JPH06142795A - Multi state article feeding and taking device - Google Patents

Abstract

PURPOSE:To provide a multi stage article feeding and taking device by which a delivery of an article can be favorably executed between a supporting arm and a machine by keeping the range mounting the article of the supporting arm in a horizontal state even if a deflection is generated on the supporting arm due to the weight of the article, independently of the length of the supporting arm or the interval of upward and down directions. CONSTITUTION:In an arm supporting frame body 23, each end part of respective supporting arms 37 arranged in multi stages is supported with a supporting part 38, 39 by having an interval in a back and forth direction, and, at least, one side supporting part is composed so as to be movable upward and downward against the other side supporting part. Then, a moving mechanism is provided on this movable supporting part, this moving mechanism is connected to a control part 48, this control part 48 is constituted so that the movement amount of the supporting part in order to horizontally keep the supporting arm 37 in a range mounting an article is calculated based on the weight of the article to be mounted on the supporting arm 37, and the commanding value is transmitted in the driving part of the moving mechanism based on this calculated value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-stage article in which workpieces for press forming, for example, are simultaneously supplied to a multi-stage pressing machine as a multi-stage processing machine for articles, or products are simultaneously taken out from the multi-stage pressing machine. Supply and take-out device

[0002]

2. Description of the Related Art For example, each hot plate (each shelf) of a multi-stage press machine
When arranging a work at a press position between them, the work is mounted on a pallet, and the pallet is carried to the press position by sliding the top surface of the hot plate. For this reason,
Due to the sliding of the pallet and the hot plate, the hot plate surface and the pallet were deteriorated due to wear.

In order to solve such a problem, as described in Japanese Patent Application Laid-Open Nos. 60-50560 and 3-8600, both end portions in the width direction of a pallet carried into a press position are removed. A mechanism for holding and moving up and down (multi-stage component supply device) is provided in the multi-stage press or loader / unloader, and the pallet is carried into the press position while floating above the hot plate and placed on the hot plate by the mechanism. ,afterwards,
A technique has been proposed in which by removing the pallet from the mechanism, the pallet is carried in on the hot plate without sliding.

[0004]

However, when the supporting arm is long, the supporting arm is bent due to the weight of the work, and an appropriate levitation distance with respect to the hot plate cannot be obtained.
I can not carry in and out satisfactorily, especially the hot plate interval is narrow,
The above-mentioned problems occur when the amount of deflection of the support arm cannot be absorbed or when the strength of the support arm cannot be secured due to space problems.

It is an object of the present invention to maintain a horizontal area of an article on the support arm even if the weight of the article causes a deflection of the support arm, regardless of the length of the support arm or the vertical spacing. An object of the present invention is to provide a multi-stage article supply / removal device capable of favorably exchanging articles between a support arm and a processing machine.

[0006]

In order to achieve the above object, according to the present invention, one end of each of the support arms arranged in multiple stages is supported on the arm support frame at two positions spaced apart in the front-rear direction. And at least one of the supporting parts is configured to be movable in the vertical direction with respect to the other supporting part, a moving mechanism is provided on the movable supporting part, and the moving mechanism is connected to the control part. Based on the weight of the article to be placed on the support arm, the control section calculates the amount of movement of the support section for maintaining the area of the support arm on which the article is placed in a horizontal state, and based on the calculated value, the moving mechanism It is configured to send a command value to the drive unit.

In order to achieve the above object, according to the present invention, a load meter for measuring the weight of an article placed on the support arm is attached to at least one of the support arms arranged in multiple stages in the vertical direction. A load meter is connected to the control unit, the control unit calculates the deflection amount of the support arm from the weight of the article measured by the load meter, and the area on the support arm on which the article is placed is in a horizontal state from the calculated value. The amount of movement of the support portion for maintaining the above is calculated, and the command value is sent to the drive portion of the moving mechanism based on the calculated value.

[0008]

According to the present invention, the control unit of the drive unit of the moving mechanism determines the amount of movement of the support unit for maintaining the area of the support arm on which the article is placed in a horizontal state based on the weight of the article placed on the support arm. Calculate Then, the control unit sends a command value to the drive unit of the moving mechanism based on the calculated value. Here, the moving mechanism controls a support part of the support arm that is configured to be movable, and corrects the support arm so that a region on which the article is placed becomes horizontal.

