JPS61282221A - Pallet shift device - Google Patents

Abstract

PURPOSE:To make it possible to efficiently manage the transfer and storage of workpieces in a pallet shift device between a press line and an unmanned transfer vehicle, by providing such an arrangement that a pallet is transferred by a mobile lift bed and is slid to a predetermined position by means of a slide mechanism. CONSTITUTION:When a pallets P1 through P6 are shifted from unmanned carrier vehicles C0, C1, C2 onto pallet introduction beds 21, 22, 23 on shift lines at predetermined positions, mobile lift beds 41, 42 elevate the pallets on the introduction beds 21, 22, 23 by means of elevating beds 51, 52, and move them in the floating condition, to predetermined positions on slide mechanisms 31, 32, 35, 36 onto which the palettes are then set. Then, the slide mechanisms are operated to transfer the pallets to feed positions. After panels M3, M4, etc. being fed to the pallets at those positions, the slide mechanisms 31, 32, 35, 36 are again operated to return the pallets to predetermined loading positions. The returned pallets are lowered to predetermined positions on pallet delivery beds 24, 25, 26 by means of the mobile lift beds 41, 42, and are carried away by means of the unmanned carrier vehicle.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a pallet transfer device, particularly for temporarily storing intermediate products (hereinafter referred to as workpieces) in a production line such as a press line using an automatic guided vehicle. , or pallet transfer, where empty pallets and pallets with workpieces are delivered between the production line and the automated guided vehicle for supply. Regarding equipment.

[Conventional technology] In production lines such as automated press lines,
Workpieces such as pressed panels are temporarily stored in automatic guided vehicles, in which a predetermined number of workpieces are placed on a pallet and automatically transported to a predetermined location. In this case, a pallet transfer device is used to move an empty pallet to a work loading position and to load a pallet loaded with works onto an automatic guided vehicle. In addition,
It is also used for unloading work, and loading and unloading of workpieces can be carried out efficiently.

[Problems to be Solved by the Invention] By the way, when processing a pair of panels, it is better to transport the pallet in two batches, in terms of shortening the automatic guided vehicle cycle time and in terms of storage management. is also preferable.

However, in the conventional so-called two-panel loading system, as shown in FIG. This is done by loading pallets 4.5 arranged in a straight line. Pallets 4 and 5 are sent by a chain conveyor 6 from right to left in the figure.

This loading system poses the following problem when two pallets are transported at the same time.

■Pallet 1 is placed on the automatic guided vehicle 10 shown in Figure 9 (a).
When 1.12 is stacked in two stages, each pallet must be passed on the chain conveyor 6, so a pallet stacking and stacking device is required.

■Pallet 1 is placed on the automatic guided vehicle 13 shown in Figure 9 (b).
When stacking 4.15 in parallel, one pallet at a time is passed over the chain conveyor 6, so a device for transferring the pallets using a crane is required. control is necessary.

■In the chain conveyor 6, in order to position various types of pallets, limit switches for position detection are required for each type of pallet, making both the equipment and TDL II complicated.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, it is an object of the present invention to provide a pallet transfer device that can accurately transfer various types of pallets using simple equipment and simple operations.

[Means for solving problems] The present invention employs the following means.

That is, the present invention provides a pallet transfer device that loads a plurality of pallets received from a carrier vehicle with loads at a load supply position corresponding to each pallet, and then transfers the plurality of pallets to the carrier vehicle. ! , a pallet loading receiving stand receives a plurality of pallets arranged and loaded in a line horizontally on the transport vehicle simultaneously from the transport vehicle at its own predetermined loading position on each transfer line corresponding to each pallet; , a pallet unloading cradle for simultaneously delivering a plurality of pallets arranged in the same manner as the above arrangement to a conveyor vehicle at its own predetermined loading position for each of the transfer lines, and the pallet loading cradle and pallet unloading cradle. In the middle, a pallet is provided for each of the above-mentioned transfer lines or for each transfer line except for one of the transfer lines, and each pallet placed at its own predetermined loading position is placed at a predetermined supply position for each transfer line. A slide means for returning each pallet that has been moved to each predetermined supply position to the predetermined placement position, and a lifting platform that raises and lowers the pallet at the adjacent predetermined placement position for each transfer line. The object of the present invention is to provide a pallet transfer device comprising: , a conveyance means movable at least between adjacent predetermined placement positions;

[Function] When multiple pallets are simultaneously placed from the transport vehicle onto the predetermined loading position of the pallet loading cradle on each transfer line, the conveying means lifts all the pallets on the pallet loading cradle using the lifting platform. Raise it and levitate it onto the pallet loading platform. Next, while floating, the pallet is moved to a predetermined mounting position on the slide means located between the pallet loading cradle and the pallet unloading cradle, and all the pallets are lowered. Next, the sliding means works,
Pallets are moved to each feeding position. After each pallet is supplied with panels, etc., the slide means is operated again to return it from the supply position to the predetermined placement position. During this time, a new pallet is placed on the predetermined placement position of the pallet loading cradle. That is, the pallets are present at adjacent predetermined placement positions. Since the conveying means can raise and lower the pallet at the adjacent predetermined loading position, when attempting to lift the pallet on the pallet loading platform again, the pallet on the sliding means will also be lifted.

