JPH07117852A - Work conveying device - Google Patents

Abstract

PURPOSE:To provide a work conveying device, by which processed works can be conveyed and stacked in a convenient condition, that is regarded from the following process, in such ways as taking off the processed works, conveying, and stacking them into an optional row, or the works stacked in an optional row can be thrown in the preset position. CONSTITUTION:A work conveying device is provided with a suction unit 51, which can be moved in two horizontal axial directions (the X-axis direction and the Y-axis direction) perpendicularly crossing with each other and can be moved in the vertical direction (the Z-axis direction), and a position controlling means controlling the position of the suction unit 51 in the X-axis direction, the Y-axis direction, and the Z-axis direction. The work fed to one preset position is sucked and held by the suction unit 51 so as to be conveyed to another preset position, and then, they are arranged in a row or in plural rows optionally and stacked. Alternatively, the work arranged and stacked in a row or plural rows optionally in one preset position are sequentially conveyed to another preset position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device used as, for example, a front picking machine, a material feeding machine, and the like, and particularly to a work transfer device in which a work is transferred and arranged in an arbitrary number of rows. It relates to a device that can be placed.

[0002]

2. Description of the Related Art A work machine, which is machined into a predetermined shape (for example, a short square bar) by a certain processing machine, is sequentially received, conveyed to another place and laminated, is called a so-called pre-machine. There is something. On the contrary, there is a so-called loading machine for loading the stacked work pieces into a certain processing machine.

[0003]

The above-mentioned conventional structure has the following problems. For example, in the case of a pre-preparation machine, the work carried out from the processing machine on the primary side is sequentially taken out by a belt conveyor, etc., and the work is sequentially conveyed and laminated on a trolley arranged at another place. I will let you. However, the operation is extremely monotonous, and only the work of stacking the taken-out works is carried out upward.For example, the work is conveyed and stacked in a state where it is arranged in two rows or three rows. Etc.
It was not possible to convey and stack in a convenient state in consideration of the next process. For this reason, it is necessary to manually rearrange the works transferred / stacked on the trolley, and further improvement is required to further promote labor saving. This is also the case when it is used as a throwing machine, and it is necessary to rearrange the works stacked on the dolly so as to match the monotonous operation of the throwing machine.

The present invention has been made on the basis of such a point, and the object of the present invention is, for example, to take out a processed work piece and convey / stack it in an arbitrary row. It is an object of the present invention to provide a work transfer device capable of transferring and stacking a work in a convenient state in consideration of a process, or putting a work stacked in an arbitrary row into a predetermined place. .

[0005]

In order to achieve the above object, a work transfer apparatus according to the present invention is movable in two axial directions (X axis direction and Y axis direction) which are horizontal and are orthogonal to each other. The work unit is provided with a suction unit movable in the up-down direction (Z-axis direction) and position control means for controlling the positions of the suction unit in the X-axis direction, the Y-axis direction, and the Z-axis direction. It is sucked and held by the suction unit and conveyed to another predetermined position, and it is arranged in one row or two or more rows in an arbitrary row to be stacked, or one row or two or more rows in a predetermined position. It is characterized in that the aligned and stacked works are sequentially conveyed to another predetermined position. At that time, it may be considered that the suction unit is biaxially controlled and moved in the X-axis direction and the Y-axis direction.

Further, the frame body and the frame body are attached to the frame body and are movable in two axial directions (X-axis direction and Y-axis direction) which are horizontal and orthogonal to each other, and are movable in the vertical direction (Z-axis direction). Movable suction part, work transfer means for transferring a work sent from another device to the frame body to a predetermined position, and a lifter mounted on the frame body for removably mounting a dolly and lifting it. Means and position control means for controlling the position of the suction part in the X-axis direction, the Y-axis direction and the Z-axis direction, and the work transferred by the work transfer means is sucked and held by the suction part. The lifter means is conveyed to a predetermined position on the carriage and placed, and at that time, it is preset according to the size of the work to be aligned and stacked on the carriage and the position control means is used. This while controlling the position It is characterized in that the run. At that time, it may be considered that the suction unit is biaxially controlled and moved in the X-axis direction and the Y-axis direction. In addition, the work conveying means conveys the work by a belt conveyor, conveys it until it abuts on the stopper, and sequentially stacks it horizontally, and when a predetermined number of layers are stacked, it is collectively sucked by the suction unit.・ It may be possible to hold it. Further, it is conceivable that the work transfer means can be appropriately moved in the X-axis direction according to the length of the work. Further, it is conceivable that the carriage is set so as to slightly float above the lifter means at the lowermost position of the lifter means.

