JPH04272017A - Carrier control of cut plate and facility line - Google Patents

Abstract

PURPOSE:To carry a cut plate to a desired position precisely by positioning the cut plate at the first point of time to receive it and thereafter without positioning on the way. CONSTITUTION:A cut plate S is placed on a standard positioning device 16 of a reception facility 10, two sides of the cut plate S facing to each other are respectively made contact with an X direction standard part 26 and a Y direction standard part 28, and standard positioning to set an intersection position of the competent two sides at a starting point in the X direction and the Y direction is carried out. The positioned cut plate S is moved by a specified amount in the X direction and placed on a classification carrier device 20. Additionally, the cut plate S is transported to an uptake table 70 by moving the classification carrier device 20 by a specified amount in the Y direction. Thereafter, the competent cut plate is transported to each facility by a specified carrier means. In this case, position of the cut plate is decided from the amount of movement in the X and Y directions at the time of transportation on the basis of the aforementioned starting point.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to a method for controlling the conveyance of plate materials and a line of equipment, particularly for conveying cut plates such as cold-rolled thin steel plates to equipment for receiving, identifying, sorting, transporting, storing, processing, testing, etc. The present invention relates to a cutting board conveyance control method and equipment line suitable for use in cases where the invention is carried out.

0002

[Prior art] Regarding steel products manufactured by rolling, cutting,
For example, a testing device that made it possible to automatically perform various processes such as sorting, storage, processing, and testing was developed by
68. In this test equipment, steel materials are transported to each processing facility using a conveyor line or an automated guided vehicle that moves along guidelines.

[0003] In the above-mentioned automatic testing equipment, positioning of received specimens is important in order to accurately perform work in each processing equipment.

[0004] Usually, in the conventional test equipment as described above,
A method is adopted in which the sample material is transported to each processing facility and aligned by placing it in contact with a stopper etc. at each transport location, or a method in which the material is temporarily positioned and stopped and then pressed against a stopper with a pusher etc. for positioning. In such cases, it is common to position in either the transport direction or a direction perpendicular thereto.

[0005] Furthermore, Japanese Patent Application Laid-Open No. 61-248858 discloses a transport direction coordinate recognition system, but in this case as well, only one direction of the transport direction of the plate is defined.

[0006]

[Problems to be Solved by the Invention] However, in conventional processing equipment systems such as testing equipment, as described above, the sample is positioned by alignment in either the transfer direction or the direction perpendicular thereto. Therefore, when transporting the sample material to each facility, it is necessary to perform positioning for each transport destination, and therefore there is a problem in that a positioning device must be installed at each transport location or during transport.

The present invention has been made to solve the above-mentioned conventional problems, and it is possible to position the cut plate at the first time it is received, and thereafter, without having to perform positioning on the way.
It is an object of the present invention to provide a method for controlling the conveyance of cut plates and an equipment array that can accurately convey cut plates and perform predetermined processing.

[0008]

[Means for Solving the Problems] The present invention provides a method for controlling the conveyance of a cut plate when the cut plate is transported to a predetermined facility after receiving the cut plate. Two adjacent sides of the plate are brought into contact with the corresponding reference parts, and the intersection position of the two sides is set as the starting point of the X direction and Y direction in the plane coordinates, and the X direction during transportation is set based on the starting point , the above-mentioned problem has been achieved by determining the position of the cut plate at the conveyance destination from the amount of movement in the Y direction.

[0009] The present invention also provides an equipment array in which a receiving facility for receiving cut plates and a processing facility for performing predetermined processing on the cut plates are arranged via a conveying means, the receiving facility comprising:
A mounting table on which the cut plate is placed, an X-direction reference part and a Y-direction reference part that abut the adjacent sides of the cut plate on the mounting table in the X direction and Y direction, respectively, and an X-direction reference part that tilts the mounting table. The above-mentioned problem is similarly achieved by providing a reference positioning device having a reference positioning device having a reference portion and a tilting means for lowering a Y-direction reference portion.

0010

[Operation] In the present invention, for example, a mounting table on which a cutting board is placed, an X-direction reference part and a Y-direction reference part that bring the adjacent sides of the cutting board on the mounting board in the X direction and the Y direction into contact, respectively. ,
Using a reference positioning device having a tilting means for tilting the mounting table and processing the X-direction reference part and the Y-direction reference part,
The received cut plate is placed on the mounting table, and the tilting means is activated to lower the X-direction reference part and the Y-direction reference part, thereby sliding the cut plate on the placing table and moving the adjacent two The sides are brought into contact with the X-direction reference part and the Y-direction reference part.

