JPH07215557A - Unloader for board material processor and board material loading method - Google Patents

Abstract

PURPOSE:To provide such an unloader of simple constitution that efficiently load a small-sized board material on a product carriage so as to can reduce frequency of pallet exchange. CONSTITUTION:An unloader is provided with a traveling body 55 having a gripper 13 for holding a board material and a product carriage 4 moving in the rectangular direction to its traveling direction. A plurality of stop points are set to the traveling body 55 and the product carriage 4 respectively. Combination of these stop points allows loading of board materials W to divide into a plurality of front/rear/left/right points P1-P4 of the product carriage 4. The traveling body 55 is movably mounted on a stock conveyer 5 and the stock conveyer 5 is allowed to be mounted on the main body frame 51 in such a state that the bottom side of a roller table 6 is raised/lowered so as to approach the height of the load board materials W on the product carriage 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unloader device attached to a plate material processing machine such as a punch press, a shearing machine, a laser processing machine or the like, and a plate material loading method therefor.

[0002]

2. Description of the Related Art In a plate material processing machine such as a turret punch press, a large plate may be cut into a plurality of small product plates.
When carrying out such a small-sized plate material, it is often necessary to carry it out from the same unloading position on the table due to the configuration of the plate material processing machine. When such a small-sized plate material is loaded on the product dolly by the unloader device, conventionally, all of the products are loaded in one place on the product dolly, or between the unloader device and the plate material processing machine at right angles to the plate material unloading direction. A method is adopted in which a plate material position changing device in the direction to be carried is interposed and the product is separately loaded at a plurality of locations on the product cart.

However, in the method of loading the product dolly in one place, the plurality of plate materials cut from one material plate material are loaded in an overlapping state, so that the product dolly is easily loaded. , The pallet on the product cart is frequently replaced. Therefore, there is a problem in that it is difficult to perform unattended operation because it is necessary to automate pallet replacement during unattended operation at night, and the pallet replacement reduces the operating rate of the plate processing machine. Further, in the case where the plate material position changing mechanism is interposed in front of the unloader device, there is a problem that the equipment becomes large and the equipment cost increases and the floor area occupied by the line increases.

Conventionally, a plate material pulled out by an unloader device is received by a stock conveyor, and the conveyor surface is opened to drop it onto a product trolley. The drop height should be as low as possible. Therefore, the product cart is provided with a lifter table so that the upper end level of the stacking plate material is brought close to the lower surface of the stock conveyor.

However, when the plate materials are loaded on the lifter table of the product cart as described above, if the plate materials are loaded in a biased manner, there is a possibility that the load may be unstable and the load may collapse. The uneven loading as described above occurs when the loading standard of the plate material is set near the corner of the product cart and the plate material size is small. It is often necessary to set the loading standard at the corners for convenience of carrying out to the next process.
Further, even when the plate materials are loaded without being biased, it is necessary to consider the problem of load collapse when the small-sized plate materials are loaded high.

An object of the present invention is to provide an unloader device for a plate material processing machine having a simple structure capable of efficiently loading a small-sized plate material on a product cart and reducing the frequency of pallet replacement, and the same. It is to provide a plate material loading method. Another object of the present invention is to provide an unloader device for a plate material processing machine, which can stably load a plate material on a product cart without a problem of load collapse.

[0007]

SUMMARY OF THE INVENTION An unloader device for a plate material processing machine according to the present invention includes a traveling body having plate material gripping means and capable of stopping at a plurality of positions in the plate material unloading direction, and moving in a direction orthogonal to the unloading direction. A product cart that can be stopped at a plurality of positions is provided, and plate materials are separately loaded on a plurality of front, rear, left, and right positions on the product cart depending on the combination of the stop positions of the traveling body and the product cart. The traveling body is
The stock conveyor may be movably installed, and the stock conveyor may be installed on the main body frame so that the lower surface of the roller table can be moved up and down to a height close to the loading plate material on the product carriage when descending. The stock conveyor is a conveyor frame in which a blind roller table is installed so as to be retractable from the position where the transport surface is formed.

The plate material loading method of the plate material loader device of the present invention is a method of loading plate materials by the unloader device, and when loading the plate materials at the plurality of positions of the product carriage, one by one or a small number of loading positions. It is a method of loading the respective parts on the product cart almost uniformly while sequentially changing.

[0009]

According to the unloader device having this structure, the plate materials can be separately loaded at a plurality of front, rear, left and right positions on the product truck by combining the stop positions of the traveling body and the product truck, so that the loading efficiency is improved. , The frequency of exchanging the pallets on the product truck is reduced. When the stock conveyor can be moved up and down, the lowering operation of the stock conveyor can lower the drop height when the plate materials are loaded. Therefore, compared to the case where a lifter table is provided on the product cart and the board material is received by the lift, the stacked board materials that are loaded on each part of the cart are stable and can be loaded high or even when loaded unevenly. It is difficult for the cargo to collapse. Further, according to the loading method of the present invention, since the plate materials are loaded on the product cart substantially uniformly while sequentially changing the loading position, it is possible to load with a good weight balance, and the problem of load collapse during loading is solved. To be done. Also, without causing the problem of the plate material gripping means, stock conveyor, etc. interfering with the plate material that was loaded earlier, the drop height of the plate material can be made as low as possible to eliminate the unevenness due to the lateral flow when the plate material is dropped, and it can be loaded in a neat state. can do.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, the overall configuration will be described with reference to FIGS. 1 to 13, and then the specific configuration of the unloader gripper that is the plate material holding means will be described with reference to FIGS. 14 to 21. FIG. 2 is a plan view showing the relationship between the unloader device and the plate material processing machine of this embodiment. The plate material processing machine 1 includes a turret punch press, and a work table 2 that moves back and forth (Y-axis direction).
And hold the plate material W on the work table 2 to the side (X
It has a plurality of work holders 47 that move in the axial direction. An end locator 48 capable of projecting and retracting is provided at a side end of the work table 2 for positioning the plate material W at the time of loading. PC indicates the punch center. The unloader device 3 is
A work loader device 49 is installed on the side of the forward end of the work table 2 and adjacent to the unloader device 3 on the side of the reverse end of the work table 2.

FIG. 1 is a cutaway side view of the unloader device 3. The main body frame 51 is provided with columns 51a that also serve as lifting guides at four corners of a planar rectangular upper frame member 51b, and the stock conveyor 5 is installed via guide rollers 52 so as to be liftable. Stock conveyor 5
A movable rail frame 53 is movably supported by a supporting roller 54, which is a guide member, so that the movable rail frame 53 can travel along the moving direction along the moving direction of the movable rail frame 53.
Is installed. The traveling body 55 with a gripper is a plate material W.
A plurality of grippers 13 for gripping the are arranged side by side. In this embodiment, the gripper 13 does not require a dedicated opening / closing drive source as will be described later, but may be driven by a drive source such as an air cylinder. Below the stock conveyor 5, the product carriage 4, which is movable on the carriage rail 83, freely enters and exits in a direction orthogonal to the traveling direction of the gripper-equipped traveling body 55,
The unloading plate material W is stacked on the pallet PA. Further, on the main body frame 51, the side table 57 adjacent to the work table 2 of the plate material processing machine 1 is provided with the spindle 5
It is attached so as to open downward and rotate about 8 turns.

The stock conveyor 5 comprises a conveyor frame 5a on which a blind roller table 6 is retractably installed. The roller table 6 includes a plurality of conveyor rollers 1 between a pair of endless chains 9 and 9 (FIG. 4C).
The chains 9 and 9 are hooked between the front and rear sprockets 8 provided on the frame members on both sides of the conveyor frame 5a. Some of the sprockets 8 are connected to a motor Ma installed on the conveyor frame 5a, and the roller table 6 is driven by the motor Ma together with the endless chain 9 from the lower path that is the transport surface constituting position to the retracted position. It is possible to move forward and backward to the upper path.

A plurality of guide rollers 52 for guiding the up and down movement of the stock conveyor 5 are attached to the four corners of the conveyor frame 5a. The guide rollers 52 roll on the inner surfaces of the columns 51a in the front-rear direction and the inner surfaces in the left-right direction. Some of them are transferred to (Fig. 8). The lifting drive device 60 of the stock conveyor 5 includes a pair of suspension lines 61, 61 for suspending the front and rear ends of the conveyor frame 5a, and a front and rear end provided on the main body frame 51 for suspending the suspension lines 61, 61. The guide pulleys 62, 62, a take-up pulley 63 for taking up the two hanging ropes 61, 61 in an overlapping manner, and a lifting motor Mb for rotationally driving the take-up pulley 63 via a chain 64. The hanging rope 61 is composed of a belt or the like having a wire as a core material. The suspension ropes 61, 61, etc. at the front and rear ends are provided on both sides of the main body frame 51, respectively.
3 are connected to a common transmission shaft and driven by the same motor Mb.

