JP2883180B2 - Work stocker - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a plurality of multi-stack work pallets each having a plurality of upright work guide bars for guiding and holding the multi-stack work and carrying the multi-stack work. For intermittently traveling along a track on a conveyor table.

[Conventional technology]

In such a work stocker, the uppermost work piled up on a work pallet that takes the work take-out position along the trajectory of the conveyor table is gripped by a robot hand and phased to a processing station, and processing is performed on the work at this processing station. After that, the robot hand releases the processed work again on the work pallet located at the work receiving position adjacent to the work take-out position on the track from the processing station. In this way,
When the work pallet at the work take-out position is emptied and the work pallet at the work receiving position is full, the work pallet conveyor is moved by one work pallet, and then the above operation is repeated.

[Problems to be solved by the invention]

In the conventional work stocker, the robot hand needs a vertical movement stroke up to the uppermost work of the work stacked on the work pallet. That is, for example, the robot hand needs to move up and down in a stepwise manner between the uppermost position when the work pallet is full at the work removal position and the position where only one work pallet remains.

However, in this case, the robot hand is forced to perform precise movement control within a narrow range so as not to collide with a work guide bar that guides and holds the work, and requires a power cylinder that performs the above-described vertical stroke.

Accordingly, an object of the present invention is to provide a work stocker that does not require a precise vertical movement stroke of a robot hand and a power cylinder for the vertical movement stroke.

[Means for solving the problem]

To achieve this object, the work stocker of the present invention
Work guides having an opening through which the upright work guide bar penetrates, being vertically movable along the upright work guide bar, and arranged on each base surface of the work pallet so as to carry multi-stacked works. Plate and a workpiece take-out position and a work receiving position adjacent to each other along the track of the conveyor table, respectively, and are disposed below the conveyor table at the work receiving position, and the work guide plate is passed through a center opening formed on a base surface of the work pallet. A push bar elevating device for a take-out position and a push bar elevating device for a receiving position having a push bar pushed up from below; Grasping detector and release detector for detecting grip and release Control for controlling the work delivery coordinated lifting operation and the drive of the work pallet conveyor of the push bar elevating device for the unloading position and the push bar elevating device for the receiving position in response to signals from the gripping detector and the release detector, respectively. And a device.

[Action]

According to the work stocker of the present invention, the push bar of the take-out position push bar elevating device is raised, and the work take-out position along the trajectory of the conveyor table is taken through the center opening of the base surface of the work pallet. The whole multi-stacked work stacked on the work guide plate is pushed up by almost one work per work guide plate.

In this state, the first workpiece at the uppermost position is gripped by the robot hand, transferred to the processing station, and subjected to required processing. In response to the signal from the gripping detector during this gripping movement, the control device controls the push-bar elevating device for the take-out position, raises the push-bar for the take-out position, and moves the work guide plate from below to almost one work piece. Push up by the minute and send this second work to the uppermost position.

During this time, the work completed at the processing station is emptied by the push bar of the receiving position push bar elevating device on the work pallet located at the work receiving position adjacent to the work take-out position on the track from the processing station by the robot hand. Push up the work guide plate to the uppermost position. The robot hand releases the processed work on the empty work guide plate at the uppermost position.

At this time, in response to a signal from the release detector, the control device controls the push bar elevating device for the receiving position, lowers the push bar for the receiving position, and lowers the work guide plate by almost one work. In this way, each work guide plate is moved up and down by approximately one work.

The work guide plate of the work pallet that takes the work removal position takes the uppermost position, the work on this work guide plate becomes empty, and the work guide plate of the work pallet located at the work receiving position takes the lowermost position, and the work receiving plate When the work pallet at the position is full, each push bar is retracted from the base surface of the work pallet, and the work pallet conveyor is moved by one work pallet.
Thereafter, the above operation is repeated.

In this way, the robot hand always holds and interprets at a fixed position. All operations including the operation of the robot hand can be cooperatively operated by the control device.