[0007]

In other words, in the case of the work transfer apparatus of the present invention, the suction is movable in the biaxial directions (X-axis direction and Y-axis direction) which are horizontal and perpendicular to each other, and vertically (Z-axis direction). A part is provided, and the work is conveyed while the position is controlled by the position control means. For example, the work fed to a predetermined position is sucked and held by the suction unit and conveyed to another predetermined position, and the work is aligned in one row or in any row of two or more rows and stacked, or vice versa. Arrange in any one row or two or more rows
The stacked works are sequentially conveyed to another predetermined position.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. First, there is a frame body 1, and this frame body 1 is constructed by joining various steel materials by welding or the like. At the upper end of the frame body 1, the first substrate 3 is
It is attached in a state that it projects toward the front inside.
A second substrate 5 is disposed below the first substrate 3 so as to be movable in a direction (X-axis direction) orthogonal to the paper surface of FIG. The driving means 7 reciprocates the second substrate 5 in the X-axis direction. That is, the drive motor 9 is installed on the upper surface of the frame body 1. Further, in FIG. 1, a ball screw 11 is laid at the center position on the left and right of the frame body 1. A ball nut 13 is screwed onto the ball screw 11, and the ball nut 13 is fixed to the second substrate 5.

A sprocket (not shown) is fixed to the output shaft of the drive motor, while a sprocket (not shown) is also fixed to the ball screw 11 side. A chain 15 is wound between these sprockets. Therefore, by rotating the drive motor 9 in the normal / reverse direction, both sprockets and the chain 15
The ball screw 11 can be rotated normally and reversely. By rotating the ball screw 11 forward and backward, the ball nut 13
The second substrate 5 reciprocates in the X-axis direction via. Guide shafts 17, 19 are extended and arranged on both left and right sides of the ball screw 11, while guide members 21, slidably fitted to the guide shafts 17, 19 are provided on the second substrate 5 side. 23 is attached. The guide shafts 17, 19 and the guide members 21, 23 guide the reciprocating movement of the second substrate 5 in the X-axis direction.

A suction header 25 is attached to the lower surface of the second substrate 5 so as to be movable in the left-right direction in FIG. 1 (the Y-axis direction orthogonal to the X-axis direction). The adsorption header 2
The drive means 27 reciprocates 5 in the Y-axis direction.
That is, as shown in FIG. 2, on the lower surface side of the second substrate 5 and at the center position in the left-right direction, the rodless cylinder mechanism 2 is provided.
9 are laid. The suction header 25 reciprocates in the Y-axis direction by the rodless cylinder mechanism 29. or,
Guide shafts 31 and 33 are extended to the left and right sides of the rodless cylinder mechanism 29, while guide members 35 and 37 slidably fitted to the guide shafts 31 and 33 are provided on the suction header 25 side. Installed.
These guide shafts 31, 33, guide members 35, 3
7, the reciprocating movement of the suction header 25 in the Y-axis direction is guided.

The suction header 25 has the following structure. First, the upper support plate 39 and the lower support plate 41 are arranged in a state of being vertically spaced from each other. Shafts 43 are respectively arranged at four corners between the upper support plate 39 and the lower support plate 41 so as to maintain the distance between the upper support plate 39 and the lower support plate 41. An air cylinder means 45 is attached to the center of the upper surface of the lower support plate 41. This air cylinder means 4
Reference numeral 5 is composed of a cylinder 45a and a rod 45b which is attached to the cylinder 45a so as to extend and contract downward in the drawing. The rod 45b penetrates the lower support plate 41 and extends below it. A support plate 47 is fixed to the tip of the support plate 47.

