JPH04341403A - Stacker crane - Google Patents

Abstract

PURPOSE:To enable handling of an arbitrary pallet only among those which are laminated in a stacked condition. CONSTITUTION:Two-staged fork devices in the vertical direction to a carriage 450 of a stacker crane 40 are provided. The upper stage fork device achieves handling of stacked pallets 80 where a height switch is controlled, while the lower stage fork device achieves handling of a single pallet only. The pallets which are located heigher than the target pallet are transferred by means of the upper stage fork device, and the target pallet is handled by the lower stage fork device.

Description

[Detailed description of the invention]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stacker crane used in a production system equipped with automatic processing equipment.

[Prior Art] A so-called FMS (Flexible Manufacturing System) is known, which automatically produces a wide variety of workpieces using a multi-tasking machine tool and a device for transporting setup members such as workpieces and jigs. . FM
The S is equipped with a stacker crane that connects the multi-storey warehouse and the multi-purpose processing machine tools, allowing unmanned processing of a wide variety of workpieces over long periods of time. Multi-tasking machine tools themselves are also becoming more and more cellular, in which automatic setup and processing can be accomplished unmanned by receiving pallets containing workpieces and jigs and tools. In this type of FMS, a plurality of pallets that have been set up are prepared in a stacked state, and the stacked pallets are carried into a cell, thereby achieving long-term unmanned processing.

[Problems to be Solved by the Invention] Conventional stacker cranes only carry in and out the entire stacked pallets to and from the shelves, and only load any one of the stacked pallets. It was not possible to remove it and send it to a lathe cell or loading station. The present invention
To provide a device that can handle any pallet.