Thus, in the present invention, even if the support arm is bent due to the weight of the article, the area of the support arm on which the article is placed can be maintained in a horizontal state. As a result, articles can be favorably transferred between the multi-staged support arms and the multi-stage processing machine regardless of the lengths of the support arms and the vertical intervals.

Further, in the present invention, a load meter is attached to at least one of the support arms arranged in multiple stages in the vertical direction. Therefore, the weight of the article placed on the support arm is measured by the load meter, and the measured value is sent to the control unit of the drive unit of the moving mechanism. In this control unit, the amount of deflection of the support arm is calculated from the measured value of the weight of the article sent from the load cell, and then the support value for maintaining the area of the support arm on which the article is placed in a horizontal state is calculated. Calculate the movement amount of the part. Then, the control unit sends a command value to the drive unit of the moving mechanism based on the calculated value related to the movement amount of the support unit. Here, the moving mechanism controls a support part of the support arm that is configured to be movable, and corrects the support arm so that a region on which the article is placed becomes horizontal.

Therefore, according to the present invention, the area on the support arm on which the article is placed can be maintained more accurately in the horizontal state. As a result, regardless of the length of the support arm and the vertical interval, the articles can be more favorably transferred between the support arms arranged in multiple stages and the multi-stage processing machine.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 5 show an embodiment of the present invention. FIG. 1 is a front view, FIG. 2 is a vertical sectional side view taken along the line AA of FIG.
3 to 5 are explanatory views of the operation of one pallet support arm.

In the embodiments shown in these drawings, as shown in FIGS. 1 and 2, a traveling rail 1 is laid on the floor surface. The traveling rails 1 are arranged in parallel in two rows at a predetermined interval in the front-rear direction and are long in the left-right direction. A traveling carriage 4 is installed on the traveling rail 1 via wheels 3.

As shown in FIGS. 1 and 2, the traveling vehicle 4 includes an electric motor 5, a drive sprocket 6 attached to the electric motor 5, a driven sprocket 7 attached to the axle 2, a drive sprocket 6 and a driven sprocket. The chain 8 hung between the sprockets 7 allows the vehicle to travel in the left-right direction along the traveling rail 1. A guide rail 9 is laid on the traveling carriage 4.

The guide rail 9 is the traveling rail 1
The two rows are arranged in parallel with each other at a predetermined interval in the direction orthogonal to the right-left direction, that is, in the left-right direction, and are arranged long in the front-rear direction and fixed. A moving frame 11 is installed on the guide rail 9 via a guide block 10.

As shown in FIG. 1, the moving frame 11 has a guide block 10 at predetermined intervals in the left-right direction.
It is formed by combining a support member 12 vertically attached on the upper side, an upper frame 13 and a lower frame 14 which are installed on the support members 12 on the left and right sides. Also,
The moving frame 11 is one side of the traveling carriage 4 (rear side of FIG. 2).
And an electric motor 18 attached to a bracket 15 fixed to the bracket 15, and one end connected to the electric motor 18 and the other end supported by a bracket 16 fixed to the other side (front side in FIG. 2) of the carriage 4. Ball screw 19 and a nut 2 provided on a bracket 17 fixed to the support member 12 of the moving frame 11 and screwed onto the ball screw 19
With 0, it is configured to be movable in the front-rear direction along the guide rail 9. As shown in FIG. 1, guide rails 21 are attached inside the support members 12 on the left and right sides of the moving frame 11, respectively.

The two guide rails 21 are arranged at a predetermined interval in the left-right direction and extend long in the up-down direction. In the guide rail 21, as shown in FIG.
An arm support frame 23 is provided via a guide block 22 so as to be vertically movable.

The arm support frame 23 is a gate type in which an arm support member 24 arranged at a predetermined interval in the left-right direction and an upper member 25 mounted on the left and right arm support members 24 are combined. Is formed in. Further, the arm support frame 23 is an electric motor 27 installed on the upper surface of the upper frame 13 of the moving frame 11, a speed reducer 28 connected to the electric motor 27, and a lower part of the moving frame 11 connected to the speed reducer 28. The ball screw 29 supported by the bracket 26 fixed to the frame 14 and the nut 30 provided on the upper member 25 of the arm support frame 23 and screwed onto the ball screw 29 are moved vertically along the guide rail 21. It is designed to be moved in any direction. The arm support frame 23 is provided with first and second support portion connection frame bodies 31, 32.

