JPH05213482A - Plate conveyor - Google Patents

Abstract

PURPOSE:To smoothly perform the process of unloading plates by detecting the size of each plate using a sensor, and controlling according to the result of detection the position at which an unloader unloads plates onto an unloading station. CONSTITUTION:A loader 8 is provided with a detecting portion 18 such as an ultrasonic sensor for detecting the position at which an unmachined plate W1 is placed on an unmachined member truck 1, and an openable gripper 13 for gripping machined plates is provided below an unloader 9. A controller 50 drives the travel motor of a traveling portion 53 to reciprocate the loader 8 in the cross direction, and detects both the right and left end portions of the unmachined plate W1 using the detection means 18 and computes the size of the unmachined plate W1 according to the amount of shift of the loader 8 from its initial position. Then the controller 50 controls according to the results of detection of the detecting portion 18 the position at which the unloader 9 unloads plates onto a product truck 2. Thereby the process of unloading plates can be smoothly performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a plate material conveying device including a carry-in device that carries a material plate material into a plate material processing machine and a carry-out device that carries out a processed plate material from the plate material processing machine.

[0002]

2. Description of the Related Art Generally, in a plate material processing line including a plate material processing machine such as a punch press machine, a loader as a loading device capable of traveling between a material carriage and the plate material processing machine, a plate material processing machine and a product carriage. And an unloader serving as a carry-out device that can travel between and.

At the time of carrying in the plate material, the material plate material on the material carriage is carried into the plate material processing machine by the loader, and at the time of carrying out the plate material, the processed plate material on the plate material processing machine is carried out to the product carriage. Further, the processed plate material carried out by the unloader at the time of carrying out the plate material is generally placed on one end of the product cart with its end surface positioned.

[0004]

Conventionally, since the processed plate material to be carried out is placed on one end of the product carriage as described above, a large number of processed plate materials are placed near the end of the product carriage. In the case where the processed plate material is loaded onto the product trolley, an unbalanced load due to the weight of the processed plate material acts on the product carriage, and as a result, the processed plate material may not be carried out smoothly.

An object of the present invention is to make it possible to smoothly carry out a work for carrying out a plate material.

[0006]

A plate material conveying device according to the present invention comprises a carry-in device, a carry-out device, and a control means. The carry-in device has a sensor for detecting the size of the plate material, for carrying the plate material into the plate material processing machine,
It is possible to drive. The carry-out device is for carrying out the plate material on the plate material processing machine to the carry-out station, and is capable of traveling. The control means controls the plate material unloading position with respect to the unloading station of the unloading device based on the detection result of the sensor.

[0007]

In the present invention, the sensor of the carry-in device detects the size of the plate material, and the carry-in device carries the plate material into the plate material processing machine. Then, the control means controls the carry-out device based on the detection result of the sensor. This allows
When the plate material is carried out by the carry-out device, the plate material carry-out position with respect to the carry-out station of the carry-out device is controlled.

Therefore, even when a large number of plate materials are loaded on the carry-out station, the loaded plate materials can be always placed at the optimum position of the carry-out station, and the plate material can be carried out smoothly.

[0009]

1 shows a plate material loading station in a plate material processing line to which an embodiment of the present invention is applied. This plate material loading station is provided with a material truck 1 for accommodating a material plate material W ₁ and a processed plate material W arranged below the material carrier 1.
_It has a product trolley 2 accommodating ₂ . On the material trolley 1 and the product trolley 2, pallets P on which the respective plate materials W ₁ and W ₂ are loaded are placed. Also, each trolley 1
And 2 are respectively movable on rails 3 and 4 extending in the front-rear direction (direction perpendicular to the plane of FIG. 1). Also,
A rail 5 that movably supports the rail 3 is disposed beside the rail 3. Rail 3 on the side of rail 3
A drive unit 5a for driving the vehicle in the front-back direction is provided. Further, the lower portion of the rail 3 extends so as to project inward, and a pin 29 is vertically movably inserted into the projecting portion 3a. A flange portion 29a is provided on the upper portion of the pin 29 to prevent the pin 29 from falling off. Further, the upper end of the pin 29 can come into contact with the lower surface of the material truck 1 and the lower end thereof can come into contact with the upper surface of the product truck 2. Product trolley 2
A lifter 6 for moving the product cart 2 upward is provided below the.

A guide rail (LM guide) 7 is horizontally installed above the material cart 1 and the product cart 2. A loader 8 and an unloader 9 are provided on the guide rail 7.
Is provided. The loader 8 and the unloader 9 each have a motor for traveling, and these motors can travel on the guide rail 7. Also,
The loader 8 has a frame 10. Below the frame 10, a plurality of elevating frames 11 extending in the vertical direction are provided. Each elevating frame 11 can be moved up and down by an elevating mechanism including a cylinder and the like. The lower lift frame 11, the suction pads 1 for attracting and holding the material work sheet W ₁
2 are provided respectively. Further, the loader 8 is provided with a detection unit 18 such as an ultrasonic sensor for detecting the mounting position of the material plate material W _{1 on} the material carriage 1. A gripper 13 that can be opened and closed is provided below the unloader 9 for gripping the processed plate material. In addition,
Although not shown, a punch press machine as a plate material processing machine is arranged on the side of the material carriage 1 and the product carriage 2 (on the right side of FIG. 1).

