JPH065293Y2 - Panel loading equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a panel loading device for loading a predetermined number of panels constituting an automobile body onto a pallet.

(Prior Art) An automobile body is formed by assembling a large number of panels such as a door panel, a roof panel, and a hood panel. Each panel is processed into a predetermined shape by a press machine and then conveyed to a pallet by a conveyor, where a predetermined number of sheets are stacked on the pallet and conveyed to the next step such as a car body assembly step. Become. The above-mentioned loading of panels from the conveyor to the pallet may be performed by a robot, and the height of the conveyor and the height of the panel may differ greatly due to the relationship with other devices. In other words, since the pallet is carried to the car body assembly process while being placed on the dolly, it is at a position almost close to the floor surface, and at least one of the conveyors for carrying the molded panel is carried out. The edge may be in a raised position above the floor to avoid interference with the dolly.

(Problems to be solved by the invention) When the heights of the conveyor and the pallet are different in this way, the robot arm for gripping the panel on the conveyor and loading it on the pallet moves vertically. The robot has to draw a long trajectory to operate, and it takes time for the robot to load the panels. Also, when loading the pallets with the panels stacked, the uppermost position of the panels on the pallet gradually rises as the loading work is performed, and the loading position of the robot arm gradually changes. Therefore, it is necessary to teach the robot so that the loading position of the arm sequentially changes.

The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to enable a panel conveyed on a conveyor to be quickly loaded on a pallet.

(Means for Solving the Problems) A conveyor that conveys panels in a state of being turned down one by one, and a rail that is laid below the carry-out end of the conveyor, and conveys a plurality of the panels in a standing state. In a panel loading device having a trolley, a panel lifter for raising the panel conveyed to the carry-out end of the conveyor, and a pallet for raising and lowering the pallet on the trolley conveyed to the loading position. And a loading lifter that is placed on the trolley, and the panel is held in a standing state when the pallet is not lifted by the loading lifter, and is loaded on the pallet that is lifted by the loading lifter. The temporary lifter to be replaced and the panel lifted from the carry-out end of the conveyor by the panel lifter, A loading device for a panel, comprising: a robot that conveys to the pallet at an ascending position, or when the pallet is not at the ascending limit position, the pallet stands on the temporary stacking lifter.

(Operation) The panel conveyed in a state of being turned down by the conveyor is lifted and positioned by the panel lifter at the carry-out end of the conveyor. In this state, the panel is gripped by the robot and transported from the top of the trolley to the pallet in a state where it is raised by the loading lifter.
If the pallet has not been lifted by the loading lifter, the panel is robotically transported to the temporary loading lifter. The panel placed on the temporary loading lifter is placed on the pallet raised by the loading lifter. As a result, the panel continuously transferred by the conveyor can be continuously transferred by the robot to the pallet or the temporary stacking lifter, and the panel can be quickly transferred without staying on the conveyor. Further, when the robot grips the panel, the panel is lifted and positioned by the panel lifter, so that the robot can reliably grip the panel. In addition, since the panel is held in a standing state with respect to the pallet and the temporary loading lifter, the panel members can hold the shape accuracy of the panel with high accuracy without receiving the load of other panels.

(Embodiment) Hereinafter, the present invention will be described in detail based on an embodiment of the present invention shown in the drawings.

FIG. 1 is a plan view showing an entire panel loading apparatus according to an embodiment of the present invention, in which a conveyor 10 for conveying door panels or the like one by one in a state of being laid face down as shown in FIG. It is installed in. The panel P is drawn into a predetermined shape, and then carried into the carry-in end 10a of FIG. 1 directly or through another conveyor.
Is carried to the carry-out end 10b. A rail 11 is laid below the carry-out end 10b of the conveyor 10, and a carriage 12 shown in FIG. 2 is placed on the rail 11. The carriage 12 is adapted to move along the rails 11 and is conveyed from the upper portion in FIG. 1 to the next step.

A loading lifter 1 that moves up and down by a hydraulic cylinder or a pneumatic cylinder 13 adjacent to the unloading end 10b of the conveyor 10.
4 are provided as shown in FIG. A pallet 15 for accommodating the panel P is placed on the loading lifter 14. The dolly 12 has a plurality of support beams 16 which are in parallel with each other, and when the pallet 15 placed on the lifter 14 is transferred to the dolly 12, the dolly 12 is placed at the position of the lifter 14. The lifter 14 also has a plurality of support beams 17 in parallel with each other so that the stationary carriage 12 and the lifter 14 do not interfere with each other. As a result, the support beam 17 forming the lifter 14 is replaced by the support beam 1 forming the carriage 12.
6, it is possible to move it to the lower side of 6, and the transfer of the pallet 15 on the lifter 14 onto the truck 12 is achieved.

In order to adjoin the carry-out end 10b of the conveyor 10 and the lifter 14 and to convey the panel P conveyed to the carry-out end 10b to the pallet 15 on the lifter 14 and store it, the panel P is shown in FIG. As shown, two robots 20 and 21 are provided. By alternately operating the arms 22 of the robots 20 and 21, the panel P is accommodated in a pallet, which is in a standing state as shown in the drawing. However, if workability is not considered,
Only one robot is required.

When carrying out the work of transferring the panel P by these robots 20 and 21, in order to raise the panel P that has reached the carry-out end 10b of the conveyor 10, as shown in FIG. Has a panel lifter 23 attached thereto. The panel lifter 23 conveys the panel P conveyed to the carry-out end 10b to the conveyor 10
When the panel P is lifted from above, the panel P is moved from the conveyor 10 to be positioned on the panel lifter 23. Therefore, the robots 20 and 21
Thus, the panel P to be held can be stopped and the predetermined position of the panel P can be accurately held.

After the predetermined number of panels P are accommodated in the pallet 15 by the operation of the robots 20 and 21, the lifter 1
4 to lower the pallet 15 from the lifter 14 to the carriage 1
In order to enable the robots 20 and 21 to operate even in this state, a temporary stacking lifter 25 is provided adjacent to the lifter 14 so as to straddle the rail 11. . The temporary-loading lifter 25 is passed between two frame 2 robots and is attached so as to be vertically movable. The vertical movement of the temporary-loading lifter 25 is performed by a chain 27 operated by a drive source (not shown).

Further, in order to position the carriage 12 at the position of the lifter 14, a rotatable positioning arm 30 is provided as shown in FIG. 1, and similarly, the pallet 1 on the carriage 12 is provided.
Other positioning arm 31 for positioning
Is provided. In order to position the pallet 15 on the dolly 12 in the width direction, side guides 32 and 33 that are movable toward and away from the pallet 15 are attached.

Next, a panel loading procedure by the illustrated pallet loading device of the present invention will be described.

The panel P drawn into a predetermined shape is conveyed by the conveyor 10
Thus, it is conveyed from the carry-in end 10a to the carry-out end 10b. Panel P that has reached this carry-out end 10b
Is lifted to a predetermined position by the lifter 23, and at this position, the pallet 1 is moved by either of the robots 20 and 21.
Placed on top of 5. At this time, since the panel P is placed on the panel lifter 23, the state in which the panel P is moved by the conveyor 10 is stopped. Therefore, the robots 20 and 21 can accurately hold the predetermined position of the panel P. At this time, the pallet 15 is located slightly below the carry-out end 10b of the conveyor 10 by the lifter 14 as shown in FIG.
Is located directly below the lifter 14.

When a predetermined number of panels P are placed on the pallet 15 in this state, the lifter 14 descends and the pallet 15 is delivered to the dolly 12. During this transfer, the panel P is transported by the robot to the temporary loading lifter 25, and the panel P is continuously unloaded from the unloading end 10b of the conveyor 10. . The trolley 12 on which the pallet 15 is placed is transported to the right in FIG. 2 along the rail 11, and another empty trolley 12 is loaded from the left in FIG. The empty pallet 15 placed on the dolly 12 is lifted by the lifter 14. After the empty pallet 15 is raised, the panel P accommodated on the temporary loading lifter 25 is placed on the lifter 14 by lowering the temporary loading lifter 25. Then, in the same manner as described above, the loading robots 20 and 21 for loading the panel P on the pallet 15 are continuously performed.

When loading the pallet P, the pallet 1
Since 5 is lifted up to a position near the carry-out end of the conveyor 10 by the lifter 14, the loading work of the panels P by the robots 20 and 21 can be performed quickly because the strokes of the arms 22 of the robots 20 and 21 are short. That is, in the conventional panel loading device, since the loading lifter 14 is not provided and the panel P is loaded directly onto the pallet on the dolly 12, the arms 22 of the robots 20 and 21 are loaded. The movement stroke of the was long, and it took time to load,
By this amount, the time was shortened, and quick loading work was achieved.

(Effects of the Invention) As described above, according to the present invention, a lifter for raising a pallet accommodating a plurality of panels is installed adjacent to the carry-out end, and the pallet in the raised state by the lifter is Since the robot that conveys the pallet at the carry-out end is installed adjacent to the carry-out end, the panel can be quickly placed on the panel without passing through a long moving path. Further, a temporary loading lifter is installed at a position adjacent to the lifter, and after the pallet in the raised position is lowered by the lifter, the next pallet is raised to the raised position, that is, the pallet is moved to the raised position. While not present, the panel transported by the robot is placed in a state of standing on this temporary stacking lifter. Therefore, one panel is not affected by the load of the other panel,
The robot can continuously convey the panel, and the panel is not retained on the conveyor. That is, the panel can be transported quickly. Moreover, compared to the case of installing two pallets for mounting panels,
The structure can be small and simple.

Then, at a position adjacent to the conveyor, a panel lifter that raises the panel conveyed to the unloading end from the conveyor is installed, and the panel is lifted from the conveyor to stop the panel at a certain position. You can Therefore, since the robot can reliably hold the predetermined position of the panel, the robot can place the panel at the correct position on the pallet. This makes it possible to load the panels in a short time.

[Brief description of drawings]

1 is a plan view showing a panel loading device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line II-II in FIG. 1, and FIG. 3 is a line III-III in FIG. FIG. 10 ... Conveyor, 11 ... Rail, 12 ... Truck, 1
4 ... lifter, 15 ... pallet, 20,21 ... robot, 22 ... arm, 25 ... temporary loading lifter.

Claims (1)

[Scope of utility model registration request] 1. A conveyor that conveys panels one by one in a flat state, and a trolley that travels on a rail laid below the unloading end of the conveyor and conveys a plurality of panels in a standing state. A panel loading device having a panel lifter that raises the panel that has been conveyed to the unloading end of the conveyor, and a pallet on the trolley that has been conveyed to the loading position and that moves the pallet by moving the pallet. Temporary loading of a loading lifter to be placed on the pallet, holding the panel in a standing state when the pallet is not lifted by the loading lifter, and reloading the pallet in a state of being lifted by the loading lifter. The lifter and the panel lifted from the carry-out end of the conveyor by the panel lifter are placed in front of the upper limit position. A loading device for a panel, comprising: a pallet, or a robot that conveys the pallet while standing on the temporary loading lifter when the pallet is not at the rising limit position.