JPS60240341A - Method and device for transferring work - Google Patents

Abstract

PURPOSE:To maintain always adequately the dropping distance of a work and to prevent damage of the work in the stage of transferring successively the work on a containing body by a transfer means by correcting successively the position where the work is dropped to the containing body by a control system. CONSTITUTION:The work W is held by a supporting device 3 in a delivery station 35 and a loader 2 is moved by a servocontrol motor 14 to carry the work W onto a loading station 19. The work W is then gripped by the work rest 25 of a tentative stacking means 24. The means 24 descends to an empty pallet 20. the descending means stops during descending at the same instant when a limit switch 32 detects the floor surface 20a of the pallet 20. The teaching data for the transfer of the work by the loader 2 from the 2nd time is corrected via the control system by the operation of a potentiometer 33 during this time. The means 24 stopped at the prescribed position detaches the work from the work rest 25 and drops the work onto the floor surface 20a of the pallet. The generation of a damage to the work is thus prevented by maintaining the fall of the work W at the adequate value.

Description

[Detailed Description of the Invention] [Technical Field] The present invention provides a workpiece transfer method that allows workpieces that have been sequentially removed from a previous process to be loaded onto a storage body for transporting them to the next process without being damaged. and regarding equipment.

[Prior art]

For example, a panel-shaped workpiece taken out of a press machine,
Conventionally, an automatic transfer method has been used for storing items on pallets when they are transferred to pallets in multiple lofts and transported to the next process using a trolley or the like.

In other words, each pressed workpiece is supported one by one using a clamper, suction cup, or electromagnet, and automatically (
1) Raise the items and transfer them onto pallets and load them one by one. The operation of the automatic transfer device in this case is, for example, the step of capturing the workpiece with a suction cup and raising it to the top - transferring the pallet to the upper position → lowering and releasing the workpiece → following the reverse course and returning to the original position. This cycle is repeated in a substantially constant pattern according to a program taught in advance. By the way, in the above step of descending and releasing the work, if the transferred work hits the floor of the pallet or the preceding work loaded earlier and then is released, there is a risk of damaging the work. Therefore, the supported workpiece is separated before the workpiece hits the object. The head difference at this time depends on the type and strength of the workpiece, but for example, for panel parts such as automobile doors, the upper limit is 10 degrees.

However, the carts on which pallets are placed and transported are not originally made with good stacking capacity, and the rubber rollers of the wheels are worn out, so the level of the platform differs. Actual measurements show that deer fins vary by about ±25 fins. Therefore, if positioning teaching data based on one truck is applied to another truck, the head difference may exceed 10 mm. This poses a problem in that the workpiece is damaged by the impact of the fall, leading to quality defects such as dents, bites, and curls.

[Purpose of the invention]

This invention was developed by paying attention to such conventional problems, and it is possible to compensate for the difference in the floor position of the work storage body due to variations in the height of the cart, and to create a workpiece that can always maintain an appropriate head height. The present invention aims to solve the above problems by providing a transfer method and device.

[Structure of the invention]

This invention achieves the above object, (0) When the workpieces transferred by the transfer means controlled based on the teaching data are transferred to the storage bodies sequentially, the difference in floor position between each storage body is detected at the beginning of the storage lot. A workpiece transfer method characterized by correcting pre-stored position teaching data by detecting each time a workpiece is transferred and feeding back the value to the control system of the transfer means, and ■ Workpieces being transferred sequentially. A device that transfers workpieces to storage bodies for each storage lot includes a transfer means that can be moved up and down and horizontally, which is controlled based on teaching data, and a device that can be moved up and down and moved back and forth to temporarily hold only the first workpiece of the lot being transferred. a temporary stacking means; a storage body position detection means for outputting a lower limit signal for regulating the lower limit of the temporary stacking means with respect to the floor position of the storage body, which differs for each loft; The workpiece transfer device is characterized in that it includes a lower position detection means that is capable of detecting a range of floor position variations and feeds back the detected data as teaching correction data to a control system of the transfer means.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

First, the configuration of the workpiece transfer device will be explained. In FIG. 1, 1 is a frame. 2 is a loader as (1) lifting means for the workpiece W, and a workpiece support device 3 is attached to the lower end of the loader. This work transfer device 3 is made of the suction cup 4 and this cup! I! Equipped with an IJ cylinder 5 and a Chibo motor 6 for rotating the cup in a vertical plane,
The workpiece can be supported in either horizontal or vertical position.

The upper part 47k of the frame 1 is provided with a driving means for moving the loader 2 mentioned above in a vertically and horizontally movable manner.

