JPH07155870A - Plate material transporting device with plate material rotating device - Google Patents

Abstract

PURPOSE:To provide a plate material transporting device of simple constitution capable of carrying plate materials into and out of a plate material working machine by changing the directions of the plate materials. CONSTITUTION:This transporting device. is provided with a loader 10 and unloader traveling along installed rails 8. This loader 10 attracts the plate materials W with suction pads 24 and transports the plate materials. The loader 10 is provided with suction pads 28 for rotation which attract the plate materials W horizontally swivelably by a plate material rotating device 29. The device is also provided with a relative lifting device 30 for vertically moving these suction pads 28 for rotation relative to the other suction pads 24. The unloader is constituted to clamp the ends of the plate materials by means of clampers and to draw out the plate materials. The unloader is also provided with the plate material rotating device for horizontally swiveling the suction pads for rotation and the relative lifting device in the same manner as for the loader 10. The suction pads 28 for rotation of the unloader are formed as a magnet type.

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 with a plate material rotating device which is installed in a plate material processing line such as a punch press machine or a shearing machine to carry in and carry out plate materials.

[0002]

2. Description of the Related Art Conventionally, in a sheet metal working line such as a punch press machine, a loader and an unloader, which are respectively suspended by an erection rail and run, are provided.
A plate material conveying device that carries in the plate materials one by one into the plate material processing machine and carries out the processed plate material with an unloader is installed.

[0003]

Plate materials of various sizes are loaded into the plate material processing machine. However, in the case of a plate material having a narrow width in the transport direction, when the plate material is gripped by a plurality of work holders in the plate material processing machine, the plate material dimension may not be sufficient as the space between the work holders, and the work material may not be gripped as it is. In such a case, the operator manually changes the plate material in the laterally long direction and carries it into the plate material processing machine. Therefore, there is a problem that it is inefficient and automatic driving cannot be performed.

Depending on the model of the plate material processing machine, unless the short side of the plate material is grasped by the work holder, the front-back dimension of the plate material on the plate material processing machine is insufficient and the planned processing position of the plate material is sent to the processing head position. May not be possible.
In such a case, contrary to the above, the plate material arranged in the horizontally long direction is manually changed to the vertically long direction and carried into the plate material processing machine, and in this case also, it is inefficient and automatic operation cannot be performed. Further, when the direction of the plate material is changed in this way, it is often necessary to manually return the plate material to the original posture again because it is necessary to align the reference sides of the plate material in the transport line and the storage place. As a means for changing the direction of the plate material in the plate material processing line, a configuration has been adopted in which the conveyor line is made orthogonal to change the flow direction, but the configuration becomes large.

An object of the present invention is to provide a plate material conveying device with a plate material rotating device having a simple structure capable of changing the direction of the plate material and carrying it into a plate material processing machine. Another object of the present invention is to provide a plate material conveying device with a plate material rotating device, which has a simple structure and which can change the direction of the plate material and carry it out from the plate material processing machine.

[0006]

According to another aspect of the present invention, there is provided a plate material conveying device with a plate material rotating device, wherein a loader for adsorbing and conveying an upper surface of the plate material by a suction pad, and a rotary suction pad for adsorbing the plate material, A plate material rotating device for horizontally rotating the pad is provided. Further, a relative elevating device for moving the rotary suction pad up and down relative to other suction pads is provided.

According to a second aspect of the present invention, there is provided a plate material conveying device with a plate material rotating device, wherein an unloader for grasping and conveying the plate material with a grasping tool adsorbs the plate material on a rotating suction pad and a plate material rotating device for horizontally rotating the pad. Is provided. Further, a relative elevating device for moving the rotation suction pad vertically relative to the gripping tool is provided.

[0008]

According to the loader having the above construction, the plate material is attracted by the rotary suction pad, and the pad material is rotated by the plate material rotating device, whereby the transporting position of the plate material can be changed, for example, between the horizontal direction and the vertical direction. Since the rotary suction pad can be moved up and down with respect to other suction pads by the relative lifting device, other suction pads may interfere with the rotation of the plate material, and the rotation suction pad may prevent suction by other pads. Avoiding obstacles.