The first and second support portion connection frame bodies 31, 3
As shown in FIG. 2, 2 are arranged in parallel in the front-rear direction at a predetermined interval. Then, the first support portion connection frame 31 is formed in a gate shape by the support portion connection bars 33 arranged at intervals in the left-right direction and the upper end connection members 35 attached to the upper portions of the left and right support connection bars 33. Has been formed. On the other hand, as shown in FIGS. 1 and 2, the second support part connection frame 32 is attached to the support part connection bars 34 arranged at intervals in the left-right direction and the upper parts of the left and right support part connection bars 34. The upper end connecting member 36 thus formed has a gate shape similar to that of the first supporting portion connecting frame body 31. The pallet support arms 37 arranged in multiple stages in the vertical direction are provided on the first and second support portion connection frame bodies 31 and 32 (in FIG. 2, reference numerals 37a, 37a,
37b, 37c, 37d, and 37e are attached and shown. ) Is supported. Further, the first support portion connection frame body 31 is connected to the first moving mechanism, and the second support portion connection frame body 32 is connected to the second movement mechanism.

As shown in FIG. 1, the multistage pallet support arms 37 are two sets which are arranged so as to face each other in the left-right direction. Further, as shown in FIG. 2, each pallet support arm 37 is arranged long in the front-rear direction, and as can be seen from FIGS. 1 and 2, the front half portion 37 'is formed in an L-shaped cross section. The L-shaped cross section receives the pallet 40. Further, as shown in FIG. 2, the rear end side of each pallet support arm 37 is connected to the first and second support section connecting frames by two support sections 38 and 39 which are set at intervals in the front-rear direction. Body 31,3
In this embodiment, each pallet support arm 37 is vertically movable about any one of the two support portions 38 and 39 as a fulcrum. In order to absorb the change in the front-back direction distance between the support portions 38 and 39 when the pallet support arm 37 is moved in the vertical direction, the pin hole of the support portion 38 is formed as an elongated hole. ing.

As shown in FIGS. 2 and 3, the first moving mechanism for the first supporting portion connecting frame body has an arm supporting frame body 23.
Mounted on the electric motor 41 installed on the upper member 25, the ball screw 43 connected to the electric motor 41, and the upper end connecting member 35 of the first supporting part connecting frame 31 and screwed onto the ball screw 43. And a nut 45. On the other hand, as shown in FIGS. 2 and 3, the second moving mechanism for the second supporting section connecting frame body has the arm supporting frame body 23.
Attached to the electric motor 42 installed on the upper member 25, the ball screw 44 connected to the electric motor 42, the upper end connecting member 36 of the second supporting portion connecting frame 32, and screwed onto the ball screw 44. And a nut 46. Then, the first support part connection frame body 31 is relatively moved up or down with respect to the second support part connection frame body 32 via the first moving mechanism to thereby connect the second support part connection body. The front half of each pallet support arm 37 can be raised or lowered all at once with each support 39 provided on the frame 32 as a fulcrum. On the contrary, the second support portion connecting frame body 32 is relatively lowered or raised with respect to the first support portion connecting frame body 31 via the second moving mechanism, whereby the first support portion Each pallet support arm 37 with each support 38 provided on the connection frame 31 as a fulcrum.
The first half side of the can be raised or lowered all at once.

Of the pallet support arms 37 arranged in multiple stages, a load meter 47 is provided on the uppermost pallet support arm 37a shown in FIG. 2, and a control unit is provided on the lower member of the traveling carriage 4. 48 are installed. A strain gauge, for example, is used for the load meter 47. And
The load meter 47 measures the weight of the article placed in the pallet 40 on the pallet support arm 37,
It is connected so as to send the measured value to the control unit 48. The control unit 48 calculates the amount of deflection of the pallet support arm 37 from the measurement value sent from the load meter 47, and maintains the area on the pallet support arm 37 on which the article is placed in a horizontal state from the calculated value. Support part 3
The moving amounts of 8 and 39 are calculated, and the command values are sent to the electric motors 41 and 42 of the first and second moving mechanisms based on the calculated values.