Guide members 49 are attached to the four corners of the lower support plate 41, respectively. These guide members 49 are composed of a cylinder 49a and a rod 49b that is retractably housed in the cylinder 49a.
The rod 49b extends downward through the lower support plate 41, and the lower end thereof is fixed to the support plate 47.
Then, by appropriately driving the air cylinder means 45, the support plate 47 reciprocates in the vertical direction via the rod 45b. Then, at that time, the guide members 49 are guided by the four guide members 49.

Below the support plate 47, the suction portions 51 are arranged with a space therebetween, and the suction portions 51 are arranged at four corners.
It is connected to the support plate 47 via a book rod 53. The suction portion 51 reciprocates in the same direction (Z-axis direction) as the support plate 47 moves in the vertical direction. The suction part 51 has a structure as shown in FIG. First,
There is a vacuum chamber 53, and an exhaust port 55 is formed in this vacuum chamber 53. An exhaust blower 59 is connected to the exhaust port 55 via an exhaust tube 57. Although the exhaust chirp 57 is not shown in the drawing for its installation route, the exhaust blower 59 is also installed through a route that does not hinder the operation of each part.
A suction plate 61 is fixed to the opening 53a of the vacuum chamber 53 to close the opening 53a. A chamber 63 is formed by the vacuum chamber 53 and the suction plate 61.

A suction pad 65 is fixed to the lower surface side of the suction plate 61 in the figure. The suction pad 65 is made of, for example, sponge, elastic rubber or the like. A plurality of through holes 67 are formed in the suction plate 61, and a plurality of through holes 69 are also formed in the suction pad 65 so as to communicate with the plurality of through holes 67. . The through hole 69 has a larger diameter than the through hole 67. A valve unit 71 is attached to the plurality of through holes 67. This valve unit 71
Has a configuration as shown in FIG. First, there is a hollow cylindrical tubular body 73, and the upper and lower ends of this tubular body 73 are openings 75 and 77. A ball 79 as a valve element is housed in the cylindrical body 73 so as to be vertically movable (indicated by an arrow A in the figure).

The valve unit 71 having the above structure is manufactured and assembled in a unitized state in advance, and the suction plate 6
It is press-fitted and fixed in the first through hole 67. or,
After press fitting and fixing the valve unit 71 in the through hole 67,
In the case of removing this, for example, a jig (not shown) is inserted into the opening 77 and pulled out, whereby the jig can be easily removed.

In the case of the valve unit having the above-mentioned structure, when the exhaust blower 59 sucks the air, the air in the exhaust port 55 and the chamber 63 is sucked and exhausted, and the work 115 to be conveyed (FIGS. 1 and 6 and FIG. 6). (Shown in FIG. 7) is adsorbed and held on the tip surface of the adsorption pad 65. To release this suction, the valve 143 may be switched. that time,
Not all of the suction surface of the suction unit 51 is closed by the work 115, but depending on the size of the work 115,
Some parts are occluded and some parts are not. Among them, the valve unit 71 of the part closed by the work 115 acts as follows. First, the suction blower 59 sucks the ball 79 once upward. After that, the spaces before and after the ball 79 are sucked together and brought into the same pressure state, so that the ball 79 falls due to its own weight.

On the other hand, in the valve unit 71 which is not closed by the work 115, the ball 79
Remains sucked upwards. That is, a perfect airtight state is maintained in that portion, and the chamber 63
The internal vacuum state will not be inadvertently broken.
That is, regardless of the size and shape of the work 115,
This can be adsorbed and held / conveyed.

The suction header 25 having the above structure reciprocates in the Y-axis direction along the second substrate 5, and at the same time, the second substrate 5 is moved.
Reciprocates in the X-axis direction along the first substrate 3. Therefore,
The suction header 25 can freely move in the X-axis direction and the Y-axis direction, and the suction portion 51 attached thereto reciprocates in the Z-axis direction. In addition, since the so-called two-axis simultaneous control is performed during the movement, it is possible to move from any place to any place in an extremely short time.