[Means for Solving the Problems] The carriage of the stacker crane of the present invention has two upper and lower fork devices for handling stacked pallets stored on shelves in a multi-level warehouse with mutually controlled height dimensions. Be prepared. The upper fork device handles stacked pallets, and the lower fork device handles only single-tier pallets.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing the entire production system of the present invention, and FIG. 2 is a plan view. The production system, which is generally designated by the reference numeral 1, includes a plurality of automatic processing devices 10. As will be described later, the automatic processing device 10 includes a compound machining lathe and a component conveyance device, and the conveyance device supplies jigs and tools such as jaws and tools to the compound machining lathe to achieve automatic setup. It has the ability to automatically process a wide variety of workpieces supplied in stacked pallets. Hereinafter, this automatic processing device 10 will be referred to as a lathe cell. In this embodiment, a case is shown in which two lathe cells 10 are provided, but the number of equipment may be increased or decreased as necessary. The lathe cell 10 is equipped with two stations for loading and unloading stacked pallets, and executes automatic machining upon receiving the stacked pallets on which jigs and tools and workpieces are placed. The jigs and workpieces are set up on pallets in advance and stored on the shelves of the multi-level warehouse 30 as stacked pallets, for example, 10 pallets stacked one on top of the other. Figure 3 shows stacker crane 4.
FIG. 2 is a front view showing the overall structure of 0. Stacker crane 4
0 is supported on a rail 41 by a driving wheel 402 and a driven wheel 406, and a traveling motor 404 is mounted on the frame 400.
, elevator device 410 for carriage 450, control device 446
will be placed. There are two columns 44 on the frame 400.
0 is erected, and the upper end of the column 440 is connected to the upper frame 4.
45. For column 440, roller 42
2, a carriage 450 is supported so as to be able to rise and fall freely, and the carriage 450 is suspended by a chain 415. A fork device 460 is mounted on the carriage 450. The fork device 430 carries the stacked pallets 80 into and out of the shelves 31. Stacker crane 4
0 is driven on the rail 41 by a travel motor 404. The chain 415 that suspends the carriage 420 is
The upper sprocket 416 and the lower sprocket 417 are connected to each other, and the lower sprocket 417 is connected to the lifting device 410.
The carriage 450 is moved up and down by driving. By detecting the rotation amount of the upper sprocket 416 with, for example, a rotary encoder 418, the carriage 45
0 can be precisely positioned at any height. A loading station 50 is disposed opposite the rail 41 of the stacker crane 40. At the loading station 50, the operator attaches and detaches the pallet to and from jigs and workpieces. A work instruction device 60 is disposed adjacent to the loading station 50. The work instruction device 60 includes, for example, a CRT display device, and provides instructions for setup work to the operator. Data is supplied to the work instruction device 60 from a system control device 70 that controls the entire production system 1, but data can also be supplied from a memory element attached to each pallet. FIG. 4 shows an overview of the loading station 50 and work instruction device 60. The upper surface of the base 500 of the loading station 50 is the guide surface 5.
02 and placed on the guide surface 502.
04 has a function of moving the pallet 800 supplied from the stacker crane 40 in the direction of the arrow. A stopper 505 is provided at the end of the base, and the pallet 800
The operator attaches and detaches the member onto the pallet 800 at the position where the member contacts the stopper 505. The pallet 800 has a rectangular planar shape, and has a memory element 8 on the side.
15. The stopper 505 includes a read/write device 510 that reads and writes information to and from the storage element 815 of the pallet 800. Therefore, if information about the workpieces, jigs, etc. to be prepared on the pallet 800 is written in the memory element 815 of the pallet 800 in advance, the read/write device 510 of the loading station 50 can read this information and carry out the work. Displayed on the instruction device 60. The work instruction device 60 is, for example, a CRT.
It includes a display 602 and an operation panel 630. The work instruction device 60 is connected to the loading station 50, and information about the pallet 800 read by the read/write device 510 of the loading station 50 is displayed on the screen. A setup confirmation device 610 is connected to the work instruction device 60. The setup confirmation device 610 includes the tool 160 and the jaw 1.
A reading/writing device 620 is provided within the hole 614. For example, when setting up tools 160 and jaws 170 on the pallet 800, the numbers of the tools and jaws to be set up are displayed on the display 602.
Its location is indicated. When the operator inserts the tool 160 into the hole 614 of the setup confirmation device 610, the read/write device 620 reads the information in the memory element 160a of the tool 160. The operator can check the results to see if the tool matches the requested tool. Further, a lamp 612 or the like may be used to display whether or not the tool or jaw is correct. By using this setup confirmation device 610, accurate setup can be easily achieved. When the setup work for the pallet 800 is completed, the operator operates the operation panel of the work instruction device 60 to read and write the device 5.