[0011] In this way, the two adjacent sides of the cut plate are
By contacting the X-direction reference part and the Y-direction reference part, the intersection of the two sides can be set as the starting point of the X-direction and the Y-direction, and then, using the starting point as a reference, the X-direction,
Since it is possible to determine the position of the cutting board at the destination from the amount of movement in the Y direction, the cutting board can be transported to an accurate position without having to position the cutting board during transportation or at the destination. It becomes possible.

0012

Embodiments Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic plan view showing cutting board receiving equipment constituting a conveyance control equipment array according to an embodiment of the present invention, and FIG. 2 is a sectional view taken along line II--II in FIG. 3
is a III-III view in FIG. 2.

FIG. 4 is a partial plan view for explaining the operation of the sorting and conveying device constituting the receiving facility, and FIG.
It is a V-V perspective view in FIG. 4, and FIG. 6 is an enlarged front view of the take-in stand which receives a cutting board.

As shown in FIG. 7, the transport control equipment array of this embodiment includes a cutting board receiving facility 10, a multi-level warehouse (storage section) 12 for temporarily storing the cutting boards, and a storage unit for storing the cutting boards in a predetermined size. It consists of a shearing facility 14 that cuts the material into pieces.

The receiving equipment 10 includes a reference positioning device 16 that determines the reference position of the received cutting board, a dispensing device 18 that delivers the cut board whose reference position has been determined from the reference positioning device 16, and a dispensing device 18 for discharging the cut board whose reference position has been determined. Sorting and conveying device 2 for sorting and conveying
A non-process dispensing device 22 is provided for discharging unnecessary non-process materials that will not be used in subsequent processes.

The reference positioning device 16 includes a mounting table 24 on which the cut plate S is placed, and an X-direction reference part 26 that brings into contact the adjacent sides of the cut plate S on the mounting table 24 in the X direction and the Y direction, respectively. and a Y-direction reference section 28. As shown in FIGS. 2 and 3, the mounting table 24 is rotatable around a shaft 34 inserted through a bearing 32 fixed to a base 30.
The frame 38 is mounted on a frame 38 which is tiltable by a tilting mechanism (tilting means) 36, and is rotatable about a shaft 42 inserted through a bearing 40, and is tiltable by a tilting mechanism (tilting means) 44. ing.

Therefore, in the reference positioning device 16,
Both of the tilting mechanisms 36 and 44 allow the mounting table 24 to be tilted so that both the X-direction reference section 26 and the Y-direction reference section 28 are lowered.

Further, the above-mentioned mounting table 24 has an X-direction reference part 2.
An elevating mechanism 46 is attached below 6, and the elevating mechanism 46 makes it possible to raise the end of the positioned cut plate S.

The upper surface of the mounting table 24 is made of a material on which the suspension plate can easily slide and which does not cause scratches, such as Bakelite or MC nylon resin.

The dispensing device 18 includes a frame 50 and a gripping mechanism 52 that is movable in a suspended state along the frame 50.
The cart 54 is moved in the X direction, the end of the cut plate S whose reference position has been determined is grabbed by the gripping mechanism 52, and the cut plate S is sorted and transported from the placement table 24. It is now possible to move it to the device 20.

The sorting and conveying device 20 is shown in FIGS. 2, 4, and 5.
As shown in FIG. 2, it has a frame 60 that moves along a rail 58 on a base 56 and a belt conveyor 62 built into the frame in a comb-like shape, and the frame 60 moves together with the belt conveyor 62. The belt conveyor 62 is moved in the Y direction by a mechanism 64, and the belt conveyor 62 is operated by a drive mechanism 66.

Then, as mentioned above, the sorting and conveying device 20
The cut plates S delivered above are transferred to the belt conveyor 62 by a moving mechanism 64 so that those to be used in a later process do not lose their posture, that is, the orientation of the two sides in the X direction and the Y direction does not change. By moving the cut plate S to the position indicated by the two-dot chain line in FIG. 4, it is possible to transport the cut plate S to a loading table 70 for loading the cut plate S into a multi-level warehouse 12, which will be described later.