At the center of the upper portion of the traveling carriage 4, as shown in FIGS. 1 and 2, a conveyance roller row is installed. In this transport roller array, a large number of transport rollers 50 are mounted at intervals in the front-rear direction between two roller support brackets 49 that are long in the front-rear direction and fixed at predetermined intervals in the left-right direction. It is configured so that it can be put into a pallet 40 to convey a work or product for pressing. A sprocket 52 is attached to a rotation shaft 51 of each of the transport rollers 50, and a chain 53 is stretched over each sprocket 52 so as to rotate in a direction in which workpieces are simultaneously carried in or a direction in which products are unloaded. Has become. An electric motor 54 is supported on the upper member of the traveling carriage 4. This electric motor 5
4 is provided with a drive sprocket 55. Further, a driven sprocket 56 is provided on the rearmost conveying roller 50 of the conveying roller train. Then, the drive sprocket 55 of the electric motor 54 and the conveying roller 50
A chain 57 is stretched between the driven sprockets 56 of.

As shown in FIG. 3, a multi-stage pressing machine is provided in front of the multi-stage article supplying / discharging device. The press machine 60 of each stage of this multi-stage press machine is
The lower heating plates 61 and 62 are provided.

Next, the operation of the multi-stage article supplying / discharging device of this embodiment will be described.

In the initial state, the traveling carriage 4 stands by at a predetermined position on the left side in the left-right direction shown in FIG. 1, and the moving frame 11 stands by at a predetermined position on the rear side shown in FIG. As shown in FIG. 2, the arm support frame 23 is assumed to stand by at a raised predetermined position.

In this state, when supplying the press work 58 placed in the pallet 40 to the multi-stage press machine, first, the electric motor 27 installed on the upper frame 13 of the moving frame 11 is rotated in the descending direction, The arm support frame 23 via the speed reducer 28, the ball screw 29, and the nut 30.
Is lowered to a position where the pallet containing the work can be received by the uppermost pallet support arm 37a shown in FIG. Then, the work-containing pallet is carried to the position of the row of the conveying rollers 50 installed on the traveling carriage 4 by a loader (not shown) or the like, and the work-containing pallet is delivered to the row of the conveying rollers 50.

When the pallet containing the work is delivered to the row of the conveying rollers 50, the electric motor 54 supported by the upper member of the traveling carriage 4 is rotationally driven in the carrying-in direction, and the drive sprocket 55, the driven sprocket 56, and the chain. The transport rollers 50 at the rearmost portion of the row of the transport rollers 50 are rotationally driven via 57, and the transport rollers 50 are simultaneously rotated in the loading direction through the other chains 53 and the sprockets 52, and the work-containing pallet is moved to the uppermost stage. The pallet support arm 37a is loaded to a position close to the pallet support arm 37a, and delivered to the front half 37 'of the pallet support arm 37a having an L-shaped cross section.

As described above, when the uppermost pallet support arm 37a receives a pallet containing a work as shown in FIG. 3, the electric motor 27 installed on the upper frame 13 of the moving frame 11 is moved to the arm support frame. The body 23 is rotated in a direction in which the pallet support arms 37 that are vertically adjacent to each other are lifted by one pitch. Then, the work-containing pallet is placed on the pallet support arm 37b at the second stage from the top by the same operation as described above. Thereafter, the same operation is repeatedly performed, and the work-containing pallets are successively loaded up to the pallet support arm 37e at the bottom.

After the pallet containing the work is placed on the pallet support arm 37e at the lowermost stage, the electric motor 27 is further rotated in the ascending direction so that the pallet support arm 3 at each stage is rotated.
7 is a multi-stage press machine shown in FIGS.
The height is adjusted so that it can be inserted between the upper and lower heating plates 61, 62. In addition, the electric motor 54 of the row of the conveyance rollers 50 is stopped, and the row of the conveyance rollers 50 is put on standby in preparation for carrying out the product.