The information set up from step 10 is written to the memory element 815, and the information in the memory element 815 is updated. FIG. 5 illustrates items of information to be written to storage element 815 of the palette. The pallets 800 for which setup has been completed are stacked on predetermined shelves in the multi-level warehouse 30 by the stacker crane 40. The next pallet 800 is supplied to the empty loading station 50, and necessary setup is performed. When a set of stacked pallets 80 consisting of, for example, 10 pallets 800 is formed by repeating the above operations, this stacked pallet 80 is stored on a predetermined shelf of the multi-level warehouse 30 by the stacker crane 40. , waits until it is sent to the lathe cell 10. In the illustrated embodiment, two loading stations 50 are shown, but the number can be increased or decreased as necessary. Further, the loading station may have a function of stacking pallets. Figure 6 shows
FIG. 1 is a block diagram showing the configuration of a production system. The system control device 70 includes a stacker crane 40, a lathe cell 10,
, the loading station 50, and the work instruction device 60, respectively, by circuits. The system control device 70 sends operation commands to the stacker crane 40 and receives status reports from the stacker crane 40. The transfer program and machining program within the lathe cell 10 are sent to the lathe cell 10, and status reports are received. The lathe cell 10 includes a pallet storage element reading/writing device 156 and tool, jaw, and hand storage device reading/writing devices 150, 152, 1.
54 for reading and writing data on each member. For the loading station 50,
Sends operation commands and receives status reports. The loading station 50 includes an operation panel 520, sends operation commands to the loading station 50, and receives status reports. Work instructions are sent to the work instruction device 60, and status reports are received. The work instruction device 60 is connected to a pallet storage device read/write device 510 provided at the loading station 50, and also connected to a tool/jaw storage device read/write device 620 of the setup confirmation device 610. The stocker device installed in the lathe cell 10 includes the lathe cell 10
An exchangeable hand to be attached to the arm of the transfer robot is prepared. These hands are prepared in the stocker device by the operator. Therefore, information in the memory element of each member is also reported to the system control device 70 via the work instruction device 60. The work completion instruction switch 630 is operated by the operator to notify the system control device 70 via the work instruction device 60 that the setup work has been completed. This production system is equipped with the device described above, and works, tools, and jaws are placed on a stacked pallet 80.
Since each pallet 800, tool, and jaw has its own storage element holding its own information, various tables are created for controlling the system. FIG. 7 is a table for managing the positions of the stacked pallets 80 on each shelf 31, loading station 50, and lathe cell 10 of the multi-level warehouse 30, and the positions of the pallets 800 constituting each stacked pallet 80. The system control device 70 manages the positions of the stacked pallets 80 stored on each shelf 31 of the multi-level warehouse 30 and the number and number of pallets stacked on which stage of the stacked pallets 80. Similarly, the numbers of the pallets 800 being sent to the loading station 50 and the pallets being transported by the stacker crane 40 are also managed. The pallets 800 in the lathe cell 10 are managed by the cell controller of the lathe cell 10, and the information is reported to the system controller 70. By querying this table, the current position of a pallet with a particular number is retrieved. FIG. 8 is a table showing the status of each pallet. Each pallet 800 of the stacked pallets 80 accommodates works and tools as members either exclusively or in a mixed manner. The type of each member, placement position, data regarding the member, etc. are stored in the memory element 81 of the pallet 800.
5 and is managed by the system control device 70. FIG. 9 shows tools in the lathe cell 10,
Shows Joe's management table. Among the workpieces, tools, and jaws stored in the stacked pallet 80 carried into the lathe cell, the tools and jaws are once sent to a tool stocker and a jaw stocker that function as buffers. Thereafter, the tools are supplied to the tool post and the jaws are supplied to the spindle chuck, but these tools and jaws are managed by the cell control device by reading their respective memory elements with the read/write device. If the stocker also accommodates work, the work will also be temporarily stocked in the stocker.
It is then sent to the lathe. FIG. 10 is a tool management table in which information regarding all tools in the system is compiled into a table. FIG. 11 is a jaw management table in which information regarding all jaws in the system is compiled into a table. FIG. 12 shows the organic relationship between the above-mentioned tables, and allows a specific tool or jaw to be searched by pallet number and data number. The stacker crane of the present invention has a function in which pallets stacked on the shelves 31 of the multi-level warehouse 30 can be arbitrarily combined to form a stacked pallet in the production system described above. FIG. 13 is an explanatory diagram showing details of the carriage 450, with half omitted from the center line, FIG. 14 is a plan view showing the fork device 460 partially omitted, and FIG. 15 is a plan view showing the fork device 460 partially omitted. FIG. Two fork devices 460A are mounted on the carriage 450.
and 460B are equipped. Since the two fork devices have the same structure, the first fork device 460A disposed above handles multiple pallets 800, and the second fork device 460B disposed below handles one pallet 800. Since only the pallet 800 is handled, the load is different. The fork device 460 includes a first