That is, 7 is a horizontally movable carrier, and the loader 2 is attached to this via a cam follower 8 so as to be movable up and down.

9 is a rack for horizontally driving this carrier 7;
is a drive pinion that meshes with this rack 9 and is attached to the output shaft of a horizontal drive motor (not shown). 11 is a brake pinion for reliably stopping the movement of the rack 9, 12 is a guide for horizontal travel guidance, and 13 is a rack 9
This is a Nyozuku absorber designed to withstand the impact of a collision. 1
4 is a servo motor for moving the loader 2 up and down; 15 is a spline shaft attached to the output shaft of this motor 14 via a reducer 16; 17 is a holding brake that keeps the spline shaft 150 rotations reliably in a stopped state; 18 is spline shaft 1
This is a rotary encoder that outputs rotation information (rotation angle, rotation speed, rotation direction) of No. 5 to a drive control system (not shown).

The loader 2 is precisely controlled in its lifting and lowering motions via a spline shaft 15 by the forward and reverse outputs of a servo motor 14.

19 is a work loading station. here,
A pallet 20 as a storage body on which the workpiece W is transferred,
A trolley 21 for transporting this is positioned and placed at a predetermined position. 22 is a cylinder for loading and unloading the cart 21, and 23 is a cylinder for indexing. Reference numeral 24 designates a temporary stacking means that is movable up and down and can move back and forth in order to temporarily hold the first workpiece of one storage lot transferred by the loader 2. FIG. 2 shows details of the main parts of this provisional accumulation means.

In Fig. 2, 25.25 is a workpiece receiver that can enter and retreat from both sides of the pallet 20, and 26°26 is a cylinder for advancing and retracting the workpiece receiver 25.25, and a vertically movable plate 2
7a and 27b. 28.28.28.
28 is this movable plate 27a.

This is a rotating screw shaft that is inserted into the frame 27b and moved up and down synchronously, and a motor 29 and a connecting rod 30, which are its rotational drive device, are provided on the upper part of the frame 31 (see FIG. 1).

32 is a limit switch fixed to one side 27a of the vertically movable plate as storage body floor position detection means, and when the temporary stacking means 24 descends with the work W loaded, the pallet 20
By detecting the floor position 20a of
This is to stop the vehicle at a position within 0 degrees and at a position where it does not collide with the floor surface '2'' Oa).

33 is a lower position correction amount detection means of the temporary accumulation means 24. This detection means 33 detects position data near the lowering limit of the temporary stacking means 24 at the floor positions 20a of at least a plurality of pallets 20.
It has a function of continuously detecting over a range of variations (for example, about 50 points), and in this embodiment, for example, a linear potentiometer is used. 34
is a detection plate provided on the axis of the potentiometer 33, and is fixed to the vertically movable plate 27b. The detection data of the lower position correction amount detection means 33 is stored in the control system as teaching correction data of the transfer means 2 (see FIG. 3).

In FIG. 1, numeral 35 denotes a work transfer station, which is equipped with a turntable 36 on which a work to be transferred is placed, a servo motor 37 for rotation thereof, and a cylinder 38 for lifting and lowering. For example, 39 is an existing press conveyor that conveys processed workpieces from a press machine, 40 is a first gate that is interlocked with the appearance and retraction by a cylinder 41, 42 is a front conveyor, and 43
4 is the conveyor motor for driving it, 44 is the side guide, 4
5 is a second gate, and 46 is a rear conveyor.

FIG. 3 is a control block diagram of the transfer means 2.

Potentiometer data x1 obtained from the potentiometer 33 as a lower position correction amount detection means.

Potentiometer data X at the time of teaching stored in the control system mechanism 50. is calculated by the subtracter 51, and the result is input to the adder 52 as the difference correction data X of the floor position of the truck. The adder 52 stores this correction data X in the memory 5.
Panel position teaching data 10 during teaching stored in 0
is added to and input to the positioning processing section 53. Based on the amount of the position signal, the servo motor 14 for driving the moving device 2 up and down is controlled via the servo amplifier 54. TG and PG are a tacho generator and a potentiometer for feeding back speed information and position information of the output shaft of the servo motor 14, respectively, and in the case of the one shown in FIG. 1, it is a rotary encoder 18.

Next, a method for transferring a workpiece will be explained in relation to the operation of the illustrated transfer device.

The workpieces are transported by the press conveyor 39.