The cutting board S transported to the loading table 70 is placed on the loading table 70 so as not to change its posture, and is on standby for being transported to the multi-level warehouse 12.

As shown in FIG. 6, the loading table 70 includes a lifting mechanism 74 attached to a frame 72 and a guide bar 76.
It has an elevating frame 78 that can be raised and lowered by a lift frame 78, and a rod-shaped support part 80 that is fixed to the frame 78 in a comb-teeth shape and extends perpendicularly to the plane of the paper. It is possible to move up and down without interfering with the belt conveyor 62.

Therefore, as shown in FIG.
When the belt conveyor 62 of the sorting and conveying device 20 has moved to the position indicated by the two-dot chain line, by raising the elevating frame 78 of the receiving table 70, the cutting board S can be moved to the position indicated by the two-dot chain line. The cutting board S can be placed on the loading table 70.

The receiving facility 10 of this embodiment is provided with the non-process discharging device 22 for removing cut plates (non-process materials) that will not be used in subsequent processes. For this non-process dispensing device 22, after the cut plate is moved to a nearby position by the belt conveyor 62, a comb-shaped lifting support part 82 installed at that position that does not interfere with the belt conveyor 62 is installed. Lift the cutting plate S by raising it with the lifting mechanism 84,
By pushing out the cut plate S in this state with the extrusion mechanism 86, it is possible to move the cut plate to the shelf 88 and take out the cut plate S.

Next, the three-dimensional warehouse 12 for temporarily storing the cut plates S taken into the loading table 70 will be explained.

The conveyance control equipment array of this embodiment includes the above-mentioned multi-level warehouse 12 in which shelves for storing cut plates are provided in multiple stages, as well as the front end (
It is equipped with a stacker crane 90 that moves in the width direction (X direction) along the input/output end) 12A, and further includes the above-mentioned loading platform for loading the cut plates (load) S into the stacker crane 90 when conveying them into the multi-story warehouse 12. 70, and a payout table 74 for receiving cut plates from the stacker crane 90 when carrying out cut plates from the multi-level warehouse.

The multi-level warehouse 12 is provided with shelves 92 in multiple stages in the vertical direction, and one end of the shelf 92 is fixed to the back support 94 located at the back of the shelf 92, and the shelf 92 is connected to the entrance/exit end 12.
It is formed of a bar 92A extending in the A direction. A plurality of bars 92A are arranged in a comb-like shape at predetermined intervals in the width direction of the shelf, and one shelf is formed by the comb-like bars 92A arranged in the width direction in this way. . That is, the shelves of the multi-story warehouse 12 have the bars 92 arranged in multiple rows.
A is further arranged in multiple stages.

In the multi-dimensional warehouse 12, when one cut board S is stored on the shelf 92, the cut board S is placed across a plurality of bars 92A.

On the other hand, the stacker crane 90 has a bogie frame 96 and a pair of support frames 98 erected at the front end thereof, and has a plurality of arms extending from the front to the rear of the multi-story warehouse 12. It has 100. These arms 10
0 forms the support part 102 of the stacker crane 90, and is capable of loading cut plates.

Although the plurality of arms 100 constituting the support section 102 have opposite extending directions,
They are arranged in a comb-teeth shape with the same spacing as the bars 92A that make up the shelf 92.

Therefore, this support portion 102 moves (vertically moves) in a direction perpendicular to the shelf surface (the surface formed by the horizontally arranged bars 92A), as shown by the two-dot chain line in FIG.
In this case, it can be moved without interfering with the shelf 92. That is, without the arm 100 colliding with the bar 92A,
The support section 102 can be moved in a direction intersecting the shelf 92.

The stacker crane 90 is installed on rails 106 laid on a traveling base 104 on the floor, and is movable on the rails 106 in the width direction of the multi-story warehouse 12. During the movement, the truck frame 96
Move to a position lower than the lowest shelf 92' of the multi-level warehouse 12.

In this embodiment, the cut plates S stored in the multi-level warehouse 12 are moved to the stacker crane 9 as needed.
0 onto a payout table 74, and then transported to the shearing equipment 14 by a transport means (not shown), where it is cut into test pieces of a predetermined size.

Next, the operation of this embodiment will be explained.