a fork member 470, a second fork member 480 that slides on the first fork member, and a third fork member 490 that is disposed inside and slides on the second fork member 480. Be prepared. First fork member 470
is fixed to the carriage 450, with a roller 478 provided vertically and a roller 479 provided horizontally,
The second fork member 480 is slidably supported. A shaft 473 is rotatably supported by the first fork member 470, and a driving pulley 472 and a driving first pinion gear 474 are attached to both ends of the shaft 473. A motor (not shown) is disposed on the carriage 450,
The pinion gear 614 is driven via the drive pulley 472 via an appropriate power transmission mechanism. The second fork member 480 includes a second rack gear 482, and the second rack gear 482 meshes with the drive pinion gear 474. The second fork member 480 includes a plurality of second pinion gears 484 having vertical rotation axes, and includes an idle gear 484.
They are connected to each other via 86. Second pinion gear 4
84 simultaneously meshes with a first rack gear 476 attached to the first fork member 470 and a third rack gear 492 attached to the third fork member 490. The third fork member 490 includes a roller 49 disposed vertically.
5 and a roller 494 arranged in the horizontal direction, it is slidably supported with respect to the second fork member 480. A hook 498 that engages with a pallet is fixed to the lower end of the third fork member 490. FIG. 16 shows the operation of the fork device. When the first pinion gear 474 is driven by the motor, the second fork member 480 slides via the second rack gear 482 that meshes with the first pinion gear 474. When the second fork member 480 slides, the second pinion gear 484 drives the third rack gear 492 while meshing with the first rack gear 476 . First rack gear 4
Since 76 is fixed, the third fork member 490
moves in the same direction with respect to the second fork member 480, as shown by arrow X, at twice the speed. A pallet hook 498 is attached to the lower end of the third fork member 490. The pallet 800 includes a frame 805 whose planar shape is, for example, a quadrilateral, and has legs 820 at the four corners of the lower surface of the frame 805. Furthermore, a contact member 840 is attached to the lower surface of the frame 805, with which the hook 498 of the third fork member 490 comes into contact. frame 805
Pins 810 are provided upright at the four corners of the top surface. This pin 81
0 can be adjusted in height. Therefore, the height of the pin 810 can be adjusted according to the size of the workpiece 850 accommodated in the frame 805 to avoid interference with pallets stacked on the upper stage. By adjusting the height dimension of this pin 810, the height dimension H between it and the upper pallet changes. However, by registering the height dimension of the pin 810 in a file, the dimension H can be managed by a computer. Each palette also includes a storage element 815 and holds data regarding itself. Therefore, the computer can manage the height positions of all the pallets in the pallet group stacked on each shelf. Next, the operation of handling pallets stacked on stacker shelves using this stacker crane will be explained. 17 to 23 show No. 1 of the five pallets 800 stacked on the shelf 31 of the stacker. Take out only pallet 3 and move it to loading station 5.
This shows the effect of transporting to 0. FIG. 17 shows a state in which the carriage 450 of the stacker crane 40 is empty and facing a target shelf puller. No. on the shelf. 1 to No. 5 pallets 800 are stored. The carriage 450 moves the first fork device 460A to No. 1 of the stacked pallets 800 in the shelf drawer. According to the height at which pallet No. 4 is to be carried out, 4 and no. 5 pallets are taken out in a stacked state. FIG. 18 shows the first fork device 460A loading two pallets onto the carriage 450. Next, the second fork device 460B of the carriage 450 is set to No. According to the height of pallet No. 2, 2 pallets are taken onto the carriage 450. FIG. 19 shows that the second fork device 460B is mounted on the carriage 450. This shows the state in which Palette 3 has been imported. FIG. 20 shows a state in which the stacker crane 40 moves from a position facing the shelf puller to a position facing the loading station 50. FIG. 21 shows that the stacker crane stopped at a position opposite to the loading station 50 operates the second fork device 460B to load the No. 1 stacker crane. This shows a state in which pallet No. 3 has been transferred to the loading station 50 side. FIG. 22 shows the stacker crane 40 returning from the position facing the loading station 50 to the position facing the shelf puller. The stacker crane facing the shelf puller operates the first fork device 460A to pick up the two pallets No. Stack on the second pallet. FIG. 23 shows this stacking operation. Through the series of steps described above, any one pallet can be taken out from the pallets stored in stacks on any shelf in a multi-level warehouse and transported to a loading station or a lathe cell. In addition, in the above-mentioned process, No. Although priority is given to the process of sending pallet No. 3 to the loading station 50, pallet No. 3 is given priority. After loading pallet No. 3 onto the carriage, pallet No. 3 is loaded onto the carriage. 4, No. 5
Palette No. After returning it to the No. 2 pallet,
．． Naturally, it is also possible to adopt a process sequence in which the third pallet is sent to the loading station 50. According to the present stacker crane, it is also possible to return a pallet whose setup has been completed at the loading station 50 or a single pallet whose processing and automatic setup have been completed at the lathe cell 10 to any stage of any shelf. loading station 50
When the height of pin 830 of pallet 800 is changed, that information is written to a file that manages the pallet and is used for subsequent control. If the stacker crane is equipped with a read/writer, the same information is written to the memory element of each pallet.