The movable rail frame 53 is formed in a rectangular frame shape as shown in FIG. 4 (A), and is arranged on the upper and lower surfaces of the frame members on both sides in upper and lower two rows as shown in FIG. Each of the support rollers 54 rolls. These support rollers 54 are installed on the frame members on both sides of the conveyor frame 5a of the stock conveyor 5. The frame members on both sides of the movable rail frame 53 are formed of inward groove members (FIG. 12), and the upper flanges thereof serve as the guide tracks 53a of the gripper-equipped traveling body 55. The traveling body 55 with a gripper has a plurality of traveling rollers 65 sandwiching the guide track 53a of the movable rail frame 53 in the upper and lower sides, and is guided to the guide track 53a so as to be freely movable. The traveling body 55 with the gripper and the movable rail frame 53 are driven back and forth by one motor Mc via the interlocking mechanism 66.

FIG. 3 is a conceptual diagram of the interlocking mechanism 66. The interlocking mechanism 66 includes a movable rail frame drive belt V1, which is a timing belt, a fixed belt V2, a traveling body drive belt V3, and an interlocking pulley 67. Each belt V
1 to V3 are provided in left and right pairs, respectively. The movable rail frame drive belt V1 is an endless belt that is hung between the pulleys 75, 75 at the front and rear ends of the stock conveyor frame 5a, and is coupled to the rear end of the movable rail frame 53 by a coupler 68. The rear end pulley 75 is connected to the motor Mc via a chain 72. Both ends of the fixed belt V2 are connected to the front and rear ends of the stock conveyor frame 5a by couplings 69, 6
The outer pulley portion 67a of the interlocking pulley 67 and tension pulleys 70, 70 positioned in front of and behind the outer pulley portion 67a are hooked on the intermediate portion. The interlocking pulley 67 and the tension pulley 70 are rotatably installed at the rear end of the movable rail frame 53. The interlocking pulley 67 is provided with an outer pulley portion 67a and an inner pulley portion 67b located inside and outside the side frame material of the movable rail frame 53 on a common rotating shaft. The inner pulley part 6
7b and the pulley 71 at the front end of the movable rail frame 53, the endless traveling body drive belt V3 is hooked (FIG. 9).
(B)). The traveling body drive belt V3 is coupled to the traveling body 55 with a gripper by a coupling tool 73.

The control system will be described. In this embodiment, FIG.
As shown in, the four loading positions P1 to P on the product cart 4
The plate material W is loaded on the sheet conveyor 4, and two loading position detection sensors S1 and S2, which are reflective photoelectric sensors, are provided at the rear of the stock conveyor 5. These sensors S1 and S2 detect the reflection plate 74, which is a detected portion provided on the movable rail frame 53, and stop the movable rail frame 53. Direction) rear loading position P1 (P2),
It is arranged corresponding to the front loading position P3 (P4).

Other stop and deceleration positions of the movable rail frame 53 are performed by the respective detection switches shown in FIG. 9 (A). That is, the movable rail frame 53 is provided with a detection dog 76 projecting downward (see FIG. 13 (A)), the backward end detection switch SW4 for detecting each of the detection dogs 76, the origin deceleration position detection switch SW1, and the origin position. A detection switch SW0, a forward end deceleration position detection switch SW2, and a forward end detection switch SW3 are provided. Each of the detection switches SW0 to SW4 is a proximity switch. The detection dog 76 also serves as a stopper stopper member for safety, and is a stopper that engages with the detection dog 76 at the forward end and the backward end of the movable rail frame 53 to prevent the movable rail frame 53 from moving. 78 and 77 (see FIG. 13B) are provided on the conveyor frame 5 a of the stock conveyor 5.

As shown in FIG. 8, the stop position of the product carriage 4 is a carriage position detection switch LS1 or LS2 consisting of a limit switch attached to the lower surface of the product carriage 4, and a floor surface to be detected by these switches LS1 and LS2. It is controlled by the upper detection dogs 79 and 80. Detection dogs 79, 80
Are arranged corresponding to the positions where the loading positions P1 and P3 on the product cart 4 respectively coincide with the reference position Y0 in the cart moving direction.

The operation of the above configuration will be described. As shown in FIG. 5A, the traveling body 55 with the gripper stands by at the origin position close to the table 2 of the plate material processing machine 1, and the plate material processing machine 1
Waiting for the completion of the processing of the plate material W in. The origin position is set to a position on the side table 57. When the processing is completed and the product plate material W is sent to the unloading position on the table 2, the traveling body 55 with the gripper moves forward together with the movable rail frame 53, and the plate material W on the table 2 is gripped by the gripper 13 (FIG. 5). (B)). The unloading position is the position in the X direction where the end of the plate material corresponds to the end locator 48 (FIG. 2) on the table 2 and the reference position Y0 (FIGS. 7 and 8) in the Y axis direction.