Next, when the pallet on the pallet carry-in cradle is moved to the predetermined placement position of the slide means and lowered, the pallet that was previously in the predetermined placement position of the slide means is moved to the predetermined placement position of the pallet carry-out cradle. It will be taken down.

The pallet that has been lowered onto the pallet carry-out cradle is carried away by a transport vehicle, and during this time the pallet on the slide means receives panels and the like at the supply position.

By repeating this process, pallet transfer processing is performed in units of the number of transfer lines.

It is not necessary to provide sliding means in all of the transfer lines, and it is sufficient that the supply positions are different, so one of the plurality of lines does not need to have a sliding means.

Next, an embodiment of the pallet transfer device of the present invention will be described with reference to the drawings. The present invention is not limited to this, and can be implemented in various forms without departing from the scope of the invention.

[Example] Figure 1 is a plan view of a pallet transfer device according to an example.
□Figure 2 shows its front view, and Figure 3 shows its AA sectional view. The pallet transfer device of this embodiment consists of two transfer lines. However, the power source as a power source, the air supply source, and its wiring and piping are omitted.

First, 21, 22, and 23 are pallet loading cradle, and 24
．． 25 and 26 are pallet unloading stands.

The pallet carry-in cradle 21, 22, 23 and the pallet carry-out cradle 24, 25, 26 are constructed by combining plates in an inverted shape, and are erected on the ground at intervals so that their horizontal parts face each other. ing. Pallet loading platform 21.22.23
The internal space of the intermediate portion between the pallet unloading cradle 24°25.26 forms an approach path 27.28 for the automatic guided vehicle.

Moreover, a slide mechanism 31.32.degree. 35.36 as a sliding means is provided at the center portion of the pallet carry-in cradle 21.22.23 and the pallet carry-out pedestal 24.25.26. As shown in FIGS. 2 and 3, the slide mechanism 36 includes support stands 31a, 32a, and 35a.
, 36a and its upper plates 31b, 32b, 35b,
Each of the four pairs of support wheels 31 protrudes from both edges of the upper surface of 36b.
0.32Q.

35c, 36c, and the support wheels 31c, 32c, 3
Slide plates 31d, 32d, and 35d supported by 5C and 36C and capable of sliding a predetermined amount in the longitudinal direction thereof.

36d, and the upper plates 31d, 32d, 35d, 3
6d, and its single-shaped rod 31e.

Air cylinders 31f, 32f, 35f, 36f that slide slide plates 31d, 32d, 35d, 36d connected by 32e, 35e, 36e
It is composed of. Two of these slide mechanisms 31
．． 32 and the other two slide mechanisms 35 and 36 are air cylinders 31f, 32f and air cylinders 35f, 36.
f are arranged in opposite directions, and the sliding directions are completely opposite. Each slide plate 31d, 32d, 3
The slid state of 5d and 36d is as shown by the two-dot chain line in the figure.

Further, the pallet loading pedestal 21, slide mechanism 31, and pallet unloading pedestal 24 arranged in the - row and the pallet loading pedestal 22, slide mechanism 32, and pallet unloading pedestal 25 are spaced parallel to each other. A movable lift stand 41 serving as a conveyance means is guided by a guide 45 and is disposed so as to be movable back and forth between the pallet loading cradle 21, 22 and the pallet unloading cradle 24.25. . Pallet loading pedestal 23, slide mechanism 36, pallet loading pedestal 26, pallet loading pedestal 22, sliding mechanism 3
Similarly, a movable lift table 42 is guided by a guide 46 between the pallet loading tables 22, 23 and the pallet loading tables 25, 26.
It is arranged so that it can be moved back and forth between. In addition, limit switches 48a, 48b, 49a, 4 are installed between the pallet loading cradle 21.22.23.24.25.
9b is provided to set the stopping position of the mobile lift platform 41,42.

Next, the structure of the mobile lift platform 41, 42 will be explained with reference to FIGS. 4, 5 (a) and 5 (b). Figure 4 is a plan view of the mobile lift platform 41, 42, and Figure 5 (a) is the lifting platform 5.
1.52 is lowered, and (b) shows a front view of the elevator platform 51.52 being raised.

The movable lift platform 41, 42 operates a limit switch 48 by rotation of a drive wheel 56 provided at the center of the base 55.
It is possible to freely move between a, 48b, 49a, and 49b. The drive wheel 56 is driven by a motor 57 on the base 55 to rotate forward or reverse as desired.

Projections 55a are formed on both sides of the base 55, and are loosely fitted into the guides 45, 46 to define the moving direction of the movable lift platform 41°42.

In this pallet transfer device, the transfer line consists of a pallet loading platform 21.22-, a slide mechanism 31.32, a pallet loading platform 24.25, and a mobile lift platform 41.
Line, pallet loading platform 22゜23, slide mechanism 3
5.36, pallet unloading platform 25.26 and mobile lift platform 42 constitute one line, totaling two lines.

Next, the lift mechanism 61.6 of the mobile lift platform 41.42
Reference numeral 2 denotes a pair of support portions 61a provided at both ends of the base 55, as shown in FIGS. 5(a) and 5(b).

62a, and each pair of connecting rods 61 provided with wheels 61c, 62c that are rotatably supported at one end on each of the supporting parts 61a, 62a, and the other end is moved in contact with the back surface of the lifting platform 51.52.
b, 62b, each pair of support parts 61d, 62d provided on both edges of the lifting platform 51.52, and each support part 61d,
Each pair of connecting rods 61f and 62f are provided with wheels 61e and 62e that are rotatably supported at one end on 62d and rotated in contact with the upper surface of the base 55 at the other end, and each pair of wheels 61e and 62e.
A threaded portion 61g having a dovetail hole provided in the shaft thereof.

62g, and servo motors 611 and 621 that rotate the ball screws 61h and 62h to advance and penetrate the threaded portions 610 and 620 on the upper surface of the base 55. The connecting rods 61b and 61f and the connecting rods 62b and 6
2f are the shaft portions 61j.

It is pivotably supported at 62j.

With the above-mentioned configuration, the servo motor 611゜62i
If the drive of the lifting platform 5 is controlled by a control device (not shown),
1.52 elevations can be controlled. Screwed part 61g
, 62 (J has a ball screw 61h.

As 62h is screwed in, the lifting platform 51.52 changes from the state shown in FIG. 5 (a) to the elevated state shown in FIG. If so, from (b) to (a), the elevator platform 51.
52 descends.

Among the various powers mentioned above, slide mechanisms 31, 32, 35
．． 36 air cylinders 31f, 32f.

Various motors, electromagnetic solenoids, etc. can be used in place of 35f and 36f, and mobile lift stands 41.42
An air cylinder can be used instead of the motors 61r and e2+ of the lift mechanisms 61 and 62.

Next, the transfer operation of the pallet transfer device having the above-described configuration will be explained with reference to FIGS. 6(A) to 6(E).

First, as shown in FIG. 6(a), the automatic guided vehicle C1 enters the approach path 27 of the pallet loading receiving platform 21, 22, 231fl as shown by the arrow, and is activated by the sensor and control device of the automatic guided vehicle C1. Stops in place. At this time, the automatic guided vehicle C1 loads empty pallets P3 and P4 on its lifting device U1.

The state seen from the front immediately after approach is shown by the two-dot chain line in Figure 2. Palette P3. P4 is a pallet loading platform 21.
22.23.

Also, at this time, the slide plates 31d and 32d have already been moved.

On 35d and 36d, there is a pressed panel M1.
．． A pallet P1.M2 is stored respectively. P2 is placed.

Next, the automatic guided vehicle 01 lowers the lifting device U1, and the pallet P3. Lower P4 onto the pallet loading platform 21°22.23 and exit from the approach path 27 as shown by the arrow.

Next, the mobile lift table 41.42 with the lifting table 51.52 lowered moves to the approach path 27 side, and the lifting table 51.52
are respectively pallets P1. P2, palette P3. It is stopped by contacting the limit switch 488.49a at a position directly below P4. This state is the state shown in FIG. 6(b).

Next, the lifting platforms 51 and 52 of the mobile lift platforms 41 and 42 rise, and the pallets P1. P2. P3. P4 is lifted from the slide plates 31d, 3'2d, 35d, 36d or the pallet loading cradle 21, 22, 23.

Palette P1. P2. P3. While lifting P4, the mobile lift platform 41, 42 moves to the approach path 28 on the opposite side. Then, it is stopped by contacting the limit switches 48b and 49b.

By further lowering the lifting platform 51, 52, the pallet P1. P2 is lowered onto the pallet unloading stand 24.25°26, and pallet P3. P4 is the slide plate 31d, 3
It is lowered onto 2d, 35d, and 36d. This state is shown in FIG. 6(c).

Next, air cylinders 31f, 32f, 35f, 36
f is driven, and the two slide plates 31d and 32d slide a predetermined amount toward the approach path 27 side, and the other two slide plates 35d and 36d slide toward the approach path 28 side. This results in two pallets P3. The position of P4 will be shifted. This state is shown in FIG. 6(d). This palette P3. Corresponding to the position P4, as shown in FIG. 7, there are provided chutes 71 and 72 for panels that flow into left and right sides of the conveyor 70. Therefore shoot 7
1.72 the two panels each have a pallet P3. P
It is stored in 4. During this time, the pallet unloading platform 24.25
．． 26 placed on the pallet P1. P2 is approach road 2
The automated guided vehicle CO, which has entered 8 as shown by the arrow, is lifted up by the lifting device UO and carried out to a predetermined storage location as shown by the arrow. On the other hand, a new empty pallet P5. P6 is carried by the automatic guided vehicle C2. This state is shown in FIG. 6(E). Next, the air cylinders 31f, 32f, 35f, and 36f return to their original states, and the slide plates 31d and 32d.

35d and 36d return and pallet P3. The position of P4 is aligned. This state is equivalent to the state shown in FIG. 6(a), and this operation is repeated thereafter.

In this embodiment, the pallets are scooped up from below and lifted using movable lift stands 41 and 42, and the relative positional deviation between the pallets is determined by a slide plate 31d that shifts the pallets by a predetermined amount.
, 32d, 35d, and 36d. Therefore, despite the simple configuration and control, there is no need to move the automated guided vehicle pallet by pallet or use a crane, and even more accurately move pallets in pairs, regardless of the shape or size of the pallets. The panel can be moved to a predetermined position, and the pallet containing the panels can be finally transferred to an automatic guided vehicle without changing the relative positional relationship between the pallets at all. In this way, panel transportation and storage management can be done efficiently.

The above was for a case where there were two transfer lines, but transfer processing of three or more pallets can also be done using a pallet loading platform.

If a pallet unloading platform, slide mechanism, and mobile lift platform are added, processing can be performed using the same processing procedure.

[Effects of the Invention] In the present invention, the conveying means lifts and conveys the pallet, and the sliding means slides it to a predetermined supply position. This eliminates the need for complex control of each pallet using cranes and transport vehicles, and allows pallets to be moved accurately regardless of their shape and size with a simple configuration, making it possible to efficiently move workpieces such as panels. Transportation and storage management becomes possible.

[Brief explanation of the drawing]

Fig. 1 is a plan view of an embodiment of the present invention, Fig. 2 is a front view thereof, Fig. 3 is a sectional view taken along line A-A, Fig. 4 is a plan view of a mobile lift platform, and Fig. 5 (I) is a plan view of an embodiment of the present invention. ) is a front view thereof, (b) is a front view with the lifting platform raised, and FIGS. 6 (a) to (e) are plan explanatory views showing the pallet moving operation of the pallet transfer device of the above embodiment. , Fig. 7 is an explanatory diagram of panel supply to the pallet in the embodiment, Fig. 8 is an explanatory diagram of panel supply in the conventional example, and Fig. 9 (A) and (0) are explanatory diagrams of the pallet loading state on the automatic guided vehicle. represent. 21.22.23...Pallet loading platform 24.25.
26...Pallet unloading stand 31.32.35.36.
...Slide mechanism (slide means) 41.42...Movable lift platform (transport means) 51.5
2... Elevating platform Co, C1, C2... Automatic guided vehicle (transport vehicle) Pl, P
2. P3. P4. P5. P6...palette

Claims (1)

[Scope of Claims] A pallet transfer device that loads a plurality of pallets received from a transport vehicle with loads at a load supply position corresponding to each pallet, and then transfers the plurality of pallets to the transport vehicle, a pallet loading receiving stand that simultaneously receives a plurality of pallets arranged and loaded in a line horizontally on the transport vehicle from the transport vehicle at its own predetermined loading position on each transfer line corresponding to each pallet; A pallet unloading cradle that simultaneously delivers a plurality of pallets arranged in the same manner as the above arrangement to a conveyor vehicle at its own predetermined loading position for each transfer line, and a pallet unloading cradle located between the pallet loading cradle and the pallet unloading cradle. ,
It is provided for each transfer line or for each transfer line excluding any one of the transfer lines, and moves each pallet placed at its own predetermined loading position to the predetermined supply position of each transfer line. , a sliding means for returning each pallet that has been moved to each predetermined supply position to the predetermined loading position, and a lifting platform for raising and lowering the pallet at the adjacent prescribed loading position for each transfer line, A pallet transfer device comprising: a conveying means that is movable between predetermined loading positions; and a pallet transfer device.