As described above, the present invention provides a stacker crane for use in FMS, in which the carriage is equipped with two fork devices. By preparing pallets containing workpieces and jigs and tools in a stacked state, the FMS can be operated unattended for long periods of time, and production efficiency can be improved. On the other hand, if it is possible to handle any one of the stacked pallets stored on the shelves of a multi-level warehouse, the setup work at the loading station of the FMS can be improved. According to this stacker crane, any one pallet can be handled, contributing to improving the production efficiency of FMS.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a production system.

FIG. 2 is a plan view of the production system.

FIG. 3 is an explanatory diagram showing an overall outline of the stacker crane.

FIG. 4 is an explanatory diagram of a setup station.

FIG. 5: Information written to storage elements of a palette.

FIG. 6 is a configuration diagram of the production system.

[Fig. 7] Pallet group position management table.

FIG. 8 is a table showing the status of pallets.

FIG. 9 is a management table in a lathe cell.

FIG. 10 is a tool management table.

FIG. 11: Jaw management table.

FIG. 12 is an explanatory diagram showing the relationship between each table.

FIG. 13 is an explanatory diagram cut in half from the center line showing details of the carriage of the stacker crane.

FIG. 14 is a plan view partially omitting the fork device.

FIG. 15 is a front view with a portion of the fork device omitted.

FIG. 16 is an explanatory diagram showing the operation of the fork device.

FIG. 17 is an explanatory diagram showing the operation.

FIG. 18 is an explanatory diagram showing the operation.

FIG. 19 is an explanatory diagram showing the operation.

FIG. 20 is an explanatory diagram showing the operation.

FIG. 21 is an explanatory diagram showing the operation.

FIG. 22 is an explanatory diagram showing the operation.

FIG. 23 is an explanatory diagram showing the operation.

[Explanation of symbols]

1 Production system 10 Lathe cell 30 Multi-story warehouse 31 Shelf 40 Stacker crane 50 Loading station 80 Stacked pallets 170 Rotary encoder 300 chain 320 Chain 400 Drive device 450 Carriage 460A First fork device 460B Second fork device 470 First fork member 474 First pinion gear 476 First rack gear 480 Second fork member 482 Second rack gear 484 Second pinion gear 490 Third fork member 492 Third rack gear 498 Pallet hook 800 pallets 805 frame 820 Legs 810 pin 850 work

Claims (5)

[Claims] [Claim 1] A stacker crane used in a production system equipped with a multi-tasking machine tool and a multi-level warehouse, the stacker crane comprising:
The shelves of the multi-story warehouse store stacked pallets with mutually controlled height dimensions, and the carriage of the stacker crane is a stacker crane equipped with two upper and lower fork devices that handle pallets independently of each other. . 2. A second fork device disposed at the lower stage of the carriage handles only single-stage pallets, and a first fork device disposed at the upper stage of the second fork device handles only stacked pallets. The stacker crane according to claim 1, which handles a stacker crane. 3. A pallet consists of a frame having a quadrilateral planar shape for accommodating workpieces and jigs, legs provided on the lower surface of the four corners of the frame, and legs provided on the upper surface of the four corners of the frame to accommodate the pallet stacked on the upper stage. 2. The stacker crane according to claim 1, further comprising a pin which engages with the leg and whose height is adjustable. 4. The fork device includes a first fork member fixed to the carriage, a second fork member slidably supported on a side surface of the first fork member, and a side surface of the second fork member. a third fork member that is slidably supported by the pallet and has a hook that engages with the pallet, and by driving the second fork member, the third fork member
2. The stacker crane according to claim 1, further comprising a double speed mechanism for driving the second fork member in the same direction as the second fork member at double speed. 5. The speed doubler mechanism includes a rack gear provided on the first fork member, a rack gear provided on the third fork member, and a pinion gear provided on the second fork member that meshes with the two rack gears simultaneously. The stacker crane according to claim 4.