JPH11300667A - Panel body conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dispense with illumination and an image processing device and to considerably simplify structure particularly on slippage detection and position correction by correcting the slippage by a suction control means and a driving control means. SOLUTION: This panel body conveying device is provided with a plurality of suction pads D1-D4 arranged to the suction possible ranges A of a floor carpet P to be a panel body; a support body 1 horizontally and vertically movable being fitted with the respective suction pads D1-D4; a suction control means 2 for detecting the operating state of the respective suction pads D1-D4; and a driving control means 3 for correcting the horizontal position of the support body 1 according to a detected result of the suction control means 2. Simplification of structure, reduction of installation cost and improvement of operating function can therefore be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for transporting panel bodies used for picking up stacked panel bodies one by one by suction pads and transferring them to another position. The present invention relates to a panel body conveyance device suitable for handling a panel body having a suckable range.

[0002]

2. Description of the Related Art As a transport device for a panel body of this kind,
For example, there is one as shown in FIG. The illustrated transporting apparatus picks up a floor carpet (panel body) P laminated on a cart or the like one by one from a top with a pair of suction pads 101, 101 in an assembling process of an automobile, and moves the floor carpet (panel body) P to an appropriate position such as an assembling apparatus. To be transported.

[0003] The floor carpet P has a bent ridge B at the center corresponding to the arrangement of the drive shaft. Therefore, when a large number of floor carpets P are laminated, the bent strips B are regulated in the horizontal direction (X direction in the drawing) orthogonal to the bent strips B by the polymerization of the bent strips B. A shift may occur in the longitudinal direction (Y direction in the figure). Further, the floor carpet P is covered with sheets for curing, and the adsorbable areas A, A which can be adsorbed by the adsorption pad 101 at two limited places on both sides of the bent strip B.
Is set.

[0004] With respect to the floor carpet P, the transport device includes a support member 100 that can move horizontally in the longitudinal direction of the bent portion B and can move in the vertical direction (the Z direction in the figure). Are provided at the lower part of the arm, two arms 102, 102 extending corresponding to the positions of the respective adsorbable ranges A, A.
In addition, a pad driving means (not shown) constituted by a vacuum pump or the like and a camera C for a reference hole H formed at a predetermined position of the floor carpet P are provided.

[0005] Based on image information from a camera C for picking up an image of the reference hole H, the above-mentioned transport device is configured to support the support 1 so that the suction pads 101 face each other in the suckable range A.
The horizontal position (Y direction) of position 00 is adjusted. Thereby, the displacement in the longitudinal direction of the bent strip portion B of the laminated floor carpet P is dealt with. After this, the transport device is
Then, the floor carpet P is transported to another position by raising the support 100 and moving it horizontally.

[0006]

However, in the above-described conventional transport apparatus, the camera C is used as an input source used for correcting the position of the support 100, so that the camera C is used.
Lighting and an image processing device are required, which increases equipment costs, makes it very difficult to set lighting and the like, and lowers the height of the floor carpet P for each transportation. Therefore, there is a problem that a malfunction may occur due to a defocus of the camera C, and it has been a problem to solve such a problem.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems.
It is a device that picks up one by one and transfers it to another position,
An object of the present invention is to provide a panel transfer apparatus which is particularly suitable for transferring a panel having a limited adsorbable range and which can realize a simplified structure, reduced equipment cost, improved operation functions, and the like. And

[0008]

According to a first aspect of the present invention, there is provided an apparatus for transporting a panel body, which is a device for picking up the stacked panel bodies one by one by means of a suction pad and transferring them to another position. A plurality of suction pads arranged with respect to a suctionable range of the body, a support body to which each suction pad is attached and movable horizontally and vertically, suction control means for detecting an operation state of each suction pad, and suction control A drive control unit that corrects the position of the support in the horizontal direction according to the detection result by the unit, wherein the suction control unit includes a vacuum pump that sucks air in each suction pad; 4. The apparatus according to claim 3, further comprising a vacuum switch for detecting a reduced pressure state between the suction pad and the vacuum pump. The panel is configured to drive the support with reference to the position. According to a fourth aspect, the panel has a bent strip along one direction, and a plurality of panels are provided with respect to the adsorbable range of the panel. The suction pad is arranged so as to be displaced in the longitudinal direction of the bent streak portion, and the above configuration is used as means for solving the problem.