The traveling of the traveling body 55 with the gripper is performed in conjunction with the movable rail frame 55 as follows. That is,
When the movable rail frame drive belt V1 is rotated by the motor Mc of FIG. 1, the movable rail frame 53 coupled to the belt V1 by the coupler 68 moves (FIG. 3). Along with the movement of the movable rail frame 53, the interlocking pulley 67 supported by the movable rail frame 53 and hung on the fixed belt V2 rotates, and the traveling body drive hung on the inner pulley portion 67b of the pulley 67 is driven. The belt V3 rotates. Since the traveling body 55 with the gripper is coupled to the traveling body drive belt V3 by the coupling tool 73, the traveling body 55 travels along the movable rail frame 53 as the belt V3 rotates. In this way, the movable rail frame 53 moves by the drive of the motor Mc, and the traveling body 55 with the gripper travels on the movable rail frame 53 in conjunction with this.
Therefore, the traveling body 55 with the gripper is attached to the movable rail frame 5
The traveling speed of No. 3 and the traveling speed of the gripper-equipped traveling body 55 with respect to the movable rail frame 53 are added to the traveling speed.

When the gripper 13 of the traveling body 55 with the gripper grips the plate material W on the table 2, the motor Mc rotates in the reverse direction, and the traveling body 55 with the gripper together with the movable rail frame 53.
Moves backward and draws the plate material W onto the roller table 6 of the stock conveyor 5. When the product carriage 4 is loaded on the loading position P1, when the traveling body 55 with the gripper retracts to the position corresponding to the loading position P1 (FIG. 5 (C)), the reflecting plate 74 (FIG. 4) of the movable rail frame 53 is moved. Detected by the sensor S1, the motor MC stops and the traveling of the movable rail frame 53 and the traveling body 55 with the gripper stops. Then, the stock conveyor 5 is lowered by rewinding the suspension rope 61 by the motor Mb, and stopped at a height where the lower surface of the roller table 6 is close to the loading plate material W on the product carriage 4 (FIG. 5).
(D)). This stop is performed when the plate material detection sensor PS provided on the lower surface of the stock conveyor 5 detects the stacked plate material W.

After that, the roller table 6 of the stock conveyor 5 is rotated in the direction of the arrow b and retracted to the upper path (FIG. 6 (A)), and the plate material W placed on the upper surface is
The gripper 13 hangs down on the loading plate material W of the product cart 4 with one end gripped. In this state, the problem of interference between the roller table 6 and the stacked plate material W is eliminated, so that the stock conveyor 5 is further lowered slightly (FIG. 6 (B)).
The gripper 13 is brought close to the height of the upper surface of the stacked plate material W. Then, the gripper 13 is opened, and the traveling body 55 with the gripper is opened.
Is slightly retracted, and the loading of the carry-out plate material W on the stacked plate material W is completed.

When the loading is completed in this way, the stock conveyor 5 is raised to its original height, and its roller table 6 is lifted.
To the closed position of the lower path, and the traveling body 55 with gripper
Is returned to the origin position (FIG. 5A) together with the movable rail frame 53. At this time, the product cart 4 is laterally moved (FIGS. 7B and 8B) to prepare for loading the next plate W on the loading position P2. In this way, the above operation is repeated to load the next unloading plate material W on the loading position P2. When the next plate material W is loaded at the adjacent loading position P3 in the plate material unloading direction, the product cart 4 is not moved laterally and the next plate material W is moved.
6 when pulling out the traveling body 55 with the gripper.
It is stopped at a position corresponding to the loading position P3 as shown in (D). This stop is performed by detecting the reflector 74 with the sensor S2 (FIG. 4).

In this way, the traveling body 55 with gripper
By combining the stop position of No. 1 and the stop position of the lateral movement of the product carriage 4, the carry-out plate material W can be loaded from four loading positions P1 to P4 on the product carriage 4. In this case, it is preferable to sequentially load one sheet at each of the stacking positions P1 to P4 so that the sheets can be stacked in good balance at each position on the product carriage 4, and the gripper 13 can be stacked when the stock conveyor 5 descends. The height of separation from the plate material W can be reduced, and lateral flow of the plate material W when separating the gripper 13 can be prevented. If the stop position of the traveling body 55 with the gripper or the stop position of the product cart 4 is increased, the plate material W can be loaded in more loading positions.
If the plate material W has a large size, it may be loaded with reference to the loading position P1.
You may load so that it may become symmetrical on both sides with respect to the center of.

According to this unloader device, since the movable rail frame 53 having the guide track 53a of the traveling body 55 with the gripper is moved back and forth, the traveling body 55 with the gripper is passed over the side table 53 and the plate material is processed. You can get closer to machine 1. Therefore, when the side table 57 is opened and the plate material processing machine 1 is maintained and inspected, the movable rail frame 53 can be retracted toward the main body frame 51 side to secure a passage for the operator. In addition, depending on the model of the plate material processing machine 1, the traveling body 55 with gripper may be retracted together with the movable rail frame 53 toward the main body frame 51 side during processing, so that the plate material processing machine 1
It is also possible to avoid interference between the plate material feeding mechanism such as the work holder 47 and the unloader device. Therefore, it is not necessary to provide the guide track at the upper position where there is no risk of interference as in the conventional case, and the structure can be simplified. Furthermore, since the traveling body 55 with the gripper is caused to travel on the movable rail frame 53 moving forward and backward, the actual traveling speed of the traveling body 55 with the gripper can be increased, and the unloading time can be shortened.

Further, by raising and lowering the stock conveyor 5, the provision of the conventional lifter base on the product carriage 4 is omitted, so that the plate material W can be stably loaded even if the plate materials W are unevenly loaded on the product carriage 4. be able to. When the stock conveyor 5 can be moved up and down in this way, the guide track 53a
However, the movable rail frame 53 provided with the guide track 53a is not suitable for the stock conveyor 5.
Since it can be retracted into 1, it is possible to avoid obstacles to ascent and descent. Therefore, for example, the guide track 53a
It is not necessary to provide a protruding portion from the main body frame 51 separately from the portion inside the stock conveyor 5 and support it from the ground, and this also simplifies the configuration. Further, since the traveling of the traveling body 55 with the gripper and the movement of the movable rail frame 53 are mechanically interlocked by the interlocking mechanism 66,
Both can be driven by one motor Mc, the number of drive sources can be reduced, and this also simplifies the configuration.

Next, details of the gripper 13 and its releasing mechanism will be described. This gripper 13 has a simplified structure by enabling gripping by a wedge action without using a driving source for gripping, and a side view and a front view are shown in FIGS. 15 (A) and 15 (B), respectively. It is configured as shown in the figure. The main body 14 of the gripper 13 has a rear end portion with a support shaft 15
Bracket 1 at the front end of the traveling body 55 with a gripper
6 and a middle portion of the gripper body 14 and a front end portion of the bracket 16 are connected via a tension spring 17 so that the gripper body 14 is supported so as to be vertically swingable around the support shaft 15. There is. The gripper body 14 is composed of a pair of left and right side plates 14a, 14a.
The upper end of 4a is connected by a horizontal support shaft 18 orthogonal to the advancing / retreating direction of the traveling body 55, and the lower end is connected by a fixed lower jaw 19 having a knife edge-shaped tip.

The horizontal support shaft 18 has a fixed lower jaw 19 and three types of movable upper jaws 20 for vertically sandwiching the end portions of the plate material W with each other.
The a, 20b, and 20c are hung so as to be rotatable. The lower surface of each movable upper jaw 20a to 20c is an arcuate curved surface. The center of curvature of the curved surface at the lower end is a contact point P between the axis of the horizontal support shaft 18 serving as a rotation fulcrum and the plate material W so that a wedge action is generated between the curved surface at the lower end and the upper surface of the plate material W placed on the fixed lower jaw 19. The straight line connecting with (FIG. 21) is set to be inclined by the friction angle α. Further, as shown in FIG. 15, the distance between the lower surface of each movable upper jaw 20a to 20c and the horizontal support shaft 18 is made different from each other, and the plate material W is changed in accordance with the plate thickness of the plate material W.
The movable upper jaws 20a to 20c for sandwiching the are switched.

The movable upper jaws 20a to 20c are connected to one side plate 14a of the gripper main body 14 by tension springs 21a, 21b and 21c for initial pressing force load, respectively, and are urged toward the front rotation side. The notches 22b and 22b formed on the movable upper jaws 20b and 20c are tension springs 21a and 2b.
It is for avoiding that the connecting portion of 1b interferes with the movable upper jaws 20a and 20b.

On the front surface side of one side plate 14a of the gripper main body 14, movable upper jaws 20a ...
A release lever 23 for rotating 20c rearward is swingably attached to the horizontal support shaft 18 at an intermediate portion. A release pin 25 is provided at the lower end of the release lever 23 so as to project therefrom. The release pin 25 is formed in the side plate 14a and has an arc-shaped guide elongated hole 2 formed therein.
4 (FIG. 14) and engages with the engaging holes 26a, 26b, 26c of the respective movable upper jaws 20a to 20c. These engagement holes 26a to 26c are arc-shaped elongated holes along the guide elongated hole 24. The bracket 16 on which the gripper main body 14 is installed is attached to the frame portion 12 of the traveling body 55 made of an aluminum mold member by the screw member 45 and the locking piece 46, and its mounting position can be adjusted in the direction orthogonal to the traveling direction. is there.