A moving roller device 20 is arranged above and to the side of the material truck 1. This moving roller device 20
Is composed of a chain 22 that can run around a plurality of sprockets 21, and a plurality of roller groups 23 that are rotatably provided on the chains 22, respectively. The roller group 23 extends above the material carriage 1 to form a table surface 24 on which the processed plate material W ₂ gripped by the gripper 13 of the unloader 9 can be placed above the material carriage 1. It Further, the running of the chain 22 causes the end of the chain 22 to be retracted from above the material carriage 1, which may cause an opening above the material carriage 1. The processed plate material W ₂ on the table surface 24 is adapted to be dropped onto the product cart 2 below through this opening.

Above the material carriage 1, a plate material separating device 3 for separating the uppermost material plate material W ₁ adsorbed by the adsorption pad 12 of the loader 8 from the lower material plate material W _1.
0 is provided. The plate material separating device 30 includes first and second abutting portions 3 that are arranged to face each other with the material plate material W ₁ interposed therebetween.
1, 32 and a drive mechanism 40 for moving the contact portions 31, 32. The drive mechanism 40 is
It has a chain 41 arranged above the material truck 1 and a motor 42 for driving the chain 41. The chain 41 is wound around sprockets 43 arranged at both ends thereof. A sprocket 44 is attached to the output shaft end of the motor 42.
A chain 45 is wound between them. Chain 4
An upper portion of the stay 46 extending downward is fixed to a part of an upper portion of the stay 1. The first contact portion 31 is attached to the stay 46. Further, the second contact portion 32 is attached to a part of the lower portion of the chain 41 via a support device 47. With this configuration, the chain 41 is driven by the drive of the motor 42, whereby the contact portions 31 and 32 come close to and separate from each other.

The loader 8 includes a control device 5 as shown in FIG.
It has 0. The controller 50 has a controller 51 and an I / O port 52 connected to the controller 51. The control unit 51 includes a microcomputer including a CPU, ROM and RAM. The I / O port 52 includes a traveling unit 53 including a traveling motor and an elevating frame 1
An elevating frame drive unit 54 that drives the suction pad 12 up and down, a suction pad drive unit 55 that drives the suction pad 12, and other input / output units are connected. Further, the unloader 9 includes a control device 60 as shown in FIG. Controller 60
Includes a control unit 61 including a microcomputer including a CPU, a ROM and a RAM, and an I / O port 62 connected to the control unit 61. To the I / O port 62, a traveling unit 63 including a traveling motor, a gripper driving unit 64 that opens and closes the gripper 13, and another input / output unit are connected.

The above-mentioned loader 8 and unloader 9 are controlled by the control devices 50 and 60, respectively, and operate as described below. Note that FIG. 4 is a control flowchart thereof, and (a) shows a control flow of the unloader 9.
(B) shows a control flow of the loader 8. In each control, first, in steps A1 and B1, the unloader 9
Further, initial settings such as arranging the loader 8 at the initial position (solid line position in FIG. 1) are made. Next, in the loader 8,
In step B2, scanning is performed. That is, the loader 8 is driven by driving the traveling motor of the traveling unit 53.
1 is reciprocated in the left-right direction. Then, the detection unit 18 provided in the loader 8 detects the left and right ends of the raw material plate W ₁ , respectively. Next, in step B3, step B2
In scanning, the size of the material plate W ₁ is calculated based on the amount of movement of the loader 8 from the initial position when the detection unit 18 detects it.

Next, in steps A2 and B4 of each control, the completion of the plate material processing in the punch press machine is awaited.
When the processing end signal is received from the punch press machine, the process proceeds to steps A3 and B5, respectively. In step B5, the loader 8 holds the material plate material W ₁ . In this case, first, the lifter 6 is driven to raise the product cart 2. Then, the upper surface of the product cart 2 comes into contact with the lower portion of the pin 29 and pushes up the pin 29. As a result, the upper portion of the pin 29 comes into contact with the lower surface of the material carriage 1 and pushes up the material carriage 1. As the material truck 1 rises, the material plates W ₁ loaded on the material truck 1 approach the loader 8. Next, the lifting drive unit 54
Driving the suction pad drive unit 55 to hold the material plate material W ₁ by the suction pad 12. After holding the material plate W ₁ , the elevating frame 11 is raised. In this case, first and second respectively on both end faces of the stacking plate W ₁ in materials bogie 1 abutment 11,1
2 is in pressure contact with each other, so that as the suction pad 9 rises, a large separating force acts between the uppermost plate material W ₁ and the lower plate material W ₁ . As a result, the highest plate material W ₁
Are separated from the lower plate material W ₁ . Next, step B6
At, a holding completion signal is issued.