By the way, when a pallet containing a work is placed on the front half portion 37 'of each pallet support arm 37, as shown in FIG. 3, the front half portion 37' of the pallet support arm 37, which is the area on which the article is placed, bends. Therefore, in this embodiment, the weight of the pallet containing the work is measured by the load gauge 47 such as a strain gauge provided on the uppermost pallet support arm 37a, and the measured value is sent to the control unit 48. The control unit 48 calculates the amount of deflection of the pallet support arm 37 based on the measurement value sent from the load meter 47, and based on this calculated value, the front half 37 ′, which is the area on the pallet support arm 37 on which the work pallet is placed. The relative movement amount of the supporting portions 38 and 39 for maintaining the horizontal position is calculated. Then, the control unit 48 sends the command value to the electric motors 41 and 42 which are the driving units of the first and second moving mechanisms of the supporting units 38 and 39 based on the calculated values. The electric motors 41, 42 of the first and second moving mechanisms rotate in the directions and the number of rotations instructed based on the command value from the control unit 48. The electric motors 41 and 42 are control units 48
When the ball screw 43, 44 rotates in the direction and the number of rotations instructed by
3, 44 and nuts 45, 46 are screwed to support portions 38, 3 provided on the first and second support portion connection frame bodies 31, 32.
9 moves relatively in the vertical direction. The support parts 38, 3
When 9 moves relatively in the up-down direction, each pallet support arm 37 simultaneously moves with one support as a fulcrum, and as shown in FIG. The part 37 'can be kept horizontal.

In this embodiment, the front half portion 37 'of the pallet support arm 37 when the pallet containing the work is placed.
As shown in FIG. 3, when it is bent downward, the electric motor 41 of the first moving mechanism is moved in the direction of raising the first support portion connection frame body 31 with respect to the second support portion connection frame body 32. The electric motor 42 of the second moving mechanism is rotated or the electric motor 42 of the second moving mechanism is rotated in the direction in which the second supporting portion connecting frame body 32 is lowered with respect to the first supporting portion connecting frame body 31. On the contrary, when the front half portion 37 ′ of the pallet support arm 37 is in the raised state, the first connecting portion frame body 31 is lowered in the first supporting portion connecting frame body 32 with respect to the second supporting portion connecting frame body 32. Rotating the electric motor 41 of the second moving mechanism or rotating the electric motor 42 of the second moving mechanism in a direction of raising the second supporting portion connecting frame body 32 with respect to the first supporting portion connecting frame body 31. Let Further, in this embodiment, each pallet support arm 37
After maintaining the front half 37 'of the
The electric motors 41, 42 of the moving mechanism of FIG.
As can be seen from FIG. 4, the pallet containing the work placed on 7'is provided on the upper and lower hot plates 6 of the press 60 of the multi-stage press.
It can be finely adjusted so that it can be inserted at an appropriate height position between 1, 62.

As described above, each pallet support arm 37
As shown in FIG. 4, the front half 37 'on which the pallet containing the work is placed is maintained in a horizontal state, and then the traveling carriage 4
The electric motor 18 attached to one side of the is rotated in the forward direction, and is advanced through the screw action of the ball screw 19 and the nut 20 and the guide action of the guide rail 9 and the guide block 10 shown in FIG. Pallet support arm 3
The pallet containing the work placed on No. 7 is inserted into a predetermined position between the lower heating plates 61 and 62 on the pressing machine 60. Next, the electric motor 27 installed on the upper frame 13 of the moving frame 11 is rotated in the descending direction, and the speed reducer 28,
The arm support frame 23 is lowered via the ball screw 29 and the nut 30, and the work-containing pallets placed on the pallet support arms 37 are placed on the lower heating plate 62 of the press machine 60 as shown in FIG. And then deliver.

Next, the electric motor 18 is rotated in the backward direction, the moving frame 11 is moved in the backward direction via the ball screw 19 and the nut 20, and the product is put on standby in preparation for taking out the product.

In the multi-stage press machine, while the work 58 is kept in the pallet 40, it is heated by the upper and lower heating plates 61 and 62 of the press machine 60 of each stage, and then pressed to form a product, Cool the product to a temperature at which it can be removed. After that, the upper and lower heating plates 61, 62 are opened at a predetermined interval.

As described above, when the upper and lower heating plates 61 and 62 are opened after the product is molded, the electric motor 18 is rotated again in the forward direction, and the ball screw 19 and the nut 20 are rotated.
The moving frame 11 is moved forward via and the front half 37 'of each pallet support arm 37 is inserted below the product molded by the press 60 of the multi-stage press. Then, the electric motor 27 is rotated in the ascending direction, and the arm support frame 23 is elevated via the speed reducer 28, the ball screw 29 and the nut 30. As a result, the pallet support arms 37 are simultaneously raised, and the front half portion 37 ′ receives the product contained in the pallet 40 from the lower hot plate 62 of the press 60, and the space between the upper and lower hot plates 61, 62. Lift it up into place. After each pallet support arm 37 lifts the product-containing pallet to a predetermined position, the electric motor 18 is rotated in the backward direction to move the moving frame 11 through the ball screw 19 and the nut 20 as shown in FIG. Retract to position.

Then, the electric motor 27 is rotated in the descending direction to reduce the speed reducer 28, the ball screw 29 and the nut 3.
The arm supporting frame 23 is lowered to the position where the product can be delivered together with the pallet 40 from the lowermost pallet supporting arm 37 to the row of the transport rollers 50 via 0.

As described above, when the product-containing pallet placed on the lowermost pallet support arm 37 is lowered to a position where it can be delivered to the row of the conveyance rollers 50, the electric motor 54 for driving the rows of the conveyance rollers 50 is operated. The conveyance roller 50 at the rearmost portion is rotated in the carry-out direction via the drive sprocket 55, the driven sprocket 56, and the chain 57, and the entire carry roller 50 is further conveyed via the chain 53 and the sprocket 52. Rotate in the carry-out direction.

Therefore, when the product-containing pallet is delivered from the lowermost pallet support arm 37 to the row of the carrier rollers 50, the product-containing pallet is transferred to the carrier roller 5.
In the 0 row, it is immediately carried to a predetermined position, taken over by another carrying means such as an unloader, and sent to the next process or the like.

As described above, after the product-containing pallet is delivered from the lowermost pallet support arm 37 to the row of the conveying rollers 50 and carried out, the electric motor 27 is further rotated in the descending direction to reduce the speed reducer 28, the ball screw 29 and The arm support frame 23 is vertically lowered by one pitch via the nut 30, and the pallet support arm 3 in the second stage from the bottom is lowered.
The product-containing pallet placed on the sheet 7 is delivered to the row of the conveying rollers 50, and the conveying rollers 50 are operated by the same operation as described above.
Will be carried out in line.

The above operation is repeated to successively carry out the product-containing pallets placed on the pallet support arm 37 at the lowermost stage.

After carrying out the product-containing pallet placed on the uppermost pallet support arm 37, the electric motor 54 is stopped. Further, the electric motor 27 is rotated in the ascending direction, and the speed reducer 28, the ball screw 29, and the nut 30
The arm support frame 23 is raised to the original position via the, and each pallet support arm 37 is returned to the original position, the pallet containing the work is loaded, and the pallet support arm 37 presses the upper and lower hot plates 61, Insertion between 62, handing over,
Molding products with multi-stage press, each pallet support arm 3
One stroke of a series of operations leading to the taking out of the product and the carrying out of the product in 7 is completed.

In the above embodiment, a load gauge 47 such as a strain gauge is used.
The weight of the article placed on the pallet support arm 37 is measured by the control unit 48, and the deflection amount of the pallet support arm 37 when the article is placed is calculated based on the measurement value from the load meter 47 by the control unit 48. From the calculated values, the relative vertical movement amounts of the two support portions 38, 39 are calculated in order to maintain the area on which the article is placed in a horizontal state, and the electric motors that are the drive portions of the first and second moving mechanisms are calculated. The motors 41 and 42 are controlled. However, if the amount of deflection of the pallet support arm 37 when the article is placed and the amount of relative movement of the support portions 38 and 39 are known in advance by experiments,
The load cell 47 is not always necessary and may be omitted.

Further, the first and second support portion connection frame bodies 31,
The first and second moving mechanisms for moving 32 in the vertical direction are
The electric motors 41 and 42, the ball screws 43 and 44, and the nuts 45 and 46 are not limited to the above, and a fluid pressure cylinder or a cam mechanism may be used.

Further, only one of the support portions 38 and 39 of each pallet support arm 37 may be moved vertically. Furthermore, the work or the product is not limited to the embodiment in which the work 58 or the product is put into the pallet 40 and conveyed, and the work may be directly placed on a predetermined position of the support arm.