First, the cut plate S carried into the receiving facility 10 is placed on the mounting table 24 of the reference positioning device 10. Next, the tilting mechanism 44 is operated, and the X-direction reference section 26
The mounting table 24 is tilted in the direction that The mounting table 24 is tilted in the downward direction, and the Y-direction reference section 2
8 is brought into contact with one side of the cutting plate S corresponding to the other X axis.

By tilting the mounting table 24 in this way and bringing the two adjacent sides of the cut plate S into contact with the X-direction reference part 26 and the Y-direction reference part 28, the intersection position of the two sides can be specified. It becomes possible to do so. In the subsequent steps, the above-mentioned intersection position is set as the starting point in the X direction and the Y direction, and the position of the cut plate S at the conveyance destination is determined from the amount of movement in the X direction and Y direction during conveyance using the starting point as a reference. .

After returning the mounting table 24 to the horizontal direction, the end of the cutting plate S is lifted up by the lifting mechanism 46, and the end is gripped by the gripping mechanism 52 attached to the cart 54 of the dispensing device 18. The cart 54 is moved by a predetermined amount in the X direction, and the cut plate S is moved onto the sorting and conveying device 20.

After the cutting plate S is moved onto the sorting and conveying device 20, the sorting and conveying device 20 is moved by a predetermined amount in the Y direction by the moving mechanism 64, and the cutting plate S is moved to the receiving table 70.

When the cut boards S are carried into the multi-level warehouse 12 and stored on the shelves 92 at a predetermined position, the stacker crane 90 is aligned with the loading table 70 as shown in FIGS. 7 and 8. Like the shelf 92 described above, the loading platform 70 is formed in a comb-like shape that does not interfere with the support section 102 of the stacker crane 90.

[0043] The stacker crane 90 is
On the other hand, by arranging the planar view as shown in FIG. (not shown) is supported by the support part 102 and lifted.

Next, the stacker crane 90 is moved in the vertical direction (Z
direction), and then moved at that position in the width direction (X direction) of the multi-storey warehouse 12 to support the cutting board S in the space between the shelf 92A and the shelf 92B one level above. The supporting section 102 is moved along the shelf surface (horizontal movement). In this way, after horizontally moving the support part 102 in the X direction to a predetermined position, the stacker crane 90 is lowered, and the support part 102 is placed one step below the shelf 92A without interfering with the target shelf 92A. 92C (vertical movement).

As a result, the cutting board S carried in while being supported by the support section 102 is stored at a predetermined position on the shelf 92A. In this case, the storage position of the cutting board is specified based on the amount of movement in the X direction and the Y direction during transportation, with the starting point set by the reference positioning device 16 as a reference.

Next, the support portion 102 connects the shelf 92A and the shelf 92.
The stacker crane 90 that has been moved between C and C is horizontally moved in the opposite direction, lowered, and returned to the loading table 70 again.

[0047] Thereafter, by repeating the same operation, the cut plates S can be sequentially stored on the shelves 92 at desired positions.

[0048] When returning the stacker crane 90 to the loading table 70 after storing the cut plates S, if there is no load such as cut plates stored on the shelf below the shelf 92C, the stacker crane 90 The crane 90 can be directly lowered to a predetermined position, for example, lower than the lowest shelf 92', and then moved horizontally to raise the loading platform 70 in the same manner.
You can also change it back to .

On the other hand, when the cutting boards S stored in the multi-level warehouse 12 are to be carried out and put out, the operations that are the reverse of the above-mentioned carrying-in and storage operations may be performed.

[0050] If the cut boards S stored on the shelves 92A above are to be taken out, the stacker crane 90 is moved and its support part 102 is placed below the cut boards S in the space between the shelves 92A and 92C. to be located.

Next, the stacker crane 90 is raised to support the cut plate S on the support section 102, and at the same time move the support section 102 into the space between the shelves 92A and 92B (vertical movement). The stacker crane 90 is moved in the direction of the payout table 74, and its support part 40 is moved horizontally in the space along the shelf surface.

After the stacker crane 90 is aligned with the payout table 74 as shown by the two-dot chain line in FIG. By setting the position lower than the placing surface, the cut plate S can be delivered to the delivery table 74.

The dispensing table 74 is substantially the same as the receiving table 70. Therefore, here, the loading table 70
By performing the reverse operation of taking the cut plate S into the support portion 102 of the stacker crane 90, the cut plate S can be delivered.