Also in the case of the unloader having the above construction, the plate material can be conveyed by changing its position by adsorbing the plate material by the rotary suction pad and rotating the pad by the plate material rotating device. Even in this unloader, by the lifting operation of the relative lifting device,
It is avoided that the gripping tool and the rotary suction pad interfere with each other's operation.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described with reference to FIGS. 1A and 1B show a plan view and a front view of a plate material processing line, respectively. Auxiliary tables 2 and 3 are provided on both sides of a plate material processing machine 1 including a turret punch press, and a carry-in conveyor 4 and a carry-out conveyor 5 are provided on both sides thereof.
Is installed. Carry-in conveyor 4 and carry-out conveyor 5
Is an upstream conveyor line 6 and a downstream conveyor line 7
Each following. Carry-in conveyor 4 to carry-out conveyor 5
The erection rail 8 is installed on the support column 9 over the upper part of the above, and the loader 10 and the unloader 11 are installed on the rail 8 in a suspended state so that they can travel freely.

The plate material processing machine 1 punches at the punch position P, and moves the table 12 back and forth (Y direction).
Further, a cross slide 13 that moves left and right (X direction) is provided, and a plurality of work holders 14 that grip the plate material W are attached to the cross slide 13. Further, the table 12 has an end locator 1 capable of projecting and retracting for positioning the loaded plate material W in accordance with a positioning reference K1 indicated by a key mark.
5 is provided.

The carry-in conveyor 4 is provided with a stopper (not shown) provided at the front end in the carrying direction and capable of projecting and retracting, and a pusher (not shown) capable of advancing and retracting in the Y-axis direction. Positioning is possible on the positioning reference K3. The carry-out conveyor 5 also includes a stopper (not shown) provided at the front end in the carrying direction and a pusher (not shown) capable of advancing and retreating in the Y-axis direction for positioning the plate W on the carrying surface as a positioning reference K3. It can be positioned at. Each positioning reference K1 to K3 is
It has the same coordinate position in the Y-axis direction.

As shown in FIGS. 2 and 3, the loader 10 is movably installed on the rail 8 by means of wheels 17 provided on the loader body 16, and a self-propelled device 18 on the loader body 16 is installed.
Thus, the rack 19 (FIG. 3) formed of a fixed chain or the like on the lower surface of the rail 8 is meshed with and driven to travel. An elevating frame 21 is installed in the loader body 16 via a pantograph type elevating device 20, and a pad mounting frame 23 is attached to the elevating frame 21 with a suspension rod 22.

A plurality of suction pads 24 for transportation are arranged in a matrix on the pad mounting frame 23, and two positioning suction pads 25 (FIG. 2B) are mounted. Each suction pad 24 can be individually moved up and down by an individual pad elevating device 26 including an air cylinder or the like. The positioning suction pad 25 can be horizontally swung around the axis 25a, and can be moved back and forth by the forward / backward cylinder 27. Further, the positioning suction pad 25 is biased by a return spring (not shown) at a predetermined neutral angle with respect to the loader traveling direction (X direction).

A plurality of loaders 10 (two loaders in this example) are used.
Each of the rotating suction pads 28 is provided, and a plate material rotating device 29 that horizontally swivels these rotating suction pads 28 around the swivel axis Q and a relative lifting device 30 are provided.
The relative elevating device 30 is a two-stroke cylinder device 31 installed downward on the elevating frame 21 with a mounting frame 32. The plate material rotating device 29 has a rotary suction pad 28 attached to a rotary actuator 33 of a pneumatic type or the like installed on a mounting frame 32 via a turning arm 34. The rotary suction pad 28 is made of sponge rubber or the like having closed cells and is elastically large and easily deformable in the pressing direction. The suction pads 24, 25, 28 are of a vacuum suction type and are connected to a negative pressure source (not shown) such as a vacuum pump by a flexible tube (not shown).

FIG. 6 shows the structure of the unloader 11. The unloader 11 is a wheel 3 provided on the unloader main body 36.
The unloader main body 3 is installed on the rail 8 so that it can travel freely.
6 is driven by a self-propelled device 38 on a rack 6 which meshes with a rack 39 formed of a fixed chain or the like on the lower surface of the rail 8. A gripper mounting frame 41 is installed in the unloader main body 36 via a lifting cylinder 40, which is a gripper lifting device, so that it can be lifted and lowered, and a plurality of grippers 42, which are grippers, are attached to the lower end of the gripper mounting frame 41 in a direction orthogonal to the traveling direction ( They are mounted side by side in the (Y direction). Each gripper 42 sandwiches the plate material W between upper and lower clamping claws, and is opened and closed by an opening and closing cylinder (not shown). Instead of the gripper 42, an electromagnet type gripping tool may be provided.