In the above configuration, the adsorbable range of the panel body may be set at a plurality of locations, and a plurality of adsorbable pads are provided for each adsorbable range.

[0010]

According to the first aspect of the present invention, in the apparatus for transporting a panel body, a plurality of suction pads are arranged with respect to a suctionable range of the panel body, and suction control means for detecting an operation state of each suction pad. Is provided, the direction of displacement of each suction pad with respect to the suctionable range can be known from the arrangement of each suction pad and the detection result of its operation state. And
The transfer device for the panel body includes a drive control unit that corrects the position of the support in the horizontal direction according to the detection result of the suction control unit, so that the displacement of each suction pad with respect to the suctionable range can be corrected. Becomes

[0011] Further, in the transfer device for the panel body, if it is detected that all the suction pads are in the good operating state, all the suction pads correspond to the suctionable range. Although the panel body is transported as it is, since the panel body can be picked up by a predetermined number of suction pads of the plurality, even if it is determined that the operation state of the predetermined number of suction pads is good, ,
The panel body can be transported as it is. Therefore, the position correction of the support by the drive control means is performed according to the detection result of the operation state of the suction pad, and when the operation state of each suction pad is defective, a predetermined number of suction operations are performed. When the operation state of the pad is good, but when re-adsorption is performed to obtain the certainty of operation,
Alternatively, it can be performed when taking up the next panel body.

In the apparatus for transporting a panel body according to a second aspect of the present invention, the suction control means sucks air in each suction pad brought into contact with the panel body by a vacuum pump,
A reduced pressure state of each suction pad is detected by a vacuum switch provided between each suction pad and the vacuum pump. If the vacuum switch detects the depressurized state, the corresponding suction pad is within the suctionable range, and if the vacuum switch does not detect the depressurized state, the corresponding suction pad is out of the suctionable range. With such a simple structure, it is possible to reliably determine the operation state of the suction pad and the deviation from the suctionable range.

In the apparatus for transporting a panel body according to the third aspect of the present invention, the drive control means has a so-called learning function of driving the support based on the previous horizontal position with respect to the laminated panel body. It is not necessary to use the origin as a reference, and efficient handling can be performed.

In the panel body transporting apparatus according to the fourth aspect of the present invention, since the target panel body has a bent strip along one direction, when a large number of panel bodies are stacked, the panel body is bent. The superposition of the ridges regulates each other in the horizontal direction perpendicular to the bent ridges, but there is a possibility that a deviation occurs in the longitudinal direction of the bent ridges. I have. That is, in the transfer device for the panel body, with respect to the adsorbable range of the panel body,
Since a plurality of suction pads are arranged so as to be shifted in the longitudinal direction of the bent streak, only in the longitudinal direction of the bent streak, which is a direction in which the shift occurs, detection and support of a shift between the adsorbable range and each suction pad. Body position correction is performed.

[0015]

According to the apparatus for transporting a panel body according to the first aspect of the present invention, in a device for picking up the stacked panel bodies one by one by an attraction pad and transferring it to another position, particularly limited suction is possible. It is suitable for transporting a panel body having a range, and by using a plurality of suction pads, suction control means and drive control means, detects the direction of displacement of each suction pad with respect to the suctionable range and corrects the displacement. As a matter of course, when compared with a conventional device that used a camera as an input source for position correction, of course, no illumination or image processing device was required, and the structure for detecting misalignment and position correction was greatly simplified. And contribute to the simplification of the entire device, reduce the equipment cost, and obtain a reliable operation function without malfunction. It can, in addition, can also be implemented, such as ease and cost of the maintenance of the apparatus in accordance with the reduction of the simplicity and equipment costs structure.

According to the panel body transfer device of the second aspect of the present invention, the same effect as that of the first aspect can be obtained, and furthermore, the vacuum pump and each of the suction pads and the vacuum pump between Adopting suction control means equipped with a vacuum switch that detects the reduced pressure state, the operation state of each suction pad can be reliably detected with a simple structure, further simplifying the structure and further reducing equipment costs Can contribute to.

According to the third aspect of the present invention, the same effect as in the first and second aspects can be obtained, and the drive control means can determine the previous horizontal position with respect to the laminated panel body. Since the learning function of driving the support with the reference is provided, efficient handling can be performed without performing a useless operation such as returning to the origin every time the sheet is transported.

According to the panel body transporting device of the fourth aspect of the present invention, since a panel body having a bent strip along one direction and having a limited adsorbable range is a target, for example, It is very suitable for transporting a floor carpet for automobiles having a bent portion serving as an arrangement portion of a drive shaft, and as such a floor carpet transport device, a displacement of each suction pad with respect to a suctionable range in one direction is detected. And the deviation can be corrected.
It is possible to reduce equipment costs and improve operation functions.

[0019]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a panel conveying apparatus according to an embodiment of the present invention.

The apparatus for transporting a panel body shown in FIG. 1 transports a floor carpet (panel body) P laminated on a cart or the like to an appropriate position such as an assembling apparatus in an automobile assembling process.

The floor carpet P has a bent portion B at the center corresponding to the arrangement of the drive shaft. Therefore, when a large number of floor carpets P are laminated, the bent strips B are regulated in the horizontal direction (X direction in the drawing) orthogonal to the bent strips B by the polymerization of the bent strips B. A shift may occur in the longitudinal direction (Y direction in the figure). Further, the floor carpet P is covered with sheets for curing, and the adsorbable areas A, A which can be adsorbed by the suction pads of the transfer device are set at two limited places on both sides of the bent strip B. I have.

For the above-mentioned floor carpet P, the transfer device is provided with the respective adsorbable ranges A,
A suction pads D1 to D4 arranged two each for A
A support 1 to which the suction pads D1 to D4 are attached and which can move horizontally and vertically, a suction control means 2 for detecting an operation state of each of the suction pads D1 to D4, and a suction control means 2
And a drive control means 3 for correcting the position of the support in the horizontal direction in accordance with the detection result of.

The support 1 is held in a frame (not shown) so as to be horizontally movable in the longitudinal direction (Y direction) of the bent strip B of the floor carpet P, and is also movable in the vertical direction (Z direction). Depending on the position of the transport destination of the floor carpet P, it can also be moved in a horizontal direction (X direction) orthogonal to the longitudinal direction of the bent strip B. The support 1 hangs down toward the floor carpet P, and includes two arms 4, 5 extending below the floor carpet P corresponding to the positions of the adsorbable ranges A, A of the floor carpet P at the lower portion thereof. Two suction pads D1 to D4 are attached to the lower surfaces of the distal ends of the arms 4 and 5, respectively.

Each set of the suction pads D1 to D4 is arranged so as to be shifted in the longitudinal direction (Y direction) of the bent strip portion B of the floor carpet P. have. The reason for this arrangement is that, as described above, the direction of displacement that can occur in the laminated floor carpet P is limited to a certain direction (Y direction).

As shown in FIG. 2, the suction control means 2 includes a vacuum pump 6 for sucking air from the suction pads D1 to D4.
And a suction hose 7a connected to each of the suction pads D1 to D4.
7d and a manifold 9 for collecting the suction hoses 7a to 7d in the main hose 8 on the vacuum pump 6 side.
Further, in the middle of each of the suction hoses 7a to 7d, there are provided vacuum switches PS1 to PS4 for detecting a reduced pressure state between each of the suction pads D1 to D4 and the vacuum pump 6, and each of the vacuum switches PS1 to PS4. Electromagnetic valves SV1 to SV4 for opening and closing the suction hoses 7a to 7d are provided between the suction hoses 7a to 7d.

The drive control means 3 comprises a control section 3a composed of a computer and the like and a drive section 3b composed of a drive source for the support 1 and the like. Are input from the vacuum switches PS1 to PS4.

The drive control means 3 includes:
Suction pads D1 to D shifted in a certain direction (Y direction)
4 and the suction pads D1 to D1 by the suction control means 3.
The detection result of the operation state of D4, that is, each vacuum switch PS1
Based on the detection results by PS4 to PS4, the adsorbable range A in the floor carpet P and the suction pads D1 to D4
Judge the positional relationship with If there is a deviation between them, a command signal for causing the driving section 3b to correct the position of the support 1 in the horizontal direction is generated. At this time, the displacement between the adsorbable range A and each of the suction pads D1 to D4 is due to the displacement occurring in the longitudinal direction of the bent strip portion B of the laminated floor carpet P, and therefore, the direction of the displacement (Y direction) ) Need only be corrected.

Here, the position correction of the support 1 by the drive control means 3 is performed according to the detection result of the operation state of the suction pads D1 to D4, and the operation state of each of the suction pads D1 to D4 is defective. Is performed when a predetermined number of suction pads D1 to D4 are in a good operating state, but when performing suction again to obtain the certainty of operation, or when picking up the next floor carpet P. It is possible.

On the other hand, it is most preferable that all the suction pads D1 to D4 correspond to the suctionable range A in the transfer device, but one suction pad D1 to D4 is included in one suctionable range A. If so, the floor carpet P can be picked up. Therefore, in the transport device in this embodiment, when the drive control unit 3 detects that at least one suction pad D1 to D4 corresponds to one suctionable range A, the floor carpet P The pick-up operation is performed, and when transporting the next floor carpet P, the support 1 is driven based on the previous horizontal position with respect to the laminated floor carpet P.

That is, the displacement of the laminated floor carpets P generally occurs in one direction as a whole, and the displacement between the adjacent floor carpets P is not so large. It is sufficient to go to the next floor carpet P to be transported. Also,
Considering that the displacement of the laminated floor carpet P occurs as a whole, the displacement of the next floor carpet P to be transported is added to the support 1 based on the previous horizontal position.
Can be corrected.

FIG. 3 is a flowchart showing the processing steps in the control section 3a of the drive control means 3, and FIG. 4 is a flowchart showing the operation steps of the suction control means 2.

That is, after capturing the marstar teach data in step S1 shown in FIG. 3, the support 1 is positioned with respect to the floor carpet P based on the marstar teach data in step S2.
As a result, each of the suction pads D1 to D4 corresponds to each of the suctionable ranges A of the floor carpet P. Thereafter, in step S3, the vacuum pump 6 is operated to adsorb each of the suction pads D1 to D4 in each of the adsorbable ranges A. In step S4, the support 1 is slightly raised in the Z direction. Vacuum switch P
The operation state (ON / OFF) of S1 to PS4 is captured.

At this time, in step S51 shown in FIG. 4, the suction control means 2 opens the electromagnetic valve SV1 in the suction system of the first suction pad D1, and closes the other electromagnetic valves SV2 to SV4. Step S
At 52, the operation state (ON / OFF) of the vacuum switch PS1 in the suction system of the first suction pad D1 is confirmed. Subsequently, in steps S53 to S58, the electromagnetic valves SV2 to SV4 corresponding to the second to fourth suction pads D2 to D4 are opened and the vacuum switch PS2 is opened.
Are sequentially confirmed, and in step S6 of the drive control means 3, the positions and shifts of the suction pads D1 to D4 with respect to the suction possible range A are calculated based on the detection signals from the vacuum switches PS1 to PS4.

Then, in step S7 shown in FIG. 3, it is determined whether the deviation is within an appropriate range. At this time, when the operation states of the suction pads D1 to D4 are defective, that is, the vacuum switches PS1 to PS4 are off (No).
Since it is impossible to pick up the floor carpet P, the position correction of the support 1 is commanded in step S8, and the positioning of the support 1 in step S2 is repeated.