The cut plates delivered to the delivery table 74 are transferred to another conveying means having the same function as the stacker crane 90 (
(not shown), it is transported to the next step, shearing equipment 14, where it is cut into a predetermined size.

When carrying a cut plate into the shearing equipment 14, the position of the cut plate can also be determined by adding and subtracting the amount of movement in the X direction and Y direction based on the starting point set by the reference positioning device 16. Therefore, there is no need to position the cut plate in the equipment 14.

As described in detail above, according to this embodiment, after setting the starting point with the reference positioning device 16 of the receiving facility 10, the dispensing device 18 moves in the X direction, and the sorting and conveying device 20 moves in the Y direction.
By tracking the movement of the stacker crane 90 in the X direction and the movement of the stacker crane 90 in the X direction, the position of the transported cut plate can be accurately specified based on the respective movement amounts.

[0057] Therefore, when the cutting board is being transported or when the receiving table 7
0. Since no positioning is required at each conveyance destination of the multi-story warehouse 12, unloading table 74, and shearing equipment 14, there is no need to install a positioning device at each position.
Significant space savings are possible.

Furthermore, in the multi-story warehouse 12, by controlling the amount of movement in the vertical direction (Z direction), positioning work for managing the address of cut plates when temporarily storing the cut plates becomes unnecessary.

Furthermore, according to this embodiment, a positioning device is not required during transportation or at the destination, so costs can be reduced, and at the same time, the cut plate does not come into contact with (collide with) the positioning device. Therefore, it is possible to prevent the generation of noise and dust caused by the collision of the cut plates.

Although the present invention has been specifically explained above, the present invention is not limited to what is shown in the above embodiments.
It goes without saying that various changes can be made without departing from the gist of the invention.

For example, the transfer control equipment array is not limited to one consisting of the receiving equipment, multi-level warehouse 12 and shearing equipment 14 shown in the embodiment, but may also include, for example, a testing equipment after the shearing equipment. good.

[0062]

As explained above, according to the present invention, when a cut plate is received, the two adjacent sides of the cut plate are brought into contact with the corresponding reference portions, and the two sides are positioned. By setting the intersection position as the starting point in the X direction and the Y direction, the position of the cut plate at the destination can be determined from the amount of movement in the X direction and Y direction during transportation, based on the starting point. There is no need to position the cutting board during transportation or at the destination.

[0063] Therefore, it becomes possible to easily implement and automate the transfer control equipment array, and furthermore, it is possible to simplify the entire equipment array, thereby reducing costs.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing receiving equipment constituting a transport control equipment array that is an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II in FIG. 1;

FIG. 3 is a view taken along line III-III in FIG. 2;

FIG. 4 is a plan view showing the sorting and conveying device.

FIG. 5 is a V-V perspective view in FIG. 4;

FIG. 6 is a front view showing the loading stand.

FIG. 7 is a plan view showing a transport control equipment array according to the present embodiment.

FIG. 8 is a front view of a three-dimensional warehouse.

FIG. 9 is a side view of a three-dimensional warehouse.

[Explanation of symbols]

10...Acceptance equipment, 12...3-dimensional warehouse, 14... shearing equipment, 16...Reference positioning device, 18...dispensing device, 20...sorting conveyance device, 22...Non-process dispensing device, 26...X direction reference part, 28...Y direction reference part, 36, 44...Tilt mechanism.

Claims (2)

[Claims] [Claim 1] In a method for controlling the transport of a cut plate when the cut plate is transported to a predetermined equipment after receiving the cut plate, when the cut plate is received, two adjacent sides of the cut plate are each The intersection position of the two sides is set as the starting point of the X direction and Y direction in the plane coordinates by touching the corresponding reference part, and the transport is carried out based on the amount of movement in the X direction and Y direction during transport, using the starting point as a reference. A method for controlling the conveyance of a cut plate, characterized by determining the position of the cut plate at the tip. [Claim 2] In an equipment line in which a receiving facility for receiving cut plates and a processing facility for performing predetermined processing on the cut plates are arranged via a conveyance means, the receiving facility is provided with a receiving facility for placing the cut plates. an X-direction reference section and a Y-direction reference section that abut the adjacent sides of the cutting board in the X and Y directions on the mounting table, respectively, and an X-direction reference section and a Y-direction reference section that tilt the mounting table. 1. A line of conveyance control equipment for cut plates, characterized in that a reference positioning device having a tilting means for lowering a section is installed.