On the other hand, the unloader 9 waits for the holding completion signal from the loader 8 in step A3, and if the holding completion signal is received, the process proceeds to step A4. In step A4, the unloader 9 is moved onto the punch press machine by driving the traveling motor of the traveling unit 63. Further, in the loader 8, after the holding completion signal is issued in step B6, the process proceeds to step B7. In step B7, the loader 8 is moved onto the punch press machine by driving the running motor of the running unit 53. As a result, the loader 8 and the unloader 9 start traveling almost at the same time and move on the guide rail 7, and the loader 8 and the unloader 9 are arranged above the work table 15 of the punch press machine as shown in FIG. At this time, the processed plate material W ₂ which has been punched is placed on the work table 15.

In this case, the loader 8 and the unloader 9 are used to carry in the material plate W ₁ and carry out the processed plate W _2.
Work simultaneously on the punch press machine work table 15
It is located above. As a result, the time required for loading and unloading the plate material is shortened, and the cycle time is shortened. Next, in the unloader 9, in step A5, the gripper driving unit 64 is driven to open and close the gripper 13, and the processed plate material W ₂ on the work table 15 is gripped by the gripper 13. Next, in step A6, the unloader 9 starts traveling to the plate material loading station (FIG. 1) side.
On the other hand, the loader 8, in step B8, and waiting for the processed sheet material W ₂ from the top work table 15 is removed, the processed plate material W ₂ moves to step B9 when it is removed. The determination as to whether or not the processed plate material W ₂ has been removed from the work table 15 is made based on a detection signal of a proximity sensor (not shown) that detects the presence or absence of the plate material provided on the work table 15. .. In step B9, the elevating frame driving section 54 drives the elevating frame 11 to descend, and the material plate material W sucked and held by the suction pad 12 is held.
₁ is carried in on the work table 15 (FIG. 6).

On the other hand, in the unloader 9, at step A7, the traveling of the unloader 9 is stopped when the processed plate material W ₂ carried out moves above the material carriage 2. As a result, as shown in FIG. 7, the processed plate material W ₂ is arranged at a position where its center coincides with the center of the material carriage 2. At this time, the processed plate material W ₂ is placed on the table surface 24 including the roller group 23 arranged above the product carriage 2. Next, in step A8, the processed plate material W ₂ is unloaded. In this case, the drive unit 5a is driven to move the material cart 1 along with the rail 3 along the rail 5. As a result, the material carriage 1, the rail 3 and the pin 29 as a whole are retracted from above the product carriage 2. Next, the lifter 6 is driven to move the product carriage 2 upward, and the product carriage 2 is arranged at substantially the same height as the material carriage 1. From this state,
The traveling of the chain 22 causes an opening in a part of the table surface 24, and one end of the processed plate material W ₂ gripped by the gripper 13 is dropped onto the product cart 2 through this opening. Then, by releasing the gripping of the gripper 13, the entire processed plate material W ₂ is carried onto the product carriage 2. In this way, the processed plate material W ₂ is carried out. After the carry-out processing, the process proceeds to step A9. At step A9, the unloader 9 is moved back to the initial position (FIG. 1). On the other hand, in the loader 8, after the material plate material W ₁ is loaded, the process proceeds to step B10. In step B10, the loader 8 is similarly retracted to the initial position (FIG. 1). In this way, the plate material is carried in and out.

Next, in step B11, the loader 8 determines whether or not there is a material plate material to be processed next. If there is a next board, the program will go to step B4 again.
Then, the processing of steps B4 to B10 is repeated. If it is determined in step B11 that there is no next plate, the operation of the loader 8 ends. On the other hand, the unloader 9 determines in step A10 whether or not the processing should be ended. If it is determined that the process should not be ended, the process returns to step A2 again, and the processes of steps A2 to A9 are repeated. If it is determined in step A9 that the processing should be ended, the operation of the unloader 9 is ended.

[0020]

According to the plate material conveying device of the present invention, the size of the plate material is detected by the sensor, and the plate material unloading position with respect to the unloading station of the unloading device is controlled based on the detection result. Processing can be done smoothly.

[Brief description of drawings]

FIG. 1 is a schematic front view of a plate material loading station in a plate material processing line to which an embodiment of the present invention is applied.

FIG. 2 is a schematic block diagram of a control unit of a loader.

FIG. 3 is a schematic block diagram of a control unit of the unloader.

FIG. 4 is a control flowchart thereof.

FIG. 5 is a diagram for explaining the operation of the embodiment.

FIG. 6 is a diagram for explaining the operation of the embodiment.

FIG. 7 is a diagram for explaining the operation of the embodiment.

[Explanation of symbols]

 8 loader 9 unloader 18 detector 50 loader control device 60 unloader control device

Claims (1)

[Claims] 1. A carrying-in device having a sensor for detecting the size of a plate material and capable of traveling to carry the plate material into a plate material processing machine; and traveling for carrying out the plate material on the plate material processing machine to a carry-out station. A plate material conveying device comprising a possible unloading device and control means for controlling a plate material unloading position of the unloading device with respect to the unloading station based on a detection result of the sensor.