIG.
The figure is a cross-sectional explanatory view taken along the line BB of FIG. 1, and FIG.
FIGS. 5 and 6 are explanatory views showing the state of the table lifter after the raising operation of the table lifter, and FIGS. 5 and 6 are explanatory views showing the operation when the molded product is loaded on the pallet in the vertical stacking position; FIGS.
FIG. 9 is an explanatory view of an operation when a molded article is loaded on a pallet in a flat stacking posture, and FIG. 9 is an explanatory plan view showing an example of a conventional auto palletizer apparatus. 1 ... Transfer press, 3 ... Loading robot,
5 ... Pallet transport device, 7,7A, 7B, 7C ... Good product pallet, 10,13 ... Self-propelled carriage, 11,11A ... Reworked product pallet, 15 ... Free roller conveyor, 17 ... Carrier, 23
…… Clamp cylinder, 24 …… Pusher cylinder, 25…
… V groove, 27 …… Clamping means, 33 …… Pallet pusher (good pallet unloading device), 36 …… Pallet pusher (good pallet loading device), S1 …… Good pallet loading stage, S2 …… Good pallet standby stage, S3: Molded product loading stage, S4: Reworked product pallet standby stage, S5: Reworked product pallet unloading stage, S6: Good product pallet unloading stage, S13: Inspection stage.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-58-202221 (JP, A) JP-A-59-147728 (JP, A) JP-A-63-127920 (JP, A) JP-A-1- 71539 (JP, A) JP 62-83970 (JP, A) JP 63-171229 (JP, A) JP 64-71537 (JP, A) Fukukaihei 2-22926 (JP, U) Actual Kaihei 2-65435 (JP, U)

Claims (1)

(57) [Claims] 1. The quality of a press-molded product delivered from a press machine is inspected at an inspection stage subsequent to the press machine, and the molded product delivered from the inspection stage is a non-defective pallet and a repaired product pallet according to the quality. It is an automatic loading device that separately loads into and from, and has a non-defective pallet loading stage, non-defective pallet standby stage, molded product loading stage, refurbished pallet standby stage, and refurbished pallet unloading stage in order from the upstream side. , The good product pallet or the repair product pallet is selectively positioned on the molded product loading stage according to the quality of the molded product, while the good product pallet that is full in the molded product loading stage is sent to the repair product pallet standby stage and Goods pallet on standby stage is loaded with molded products A pallet transfer device that pre-fills the stage, and a loading robot that grips the molded product delivered from the inspection stage and loads the molded product on the good product pallet or the reworked product pallet on the molded product loading stage according to the quality of the molded product. When a good product pallet is placed between the good product pallet unloading stage and the repair product pallet standby stage adjacent to the repair product pallet standby stage, and the good product pallet that is full in the molded product loading stage is sent to the repair product pallet standby stage. The good pallet unloading device that unloads this good pallet from the refurbished pallet standby stage to the good pallet unload stage, and operates after the fully loaded good pallet is unloaded from the reconditioned pallet standby stage to the good pallet unload stage Then, carry in a good product pallet And a non-defective pallet carry-in device for carrying in a non-defective non-defective pallet waiting in a pallet to a non-defective pallet standby stage, the pallet transfer device having a length extending over at least three stages. It can reciprocate in the moving direction and can be positioned at any position, and has the function of intermittently transporting pallets using the distance between adjacent stages as the transport stroke, and the shorter stroke than the above-mentioned transport stroke as the shift stroke for loading molded products. An NC control type carrier having a function of intermittently shifting a non-defective product pallet or a reworked product pallet positioned on the stage within the molded product loading stage, and a pallet of the above three stages provided in this carrier as a carrier. Clamping means for clamping and unclamping separately, An automatic loading device for press-formed products, which is configured by