In FIG. 1, on the left side of the frame 1 in the figure, a belt conveyor means 81 as a work conveying means is installed. The belt conveyor means 81 has the following structure. First, there is a base 83, and this base 83 has 4
The legs 85 of the book are connected, and these four legs 85
Of these, traveling wheels 87, 87 are attached to the lower ends of the two leg portions 85 on the left side in FIG. 1, and are engaged with a rail 89 laid below the traveling wheels 87 so as to be capable of traveling. Also, another type of traveling wheels 91, 9 is provided at the lower ends of the other two legs 85.
1, the traveling wheels 91, 91 are adapted to travel on the floor 93. That is, the entire belt conveyor means 81 is configured to be movable in the direction orthogonal to the paper surface in FIG. 1 (the horizontal direction in FIG. 2, the X-axis direction described above).

A belt conveyor 95 is attached to the upper end of the base 83. That is, the shaft 9 is provided at both ends.
7 and 99 are arranged and these shafts 97 and 99
The rotating bodies 101 and 103 are attached to the. A plurality of belts 1 are attached to the rotating bodies 101 and 103.
05 is wound. At one end of the shaft 97,
The sprocket 107 is fixed. A drive motor 109 is attached to the base 83, and another sprocket 111 is fixed to the output shaft of the drive motor 109. A chain 113 is wound around these sprockets 107 and 111. Therefore, the drive motor 10
Rotating 9 causes the plurality of belts 105 to rotate in a loop shape, whereby the workpiece 115 discharged from the processing machine (not shown) on the left side in FIG.
Is conveyed to the right side in FIG.

Here, the belt conveyor means 8 having the above structure
The conveyance of the work 115 by 1 will be described. First,
As shown in FIG. 6, in this embodiment, the work 115
As the above, a relatively short square bar (for example, used as a part of various furniture) is assumed. Such a work 115 is discharged from a processing machine (not shown), placed on the belt conveyor means 81, and from there, sequentially conveyed rightward in FIG. 6 by the belt conveyor means 81. At that time, a stopper 117 is arranged at the right end of the belt conveyor means 81 in FIG. 6, and the works 115 which are sequentially conveyed are stopped there. As a result, the works 115 are sequentially clogged on the left side in FIG. 6 (stacked in the horizontal direction).

On the other hand, a work detection sensor 119 is installed at a predetermined position in the left-right direction of the belt conveyor means 81 in FIG. The work detection sensor 119 is, for example, of a photoelectric tube type, and is configured to detect this when the light path is blocked by the work 115. Further, the work detection sensor 119 is set with a timer, and if the state does not change after a predetermined time (for example, several seconds) has elapsed after detecting the work,
It is determined that the work 115 is detected, and the suction of the work 115 by the suction header 25 described above is started. Then, as shown in FIG. 7, when a predetermined number of works 115 are packed and stacked in the horizontal direction, the work detection sensor 119 detects this and causes the suction header 25 to start sucking the works 115. On the other hand, when the work 115 is not clogged by the predetermined number, the work 115 passes through the work detection sensor 119. Therefore, even if the work 115 is once detected, it is not detected within the timer setting time. Therefore, in this case, the work 115 is not detected, and the suction of the work 115 by the suction header 25 is not started.

Next, the trolley 1 to which the work is conveyed and stacked.
21 and lift means 123 for moving the carriage 121 up and down.
The configuration of will be described. First, there is a lift lifter 125, and this lift lifter 125 is attached so as to be lifted by a drive motor 127. The dolly 121 is placed on the lift lifter 125. At that time, when the lift lifter 125 is lowered to the lowest position,
Four wheels 129 on the 1 side are seated on the floor,
21 is slightly lifted above the lift lifter 125. Therefore, the four wheels 12 on the side of the carriage 121 are arranged both when the carriage 121 is arranged on the lift lifter 125 and when the carriage 121 is separated from the lift lifter 125.
It is configured so that it can be easily performed by traveling on the floor 93 by using 9.

