JPH0436962B2 - - Google Patents

Description

[Detailed description of the invention]

<Industrial Application Field> The present invention supplies a plurality of trays, which are used for storing relatively small items in factories, offices, warehouses, etc., to a working device, and automatically moves the trays to the work area. The present invention relates to a method of transporting articles using a so-called tray engineer for circulating supplies to a container. <Prior art> Conventionally, as a method of automating the handling of trays, there is a method disclosed in Japanese Patent Application Laid-open No. 59-108622, which was previously filed by the present applicant.
A method using the apparatus described in the publication is known. According to this, the trays stacked on a wagon are taken out by a pallet table device and transported to a work location, and each time a predetermined work is completed, the trays are transported back to the first loading point on the wagon by the pallet table device. I'm returning it. After the prescribed work has been completed on all the trays and all the trays are returned to the wagon, the wagon leaves the tray engineer to reload new items onto the trays and supplies the trays with the wagon. taken to the station. <Problems to be solved by the present invention> In the above method, after one tray is taken out from the wagon and a predetermined work process is completed,
Since the tray is carried into the wagon again, if this process is repeated for all the trays on the wagon, the work interruption time increases. Furthermore, unless all the trays are returned to the wagon, the wagon cannot be separated from the tray engineer, so no tray preparation work can be done during that time. <Means for solving the problem> The fuselage, the part where the wagon is mounted inside the fuselage,
Lifting means for lifting the tray on the wagon; a carrier for gripping and transporting the lifted tray to a working section; a support device for supporting the tray to complete the work at the working section; In the apparatus, the carrier is equipped with an elevator for receiving the finished tray from the support device and transporting it downward, and a return device for returning the tray transported downward to the wagon, wherein the carrier is equipped with a preparation tray and the support device A work tray is attached to the device in advance. <Function> When a wagon loaded with stacked trays is carried into the wagon mounting section inside the machine, the work trays that have completed work are transferred from the support device of the work section to the elevator, and then transported downward by the elevator. transported to the return device. On the other hand, since there are no more trays in the work section, the preparation tray is carried by the carrier to the work section, and a predetermined work is started. The loaded trays on the wagon are lifted by a lifter until the top tray is gripped by the carrier's check device. Therefore, a gap is created on the wagon into which the tray can be inserted, so that the tray that has been carried to the return device and has completed its work is returned onto the wagon by the return device. These movements take place in a rectangular motion and continue without interruption even when the wagon is disconnected from the track engine. <Example> Hereinafter, an example of the present invention will be described with reference to the drawings. Outline of the Embodiment FIG. 1 is an external view of an apparatus (tray engineer) to which the present invention is applied, in which trays 1 are stacked and loaded on a wagon 2 (truck). In this stacked state, the wagon 2 is
is carried into the mounting section 4 of. The upper half of the body 3 is open and constitutes a working section 5. Working part 5
At the top of the tray, there is a robot 6 which is a handling means for loading and unloading the items loaded on the tray.
is installed. This robot 6 controls a tray 1 supported by a working section 5 by a control device (not shown).
It takes out articles from inside and supplies them to a processing device such as a machine tool, receives finished articles from the processing device, and packs them into trays. Since this robot 6 can be a well-known robot, its details will not be disclosed. FIGS. 2 and 3 show the schematic configuration of an apparatus to which the present invention can be applied, and each component is not limited to the structure shown in this embodiment, but may be similar to those shown. It is clear that the method according to the invention can also be carried out by applying structures having equivalent functions. Tray Mounting Part 4 The tray mounting part 4 is used to mount and fix the entire wagon 2 loaded with the tray 1 to the body 3. The body 3 has a box shape. It has a frame structure and is covered entirely by a cover. A gate-shaped opening 7 is provided on one side of the body 3, and in this embodiment, a space is provided so that the entire wagon 2 with seven stacked trays 1 can be carried into the opening 7 without any problem. It is being The wagon 2 carried in is fixed in the body 3 by well-known fixing means 45. The upper half of the box-shaped body 3 is open and constitutes a working section 5, which is an opening for loading and unloading articles in the tray 1. Lifting means 13 (lifter, FIG. 3) The body 3 of the wagon 2 carried into and attached to the attachment part 4
A guide rod 8 is provided on both sides of the guide rod 8, and a slider 9 is slidably provided on the guide rod 8 to move up and down while being guided by the guide rod 8. The slider 9 includes an engaging pawl 1 that engages with the bottom of the tray 1 on the wagon 2 to lift the bottom of the tray 1.
It is provided so that 0 sticks out. Engagement claw 10
The slider 9 rotates in only one direction, and when the slider 9 descends, it rotates and disengages. The slider 9 is connected to a piston rod 12 of a lifter cylinder 11 driven by hydraulic control, and together they constitute a lifting means 13. Gripping/conveying means (chuck device 14, carrier 1
6) The tray 1 lifted upward within the mounting section 4 by the lifting means 13 is gripped at both sides by the chuck claws 15 of the chuck device 14. Although the chuck pawl 15 is driven by a hydraulic cylinder (not shown), it is also possible to drive it by an electromagnetic device. The chuck device 14 is
It is provided on a moving table 37 within the carrier 16 that reciprocates between the mounting section 4 and the working section 5. The drive mechanism of the carrier 16 is the same as the return device 25 described later, and will be described in detail in the explanation of the return device 25. Support device 22 (FIG. 3) A support rod 18 that supports the work tray 61 is provided in a space inside the machine body 3 below the work section 5. This support rod 18 is rotatably attached to the mounting base 20. The mount 20 is pivoted and is also screwed to a guide rod (not shown). The support rod 18 is driven by the cylinder 21 via a link mechanism to move in and out to support or remove the bottom of the tray 1. By rotationally driving the guide rod with a motor (not shown) or the like, the entire supporting device 22 can be moved in the vertical direction to accommodate differences in the size of the trays 1 to be supported. Incidentally, it is also possible to replace the cylinder 21 with an electromagnetic drive device or the like. Return device 25, carrier 16 The following transportation means are used to transport the tray 1 from the mounting section 4 to the working section 5 side. Since the basic structure of this conveying means is the same as that of the return device 25, which is the lower conveying means, and the carrier 16, which is the upper conveying means, the description of the return device 25 will be used instead of explaining both. The moving table 37 slides on the guide sliding rod 31. The moving frame 32 is similarly slidable on the guide sliding rod 31. Ratchet wheels 33 are rotatably provided at four locations around the moving frame 32. A chain 34 is stretched between the ratchet wheels 33. One end of the looped chain 34 is fixed to the body 3 with a fixed piece 38, and the other end is fixed to the movable table 37. Furthermore, a piston rod 3 is attached to one end of the moving frame 32.
5 is fixed. The moving frame 32 is moved on the guide sliding rod 31 by the piston rod 35. The moving table 37 is driven by a piston rod 35. Based on the pulley principle, the pulley string corresponds to the chain 34, and the pulley corresponds to the moving frame 32.
Since the moving table 37 is fixed to the chain 34, when the moving frame 32 is driven by the piston rod 35, the chain 34 moves a distance twice the operating length of the piston rod 35, and the moving table 37 to which the chain 34 is fixed is moved. will move twice as long. In this way, the length of the cylinder can be shortened for the same stroke. Therefore, there is an advantage that the entire tray engineer can be made compact. There is also a method of driving the chain 34 with a motor (not shown) to drive the movable table 37 without using a cylinder. Interlocking mechanism 40, 50 When raised by the lifter cylinder 11 of the lifting means 13, the tray 1 may tilt if it is heavy. These include inconsistency in the operation of the left and right lifter cylinders 11, and unbalanced weight within the tray 1. For this reason, in this embodiment, there is an interlocking mechanism 50 that synchronizes the movements of the left and right lifter cylinders 11. A part of it is shown in Figure 3. Sprockets 51 are provided at the top and bottom of the machine body 3, and a chain 52 is stretched between them. A slider 9 is connected to the chain 52. An interlocking shaft 53 is fixed to the sprocket 51, and similar mechanisms are connected via the interlocking shaft 53 and provided on the left and right sides of the tray 1. Therefore, even if the left and right lifter cylinders 11 move somewhat unbalanced, the chain 52, sprocket 51, and interlocking shaft 53 work together to prevent the tray 1 from tilting. A part of a link interlocking mechanism 40 that performs a similar function is shown in FIG. Interlocking rods 42 are provided on the left and right sides of the tray 1, and a rotating arm 41 is connected to the interlocking rods 42. The left and right interlocking rods 42 are interlocked via the interlocking shaft 43 of the rotating arm 41 to prevent the tray 1 from tilting. Driving method (mainly shown in Figures 2 and 5) A worker transfers the required number of trays 1 containing boxes of goods to the wagon 2 at the goods supply station.
This wagon 2 is then transported to a tray engineer that requires replenishment. The tray engineer has a work tray 61 and a preparation tray 6 in advance.
0 are the support device 22 and the chuck device 1, respectively.
It is set to 4. Therefore, when an operator carries in the wagon 2 loaded with stacked trays 1 through the opening 7 of the machine body 3, the wagon 2 is positioned and fixed to the tray engineer by the locking device 45. When the fixed state is detected, the work tray 61 is immediately moved to the mounting table 23 of the elevator 24 if a predetermined work has been completed in the work section 5. When a predetermined work is in progress, the work tray 61 is controlled to be transferred to the mounting table 23 in response to a completion signal of the work. Transfer of the work tray 61 in the work section 5 is detected (work tray 61-
When the carrier 16 detects that the preparation tray 60 is held by the check device 14, the carrier 16 conveys the preparation tray 60 to the work section 5. When the preparation tray 60 is carried to the work section 5,
The preparation tray 60 becomes a work tray 61. When the work tray 61 is carried, the support device 22 is activated, and its support rod 18 is rotated to the bottom of the work tray 61 by the drive of the cylinder 21 to reliably support the work tray 61. When the support of the work tray 61 is completed, the robot 6 carries out and carries in the articles in the work tray 61, and a predetermined work begins. Also, carrier 1
6 is returned to its original position above the mounting portion 4 upon completion of supporting the work tray 61. Since the preparation tray 60 is not gripped by the chuck device 14 of the carrier 16, the engaging claw 10 engaged with the bottom of the lowest tray 1 of the stacked trays 1 on the wagon 2 is moved upward. The lifter cylinder 11 is operated. When the lifter cylinder 11 is driven by hydraulic control, the slider 9 connected to the piston rod 12 is moved upward along the guide rod 8, so that the stacked tray 1 is lifted upward by the engaging claw 10 and its most The lifter cylinder 11 is driven until the upper tray 1 is gripped by the chuck device 14. When the lifter cylinder 11 is stopped, a gap is formed on the wagon 2 into which the tray 1 can be inserted. By the way, the tray 1 transferred from the support device 22 to the mounting table 23 in the previous process is moved downward by the elevator 24 driven by hydraulic control, and the tray 1 is stopped adjacent to the return device 25. When the lifter 13 stops lifting the stacked tray 1 upward, the moving table 37 of the return device 25 is slid to the right in FIG. 2 under hydraulic control, so that the pressing plate fixed to the moving table 37 28 carries the tray 1 stopped adjacent to the return device 25 to the wagon 2.
Insert into the void above. Thereafter, each time the work in the work section is completed, the tray 1 containing the finished items is transported to the return device 25 by the elevator 24, and the return device 25 returns the tray 1 onto the wagon 2. The stacked trays 1 are carried one after another by a carrier 16 to a working section 5, and a predetermined work progresses. When the same number of trays 1 as the number of trays 1 that were initially carried into the tray engineer are returned onto the wagon 2, the worker detaches the wagon 2 from the tray engineer even while the robot 6 is working. Head to the goods supply station to fill trays with new goods. At this time, working part 5
Since the work tray 61 remains on the side and the preparation tray 60 remains on the mounting section 4 side, there is no need to interrupt the work by the robot 6. <Effects of the Invention> As described above, the present invention has the following effects. a) Trays on the wagon can be circulated and transported to the work area, reducing work interruption time. b Tray replacement time is quick because the next tray is always on standby adjacent to the work area. c. By setting the work tray and spare tray in the tray engineer in advance, even if the work is in progress, the work tray can be carried out by the wagon without interrupting the work.