〔Example〕

 Next, a preferred embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view of a work stocker 1 according to the present invention. In this embodiment, a plurality of work pallets 2 connected to each other by a chain 1a (see FIG. 3) are formed along a track on a conveyor table 3. The vehicle is driven intermittently by the driving sprocket 4.

Each work pallet 2 has an upright work guide bar 5 projecting from the base surface 2a at an equal angular interval from each other, and an opening through which the upright work guide bar 5 penetrates. It has a work guide plate 6 that can be guided and moved in the vertical direction, and a caster 7 that runs on the conveyor table 3.
Are stacked in multiple stages. Further, a center opening 9 is provided on the base surface 2a of the work pallet.

At the work take-out position and the work receiving position adjacent to each other along the work pallet trajectory on the conveyor table 3, the work guide plate is lowered downward through the center opening 9 of the base surface 2 a of the work pallet 2 at the lower side of the conveyor table 3. A push-bar lifting / lowering device 11 for a take-out position and a push-bar lifting / lowering device 12 for a receiving position having a push-up bar 10 are provided. Each push bar lifting device includes a screw shaft 13 rotatably supported, a motor 14 for rotating the screw shaft 13, a screw shaft 13 and a nut 15 screwed up and down by rotation of the screw shaft, and a nut 15. 15 and a push bar 10 carried on an arm 16.

Above the vicinity of the top of each work pallet at the work take-out position and the work receiving position, a grip detector 17 and a release detector 18 for detecting the grip and release of the work by the robot hand are arranged, respectively. The gripping detector 17 and the release detector 18 supply detection signals to a control device (not shown), and the control device responds to the detection signals of the respective detectors, and the push bar elevating device 11 for the take-out position and the push-down device for the receiving position respectively. It controls the cooperative lifting and lowering operation of the work guide plate 6 by the push bar 10 of the bar lifting device 12 and the traveling of the work pallet 2 by the driving sprocket 4.

〔The invention's effect〕

As described above, according to the work stocker of the present invention, a precise vertical stroke of the robot hand and a power cylinder for the vertical stroke can be omitted.

[Brief description of the drawings]

FIG. 1 is a partial plan view of a preferred embodiment of a work stocker according to the present invention, FIG. 2 is a partially cutaway side view of the work stocker of FIG. 1, and FIG. Section 1 on the line III-III
It is an end elevation of a figure. DESCRIPTION OF SYMBOLS 1 ... Work stocker, 2 ... Work pallet 3 ... Conveyor table, 4 ... Drive sprocket 5 ... Upright work guide bar 6 ... Work guide plate, 7 ... Caster 8 ... Work, 9 ... Center opening 10 ... Push bar 11 ... For take-out position Push bar elevating device 12 ... Push bar elevating device for receiving position 13 ... Screw shaft, 14 ... Motor 15 ... Nut, 16 ... Arm 17 ... Grip detector, 18 ... Release detector

Claims (1)

(57) [Claims] 1. A work stocker (1) for intermittently moving a plurality of multi-stacked work pallets carrying a multi-stacked work along a track on a conveyor table, (ii) a base surface (2a). The upright work guide bar (5) is fixed to the work guide bar, and has an opening through which the upright work guide bar (5) penetrates, and can be vertically guided and moved along the upright work guide bar (5). A work pallet (2) provided with a work guide plate (6) for carrying a work (8); and (iii) the conveyor table at a work take-out position and a work receiving position adjacent to each other along a path of the conveyor table (3). And push bars (10) that are arranged below the work guide plate and push up the work guide plate from below through a central opening formed in the base surface of the work pallet. A push bar elevating device (11) for an outgoing position and a push bar elevating device (12) for a receiving position; and (iv) a robot hand disposed above and near the top of each work pallet at the work take-out position and the work receiving position. Detector (17) and release detector (18) for detecting the gripping and release of the workpiece by (v) lifting and lowering of the push bar for the take-out position in response to signals from the grip detector and release detector, respectively. A work stocker, comprising: a device and a control device for controlling the work delivery coordinated lifting / lowering operation of the push bar lifting / lowering device for the receiving position and the drive of the work pallet conveyor.