The workpiece is placed on the turntable 36 of the workpiece transfer station 35 via the front conveyor 42 and rear conveyor 46, and its posture is controlled as necessary. When the loader 2 is lowered by the drive of the servo motor 14, the paving stone cup 4 is operated by the action of the cylinder 5 to support the work. At this time, when the workpieces are stacked vertically on the pallet, the posture of the workpieces is controlled to be vertical by driving the servo motor 6, but in this embodiment, the workpieces are stacked horizontally. Next, by reversing the servo motor 14, the 11.1-da 2 is raised to a predetermined height. Further, by moving the carrier 7 through the rack 9 by driving the drive pinion.

The loader 2, which is a transfer means, transfers the workpiece to the upper part of the workpiece loading station 19. On the other hand, since an empty pallet 20 is being fed into the deadening station 19 by the operation of the truck loading/unloading cylinder 22, the temporary stacking means 24 is waiting at the upper limit position shown by the chain line. continue,
The loader 2 is moved to a temporary loading position W1” by the rotation of the motor 14.
Descend until.

Release the workpiece support. As a result, the workpiece is transferred to the workpiece receiver 25.degree. 25 of the temporary stacking means 24 located at the upper limit position. The operation of the loader 2 is controlled based on teaching data stored in the control system in advance. Next, when the empty pallet 20 is set at a predetermined position, the temporary stacking means 24 starts to descend, and when it approaches its lowering limit, the potentiometer 33 detects the detection plate 34 and starts operating. O!
j. The stacking means 24 continues to descend, and eventually stops when its limit switch 32 detects the floor surface 20a of the pallet 20. During this time, the working distance X of the potentiometer 33 is converted to a voltage (1+Ij) and stored in the control system of the loader 2. The difference X''x, )-X from the data X is calculated, and teaching data regarding the transfer of the work W to the pallet 20 by the loader 2 itself from the second time of the same lot according to the calculated value!

Correct. The above-mentioned temporary stacking means 24, which has stopped at the bottom, moves the work receiver 25.25 back by actuating the cylinder 26.26. As a result, the workpiece W is placed on the pallet floor surface 20a.
Although the workpiece falls upward, the fall is kept at an appropriate value by the limit switch 32, so no damage to the workpiece occurs. The loader 2 similarly transfers the next workpiece at the transfer station 35 based on the taught data, but this time it continues to descend without being transferred to the temporary stacking means 24. Then, it stops at a specified position based on the corrected teaching data and releases the supported workpiece. With this, the work is 1!
! ! , it falls onto the first workpiece that has already been transferred. Even if there is a difference in the position of the pallet floor surface 20a from that at the time of teaching, the work release position at this time has been corrected accordingly, and there is no risk that the head will exceed the appropriate value. Therefore, damage to the workpiece can be prevented. Thereafter, the works for that storage lot are similarly transferred to the pallet 20 by the loader 2. When a pallet becomes full, it is replaced with the next empty pallet, and the same transfer as described above is performed for the next storage lot.

In addition, in the above embodiment, the position data of each step of the loader 2 that is playback controlled is used.

This is to be taught to the playback player, but this is
If the workpiece opening value (2) of the loader 2 is simply incremented by the initial data (workpiece thickness and height), the teaching work can be made much easier.

〔Effect of the invention〕

As explained above, the present invention provides a workpiece transfer method and device that can always maintain an appropriate head by compensating for the 1ψ° difference in the floor height of the workpiece storage body. This eliminates the problem of workpieces being damaged by falling impact.

[Brief explanation of drawings]

FIG. 1 is a front view showing an embodiment of a work transfer device according to the present invention, FIG. 2 is a partially enlarged perspective view thereof, and FIG. 3 is a control block diagram of the main part. 2...Transfer means c loader) 20...
...Storage body (pallet) 24...Temporary loading means

Claims (2)

[Claims] (1) When sequentially transferring workpieces transferred by a transfer means controlled based on teaching data to a storage body. The feature is that the difference in floor position between each storage body is detected every time the first workpiece is transferred in a storage lot, and the detected value is fed back to the control system of the transfer means, thereby correcting the position teaching data stored in advance. How to transfer the workpiece. (2) In a device that transfers progressively transported workpieces to storage bodies for each storage lot, a transfer means that is capable of vertical movement and horizontal movement is controlled based on teaching data. Temporary stacking means that can move up and down and move forward and backward to temporarily hold workpieces of the transferred lot, and storage that outputs a lower limit signal that regulates the lowering limit of this temporary stacking means with respect to the floor position of the storage body, which differs for each loft. body position detection means; and lower position correction amount detection means capable of detecting the lower position of the provisional stacking means over at least a range of variations in the storage body floor position, and feeding back the detected data to the control system of the transfer means as teaching correction data. A workpiece transfer device comprising: