JPH1158185A - Work carrying method and work carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry all works of optional product kinds with high speed and stably, and position the work having a high rigidity with low costs without applying failure on the work when the work is stopped in a prescribed work process. SOLUTION: A work base 30 formed a part which is not interfered with a lift 20 for making in conditions in which a work W is mounted on a mounting surface 13 and lifted up for carrying out a prescribed work process on a plurality of work stations 1a, 1b, 1c, is arranged, work carrying bodies 2a, 2b are driven, a position Pn is detected, and control is carried out by a control unit 100 so as to take in/out the work W.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer method and a work transfer apparatus, for example, for transferring a relatively heavy work in a production facility or when a considerable load is applied to the work in each work process. The present invention relates to a suitable work transfer technique.

[0002]

2. Description of the Related Art According to a conventional work transfer method, an assembly production line is arranged downstream so as to be in the order of work steps in order to perform a work flow. In order to transport the work, a roller conveyor or a belt conveyor that transports the work in a mounted state is employed.

[0003] According to the transport device configured as described above,
A stopper is provided at a predetermined position on the conveyor to stop the workpieces being transported or to prevent the workpieces being transported from colliding with each other. In addition, when a plurality of work processes include a mold process in which relative positioning between the workpiece and the device must be accurately performed, precision machining, or the like, a work positioning device or the like is provided in each process. Then, it is common to construct a transport system.

[0004]

However, according to the transport system constructed as described above, when the workpiece being transported is forcibly stopped, an impact with a stopper or the like is applied, thereby causing unexpected damage to the workpiece. Sometimes. In addition, small precision parts assembled at a predetermined position in an upstream process often come off the predetermined position due to impact force with a stopper and are scattered.

To prevent this, a stopper with a built-in buffer mechanism is provided in the middle of the work transfer. However, in the current production system in which multi-product production is the mainstream, there is a large variation in the weight of the work. (Work) cannot be flexibly handled.

To cope with this, conventionally, the moving speed of the work placed on the conveyor is reduced to reduce the impact force between the stopper and the stopper, but as a result, aiming at production efficiency. It has been pointed out that multi-product production may actually reduce productivity.

On the other hand, when a large force such as a press work acts on a work in a work process, it must be configured so that the force of the press is not directly transmitted to the conveyor. Therefore, conventionally, the work is lifted by the work elevating mechanism provided below the conveyor, or the work is transferred to a dedicated fixed table placed outside the conveyor, and then pressed, Thereafter, the work transfer method of transferring the work to the conveyor again was adopted.

That is, the work is once separated from the conveyor so as not to damage the conveyor, a highly rigid lifting / lowering device configured to withstand a pressing force which is a large pressing force, a work, and the like. A transfer machine is provided separately. For this reason, when a large force such as a press work acts on the work in the work process, there is a problem that the equipment cost is greatly increased.

As described above, in a production line that employs a conveyor-based work transfer system, there is a contradiction that the productivity is reduced in order to improve the product yield, and the yield is reduced in an attempt to increase the productivity. there were. Further, when a large force such as a press work process acts on a work during a work process, setup equipment and work auxiliary equipment that are not directly related to the work are required, so that an economic burden is imposed. There were drawbacks.

Therefore, the work transfer method and the work transfer apparatus of the present invention have been made in view of the above-mentioned problems and drawbacks, and can perform high-speed and stable transfer of all works of any production type. An object of the present invention is to contribute to improvement of yield and productivity by performing high-rigidity work positioning at low cost without damaging the work when the work is stopped in a predetermined work process. .

[0011]

In order to solve the above-mentioned problem and achieve the object, a work is sequentially transferred from an upstream side to a downstream side, and a plurality of work stations arranged in the middle of the transfer work for a predetermined time. A workpiece transfer method for performing a predetermined work process by stopping the workpiece, wherein a shape portion that does not interfere with a lifting means for setting a state where the workpiece is mounted on the mounting surface and a state where the workpiece is lifted from the mounting surface. The work table formed with is arranged at the supply position of the work station and the work, and driving means for driving from the upstream side to the downstream side or from the downstream side to the upstream side is provided. The work placed on the placement surface on the side is lifted by the elevating means, and then the work transfer means is driven so as to be placed on the placement surface of the downstream work station. Detecting means for detecting the position of the work transfer means is provided, and the drive means, the detection means, and the elevating means are configured to transfer and place the work on which the predetermined work process has been completed to the work station on the downstream side. The control of the loading and unloading of the work is performed by control means connected to the control unit.

Further, the present invention is a work transfer apparatus for sequentially transferring a work from an upstream side to a downstream side, stopping the work at a plurality of work stations disposed in the middle of the work for a predetermined time, and performing a predetermined work process including press working. A work surface on which the work is placed at the work station and the work supply position, and a state in which the work is placed on the work surface and a state in which the work rises from the work surface. A worktable having a shape portion that does not interfere with the elevating means and having rigidity to withstand the press working; and a driving means for driving from the upstream to the downstream or from the downstream to the upstream. And a work placed on the placement surface of the downstream work station after the work placed on the placement surface on the upstream side is lifted by the elevating means. Transport means, detecting means for detecting the position of the work transport means, connected to the drive means, the detecting means and the elevating means, the work completed the predetermined work process, the downstream work station to the work station It is characterized by comprising control means for controlling the loading and unloading so as to convey and place.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a front view schematically showing a structure according to a first embodiment of the present invention. FIG. 2 is a sectional view taken along the line AA of FIG.

In both figures, a work W is sequentially conveyed from an upstream side on the left side of FIG. 1 to a downstream side on the right side, and a plurality of work stations 1a, 1
b, while being stopped at the working position for a predetermined time,
It is configured to perform various operations.

The work process includes a press working process in which a load of, for example, 100 kg or more is applied to the work W, and a process of press-fitting a part into a hole previously formed in the work W. Therefore, the conventional conveyor cannot be used as it is. Therefore, the work stations 1a, 1b, and 1c and the mounting surface 13 on which the work W is mounted at the work supply position at the left end in the drawing.
It is necessary that the work table 30 provided with a sufficient rigidity to withstand the above load. For this purpose, a mold material preferably formed in a predetermined shape can be used.

In FIG. 2, the elevating body 20, which is the elevating means, is lowered in the direction of arrow D4 in FIG. The predetermined work process is completed at
In order to be able to raise the work W from above, a function is provided for raising in the direction D3 in the figure.

The elevating body 20 is mounted so as to be incorporated in each of the work carriers 2a and 2b, which are carrying means, and is provided below the mounting surface 13 of the work table 30 in the state shown in FIG. When moving to the upstream side in the direction of arrow D1 and the downstream side in the direction of arrow D2, the work table 30 is configured not to interfere. The work workstation is the floor G
Tools and hands for performing a predetermined work process are provided by a base 42 fixed from the base.

Each of the work carriers 2a and 2b can be of a so-called self-propelled type, for example. For this purpose, for example, a forward / reverse rotating DC motor driven by a battery is mounted, and by obtaining the power from the DC motor, FIG.
The work carriers 2a and 2b are configured to be driven in a predetermined manner by transmitting power to the drive wheels 41 in the directions of the arrows D1 and D2. In addition, the drive wheel 41 is connected to the guide rail
By being guided above, the work carriers 2a, 2b
Is guided on a predetermined track.
At least one drive wheel 41 is provided in each of the work carriers 2a and 2b.

In FIG. 2, the elevating body 20 is driven up and down through an intermediate portion of the mounting surface 13 provided so that the pair is symmetrical as shown in FIG. The carrier 2 (2a, 2b) is configured to move in a hollow shape that does not interfere with the worktable 30 as illustrated.

At each of the work stations 1a, 1b, 1c and before and after these stations, there are provided position sensors Pn for detecting where the above-mentioned work carriers 2a, 2b are located from P1 to P7 shown in the figure. The guide rail 40 is provided along the longitudinal direction. Note that work stations 1a, 1b,
Although the case where a plurality of 1c are linearly arranged has been described, the present invention is not limited thereto, and the track may be curved or have a plurality of corners.

These position sensors Pn are provided in the respective work stations 1a, 1b and 1c, and are constituted by, for example, optical sensors, so that the position of the carrier can be detected in a non-contact state. . These sensors are connected to a control unit 100 as a control unit together with a work operation end sensor (not shown), and are configured to control the control described later.

FIG. 3A is a diagram showing the configuration of the positioning means. FIG. 3B is an enlarged view of a portion A in FIG. In these figures, positioning pins 45 are implanted on the mounting surface 13 corresponding to each work station at left and right portions, respectively.
5 penetrates into the hole 44 provided on the bottom surface of the jig of the workpiece W when descending in the direction of arrow D4,
It is configured to perform positioning as shown in FIG.

In the configuration described above, a control example will be described with reference to the control flowchart of FIG. 4 and the operation explanatory diagrams of FIGS. 5 to 7. In addition, the control is started, and the work transfer operation is performed by the two work transfer means 2a for input and the work transfer means 2b for unloading, and the work W is transferred from the upstream position P1 to the downstream P7. It is assumed that the work at each work station is completed.

When the work is started, first, the presence or absence of a work that has been completed is detected in step S1, and if there is a work that has been completed, the process proceeds to step S2, and if there is no work completed, the process proceeds to step S6. In step S2, between the work stations, the mounting surface 13 for discharging the work after the work and keeping the work waiting is arranged as shown in FIG. The bodies 2a and 2b are moved in the direction of the arrow D2, and in step S4, the waiting work and the work completed work are respectively loaded by the lifting operation of the lifting body 20 (direction D3) as shown in FIG. Confirm in step S5.

In this raised state, steps S11 and S12 are performed.
In FIG. 5, each of them travels and moves to a predetermined position,
The state shown in FIG. Subsequently, in step S13, the elevating body 2
It is confirmed in step S14 that 0 is lowered and unloaded on the mounting table 13 of the work table 30, and the state shown in FIG.

On the other hand, in steps S6 and S7, the work carrier 2a is moved to the position P2 and brought into the state shown in FIG. 6 (e). Then, in step S9, the elevating body 20 is raised.
After the state of (f), each of the workpiece transfer means
4, and transported to the position of P5 to be in the state of FIG.
Next, the workpiece is placed as shown in FIG. In step S10, it is confirmed that the elevating body 20 is lowered and unloaded on the mounting table 13 of the work table 30, and the state shown in FIG.

In step S15, the work carrier 2
a is moved to the work supply position as shown in FIG.
The elevating body 20 is raised and the work is placed, and the step S
At 16, the robot moves downstream (in the direction D2) to
(J). Thereafter, in step S17, the elevating body 20 descends as shown in FIG. 7K (D4 direction).
Then, the mounting table 1 of the work table 30 of the work station 1a
3 and the state shown in FIG.

As described above, the work is moved, but since each work station table is provided with the above-described work positioning pins and holes, accurate positioning can be performed.

FIG. 8A is a front view showing a second embodiment of the present invention, and FIG. 8B is a right side view of the same. FIG. 9 is a control flowchart. In FIGS. 8 and 9, the same reference numerals are given to the components already described, and the description is omitted.
The work transfer operation is performed using only one work transfer body 2. In addition, four worktables 30 are individually arranged on the floor G as shown in the figure.

The work W will be described assuming that the work in the work station is completed from the position P1 and flows to P4.

Each of the two elevating bodies 20 provided on the carrier 2 can independently carry a work, and the step S
After the execution of Steps 20 to 22, the transporting body 2 is moved in Step S22, and the workpiece for loading is mounted on one side as shown in FIG. 10 (i). When the other one moves to the take-out position, the lifting / lowering body 20 on which the work has not been mounted, which has been positioned at the lower limit, rises and lifts the work on the worktable 30 as shown in FIG.

Next, the carrier 2 is moved to the state shown in FIG.
The replacement is completed by placing the work on the worktable, and FIG.
(E). In order to move the picked-up work to the other unloaded portion before moving to the next loading position, the lifting / lowering body 20 is once lowered and the transfer body 2 is moved.
11 (f) by placing it on a moving body 25 for moving the work provided in the above.

By the operation of the moving body 25, the work is moved to the state shown in FIG. 11 (g), and the preparation for replacing the work is completed, and the work is moved downstream to the state shown in FIG. 11 (h). Thereafter, the operation is completed in the state shown in FIGS. 12 (i), (j), (k), and (l).

FIG. 13 shows a third embodiment of the present invention.
It is a front view (a) and a side view (b) in which a plurality of work stations 1a and 1b that are not the same are linearly arranged. In this drawing, the same reference numerals are given to the components already described, and the description is omitted. In the work transfer switching work by the work transfer means 2, the work is completed from the position P1 at the work station and flows to P5. It will be described as.

Each of the two elevating bodies 20 provided on the transporting body 2 can independently carry a work, and is mounted on one of them while the work for input is lifted.
(A). When the other moves to the take-out position, the unmounted elevating body 20 located at the lower limit rises and lifts the work on the work table 30.

Next, the carrier 2 is moved in the ascending state in order to place the input work on the next work table, and is brought into the state shown in FIG. 14 (c). The state shown in FIG.

The removed work is temporarily placed on the mounting table 30 while being moved to the next loading position as shown in FIG. After this, FIG.
As shown in FIG. 15 (g), the transporting body 2 is moved and transferred to the other one of the elevating and lowering bodies 20, so that the state shown in FIG. In this state, the next work can be replaced.

Hereinafter, by performing the operations shown in FIGS. 16 and 17, it is possible to smoothly carry out the replacement work.

Here, the work carrier may be provided with a numerical control function such that the work carrier can travel back and forth at an arbitrary speed on a predetermined track and move to an arbitrary position. The arrangement is not limited to the above configuration, and various configurations are possible as long as the configuration is such that the transport body and the mounting table do not interfere in the traveling direction. As described above, the works at a large number of work positions can be exchanged in the order of arrangement by the small number of transport means. Therefore, for example, by numerically controlling the deceleration and the acceleration of the movement of the carrier, a work or a jig (pallet) is controlled.
This makes it possible to obtain a smooth acceleration / deceleration and high speed that do not give an impact or damage to each product type. Further, by providing the work replacement function in the carrier, the work receiving side only needs to be a fixed work mounting table, and a highly rigid work table can be easily obtained at low cost. In addition, by adopting an arrangement in which the unmounted transport means can move under the mounting / working table, a safe, simple and easy transport means can be obtained.

According to the first embodiment, the standby work is loaded by the lifting operation of the lifting mechanism, travels to a predetermined position in the raised state, and is unloaded on the mounting / working table by the lowering operation.
Arrange at least two transportation means that share the track so that they can run on the track without any obstacles in the processed state,
A mounting table for discharging the work after the work and keeping the work on standby is arranged between the work stations.

One work takes out the work on the mounting / working table and moves it to the next position, and the other works so that the next work is put into the mounting / working table, and the work is replaced. It is characterized in that it is performed in a short time. In this way, the entire operation of the work replacement operation is performed by the two transfer means, and the work table for receiving and supporting the work or the pallet may be a fixed table, and is easily a high-rigidity mounting base. It is possible to realize the above-mentioned operation, and it is possible to exchange the work in a short time by taking out one transfer means and replacing the other one with the input, so that the transfer of the work can be performed in a short time, and the productivity can be improved. .

According to the second embodiment, since two works are mounted on one work transfer means, two attachment / detachment elevating mechanisms are provided, and the work to be loaded is mounted on one, and the other is mounted on the other one. By providing means for placing the work to be taken out and moving the work placed on either one to the other, the work exchange on the workbench can be performed smoothly by one. That is, the two elevating mechanisms provided on the transporting means can each independently carry a work,
When the loading work is mounted on one end while being lifted, and the other is moved to the take-out position, the unmounted lifting device at the lower limit rises and lifts the work on the worktable.
Next, the transporting means moves to place the input work on the worktable in the ascending state, and the replacement is completed by placing the work on the worktable. Before moving to the next loading position, the taken-out work is temporarily lowered by the elevating device to move it to the other unloaded portion, and is placed on the means for moving the work provided in the conveying means. The work is moved by the operation of the moving means, and the preparation for replacing the work is completed. By performing such operations, the replacement work can be smoothly advanced.

According to the third embodiment, two loading / unloading elevating mechanisms are provided for loading two workpieces on one workpiece transfer means, and one workpiece is loaded and another workpiece is loaded. Is for placing the work to be taken out.
It is characterized in that the work exchange on the work table can be smoothly performed by one unit.

That is, the two elevating mechanisms provided in the transfer means can each independently mount a work. When the work for loading is mounted on one of the two lifting mechanisms, and the other is moved to the unloading position, the lower limit is reached. The lifting device that has not been mounted rises, and lifts the work on the worktable. Next, the transporting means moves to place the loading work on the mounting table in the ascending state, and the replacement is completed by placing the work on the mounting table. The taken-out work is temporarily placed on the mounting table while moving to the next loading position, the transfer means is moved, and the work is transferred to another one of the elevating mechanisms. In this state, the next work can be replaced.
By performing such operations, it is possible to smoothly perform the replacement work.

[0046]

As described above, according to the work transfer method and the work transfer apparatus of the present invention, it is possible to carry out the high-speed transfer of all the works of any production type, and when the work is stopped in a predetermined process. By performing high-rigidity workpiece positioning at low cost without damaging the workpiece, there is an effect that it is possible to contribute to improvement in yield and productivity even in a line in which a pressing process is provided.

[0047]

[Brief description of the drawings]

FIG. 1 is a front view schematically showing a configuration according to a first embodiment of the present invention.

FIG. 2 is a sectional view taken along the line AA of FIG.

FIG. 3 is an enlarged view of a main part of FIG. 2;

FIG. 4 is a control flowchart of the apparatus of FIG. 1;

FIG. 5 is an explanatory diagram of the operation of the device of FIG. 4;

FIG. 6 is an operation explanatory diagram of the device of FIG. 4;

FIG. 7 is an operation explanatory diagram of the device of FIG. 4;

8A and 8B are a front view and a right side view schematically showing a configuration according to a second embodiment of the present invention.

FIG. 9 is a control flowchart of the apparatus of FIG. 8;

FIG. 10 is an explanatory diagram of the operation of the device of FIG. 8;

FIG. 11 is an operation explanatory view of the device of FIG. 8;

FIG. 12 is an operation explanatory diagram of the device of FIG. 8;

FIGS. 13A and 13B are a front view and a right side view schematically showing a configuration according to a third embodiment of the present invention.

FIG. 14 is a control flowchart of the apparatus of FIG.

FIG. 15 is an explanatory diagram of the operation of the device in FIG. 13;

FIG. 16 is an operation explanatory diagram of the device in FIG. 13;

FIG. 17 is an operation explanatory view of the device in FIG. 13;

[Explanation of symbols]

 1a Work station 1b Work station 1c Work station 2 Carrier 2a Carrier (first carrier) 2b Carrier (second carrier) 13 Placement surface 20 Elevator (elevator) 30 Work table 40 Guide rail 100 Control unit (Control means) W Work Pn Position sensor

Claims (10)

[Claims] 1. A work transfer method for sequentially transferring a work from an upstream side to a downstream side and stopping the work at a plurality of work stations disposed in the middle of the work for a predetermined time to perform a predetermined work process. A work table having a shape portion that does not interfere with the lifting means for placing the work on the surface and ascending / descending means for raising the work surface from the placement surface, is provided at the work station and the work supply position. And, while providing drive means for driving from the upstream side to the downstream side, or from the downstream side to the upstream side, the work placed on the mounting surface on the upstream side is raised by the elevating means, The work transport means is driven so as to be placed on the placement surface of the downstream work station, and a detection means for detecting a position of the work transport means is provided. The loading and unloading of the work is controlled by control means connected to the driving means, the detecting means, and the elevating means so that the completed work is transported and placed on the work station on the downstream side. Work transfer method. 2. The work transfer means comprises an upstream first work transfer means and a downstream second work transfer means, wherein the one work transfer means inputs a work, and The work transfer method according to claim 1, wherein the work transfer means removes the work so as to reduce the work replacement time. 3. The work transfer means is constituted by a single unit, and the work transfer means is provided with two units of the first lift unit on the upstream side and the second lift unit on the downstream side, which are the lift units. In addition, two workpieces can be mounted at the same time, a workpiece to be loaded into one of the first lifting / lowering means and the second lifting / lowering means is mounted, and a workpiece to be taken out is mounted to the other, and 2. The transfer method according to claim 1, wherein the work is replaced by a moving means for moving the mounted work to another lifting / lowering means. 4. The work transfer means comprises one unit, and the work transfer means is provided with two units, an upstream first lift unit and a downstream second lift unit, which are the lift units. 2. The transfer method according to claim 1, wherein the first elevating unit mounts a workpiece to be loaded, and the second elevating unit mounts a workpiece to be taken out. 3. 5. The apparatus according to claim 1, wherein a work positioning means for performing relative positioning with respect to the work station is provided on the mounting surface, and the work is positioned. Work transfer method described. 6. A work transfer apparatus for sequentially transferring a work from an upstream side to a downstream side, stopping at a plurality of work stations disposed in the middle of the work for a predetermined time, and performing a predetermined work process including press working. A work surface on which the work is placed at the work station and the supply position of the work, and a state in which the work is placed on the work surface and a state in which the work rises from the work surface. Form a shape that does not interfere with the lifting means,
A worktable having rigidity to withstand the press working; and a drive unit for driving the work flow from the upstream side to the downstream side or from the downstream side to the upstream side, and mounted on the mounting surface described above on the upstream side. The raised work is lifted by the elevating means, and then the work transfer means is mounted on the mounting surface of the downstream work station; a detection means for detecting a position of the work transfer means; Control means connected to the detection means and the elevating means, and controlling input and unloading so that the work on which the predetermined work process has been completed is transported and placed on the work station on the downstream side. Characteristic work transfer device. 7. The work transfer means comprises an upstream first work transfer means and a downstream second work transfer means, wherein the one work transfer means inputs a work, and 7. The work transfer device according to claim 6, wherein the work transfer means is configured to take out the work so as to shorten the work replacement time. 8. The work transfer means is composed of a single unit, and the work transfer unit is provided with two units of the first lift unit on the upstream side and the second lift unit on the downstream side, which are the lift units. In addition, two workpieces can be mounted at the same time, a workpiece to be loaded into one of the first lifting / lowering means and the second lifting / lowering means is mounted, and a workpiece to be taken out is mounted to the other, and The transfer device according to claim 6, further comprising a moving unit configured to move the mounted work to the other lifting / lowering unit. 9. The work transfer means comprises one unit, and the work transfer means is provided with two units, an upstream first lift unit and a downstream second lift unit, which are the lift units. 7. The transfer device according to claim 6, wherein the first lifting unit carries a workpiece to be loaded, and the second lifting unit carries a workpiece to be taken out. 10. The work transfer device according to claim 6, wherein a work positioning means for positioning the work station relative to the work station is provided on the mounting surface.