The release lever 23 is provided with a lever operation mechanism 27 (FIG. 14) for rotating the release lever 23 toward the release side. The lever operating mechanism 27 includes a lifting bar 28 installed on the traveling body 55 side and a parallel link mechanism 29 installed on the conveyor frame 5 a of the stock conveyor 5. The lifting bar 28 has a mounting portion 30 at an intermediate position.
The bracket 3 fixed to the traveling body frame portion 12
1 is connected by a support shaft 32 so as to be vertically swingable, and is urged upward by a tension spring 33 that connects the upper end of the mounting portion 30 and the rear portion of the bracket 31. The contact roller 34 at the upper end portion of the release lever 23 comes into contact with the lower surface of the elevating bar 28 in this state, and the movable upper jaws 20a to 20c of the gripper 13 are regulated in the hanging posture. A stopper pin 36 penetrating a loose long hole 35 (FIG. 15) in the bottom surface of the mounting portion 30 of the lifting bar 28 is provided at the front end of the bracket 31.
Is regulated so that the horizontal posture is the limit of the upward swing.

The parallel link mechanism 29 comprises a push-down bar 37 arranged in the advancing / retreating direction of the traveling body 55, and a pair of link members 40, 40. Link member 40
Is each bracket 3 fixed to the conveyor frame 5a
The upper and lower ends are rotatably connected to 8, 39 and the push-down bar 37, respectively. The push-down bar 37 includes the bracket 3
8 is urged to the lifting side by a tension spring 41 connected to the bracket 8, and the lifting height is regulated by a stopper pin 42 hanging from the bracket 38. At the regulated height position, the lower surface of the push-down bar 37 comes into contact with the contact roller 43 at one end of the elevating bar 28 in the horizontal posture. At the intermediate position of the push-down bar 37, a contact member 44 that abuts the retracted roller table 6 when the blind roller table 6 of the stock conveyor 5 retracts to the upper track of the endless chain 9 is projected. . When the contact member 44 is pushed by the roller table 6 that is retracted, the push-down bar 37 is pushed down against the tension spring 41.

The opening / closing operation of the gripper 13 will be described.
As described with reference to FIG. 5B, when the traveling body 55 with the gripper moves to the end of the plate material W on the work table 2, the movable upper jaw 20a of the gripper 13 is pushed by the plate material W and resists the tension spring 21a. And rotates backward as shown in FIG. Note that, here, the plate thickness of the plate member W is thinner than the gap between the lower ends of the movable upper jaws 20b and 20c and the upper surface of the fixed lower jaw 19 and thicker than between the movable upper jaw 20a and the fixed lower jaw 19. . Therefore, the movable upper jaw 20b,
No. 20c is not pushed by the plate W and is kept in a hanging posture.

At this time, the gripper body 14 is attached to the spindle 1.
It can swing up and down about 5 times and the tip of the fixed lower jaw 19 is also formed in the shape of a knife edge. Therefore, even if the edge of the plate material W has a "sag" or "sledding" due to its own weight, this The plate material W on the work table 2 can be reliably advanced between the upper and lower jaws 20a, 19 of the gripper 13 without being obstructed by the above. With such an operation, the end portion of the plate material W relatively enters between the movable upper jaw 20a and the fixed lower jaw 19 and is sandwiched between the upper and lower jaws 20a and 19.

When the plate material detection switch (not shown) detects the entrance of the plate material W, the traveling body 55 with the gripper starts to retreat together with the movable rail frame 53 in response to the detection signal.
With this backward movement, the plate material W is relatively moved to the upper and lower jaws 20a,
Since it is about to come off from 19, the movable upper jaw 20a tries to return from the backward rotation position to the hanging posture side as shown by an arrow a in FIG. At this time, the movable upper jaw 20a
The plate member W is sandwiched between the upper and lower jaws 20a and 19 by a large frictional force by the wedge action acting between the lower end surface of the plate member W and the plate member W, and the plate member W is retracted as the traveling body 55 retreats.
It is pulled out from above onto the stock conveyor 5. Since the above-mentioned wedge action gives the initial pressing force to the movable upper jaw 20a by the spring 21a, it surely occurs, and slipping does not cause a gripping failure.

When the plate material W is pulled out to a predetermined position on the stock conveyor 5 and the unloader 7 is stopped, the roller table 6 retracts to the upper track of the endless chain 9 as described above (FIG. 6 (A)). After that, as shown in FIG. 6C, the stock conveyor 5 is lowered to a predetermined height, and then the roller table 6 is slightly retracted.
As shown in (A), the roller table 6 hits the hitting member 44 of the parallel link mechanism 29, and the push-down bar 37 is pushed backward against the tension spring 41. As a result, the push-down bar 37 descends from the height indicated by the solid line to the height indicated by the chain line. Due to this lowering, as shown in FIG. 20B, the elevating bar 28 is pushed by the pushing down bar 37 and swings downward from the horizontal posture against the tension spring 33. Along with this, the release lever 23 of the gripper 13 swings, and the release pin 25 is guided by the elongated guide hole 24 and moves rearward.
As a result, the movable upper jaws 20a to 20c in which the release pins 25 are engaged with the engagement holes 26a to 26c rotate rearward, and the grip of the plate material W by the upper and lower jaws 20a and 19 is released. Therefore, the whole plate material W falls.

When the plate material W becomes thicker than the above to some extent, the wedge action does not occur in the movable upper jaw 20a having the longest length, but the wedge action occurs between the movable upper jaw 20b having the intermediate length and the plate material W, so that the plate material W is removed. It becomes possible to grip. When the plate material W becomes thicker, a wedge action occurs in the shortest movable upper jaw 20c, and the plate material W can be gripped.

According to this gripper 13, the plate material W can be grasped and released in association with the operation of the stock conveyor 5 without the need for the grasping drive source and the grasp release drive source. Therefore, the structure is simple,
Further, it is not necessary to give a control signal for starting and releasing the grip, and the control becomes simple. In addition, the parallel link mechanism 29
Since the push-down bar 37 of the gripper 13 is provided long in the front and rear, and the lifting bar 28 on the side of the gripper-equipped traveling body 55 is pushed down via the push-down bar 37, the gripper 13 is irrespective of the stop position of the gripper-equipped traveling body 55. Can be released. Therefore, even when the plate material W is loaded on the product carriage 4 with reference to the center, the plate material W with various front and rear widths is loaded.
In addition, the gripper 13 can be opened and closed at the target position even when the plate materials W are loaded at a plurality of positions on the product cart 4. Moreover, the lifting bar 28 is mounted on the traveling body 55 with a gripper.
Since it is a bar material that extends in the direction orthogonal to the traveling direction of
The plurality of grippers 13 can be released at the same time, and the release lever 23 can be used regardless of the adjustment of the mounting position of the grippers 13.
Can be released by the operation.

As described above, by using the construction in which the traveling body 55 with the gripper is installed on the movable rail frame 53 so that the traveling body 55 can travel, and the construction in which the interlocking mechanism 66 is provided, and the gripper 13 by the above-mentioned wedge action are used together, As a whole, a low-cost unloader device having a simple structure and a small drive source can be obtained.

FIG. 22 shows a modification of the interlocking mechanism of the movable rail frame 53 and the traveling body 55 with the gripper. The interlocking mechanism 90 has a structure in which a fixed rack 91 provided on the stock conveyor frame 5a and a movable rack 92 provided on the traveling body 55 with a gripper engage a pinion 93 rotatably supported by a movable rail frame 53. is there. The belt V1 for moving the movable rail frame 53 and its drive system are the same as those in the above embodiment. Even with this configuration,
As in the above-described embodiment, the movable rail frame 5 is driven by one motor Mc.
3 and the traveling body 55 with the gripper can be interlocked and moved.

In each of the above-described embodiments, the traveling body 55 with the gripper is installed on the movable rail frame 53. However, the conveyor frame 5a of the stock conveyor 5 or the main body frame 51 is provided.
Alternatively, the traveling body 55 with the gripper may be directly installed on the vehicle. Further, instead of the gripper 13 of the traveling body 55,
Plate material holding means such as a magnet or a negative pressure suction pad may be provided.

[0042]

According to the unloader device of the present invention, a plurality of stop positions are set respectively on the unloading traveling body having the plate gripping means and the product carriage movable in the direction orthogonal thereto, and these stopping positions are set. By combining the positions, the plate materials are separately loaded at a plurality of front, rear, left and right positions on the product truck, so that the loading efficiency is improved and the frequency of exchanging the pallets of the product truck is reduced. Therefore, it is easy to perform continuous unmanned operation at night. According to the second aspect of the invention, since the stock conveyor can be moved up and down, the operation of lowering the drop height when the plate materials are loaded can be performed by the descending operation of the stock conveyor. for that reason,
Compared to a case where a product truck is provided with a lifter table to receive the plate materials, the stacked plate materials are stable, and it is possible to prevent the load plates from being stacked side by side in the front, rear, left, and right directions. Further, according to the loading method of the present invention, since the plate materials are loaded on the product cart substantially uniformly while sequentially changing the loading position, it is possible to load with a good weight balance, and the problem of load collapse during loading is solved. To be done. Also, without causing the problem of the plate material gripping means, stock conveyor, etc. interfering with the plate material that was loaded earlier, the drop height of the plate material can be made as low as possible to eliminate the unevenness due to the lateral flow when the plate material is dropped, and it can be loaded in a neat state. can do.

[Brief description of drawings]

FIG. 1 is a cutaway side view of an unloader device according to an embodiment of the present invention.

FIG. 2 is a plan view showing the unloader device and a plate material processing machine.

FIG. 3 is an explanatory diagram showing a conceptual configuration of an interlocking mechanism in the unloader device.

4A is a plan view of the unloader device, FIG. 4B is a side view thereof, and FIG. 4C is a plan view of a stock conveyor.

FIG. 5 is an operation explanatory view showing the unloader device in a side view.

FIG. 6 is an operation explanatory view showing the unloader device in a side view.

FIG. 7 is an operation explanatory view showing the unloader device in a plan view.

FIG. 8 is an operation explanatory view showing the unloader device in a cutaway rear view.

FIG. 9A is a side view showing a relationship between a stock conveyor frame and a movable rail frame, and FIG. 9B is an enlarged side view showing a relationship between the movable rail frame and a traveling body with a gripper.

FIG. 10 is an enlarged cutaway side view of an interlocking mechanism that operates a traveling body with a gripper.

FIG. 11 is an enlarged cutaway plan view of the interlocking mechanism.

FIG. 12 is a partially enlarged cutaway front view of the unloader device.

13 (A) and 13 (B) are partially enlarged cutaway front views of the unloader device showing breakage points different from those in FIG. 12, respectively.

FIG. 14 is a cutaway side view showing a gripper peripheral view of the unloader device.

FIG. 15 (A) is an enlarged side view of the unloader gripper.
(B) is the front view.

FIG. 16 is a perspective view showing a release operation mechanism of the gripper.

FIG. 17 is a plan view showing the gripper release operation mechanism.

FIG. 18 is a partially cutaway rear view of the unloader device.

FIG. 19 is an explanatory view showing a plate material holding operation of the unloader gripper.

FIG. 20 is an explanatory diagram showing a grip release operation of the unloader gripper.

FIG. 21 is a schematic explanatory view of the unloader gripper.

FIG. 22 is a schematic explanatory view showing a modified example of the interlocking mechanism of the traveling body with the gripper.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Plate processing machine, 2 ... Work table, 3 ... Unloader apparatus, 4 ... Product trolley, 5 ... Stock coveyor, 5 ... Conveyor frame, 6 ... Roller table, 9 ... Endless chain, 10 ... Conveyor roller, 13 ... Gripper, 47 ... Work holder, 49 ... Loader device, 51 ... Main body frame,
51a ... Struts, 52 ... Guide rollers, 53 ... Movable rail frame, 53a ... Guide track, 54 ... Support rollers, 55 ... Gripper-equipped traveling body, 57 ... Side table, 60 ... Elevating drive device, 61 ... Suspension line, 63 ... Winding pulley, 66 ... Interlocking mechanism, 67 ... Interlocking pulley, 68, 69, 73 ... Coupler, 90 ... Interlocking mechanism, LS1, LS2 ... Bogie position detection switch, Ma to Mc ... Motor, PA ... Pallet, P1
P4 ... Loading position, S1, S2 ... Loading position detection sensor, V
1 to V3 ... Belt, W ... Plate material, Y0 ... Reference position

Claims (3)

[Claims] 1. A traveling body having a plate material gripping means and capable of stopping at a plurality of positions in the plate material unloading direction, and a product carriage movable in a direction orthogonal to the unloading direction and capable of stopping at a plurality of positions. An unloader device for a plate material processing machine, which separately loads the plate materials at a plurality of front, rear, left, and right positions on the product dolly depending on a combination of the stop positions of the traveling body and the product dolly. 2. The traveling body is installed movably on a stock conveyor, and the stock conveyor is such that a blind roller table is installed on the conveyor frame so as to be retractable from a conveying surface constituting position. 2. The unloader device for a plate material processing machine according to claim 1, wherein the conveyor is installed on the main body frame so that the lower surface of the roller table can be moved up and down to a height close to the loaded plate material on the product cart when the conveyor is lowered. 3. A method of loading plate materials by the unloader device of the plate material processing machine according to claim 1, wherein when loading the plate materials at the plurality of positions of the product carriage, the loading positions are sequentially changed one by one or a few. However, this is a plate material loading method in which each part on the product truck is loaded almost uniformly.