[Brief explanation of drawings]

Figure 1 is an overall external view of a trace engineer that can be applied to carry out the present invention, Figure 2 is a side view of the trace engineer, Figure 3 is a front view of the trace engineer, and Figure 4 is a return view. FIG. 5, a plan view of the apparatus, is a conceptual diagram showing the direction of movement of the tray. 1... Tray, 2... Trolley, 3... Aircraft, 4...
...Mounting part, 5...Working part, 6...Robot, 13
... Lifting means, 16 ... Carrier, 24 ...
Elevator, 25...Return device.

Claims (1)

[Scope of Claims] 1. A tray engineer for loading and unloading articles in the tray by rectangular movement of a tray for storing articles; and the step of setting the preparation tray in advance; (a) the step of attaching a wagon carrying the stacked trays to the opening of the machine; c) lowering the finished work tray from the support device that supports the work tray by means of a return means. (d) transporting the preparation tray to the work section by the gripping/transporting means and supporting the preparation tray on the support device to become a working tray; (e) the gripping/transporting means a step of detecting that the tray is not gripped and has been returned to a predetermined position, and lifting the stacked trays on the wagon upwards using a lifting means; a step of transporting the preparation tray to the work section by detecting that there is no work tray in the support device of the work section; (c) By repeating the steps from U to Q above, when the trays that have completed the prescribed work are stacked on the wagon, the wagon is separated from the aircraft. A method of transporting goods using a trace engineer.