The structure of the lift means 123 will be described in more detail. That is, as shown in FIGS. 11 and 12, a shaft 171 is provided on the upper portion of the frame body 1, and a pair of drive sprockets 173 and 175 are fixed to the shaft 171. Also, the shaft 171
A connecting sprocket 177 is fixed to one end of the. In FIG. 11, the drive motor 127 already described is arranged behind the shaft 171, and the sprocket 179 is fixed to the output shaft of the drive motor 127. The chain 18 is attached to the sprockets 177 and 179.
1 is wound. Therefore, by rotating the drive motor 127 in the normal / reverse direction, the shaft 171 is rotated in the normal / reverse direction.

On the other hand, a pair of idler sprockets 183 and 185 are rotatably arranged at the lower portion of the frame body 1 so as to correspond to the sprockets 173 and 175. A chain 187 is wound between the sprocket 173 and the idler sprocket 183, and a chain 189 is also wound between the sprocket 175 and the idler sprocket 185. Both ends of the chain 187 are separated from each other and connected to the lift lifters 125, respectively. Similarly, both ends of the chain 189 are also separated and connected to the lifting lifters 125, respectively. That is, as the chains 187 and 189 rotate in a loop, the lift lifter 125 moves. Then, the drive motor 127 rotates in the normal / reverse direction, whereby the shaft 171 rotates in the normal / reverse direction, whereby the sprockets 173, 175 rotate in the normal / reverse direction. Then, the chains 187 and 189 rotate normally and reversely, whereby the lift lifter 125 moves up and down.

The level control of the lift means 123 is realized by several limit switches as shown in FIG. First, the lowest level is detected by the limit switch 131, whereby the drive motor 127 is stopped and the lift means 123 is stopped. A limit switch 133 is attached at a position slightly above the limit switch 131. The limit switch 133 is provided on the base 1 of the lift means 123.
It is for detecting that 25 is about to reach the lowest level, and the signal is used to blink the lamp 135. Also, the platform 1 of the lift means 123
The limit switch 137 detects the highest level of the carriage 121 mounted on the vehicle 25. Using the signal, the lift means 123 is stopped and the carriage 121 is stopped at a predetermined highest level. Here, the highest level is set to match the level of the belt conveyor 95 of the belt conveyor means 81.

Next, a method of carrying and stacking the works 115 will be described. First, the suction header 25 is located at the initial position when the apparatus is activated, and this initial position is a position where the suction of the workpiece 115 can be started, as shown in FIG. It is a position where it can be seated on the upper surface of the work 115 by being lowered. In that state, when the workpieces 115 are in a state as shown in FIG. 7, that is, when a predetermined number of workpieces 115 are clogged,
The work detection sensor 119 detects this. The signal causes the suction portion 51 of the suction header 25 to descend and seat on the upper surface of the work 115. The suction part 51 is the work 115.
The seating sensor (limit switch) 141 detects that the person is seated on the upper surface of the
The lowering operation of the seating portion 51 is stopped, and then the seating portion 51 is raised to the original position. After that, the work 115 is conveyed to a predetermined position on the carriage 121, where the seating portion 51 is lowered and the valve 143 is switched to release the suction state. As a result, the work 115 is placed at a predetermined position on the carriage 121. After that, the suction header 25 returns to the initial position and prepares for the next operation.

Further, as described above, in the case of this embodiment, a plurality of works 115 are conveyed at one time. Further, the number of rows of the works 115 to be stacked on the dolly 121 can be arbitrarily selected. In the present embodiment, one of the three types of one row, two rows, and three rows is arbitrarily selected and set. The one row here means the work 115 in the state as shown in FIG.
The two rows mean a state as shown in FIG. 9, and the three rows mean a state as shown in FIG. Further, in general, when the work 115 is short, it is possible to sufficiently stack up to three rows on the carriage 121, so a mode of three rows as shown in FIG. 8 is selected. As the work 115 becomes longer, the number of rows will be changed to two rows and one row.

Regarding where the work 115 sucked by the suction header 25 is placed on the carriage 121, three limit switches 151, 15 shown in FIG.
3, 155 to control. That is, if the workpieces 115 are stacked in three rows, the limit switch 151 determines the position of the suction header 25 in the first row in the X-axis direction, and the limit switch 153 determines the suction header 25 in the second row. The position in the X-axis direction is determined, and the position of the suction header 25 in the third row in the X-axis direction is determined by the limit switch 155. When stacking the workpieces 115 in two rows, the limit switch 151 determines the position of the suction header 25 in the first row in the X-axis direction, and the limit switch 153 determines the suction header 25 in the second row in the X-axis direction. Determine the position. Further, when the works 115 are stacked in a line, the suction header 2 is pressed by the limit switch 153.
The position of 5 in the X-axis direction is determined.

Next, the initial position of the suction header 25 in the X-axis direction is also determined by the limit switches 151 and 153. That is, the work 115 is arranged in three rows, or
When stacking in two rows, limit switch 15
1 determines the initial position of the suction header 25 in the X-axis direction. On the other hand, when the works 115 are stacked in a line, the suction header 25 is pressed by the limit switch 153.
The initial position in the X-axis direction shall be determined.

The operation will be described based on the above configuration. First, the dolly 121 is moved up and down by the lifter means 123.
Place it on top. In this case, with respect to the lower surface of the carriage 121,
Since the upper surface of the lift lifter 125 is in a further lowered position, the carriage 121 can be positioned on the lift lifter 125 simply by traveling using the wheels 129 thereof.
Next, the lift lifter 125 is raised so that the upper surface of the carriage 121 is aligned with the upper surface of the belt conveyor means 95. This is controlled by the signal from the limit switch 137. On the other hand, the suction means 25 is located at the initial position, that is, the position where the work 115 can be sucked by lowering the suction part 51. In this state, the work transfer / stacking operation is started. Also, for the sake of explanation, the work 11
Reference numeral 5 is a short length, which will be described as being arranged on the carriage 121 in three rows and stacked (state as shown in FIG. 8). Note that such selection is performed by operating a switch on an operation panel (not shown).

First, as shown in FIG. 6, the works 115 are sequentially conveyed by the belt conveyor means 81.
The conveyed work 115 comes into contact with the stopper 117 and stops there. that time. Since the workpiece 115 passes through the workpiece detection sensor 119, the workpiece is momentarily detected, but the workpiece detection sensor 119 is set with a timer, and the workpiece detection is performed only when the state does not change even after a lapse of a predetermined time after the detection. Therefore, when the work 115 simply passes, it does not mean that the work is detected. Then, when the works 115 are gradually stacked in the horizontal direction and the state shown in FIG. 7 is reached, the work detection sensor 119 detects this. By the detection signal,
The suction portion 51 of the suction header 25 starts the lowering operation.

That is, the air cylinder means 45 is driven to lower the suction portion 51, and the tip surface of the suction portion 51 is moved to the work 115.
Sit on the upper surface of. Whether or not the suction portion 51 is seated is detected by the limit switch 141. At that time, since the suction by the exhaust blower 59 has already been started, the plurality of works 115 are sucked and sucked by the suction unit 51.
Retained. Next, the suction unit 51 moves up, and the work 115 sucked and held by the suction header 25 is moved to a predetermined position on the carriage 11 (the position shown on the left side in FIG. 2).
And the suction unit 51 is lowered there,
Open the suction by switching valve 143,
The work 115 is placed on the dolly 121. Next, the suction unit 51 moves up and the suction head 25 returns to the initial position.

Thereafter, the same operation is repeated, but next, the work 115 is conveyed to the position of the second row on the carriage 121 and placed there. In this case, the suction head 25 is controlled biaxially in the X-axis direction and the Y-axis direction at the same time, so that the suction head 25 moves obliquely directly from the initial position to the position of the second row on the carriage 121. This is the same when the work 115 is transferred and placed in the third row on the carriage 121. Then, when the stacking of the works 115 is completed up to the third row, the detection sensor (phototube type in this embodiment) 191 detects this. By the detection signal, the lifter means 123
Operates to lower the lifting lifter 125 and the carriage 121 by a predetermined amount. Thereby, the work 115 in the first stage
And the upper surface of the belt conveyor means 81 side coincide with each other. Next, the work 115 is sequentially conveyed and stacked on the second step from the first row.

When the same operation is repeated thereafter, the lift lifter 125 and the dolly 121 gradually descend, and when they descend to a predetermined height, the limit switch 133 operates. This causes the lamp 135 to blink. The blinking informs that the stacking of the works 115 will reach the limit in a short time. Then, when it is further lowered by a predetermined amount, the limit switch 131 operates. This stops the operation. After that, it is sufficient to pull out the dolly 121 in which the works 115 are stacked in a state where the works 115 are arranged in one to three rows. At that time, the wheels 129 of the carriage 121 are seated on the floor, and the carriage 121 and the lift lifter 12 are
Since a gap is formed between the carriage 5 and the carriage 5, the carriage 121 can be easily pulled out. And next dolly 121
Set and repeat the same work.

Next, the case where the works 115 are stacked while being aligned in two rows will be described. In this case, as in the case of the three rows described above, the initial position (position in the X-axis direction) of the suction header 25 is determined by the limit switch 151. Also, regarding the place where the work 115 is placed, the first row is determined by the limit switch 151, and the second row is determined by the limit switch 153. On the other hand, when the works 115 are stacked in a line, first, the initial position of the suction header 25 is determined by the limit switch 153. Also, the work 115
The place where the is placed is also determined by the limit switch 153. Further, in this case, since the work 115 becomes relatively long, the belt conveyor means 81 is moved in the X-axis direction by a predetermined amount so that the central portion of the work 115 is positioned on the belt conveyor means 81. To

According to this embodiment, the following effects can be obtained. First, depending on the length of the work 115, it can be arranged in three rows and stacked on the carriage 121, or can be stacked in two rows or one row, and the space on the carriage 121 can be effectively used. , Efficient work 11
5 can be carried and laminated. This is because the suction header 25 is moved in the X-axis direction and the Y-axis direction, and the position thereof is arbitrarily set by the limit switches 151, 153, 155. Further, since the belt conveyor means 81 can be appropriately moved in the X-axis direction according to the length of the work 115,
The work 115 can be conveyed in a stable state.
In addition, when the work 115 is sucked and held by the suction header 25 and is moved to a predetermined position on the carriage 121, the suction header 25 is controlled by biaxial simultaneous control of the X axis and the Y axis.
Since it is moved, the time required for transportation can be shortened, and the work efficiency can be improved in the end.

When the lifter means 123 is moved up and down, the limit switch 133 detects this before reaching the lowest level, and the lamp 135 is made to blink. It can be recognized, and work such as preparation of the next dolly 121 can be quickly performed. Further, when the lifter means 123 is located at the lowest level, a gap is formed between the lower surface of the carriage 121 and the upper surface of the lift lifter 125. It can be easily carried out by running with.
In particular, it is effective when the carts 121 are pulled out after the stacking of the works 115 is completed. Further, the suction portion 51 in the present embodiment is capable of securely sucking and holding the work 115 regardless of its size. At that time, the airtightness is carelessly impaired and the suction operation becomes defective. Nor.

The present invention is not limited to the above-mentioned embodiment. First, in the above-described one embodiment, the case where the work transfer device is implemented as a so-called “preliminary machine” has been described as an example, but the work can be used as a work inserting machine by reversing the operation. Here, reversing the operation means that the works aligned and stacked on the carriage 121 are sequentially conveyed to the belt conveyor means 81 side, and any processing machine exists ahead of them. is there. Also, the suction header 25
There are various means for moving the ball screw / ball nut mechanism, rodless cylinder mechanism, rack / pinion mechanism, belt / pulley mechanism, chain / sprocket mechanism, etc. as shown in the figure. Good. The same applies to the lifter means 123. The configurations of other parts are not limited to those shown in the drawings.

[0040]

As described above in detail, according to the work transfer apparatus of the present invention, the work is carried out in the horizontal direction and in the two axial directions (X-axis direction and Y-axis direction) and the vertical direction (Z-axis direction) orthogonal to each other. Since the movable suction header is provided and the work is conveyed while the position is controlled by the position control means, for example, the work sent to a predetermined position is sucked and held by the suction header to another predetermined position. It is conveyed to and arranged in one row or two or more rows in an arbitrary row to be stacked, or conversely, the work arranged and laminated in one row or two or more rows in a predetermined position is provided in another predetermined row. It is possible to sequentially convey to a position, which is extremely effective in saving labor, and so on.

[Brief description of drawings]

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

FIG. 2 is a side view of the material carrying device showing the embodiment of the present invention.

FIG. 3 is a plan view of a material carrying device showing an embodiment of the present invention.

FIG. 4 is a cross-sectional view of the suction portion of the suction header according to the embodiment of the present invention.

5 is a cross-sectional view showing, in an enlarged manner, a V portion of FIG. 4 showing an embodiment of the present invention.

FIG. 6 is a plan view for explaining the operation of the belt conveyor means in a diagram showing an embodiment of the present invention.

FIG. 7 is a plan view for explaining the operation of the belt conveyor means, showing the embodiment of the present invention.

FIG. 8 is a diagram showing an embodiment of the present invention and is a perspective view showing a stacked state of works on a carriage.

FIG. 9 is a perspective view showing a stacked state of works on a carriage according to an embodiment of the present invention.

FIG. 10 is a perspective view showing a stacked state of works on a carriage according to an embodiment of the present invention.

FIG. 11 is a view showing an embodiment of the present invention and is a front view showing a configuration of lifter means.

FIG. 12 is a view showing an embodiment of the present invention and is a side view showing a configuration of lifter means.

[Explanation of symbols]

 1 Frame 3 First Substrate 5 Second Substrate 7 Driving Means 25 Adsorption Header 27 Driving Means 51 Adsorption Part 81 Belt Conveyor Means (Work Conveying Means) 115 Work 121 Truck 123 Lifter Means

Claims (7)

[Claims] 1. A suction unit which is movable in two axial directions (X-axis direction and Y-axis direction) which are horizontal and orthogonal to each other and movable in the vertical direction (Z-axis direction), and the suction unit. X
Position control means for controlling the position in the axial direction, the Y-axis direction and the Z-axis direction is provided, and the work fed into a predetermined position is sucked and held by the suction unit and conveyed to another predetermined position, and this is arranged in a line. Alternatively, the work is arranged to be stacked in an arbitrary row of two rows or more, or the work arranged in one row at a predetermined position or arranged and laminated in any row of two or more rows is sequentially conveyed to another predetermined position. A work transfer device characterized by the above. 2. The work transfer apparatus according to claim 1, wherein the suction unit moves while being controlled by biaxial simultaneous control in the X-axis direction and the Y-axis direction. 3. A frame and a frame attached to the frame and movable in two horizontal directions (X-axis direction and Y-axis direction) orthogonal to each other and vertically (Z-axis direction). Movable suction part, work transfer means for transferring a work sent from another device to the frame body to a predetermined position, and a lifter mounted on the frame body for removably mounting a dolly and lifting it. Means and position control means for controlling the position of the suction part in the X-axis direction, the Y-axis direction and the Z-axis direction, and the work transferred by the work transfer means is sucked and held by the suction part. The lifter means is conveyed to a predetermined position on the carriage and placed, and at that time, it is preset according to the size of the work to be aligned and stacked on the carriage and the position control means is used. It controls the position of the adsorption part While carrying out this, a work transfer device. 4. The work transfer apparatus according to claim 3, wherein the suction unit is controlled by biaxial simultaneous control in the X-axis direction and the Y-axis direction. 5. The work transfer device according to claim 3, wherein the work transfer means transfers the work by means of a belt conveyor, and transfers the work until it comes into contact with the stopper, and sequentially stacks the work in a horizontal direction. A work transfer device characterized in that when a predetermined number of layers are stacked, they are collectively sucked and held by a suction header. 6. The work transfer device according to claim 3, wherein the work transfer means is adapted to be movable in the X-axis direction in accordance with the length of the work. 7. The work transfer apparatus according to claim 3, wherein the carriage is set so as to slightly float above the lifter means at the lowermost position of the lifter means.