The unloader 11 has two electromagnetic magnet type pads 43, which are suction pads for rotation, and a plate material rotating device 44 for rotating the magnet type pads 43 around the rotation axis R and a relative lifting device. And 45 are provided. The relative lifting device 45 is a cylinder device 46 installed downward on the unloader main body 36 and provided with a mounting frame 47. The plate material rotating device 44 is one in which a magnet type pad 43 is attached to a rotary actuator 48 of a pneumatic type or the like installed in an attachment frame 47 via a turning arm 49. The magnet type pad 43 is attached to the revolving arm 49 so as to be able to move up and down, and biased downward by a return spring (not shown), so that it can elastically escape upward.

The operation of the above configuration will be described. The plate material W flowing from the upstream conveyor line 6 in FIG. 1 is positioned on the carry-in conveyor 4 so that the corners thereof coincide with the positioning reference K2. In the case of a normal-sized plate material W, the plate material W on the positioned carry-in conveyor 4 is carried into the plate material processing machine 1 by the loader 10 in the posture as it is, and punching is performed here. The processed product plate material W is the unloader 11
Is carried out onto the carry-out conveyor 5, where the positioning reference K
After being positioned at 3, the sheet is unloaded to the downstream conveyor line 7.

The plate material W carried into the carry-in conveyor 4
Is a small-sized plate W that requires rotation (the plate W in FIG. 2B)
In the case of 2), after the above positioning, the plate material processing machine 1
Before loading into the container, the loader 10 rotates 90 ° as follows. FIG. 5 shows the rotation process.

As shown in FIG. 5A, the carry-in conveyor 4
When the plate material W is positioned on the positioning reference K2 above, the rotary suction pad 28 of the plate material rotating device 29 is located away from the plate material W, so that the pad material 28 can be attracted by the pad 28 as shown in FIG. Then, the loader 10 is advanced by a predetermined distance. Here, the rotary suction pad 28 is lowered by the two-stroke cylinder device 31 (FIG. 2), and the plate material W is suctioned by the pad 28. In other words, the rotation suction pad 28 is shown in FIG.
As shown in (A), it stands by above the transport suction pad 24 by a predetermined height, and is lowered from this position as shown in FIG. 4 (B) to suck the plate material W. At this time, the rotary suction pad 28 is lowered to a height at which it is strongly pressed against the upper surface of the plate material W (for example, a position about 10 mm below the upper surface of the plate material) to ensure suction.

After that, the rotary suction pad 28 is shown in FIG.
As shown in (C), it is raised to an intermediate height below the transport suction pad 24, and the rotary actuator 33 is driven to rotate the rotary suction pad 28 by 90 ° as shown in FIG. 5 (C). In this case, if the size of the plate material W that needs to be rotated is predetermined, by setting the turning center Q of the rotation suction pad 28 with respect to the loader 10 to a predetermined position, the rotation speed Q shown in FIGS. As shown in, the plate material W is in the state of being positioned on the positioning reference K2 even after the rotation.

When the plate W has finished rotating, the suction by the suction pad 28 for rotation is released, and the loader 10 is once returned to the original position (the position shown in FIG. 5A) (FIG. 5D). In this returned state, the plate material W is sucked by the transport suction pad 24 and the positioning suction pad 25, and the loader 10
Then, the plate material W is carried onto the work table 12 of the plate material processing machine 1. The rotary suction pad 28 is returned to the original angle in an idle state at an appropriate time.

On the work table 12, the loader 1
0 releases the suction by the transport suction pad 24, and advances the positioning suction pad 25 diagonally by the advancing / retreating cylinder 27 so that the two sides of the plate W are moved to the end locator 1
5 and the work holder 14 to press them for positioning. The work holder 14 is gripped in this positioning state.

When the processing by the plate material processing machine 1 is completed, the unloader 11 grips the end portion of the plate material W with the gripper 42 and travels backward to pull out the plate material W onto the carry-out conveyor 5. After this, a plate material W is placed on a stopper (not shown) on the carry-out conveyor 5.
When the gripper 42 is opened by opening the gripper 42 and the unloader 42 is further retracted a little, the rotation axis R of the magnet type pad 43 and the predetermined rotation center of the plate material W coincide with each other (FIG. 6).
(D)).

In this state, the gripper 42 ascends and the magnet type pad 43 descends to adsorb the plate material W. Then, the rotary actuator 48 is driven to rotate the magnet type pad 43. As a result, the plate material W is rotated by 90 ° and returned to the original angle (the angle indicated by the chain line in FIG. 6D). After the rotation, the magnetic pad 43 descends and the plate material W
Is returned to the carry-out conveyor 5 and carried out to the downstream conveyor line 7. Even when the plate material is rotated by the unloader 11, if the size of the plate material W to be rotated is determined, the rotation center R of the magnet type pad 43 is provided at an appropriate position as in the case of the loader 10, so that the rotation of the plate material W is prevented. The corners of the front and rear plate materials W can be matched with the positioning reference K3 of the carry-out conveyor 5.

According to the plate material conveying device with the plate material rotating device, the plate material W can be carried in and out of the plate material processing machine 1 by changing the direction in this way, and the plate material rotating devices 29 and 44 can be moved up and down relative to the loader 10 and the unloader 11. Device 30,
It suffices to add 45 and 45, respectively, and a simple configuration is sufficient.

[0027]

According to the plate material conveying device with the plate material rotating device of the first aspect of the invention, the loader which adsorbs and conveys the upper surface of the plate material by the adsorption pad, and the rotation suction pad for adsorbing the plate material, and the pad are horizontally rotated. Since the plate material rotating device for performing the rotation and the relative elevating device for vertically moving the rotating suction pad relative to the other suction pads are provided, it is possible to change the direction of the plate material and carry it into the plate material processing machine. In addition, the plate material rotating device and the relative lifting device need only be added to the loader, and a simple configuration is sufficient.

According to a second aspect of the present invention, there is provided a plate material conveying device with a plate material rotating device, wherein an unloader for grasping and conveying the plate material by a grasping tool adsorbs the plate material on a rotating suction pad and a plate material rotating device for horizontally rotating the pad. And a relative elevating device for moving the rotating suction pad up and down relative to the gripping tool, it is possible to change the orientation of the plate material and carry it out from the plate material processing machine, and Only a relative lifting device and an unloader need be added, and a simple structure is sufficient.

[Brief description of drawings]

FIG. 1A is a plan view of a plate material processing line in which a plate material conveying device according to an embodiment of the present invention is installed, and FIG. 1B is a front view thereof.

FIG. 2 is a partially cutaway front view and a cutaway plan view of the loader.

FIG. 3 is a cutaway side view of the loader.

FIG. 4 is an explanatory diagram of a suction operation of a rotary suction pad.

FIG. 5 is an explanatory diagram of a plate material rotating operation.

6A is a side view of the unloader, FIG. 6B is a front view of the unloader, and FIG. 6C is a side view of a magnetic pad portion thereof.
(D) is an explanatory view of the rotating operation.

[Explanation of symbols]

1 ... Plate processing machine, 4 ... Carry-in conveyor, 5 ... Carry-out conveyor, 8 ... Rail, 10 ... Loader, 11 ... Unloader, 2
0 ... Lifting device, 23 ... Pad mounting frame, 24 ... Suction pad, 25 ... Positioning suction pad, 28 ... Rotating suction pad, 29 ... Plate material rotating device, 30 ... Relative lifting device, 31
... Cylinder device, 33 ... Rotary actuator, 34
... Revolving arm, 40 ... Lifting cylinder, 42 ... Gripper,
43 ... Magnet type pad (suction pad for rotation), 44
... Plate material rotating device, 45 ... Relative lifting device, 48 ... Rotary actuator, 49 ... Pivoting arm, K1 to K3 ... Positioning reference, Q, R ... Pivot center, W ... Plate material

Claims (2)

[Claims] 1. A loader that sucks and conveys the upper surface of a plate material by a suction pad, a suction pad for rotation that sucks the plate material, a plate material rotating device that horizontally swivels this pad, and another suction pad that absorbs the rotation suction pad. A plate material conveying device with a plate material rotating device, which is provided with a relative elevating device that moves up and down relative to a pad. 2. An unloader that grips and conveys a plate material with a gripping tool, a suction pad for rotation that sucks the plate material, a plate material rotating device that horizontally swivels the pad, and the suction pad for rotation with respect to the gripping tool. A plate material conveying device with a plate material rotating device, which is provided with a relative elevating device for relatively moving up and down.