[0047]

According to the present invention described above, one end of each of the support arms arranged in multiple stages is supported on the arm support frame by two support portions spaced apart in the front-rear direction, and at least One support part is configured to be movable in the vertical direction with respect to the other support part, a moving mechanism is provided on this movable support part, and this moving mechanism is connected to a control part. Based on the weight of the article to be placed on, the amount of movement of the support portion for maintaining the area of the support arm on which the article is placed in a horizontal state is calculated, and a command value is given to the drive unit of the moving mechanism based on the calculated value. Since it is configured to be fed in, even if the support arm bends due to the weight of the article, the area on the support arm on which the article is placed can be maintained in a horizontal state. regardless of, An effect that can satisfactorily perform the transfer of the article between the support arm and multi-processing machine arranged on the stage.

According to the present invention, a load meter for measuring the weight of an article placed on the support arm is attached to at least one of the support arms arranged in multiple stages in the vertical direction, and the load meter is used for the control unit. This control unit is used to calculate the amount of deflection of the support arm from the weight of the article measured by the load cell, and to support the area of the support arm on which the article is placed in a horizontal state from the calculated value. The movement amount of the part is calculated, and the command value is sent to the drive part of the moving mechanism based on the calculated value, so that the area on the support arm on which the article is placed is maintained more accurately in the horizontal state. As a result, there is an effect that, regardless of the length of the support arm and the vertical interval, the articles can be more favorably transferred between the support arms arranged in multiple stages and the multi-stage processing machine.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a vertical sectional side view taken along the line AA of FIG.

FIG. 3 is an operation explanatory view of one of the pallet support arms arranged in multiple stages.

FIG. 4 is an operation explanatory view subsequent to FIG. 3;

FIG. 5 is an explanatory view of the operation following FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Horizontal traveling rail, 4 ... Traveling carriage, 5 ... Electric motor for moving the traveling carriage in left and right directions, 9 ... Front-rear guide rails, 11 ... Moving frame, 18 ... Electricity for moving moving frame in forward and backward directions Motor, 19 ... Ball screw, 20 ... Nut, 21 ... Vertical guide rail, 23 ... Arm support frame, 27 ... Electric motor for moving arm support frame up and down, 29 ... Ball screw,
Reference numeral 30 ... Same nut, 31, 32 ... First and second support portion connecting frame bodies, 37 ... Pallet support arm, 37 ′ ... Front half of article on the pallet support arm, 38, 39 ... Support portion of pallet support arm , 40 ... Pallet, 41, 4
2 ... Electric motors of the first and second moving mechanisms for moving the support portion in the vertical direction, 43, 44 ... Ball screws, 45, 4
6 ... Same nut, 47 ... Load meter, 48 ... Control part, 50 ... Conveying roller for work or product, 54 ... Electric motor for driving conveying roller, 58 ... Work.

Claims (2)

[Claims] 1. A support arm is arranged on an arm support frame at intervals in the up-down direction, and the arm support frame is moved in the up-down direction and in the front-rear direction. In a multi-stage article supply and take-out device for simultaneously delivering and receiving articles, one end portion of each support arm is supported by the arm support frame body at two support portions spaced in the front-rear direction, and at least one Is configured to be movable in the up-down direction with respect to the other support part, a moving mechanism is provided on this movable support part, and this moving mechanism is connected to the control part, and this control part is connected to the support arm. Based on the weight of the article to be placed, the amount of movement of the support portion for maintaining the article placement area of the support arm in a horizontal state is calculated, and based on the calculated value, a command value is sent to the drive section of the moving mechanism. That I configured Characteristic multi-stage article supply and removal device. 2. A load meter for measuring the weight of an article placed on the support arm is attached to at least one of the support arms arranged in multiple stages in the vertical direction, and the load meter is connected to the control unit. The control unit calculates the amount of deflection of the support arm from the weight of the article measured by the load cell, and based on this calculated value, the amount of movement of the support unit for maintaining the area of the support arm on which the article is placed in a horizontal state. 2. The multi-stage article supplying / discharging device according to claim 1, wherein the multi-stage article supplying / extracting device is configured to perform a calculation and send a command value to the drive unit of the moving mechanism based on the calculated value.