When the operation state of each of the suction pads D1 to D4 is good (each of the vacuum switches PS1 to PS4 is on), as shown in FIG.
The suction pads D1 to D4 correspond to the inside,
Alternatively, the operation state of the first and third suction pads D1 and D3 is good (the first and third vacuum switches PS1 and P3).
When S3 is ON), as shown in FIG. 5B, one suction pad D1,
Since D3 corresponds, in these cases (Y
es) In step S9, the support 1 is driven in each direction to convey the floor carpet P.

Thereafter, in step S10, FIG.
(B) As shown in FIG.
When 1 to D4 are shifted, the position shift data is stored in the memory, and in step S11, the master teach data is corrected. Thereby, when transporting the next floor carpet P, the support 1 is driven based on the previous horizontal position with respect to the stacking position. With such a learning function, there is no need to perform positioning control based on the origin every time the sheet is transported, and efficient handling is performed.

Then, in step S12, it is determined whether or not the transport operation of all the floor carpets P stacked has been completed, and if not completed (No),
Returning to step S2, the transport operation is repeated, and when the transport operation is completed (Tes), the drive and control of the support 1 by the drive control means 3 are terminated.

As described above, the transfer device for the floor carpet (panel body) P described in the above embodiment uses the suction control means 2 provided with the plurality of suction pads D1 to D4 and the vacuum switches PS1 to PS4. With a simple structure, the direction of the shift of each of the suction pads D1 to D4 with respect to the suckable range A can be detected, and the shift can be corrected by the suction control means 2 and the drive control means 3, so that, for example, Naturally, when compared with a conventional device that uses a camera as an input source for correction, no illumination or image processing device is required, and the structure for detecting misalignment and position correction is greatly simplified, and equipment costs are reduced. Can be greatly reduced, and a reliable operation function without malfunction is provided.

In the above embodiment, the apparatus for transporting a panel body according to the present invention has been described by way of example in which the floor carpet P is transported. However, it is needless to say that the present invention can be applied to the transportation of other panel bodies. In particular, it is very suitable for transporting a panel body having a limited adsorbable range.

[Brief description of the drawings]

FIG. 1 is a perspective view partially showing a block as an embodiment of a panel body transport apparatus according to the present invention.

FIG. 2 is an explanatory diagram showing suction control means for a suction pad.

FIG. 3 is a flowchart illustrating a processing procedure of a control unit in the drive control unit.

FIG. 4 is a flowchart illustrating an operation process of an adsorption control unit.

5A is a plan view showing a state in which all suction pads correspond to each suctionable range, and FIG.
Plane explanatory view showing a state in which the suction pads correspond to each other (b)
It is.

FIG. 6 is a perspective view illustrating a conventional panel-body transport device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Support body 2 Suction control means 3 Drive control means 6 Vacuum pump A Suction possible range B Curved strip part D1-D4 Suction pad P Floor carpet (panel body) PS1-PS4 Vacuum switch

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // B65G 57/04 B65G 57/04 59/04 59/04

Claims (4)

[Claims] 1. A stacked panel body is attached to a suction pad by a suction pad.
It is a device that picks up one by one and transfers it to another position,
A plurality of suction pads arranged with respect to a suctionable range of the panel body, a support body to which each suction pad is attached and movable horizontally and vertically, suction control means for detecting an operation state of each suction pad, and suction A panel body transport device, comprising: a drive control unit that corrects a horizontal position of a support in accordance with a detection result by a control unit. 2. The suction control means includes a vacuum pump for sucking air in each suction pad, and a vacuum switch for detecting a reduced pressure state between each suction pad and the vacuum pump. The apparatus for transporting a panel body according to claim 1. 3. The apparatus for transporting a panel body according to claim 1, wherein the drive control means is means for driving the support based on a previous horizontal position with respect to the laminated panel body. 4. The panel body has a bent strip along one direction, and a plurality of suction pads are displaced in the longitudinal direction of the bent strip with respect to a suckable range of the panel body. The apparatus for transporting a panel body according to any one of claims 1 to 3, wherein: