JPS6283970A - Automatic loading device - Google Patents

Abstract

PURPOSE:To automate loading of works on a pallet, by a method wherein a work, intermittently conveyed from a transfer press, is placed on a temporary work collecting device, and the works are longitudinally accumulated on a container. CONSTITUTION:A work 11, moulded by a transfer press 1, is intermittently conveyed and positioned by a positioning device 30'. The work, inspected by an inspecting device 82, is positioned by the forward end part of an intermittent conveying device 17, in which the work is adsorbed by an adsorbing arm 110 of an intermediate work loader 97 for raising and is placed on a work temporary collecting device 118. The works are then lengthways engaged with a container 83, into which a buffering material 173 is inserted, with the aid of a robot 145. When the given number of works is loaded, the container 83 is conveyed to the outside. Meanwhile, a poor product 158 is not adsorbed by the intermediate work loader 97, and is loaded in a container 169 through running of a manipulator 157 and elevation of an elevating frame 160. This enables the works to be automatically loaded in a container.

Description

[Detailed Description of the Invention] [Industrial Application Field 1] The present invention is an automatic system that can automatically take out a workpiece formed by a transfer press from the transfer press and load it into a container without any manual effort. This relates to a loading device.

[Prior Art] Conventionally, a workpiece formed by a transfer press is transferred to a conveyance device such as a chain conveyor installed downstream of the transfer press, is conveyed to a predetermined position by the conveyance device, and is then transported to a predetermined position. , unloaded from the transport device by workers and loaded onto pallets.

[Problems to be Solved by the Invention] However, as described above, manually unloading the workpieces from the conveying device and loading them onto the pallet requires a transfer press to have a low production capacity and the size of the workpieces to be formed. Even if the size is small and the weight is light, the work is highly dangerous because the work is near the moving parts of the equipment, and it is not possible to save labor because it requires multiple workers. Presses have become more efficient and faster, and 3-4
The workpiece is sent out from the transfer press after being molded once per Sec, and is also large in size, with a width of 1500mm and a length of 2000~250011IIn.
When the size and weight of the workpieces reach approximately 30 to 45 kg, it is difficult for workers to manually unload the workpieces from the transport device and load them onto a pallet, and the risk of the work becomes even greater.゛In view of the above-mentioned circumstances, the present invention aims to automatically perform the work of taking out workpieces formed by a transfer press and loading them onto a pallet without relying on the manual labor of workers. be.

[Means for Solving the Problems] A first aspect of the present invention includes an intermittent feeding device that intermittently sends a workpiece sent out from a transfer press, and an intermittent feeding device that intermittently sends a workpiece sent by the intermittent feeding device. A plurality of intermediate workpiece conveyance devices are used to raise and convey the workpieces from the feeding device, and the workpieces sent by the intermediate workpiece conveyance device are temporarily received by the device, and each temporary workpiece is loaded onto the device. It has a configuration including a plurality of transfer devices that support placed workpieces and stack them vertically into containers that are waiting in advance.
The second invention has a configuration in which, in addition to the first invention, a pallet transport device is provided for supplying empty containers to each transfer device. In addition to the invention of
A workpiece inspection device installed in the middle of the intermittent feeder,
It has a configuration that includes a device for taking out defective workpieces.

[Function] In the first invention, the workpiece sent out from the transfer press is sequentially sent to the downstream side by the intermittent feeding device,
A plurality of temporary workpieces are sent to a device by a plurality of intermediate workpiece conveyance devices, the temporary workpieces are placed on the device, and the workpieces placed on the device are stacked vertically in a container by a transfer device. In the second invention, in addition to the first invention, a container is carried into the transfer device, and in the third and fourth inventions, in addition to the first and second inventions, the workpiece is inspected in advance by a workpiece inspection device. It is inspected to see if the condition is as planned and expected, and defective workpieces that are not in the predetermined condition are taken out by a device for removing defective workpieces and transported out of the line.

[Example] Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

1 to 10 show an embodiment of the present invention.

First, the outline of the entire apparatus will be explained with reference to FIGS. 1 to 3. The exit frame 2 of a conventionally known transfer press 1
A cam 4 and a gear 5 are fixed to a shaft 3, which is rotatably pivoted to the shaft 3.Although not shown, the crankshaft is rotated to raise and lower the slide on which the upper mold is attached, and the upper and lower molds are moved by the upper and lower molds. Power is transmitted from the electric motor that performs molding to the gear 5 through a gear group, a power transmission shaft, and a gear 6, and is rotatably pivoted to the exit frame 2 parallel to the shaft 3. A cam 8 and an arm 9 are fixed to the attached shaft 7, and the cam 8 comes into contact with the outer circumference of the cam 4 via a roller 10, and as the cam 4 rotates, the cam 8 and the arm 9
is capable of swinging motion in a direction parallel to the feeding direction of the workpiece 11.

At the upper end of the arm 9 is a trolley feeding device 1 that can reciprocate in a direction parallel to the feeding direction of the workpiece 11.
3 are connected via a rod 12, and the trolley feeding amount 1
A feed bar 14 is installed at the lower end of the trolley feeding device 13.
are connected so that they can move in the same direction as the movement direction of the Further, lift clamp devices 15 are attached to the feed bar 14 at required intervals in the longitudinal direction, and the trolley 16 of the lift clamp device 15 is moved up and down via a power transmission device by the movement of the feed bar 14, and the workpiece 11 is moved in the feeding direction. The trolley is designed to be able to move in a direction perpendicular to the trolley, and a clamp device attached to the trolley can grasp the workpiece and send the workpiece intermittently downstream.

The clamping device in this case is capable of sequentially repeating the operations of gripping a1 rising, b1 feeding C1 descending d, releasing e, and returning f.

On the downstream side of the transfer press 1, an intermittent feeding device 17, such as a chain conveyor, is arranged to place the workpiece 11 sent out from the transfer press 1 and convey it intermittently. The chain 18 of the intermittent feeding device 17 includes:
Positioning jigs 19 are installed at predetermined intervals in the feeding direction of the work 11 so that the work 11 sent out from the transfer press 1 is positioned on the device 17 (see FIG. 4).

As shown in FIGS. 5 to 7, a sprocket wheel 25 on which a chain 18 is wound at the tip of the intermittent feeder 17 is fixed to a rotatable shaft 26, and a gear 27 fixed to the shaft 26 has a gear group. A power transmission device 20 is connected via a power transmission device 28 and a spindle 29, and a driving electric motor 24 is connected to an intermediate shaft 21 connected to the input side of the power transmission device 20 via a power transmission device 22 and a clutch 23. ing.

Although not shown, a gear and a power transmission device are connected to the shaft to which the gear 6 of the Heranshu 7-Brace 1 is attached, and the slider of the transfer press 1 is driven up and down via the power transmission device, intermediate shaft, clutch, etc. The power from the electric motor for driving the slide can be sent to the feeder 17, and the electric power for driving the slide up and down can be fed to the feeder 17. The intermittent feed device 17 can be driven by 71 machines.

Therefore, the intermittent feeding device 17 is driven by turning on and off the clutch 23 and the like, and in the case of normal intermittent feeding of the workpiece 11, the electric motor for driving the slide up and down is used to drive the transfer press 1. When an abnormality occurs in the intermittent feeder 17 or in order to replace the positioning jig 19 of the intermittent feeder 17, all the workpieces 11 on the intermittent feeder 11 must be removed, the electric 1fi24 is used. Even in the case of normal intermittent feeding of the workpiece 11, the intermittent feeding device 17 is moved to the feed bar 14 by the electric VJ machine 24.
The driving may be performed in synchronization with the timing of the movement.

A workpiece positioning device 30 is attached to the tip of the intermittent feeding device 11, as shown in FIGS. 5 to 7. This workpiece positioning device fi30 is for positioning the workpiece 11 in the feeding direction of the intermittent feeding device 17 and in a direction perpendicular to the feeding direction. That is, an electric motor 32 for adjustment is arranged on both sides of the lower part of the frame 31 at the tip of the intermittent feeder 17, and a chain 34 is passed through a sprocket 33 fixed to the output shaft of the electric motor 32.
A screw shaft 35 extending parallel to the feeding direction of the intermittent feed device 17 is rotatably disposed on the upper part of the frame 31, and the chain 34 is hooked onto a sprocket 36 fixed to one end of the screw shaft 35. ing.

The threaded shaft 35 has reverse threads cut in the front and back, and the moving frames 37 and 38 that move in the feeding direction of the intermittent feed device 17 and can move toward and away from each other are equipped with nuts 39 and 40.
is fixed, the nut 39.40 is screwed onto the threaded part of the screw @35, and a hydraulic cylinder 41.42 whose axis extends parallel to the feeding direction of the intermittent feeding device 17 is mounted on the upper part of the moving frame 37.38. A hydraulic cylinder 41.4 is arranged.
Positioning members 43 and 44 for pushing and positioning the work 11 are connected to the upper end of the piston rod 2, and grooves 47 and 48 provided in brackets 45 and 46 disposed on the sides of the positioning members 43 and 44 Guide rollers 49, 50 having a length of 4 Ui are fitted into the positioning members 43, 44 so as to be removable.

Electric motors 51 for adjustment are provided on both sides of the frame 31.
．． Chains 55 and 56 are connected to sprockets 53 and 54 that are fixed to the output shafts of the motors 51 and 52, and the chains 55 and 56 are disposed in a direction perpendicular to the electric motor 32 when viewed from above. A screw shaft 57.58 is rotatably disposed in the upper part and extends in a direction perpendicular to the screw shaft 35 when viewed from above, and the chain is attached to sprockets 59 and 60 fixed to one end of the screw shaft 57.58. 55.56 is passed.

A nut is fixed to a moving frame (not shown) disposed on the upper part of the frame 31 so as to be movable in a direction perpendicular to the moving direction of the moving frame 37.38, and the nut is attached to the screw shaft 57.58. A hydraulic cylinder 61.62 extending in a direction perpendicular to the hydraulic cylinder 41.42 is disposed on a screwed moving frame (not shown), and a piston rod of the hydraulic cylinder 61.62 is arranged. Positioning members 63 and 64 for pushing and positioning the work 11 are connected to the tip, and the positioning member 6
A guide roller 69.70 pivotally connected to a positioning member 63.64 is fitted into a recess 67.68 provided on a bracket 65.66 disposed on the side of 3.64 so as to be removable.

A turntable device 7 is provided at the tip of the intermittent feed device 11.
1 is arranged, and the frame 7 of the turntable device 11 is
2 is rotatably supported by a bearing housing 73 via a shaft 76, and a pinion 75 fixed to the output shaft of an electric motor 74 for rotational drive meshes with a gear 77 fixed to the shaft 76, so that the frame 72 can be rotated. It has become. Also frame 7
A vertical fluid pressure cylinder 78 is attached to 2, a turntable body 79 is connected to the upper end of the piston rod of the fluid pressure cylinder 78, and a guide rod 80 fixed to the lower surface of the turntable body 79 is disposed on the frame 72. The turntable main body 79 is fitted into the provided guide tube 81 so that the turntable main body 79 can be moved up and down in a stable state. This turntable device 11 is a device for changing the direction of the work 11 sent by the intermittent feed device 17 by 90 degrees depending on its size.

A workpiece inspection device 82 is disposed in the middle of the intermittent feed device 17. The workpiece inspection device 82 inspects whether the dimensions and shape of the workpiece 11 are in a predetermined state, whether the workpiece 11 is free from distortion or wrinkles, whether there are a predetermined number of bolt holes of a predetermined size, etc. 8.
A workpiece positioning device 30' having a structure similar to the workpiece positioning device 30 described above is disposed on the workpiece positioning device 2.

Empty containers 8 are placed on both sides of the downstream side of the intermittent feeder 17.
A conveyance device 84 such as a drivable roller conveyor is parallel to the intermittent feed device 17 for feeding the 2 from the direction of the arrow.
Containers 8 are arranged in series and on the entrance side of the conveying device 84.
A turntable device 85 for changing the direction depending on the direction in which the workpieces are loaded on the workpiece 3 is disposed so as to be rotatable and movable up and down.

A conveying device 8 such as a slat conveyor for changing the feeding direction of the container 83 is provided at the tip of each conveying device 84.
6 are arranged. The conveyance device 86 is equipped with a drive device 87 consisting of an electric motor, a power transmission mechanism, etc.
It is designed to transport the container to the intermittent feeding device 17 side, and is also equipped with a lifting drive device 88 consisting of an electric motor, a power transmission mechanism, etc., to transfer the empty container 83 from the transportation device 84 to the transportation device 86. I'm starting to get it.

A conveying device M89 such as a roller conveyor that can be driven and moved is arranged in parallel with the conveying device 84 on the tip end side of the intermittent feeding device 17 side of each conveying device 86, and a conveying device M89 such as a roller conveyor that can be driven and moved is provided downstream from the midway part of the conveying device F189. An intermittent feeding device 90 such as a slat conveyor is positioned on both sides of the conveying device 89 up to the side tip.
is installed.

The intermittent feeding device 90 is intermittently driven by a drive unit @ 91 consisting of an electric motor, a power transmission mechanism, etc., and can intermittently feed the container 83 loaded with the workpiece 11. The container 83 can be moved up and down by a lifting drive device 9-2 consisting of a lifting device 9-2, and the container 83 can be transferred from the transport device 89 to the intermittent feed device 90 or from the intermittent feed device 90 to the transfer device 89. .

Furthermore, a conveying device 93 such as a drivable roller conveyor is disposed at the tip of the conveying device 89 and the intermittent feeding device 90 to convey the container 83 loaded with the work 11 out of the line. . A turn/pull device 94 for changing the direction of the container 83 depending on the direction in which the work is loaded onto the container 83 is disposed in the middle of the transport device 93 so as to be able to rotate and move up and down.

The above-mentioned conveying devices 84, 86, 89, intermittent feeding device 90,
The reason why there are two lines on the transfer device 89 side, etc. is that the current transfer press 1 has a speed of 3 to 4 seconds.
This is because the workpieces 11 are sent out every time the workpieces 11 are sent out, so it cannot be processed in one row.

Left and right transport equipment! A frame 95 is erected so as to straddle F89, the intermittent feed device 9o, and the intermittent feed device ff17 in the central portion, and a frame 95 is provided with a frame 95 that extends from one conveying device 89 side through the intermittent feeding device 17 in the central portion to the other conveying device. A rail 96 extending up to 89 is fixed to the rail 96, and two intermediate work loaders (intermediate work transfer device) that can freely traverse are attached to the rail 96.
97 are arranged.

The details of the intermediate work loader 97 will be explained with reference to FIGS. 8 to 10. A traversal frame 98 that can traverse along the rail 96 is supported by the collar portions 100 above and below the rail 96 by movable guide rolls 99. A binion 102 fixed to the output shaft of a transverse drive motor 101 attached to the transverse frame 98 meshes with a rack 103 fixed to the side surface of the rail 96 along the rail 96.

An elevating frame 105 that can be moved up and down via guide rollers 104 is fitted into the transverse frame 98, and a rack 10 is fixed to the elevating frame 105 so as to extend vertically.
6 is engaged with a pinion 108 fixed to the output shaft of an electric motor 112 for driving up and down disposed on the transverse frame 98. Further, at the bottom of the frame 109 fixed to the lower end of the lifting frame 105, there is an arm 110 that projects forward and connects to the shaft 11.
The frame 1 is arranged so that it can be tilted up and down via the frame 1.
Electric motor 112 for tilting the arm 110 installed in 09
A timing belt 115 is passed around the pulley 113 fixed to the output shaft and the pulley 114 fixed to the shaft 111, and the arm 110 has a plurality of belts for sucking the work 11 at required intervals in the longitudinal direction and the width direction. A suction device 11G is attached.

The suction device 116 includes a suction bat 117 that can be tilted according to the surface shape of the workpiece 11, and the suction hat 117 is connected to a vacuum pump (not shown), and the suction batt 117 suctions the workpiece 11 to create an intermittent feeding device. 17
It can be lifted from

Conveying device 89 and intermittent feeding device 90 for the frame 95
Above the workpiece holding device 1 is placed, one in each row.
18 are arranged. The details of the device 118 for temporarily holding the workpiece will be explained with reference to FIG. 8. A frame 95' extending in a direction perpendicular to the frame 95 is fixed to the upper part of the frame 95, and a conveying device 89 and an intermittent feeder are attached to the frame 95'. A traveling frame 119 is provided that can travel in a direction parallel to the moving direction of the workpiece 11 of the device 9o.The traveling frame 119 is supported by a rail 121 fixed to the frame 95 via a guide roller 120. A binion 123 fixed to a traveling drive electric motor 122 attached to a frame 95 is attached to the frame 95 in parallel with the rail 121.
It meshes with a rack 124 fixed to the.

An elevating frame 125 extending in the vertical direction is disposed on the traveling frame 119 so as to be movable up and down, and an arm 126 protruding forward is disposed at the lower end of the elevating frame 125 so as to be tiltable up and down via @127. Lifting frame 125
A timing belt 131 is passed between a pulley 129 fixed to an electric output shaft for tilting the arm 126 and a pulley 130 fixed to the shaft 127. Although not shown, a position detector for the arm 126 is provided, so that the amount of tilting of the arm 126 can be controlled to a desired amount depending on the shape and dimensions of the workpiece 11. Furthermore, a bevel gear or the like may be provided in place of the timing belt 131.

A workpiece positioning device 132 for positioning the workpiece 11 transferred from the intermediate work loader 97 is disposed on the arm 126 of the workpiece temporary receiving device 118.

The workpiece positioning device 132 includes an electric motor 1 for adjustment.
33, a nut 135 screwed onto the screw shaft 134, a positioning device 137 consisting of a positioning member 136 fixed to the nut 135, etc., and a screw shaft 139 rotated by an electric motor 138 for adjustment.
, a nut 140 screwed onto the screw shaft 139, and a nut 1
A positioning device 144 is provided, which includes a frame 142 to which a hydraulic cylinder 141 is fixed, a positioning member 143 connected to the tip of a piston rod of the hydraulic cylinder 141, and the like. Also, lifting frame 12
5 can be raised and lowered via a rack 176 by a pinion 175 fixed to the output shaft of an electric motor 174 attached to the traveling frame 119.

2! ! In front of the workpiece temporary receiving device 118, a known large articulated robot (workpiece transfer device@) 145 for loading each workpiece 11 into a container 83 is disposed. The robot 145 is connected to a worm jack 147 driven by an electric motor 146, a frame 148 that is raised and lowered by the worm jack 141, and arms 1+19, 150 and 150, which are supported by the frame 148 and driven by different drive devices so as to be able to move up and down. A suction device 1 has an arm 151 connected to the arms 149 and 151, a frame 153 pivotably supported at the tip of the arm 152, and a plurality of suction pads 154 attached to the frame 153 and tiltable.
It is equipped with 55 mag. The suction pad 154 is connected to a vacuum pump, and the workpiece 11 suctioned by the suction pad 154 can be loaded into the container 83 in an upright position.

A rail 156 extending in the feeding direction of the intermittent feeding device 11 is fixed on the side of the intermittent feeding device 17, and a manipulator 1 for removing defective workpieces 15811I is mounted on the rail 156.
57 is arranged so that it can run along the rail 15G. The manipulator 157 includes a traveling frame 159,
It includes an elevating frame 160 attached to the frame 159 and capable of being raised and lowered by a drive device (not shown), a suction device 161 attached to the lower part of the elevating frame 160, and the like. The suction device 161 has a suction pad 162, and the suction pad 162 is connected to a vacuum pump.

At the bottom of the manipulator 157, a transport device 163 such as a drivable roller conveyor is installed to feed an empty container 169 for loading a defective workpiece 158 or to carry out a container 169 loaded with a defective workpiece 158.
is installed, and a rail 164 extending in a direction perpendicular to the rail 156 is provided at the upper part of the transfer device 163 on the side of the counter-export device 17, and a container loaded with defective workpieces 158 is placed on the rail 164. A carry-out device 165 is installed to suspend and carry out the line. The unloading device 165 includes a traveling frame 166 that can run along a rail 164, a lifting frame 167 provided on the traveling frame 166 so as to be able to rise and lower, a gripping device 168 for hanging a container attached to the lower end of the lifting frame 167, and the like. We are prepared.

The container 83 is a member 171 provided with 170 parts at predetermined intervals in order to stack the works 11 vertically.
The part that supports the upper part of the work 11 loaded on 3 +A17
2 and loaded into the container 83 11.1
A buffer member 1γ3 can be automatically inserted between the buffer members 1 and 1 by a buffer member insertion device (not shown).

Next, the operation of the present invention will be explained.

In the transfer press 1, the electric motor for driving the slide up and down is driven to move the upper mold up and down together with the slide, and the workpiece 11 is formed by the upper and lower molds.At the same time, the electric motor for driving the slide up and down is driven. Gear 6.5 is driven via the transmission means and cam 4 rotates. Therefore, the cam 8 and the arm 9 perform a swinging motion, and the feed bar 14 performs a reciprocating motion via the rod 12 and the trolley feed device 13, whereby the clamp device provided on the trolley 16 of the lift clamp device 15 is gripped. a → rise b feed C →
The operation of descending d→returning e is repeated in sequence, and by this movement, the workpiece 11 is sequentially formed and sent to the downstream side intermittently,
The workpiece 11 that has been formed is placed by a lift clamp device @15 at the downstream end of the transfer press 1 onto a positioning jig 19 located at the upstream end of the intermittent feed device 17 that is stopped on the downstream side of the transfer press 1.

When the workpiece 11 is placed on the positioning jig 19 of the intermittent feeder 17, the intermittent feeder 17 is moved through the gear and power transmission means installed coaxially with the shaft to which the gear 6 is fixed.
The chain 18 is driven, and the positioning jig 19 moves by a predetermined stroke amount and then stops. As a result, the workpieces 11 on the intermittent feeder 17 are sequentially and intermittently fed to the downstream side. The feeding by the intermittent feeding device @17 may be performed until the next workpiece 11 is sent by the transfer press 1. When the intermittent feed device 17 is driven from the transfer press 1 side, the electric motor 24 is stopped and the clutch 23 is turned off.

When the intermittent feeder 17 is sent onto the workpiece inspection device 82, the workpiece positioning device 30' is activated, and the positioning member positions the workpiece 11 in the feed direction and in a direction orthogonal to the feed direction, thereby checking various parts of the workpiece. An inspection will be carried out. This inspection is to check whether or not the workpiece 11 has been formed in a planned manner. It checks the shape, dimensions, distortion, wrinkles, number of bolt holes, etc. done using. Also 1fID with TV camera
It is also possible to use the monitor to judge whether the molding is good or bad.

When the inspection is completed, the positioning member of the workpiece positioning device 30' is released, and the workpieces 11, both good and defective, are sent downstream by the intermittent feeder 11. Then,
When the non-defective workpiece 11 comes to the tip of the intermittent feeder 17, the size of the workpiece 11 is 1500m width + nx length 2.
If it is not necessary to change the direction by about 0.000 mm, positioning in the feed direction is performed by the positioning members 43, 44 of the workpiece positioning device 30, and the positioning members 63.
[34 performs positioning in the direction perpendicular to the feeding direction.

To explain the operation of the workpiece positioning device 30 in detail, when the electric motor 32 is driven, the sprocket 33 and the chain 3
4. The screw shaft 35 is driven via the sprocket 36. Since the threaded shaft 35 has a reverse thread, when the threaded shaft 35 rotates, the moving frame 37 passes through the nuts 39 and 40.
．． 38 is a frame 3 that moves in the feeding direction of the intermittent feeding device 17;
7 and 38 move toward or away from each other, and the gap between the positioning members 43 and 44 is set to match the workpiece 11. The operations up to this point are performed when the dimensions of the workpiece 11 to be formed by the transfer press 1 have been determined.

When the workpiece 11 reaches the tip of the intermittent feeding device 17 and stops, the piston rods of the hydraulic cylinders 41 and 42 are operated in the direction of retreat. Then, the positioning members 43, 44 are guided by the grooves 47, 48 of the brackets 45, 46 via the guide rollers 49, 50, and move to the workpiece 11 side while standing up from the lying state, until they are completely erected. In this state, the workpiece 11 is held and the intermittent feeding device 17 is positioned in the feeding direction. Positioning part U
Similarly to the positioning members 43 and 44, the workpiece 11 is held between the positioning members 63 and 64, and positioning is performed in a direction perpendicular to the feeding direction of the intermittent feeding device 11.

Until the work 11 is positioned at the tip of the intermittent feeder 17, one of the two intermediate work loaders 97 waits above the tip of the intermittent feeder 17, and the other
The base stops above either of the left and right conveyance devices 89.

When the positioning of the workpiece 11 at the tip of the intermittent feeder 11 is completed, the intermediate workpiece, which is waiting above the tip of the intermittent feeder 17, is moved by the electrically operated +ff1107 of the crowder 97.
is driven, and the binion 108 rotates.

Therefore, the elevating frame 105 is lowered via the rack 10G, the frame 109 and the arm 110 are also lowered, and the suction pad 117 comes into contact with the surface of the workpiece 11.

Therefore, a valve provided between the vacuum pump and the suction pad 117 is turned on to evacuate the inside of the suction pad 117 to create a vacuum state, thereby attracting and supporting the workpiece 11. In this case, the arm 110 is placed in a substantially horizontal position as shown in FIG. 9 so that iJ3<.

Once the workpiece 11 is attracted and supported by the suction pad 117, the positioning members 43 and 44 of the workpiece positioning device 30
．． 63 and 64, and drive the electric motor 107 to move the lifting frame 105, frame 109,
Arm 110 and suction pad 111 are raised. As a result, the workpiece 11 at the tip of the intermittent feeder 11 is raised from the intermittent feeder 17 to a predetermined height. Also, during or after this lifting, the electric motor 112 is driven and the arm 110 is tilted upward via the pulley 113, timing belt 115, pulley 114, and shaft 111, thereby tilting the work 11.

The work 11 is attached to the suction pad 111 of the intermediate work loader 97
During or after rising to a predetermined height, the electric motor 101 is driven to rotate the binion 102, and the binion 102 is attached to the rack 10 fixed to the rail 96.
3, the rotation of the binion 102 causes the traversing frame 98 to traverse along the rail 96, and thereby the elevating frame 105, the frame 109, and the arm 110
, the suction pad 117, the work 11, etc. also traverse along the rail 96 together with the traverse frame 98. Therefore, when the intermediate work loader 97 that has sucked and supported the work 11 traverses along the rail 96 toward one of the two rows of transport devices 89, etc., the other transport device 89
The intermediate work loader 97 that was stopped on the side moves sideways along the rail 96 and comes above the intermittent feed device 17. For example, in FIG. 1, when the intermediate work loader 97 that has sucked and supported the workpiece 11 moves sideways from the intermittent feeder 17 section to the lower side of the figure, the conveyor 89, the upper side of the figure is the conveyor 89.
The intermediate work loader 97, which was located in the middle section, moves toward the intermittent feeder 17 side.

When the intermediate work loader 97 adsorbs and supports the work 11 and moves sideways to the lower side of FIG. 1, that is, to the front side of the page in FIGS. There is no hindrance to the movement of work 97, and work 11
The receiver is stopped in a position where it can be easily taken. At this time, in the workpiece temporary holding device 118, an electric motor 1128 is driven to move the arm 126 via the pulley 129, the timing belt 131, the pulley 1301 and the shaft 127 to the arm 110 of the intermediate work loader 97, as shown in FIG. It is tilted upward so that it is approximately flat?

When the work 11 attracted and supported by the intermediate work loader 91 comes above the arm 126 of the work temporary holding device 118,
The electric motor 107 of the intermediate work loader 91 is driven to lower the lifting frame 105, frame 109, arm 110, and suction pad 117 to lower the work 11, and the work 11 is placed on the arm 126 of the work temporary receiving device 118. The workpiece positioning device 132 is operated, and the arm 126 of the workpiece 11 is moved by the positioning members 136 and 143.
The suction pad 117 is separated from the workpiece 11, and the arm 11 is moved together with the lifting frame 105 and the like.
01 Separate the suction pad 117 from the workpiece 11, move the arm 1101 suction pad 117 up and down along the lifting frame 105, etc., and move the intermediate work loader 97 along the rail 96 to the intermittent feeder 17 side (upper side in FIG. 1) to become rampant.

At this time, the arm 126 is placed in a horizontal state in preparation for suctioning and supporting the next workpiece 11. Further, when the intermediate work loader 97 that has released the work 11 moves sideways to the intermittent feeder 17 side, another intermediate work loader 97 located above the tip of the intermittent feeder 17 attracts and supports the workpiece 11 from the intermittent feeder 17. , moves upward toward the transport device M89 side in FIG. In this way, the two intermediate work loaders 97 alternately adsorb and support the workpieces 11, and the workpieces of different series are temporarily received by the device 118.
Transport to.

The work piece 11 is temporarily received by the arm 126 of the device 118.
To explain the positioning of the nut 1, the screw shaft 134 is rotated by driving the electric motor 133, and the nut 1 is rotated.
35, the positioning member 136 is moved to a predetermined position, the electric motor 138 is driven to rotate the screw shaft 139, and the frame 142 is set together with the fluid pressure cylinder 141 and the positioning member 143 via the nut 140. The positioning member 14 is moved to the position shown in FIG.
3 moves, and the positioning member 143 pushes the work 11 toward the positioning member 136, thereby positioning the work 11.

When the work 11 is placed and positioned on the arm 126 of the temporary work receiving device 118, the arm 149 of the robot 145 that loaded the previous work 11 into the container 83 stopped on the intermittent feed device 90 .151,1
52, the frame 153, and the suction pad 154 rotate clockwise from the solid line position in FIG.

At this time, the temporary workpiece is placed in the device 11 so that the arm 152 of the robot 145, the frame 153, the suction pad 154, etc. do not interfere with the arm 126 of the device 118.
The arm 126 of No. 8 is rotated clockwise in FIG. 8 from the solid line position to the position of the two-dot chain line A via the electric motor 128, pulley 129, timing belt 131, pulley 130, and shaft 127, and is tilted downward. do.

Arms 149, 150, 151, 15 of robot 145
2. The frame 153 and the suction pad rotate in the S1 direction as shown in FIG.
When the robot 145 comes to the upper part of the arm 126 of
The arms 149, 150, 151, 152, the frame 153, and the suction pad 154 are rotated counterclockwise in FIG. 8, and the arm 126 of the device 118 is rotated counterclockwise in FIG. , when the arm 126 returns to the position near the solid line in FIG.
When the gradient rises toward the robot 145 side, the suction pad 154 of the robot 145 comes into contact with the workpiece 11 on the arm 126, and the inside of the suction pad 154 is evacuated by the air decay pump, so that the suction pad 154 is attached to the workpiece 1.
Adsorbs and supports 1. In this way, with the workpiece 11 tilted upward toward the robot 145, the robot l~
By suctioning and supporting the workpieces 154 on the suction pads 154 of the robot 145, the rotation angle of each arm of the robot 145 can be reduced, and therefore the time from when the robot 145 picks up the workpieces 11 to when they are stacked vertically in the container 83 can be shortened. can do.

When the workpiece 11 is attracted and supported by the suction pad 154 of the robot 145, the workpiece temporary holding is carried out by the arm 12 of the device 118.
6 is rotated clockwise from the solid line position in FIG. 8, and the electric motor 122 is driven to move the traveling frame 119, frame 125, and arm 126 via the pinion 123 from the solid line position in FIG. fall back. On the other hand, the arm 14 of the robot 154 that sucked and supported the workpiece 11
9.150°151.152, the frame 153 and suction pad 154 rotate counterclockwise in FIG.
Reference numeral 1 denotes a container whose posture gradually changes from an oblique position to a vertical position, into which one workpiece 11 is fed in advance by an intermittent feeding device fi90, and a buffer member 173 is inserted above the front surface of the workpiece 11 by a buffer member inserting device. 83, the lower ends of the works 11 are fitted into the grooves 170, the upper ends are supported by the buffer members 173, and vertical stacking is performed. When the suction pad 154 of the robot 145 is released, loading of one workpiece 11 into the container 83 is completed.

When the work 11 is loaded into the 1al container 83, the buffer member 173 is inserted into the container 8 by the buffer member insertion device.
The container 83 is inserted into the front side of the workpieces 11 loaded in the container 83, and the intermittent feeder 5A holder 90 is driven by the drive device 91, and the container 83 is sent downstream by the vertical stacking pitch of the workpieces 11, and the next workpiece 11 is loaded. Wait for. Also, while the arms 149, 150, 151, 152, frame 153, and suction pad 154 of the robot 145 rotate counterclockwise in FIG. 118 running frame 119,
The frame 125 moves forward from the position opening shown by the dashed dot line in FIG.

When a predetermined number of workpieces 11 are loaded into the container 83 on the intermittent feeder 90, the drive device 92 is driven to lower the top surface of the intermittent feeder 90, and the container 83 is transferred to the transfer device 89. 89.93, it is transported out of the line. Note that since all the workpieces 11 are stacked vertically in the container 83, the load of the upper workpiece 11 is not applied to the lower workpiece 11 unlike in the case of horizontal loading, so that the lower workpiece 11 is not deformed. There will be no scratches.

To explain the feeding of the container 83 to the intermittent feeding device 90, the container 83 is fed from outside the line!
■The leading part of the conveying device 84 is conveyed by the device 84 (・
It is fed and stopped, and the drive device 88 is driven to transport the device; d
86 is raised, the container 83 is transferred onto the conveying device 86, and then the driving device 81 is driven to move the container 8
3 is transported by the transport device 86 to the tip of the intermittent feed device 17, the transport device 86 is lowered by the drive device 88, the container 83 is transferred from the transport device M86 to the transport device M89, and the container 83 is transported to the downstream side of the robot 145 by the transport device 89. When it is fed and reaches a predetermined position, it comes into contact with a stopper (not shown) that can be raised and lowered to stop. Thereafter, the drive device 92 is driven to raise the intermittent feeder 90, and the container 83 is transferred to the intermittent feeder 90.

This completes the initial positioning of the container 83 for loading the work 11, and henceforth the work 11 is loaded into the container 83 as described above. Also, when the container 83 passes under the work temporary receiving device 118 or the lower part of the intermediate work loader 91, the arms 126, 1
The electric motor 174 is installed so that the 10 etc. do not interfere with the container 83.
, 107, the arms 126, 110 are raised via the lifting frames 125, 105.

If the workpiece 11 is large, for example, 2500 mm in width, if it is loaded vertically on the above-mentioned line, a container with a large width will be required, which may make it difficult to transport and process the workpiece in subsequent steps.

Therefore, in this case, when the workpiece 11 sent through the intermittent feeder 17 reaches its tip, the fluid pressure cylinder 78 shown in FIG. 7 is activated to raise the turntable body 79. lifts the workpiece 11, drives the electric motor 74 to rotate the pinion 75, and the pinion 75 rotates the turntable main body 7 via the gear 77.
Turn the turntable body 7 approximately 90 degrees, and then turn the turntable body 7.
9 is lowered and the workpiece 11 is placed on the intermittent feeder 17 again, and the workpiece 11 is positioned by the workpiece positioning device 30. From then on, the workpiece 11 is fed and loaded into the container 83 according to the procedure described above. In this case, the work 11 is fed intermittently.
It! Since the portion in the width direction on the container 83 is in the vertical direction, the container 83 may have a narrow width.

Also, in this case, the container 83 is also connected to the turntable device 85.
After the direction is changed by 90 degrees, the container 83 loaded with the workpieces 11 is fed to the intermittent feeder 90 in the same manner as described above, and the container 83 loaded with the workpieces 11 is turned 90 degrees by the turntable device 94.
The temperature is changed and the product is removed from the line.

If the workpiece 11 inspected by the workpiece inspection device 82 is defective, the workpiece 11 is intermittently transported in the same manner as described above up to the tip of the intermittent feeder 17, but after that it is transferred to the intermediate workloader 97. adsorbed and not supported. That is, the intermediate work loader 97 is not located above the intermittent feeder Pi, but is retracted laterally, and the manipulator 157
travels along the rail 156 to above the tip of the intermittent feeder 17, and the elevating frame 160 descends to remove the defective workpiece 1.
58 is suctioned and supported by the suction pad 162, and the elevating frame 160, which suctioned and supported the defective workpiece 158, moves upward, and the manipulator 157 moves along the rail 156 in the direction away from the intermittent feed device 17, and when it has moved a predetermined amount. The elevating frame 160 descends, and the defective workpiece 158 is placed in the container 169 waiting on the transport device 163.
is loaded. In this case, the defective workpieces 158 are not stacked vertically but horizontally. Note that among defective workpieces, those that can be recycled may be stacked vertically and Nw1 members inserted between each defective item, and those that will be scrapped may be stacked vertically.
A sideways loading method is also acceptable.

The container 169 loaded with a predetermined number of layers of defective workpieces 158 is transported to the lower part of the rail 164 by the transport device 163, the elevating frame 167 of the unloading device 165 is lowered, and the container 169 is gripped by the container hanging grip device 168. Then, the elevating frame 167 is raised to suspend the container 169, and the unloading device 165 travels along the rail 164, thereby transporting the defective workpiece 158 out of the line. Further, the container 169 is carried into the transport device 163 in advance using the carry-out device 165.

Of the defective workpieces carried out of the line, those that can be recycled are reworked and loaded into containers, while those that cannot be recycled are disposed of as scrap.

In addition, in the embodiment of the present invention, there are two lines for loading workpieces.
Although we have explained the case where the workpiece is arranged in series, it can also be carried out in one or more series.Although we have explained the case where a suction pad is used as a device for lifting and supporting the workpiece, it can also be carried out using a gripping device. It goes without saying that the pad, gripping device, positioning jig, etc. can be changed as appropriate depending on the size of the workpiece, and that various changes can be made without departing from the gist of the present invention.

[Effect of the invention 1] According to the automatic loading device of the present invention, it is possible to automatically load molded workpieces into a container without requiring manual labor, thereby eliminating the need to work with movable parts using a work opening. It has a number of excellent effects, such as improved safety and labor savings.

[Brief explanation of drawings]

FIG. 1 is a plan view of an embodiment of the automatic loading device of the present invention;
FIG. 2 is a view taken along the ■-■ direction of FIG. 1. Figure 3 is a view of If-II [direction arrow in Figure 2, Figure 4 is a detailed view of the upstream end of the intermittent feeder for workpieces used in the automatic loading device of the present invention, and Figure 5 is the same intermittent feeder. 6 is a detailed plan view of the vicinity of the tip of the device, FIG. 6 is a view taken in the Vl-V1 direction of FIG. 5, FIG. 7 is a view taken in the Vl-V1 direction of FIG. 6, and FIG.
The figure is a detailed explanatory diagram of the portion of the automatic loading device of the present invention that loads works into containers, Figure 9 is a detailed diagram of the intermediate work loader used in the automatic loading device of the present invention, and Figure 10 is the X in Figure 9. - It is an arrow view in the X direction. In the figure, 1 is a transfer press, 17 is an intermittent feeding device,
30. 30' is a work positioning device, 71 is a turntable device, 82 is a work inspection device, 83 is a container,
84 is a transport device, 89 is a transport device, 90 is an intermittent feed device, 93 is a transport device, 94 is a turntable device, 97 is an intermediate work loader, 118 is a work temporary receiving device, 132
145 indicates a workpiece positioning device, and 145 indicates a large articulated robot. Figure 5n No. 101

Claims (1)

[Claims] 1) An intermittent feeding device that intermittently sends the workpiece sent out from the transfer press, and a plurality of intermediate workpieces that transport the workpieces sent by the intermittent feeding device by raising them from the intermittent feeding device. A transport device, a plurality of temporary workpiece receiving devices that temporarily receive the workpieces sent by the intermediate workpiece conveying device, and a vertical container that supports the workpieces placed on each temporary workpiece receiving device and waits in advance. An automatic loading device characterized by being provided with a plurality of loading devices. 2) An intermittent feeding device that intermittently sends the work sent out from the transfer press, a plurality of intermediate work conveying devices that lift the work sent by the intermittent feeding device from the intermittent feeding device, and convey the intermediate work. A plurality of temporary workpiece receiving devices that temporarily receive workpieces sent by the transport device, and a plurality of transfer devices that support the workpieces placed on each temporary workpiece receiving device and stack them vertically into containers that are waiting in advance. An automatic loading device comprising: a device; and a pallet transport device that supplies empty containers to each transfer device. 3) An intermittent feeding device that intermittently sends the work sent out from the transfer press, a plurality of intermediate work transfer devices that lift the work sent by the intermittent feeding device from the intermittent feeding device, and convey the intermediate work. A plurality of temporary workpiece receiving devices that temporarily receive workpieces sent by the transport device, and a plurality of transfer devices that support the workpieces placed on each temporary workpiece receiving device and stack them vertically into containers that are waiting in advance. An automatic loading device comprising: a device, a workpiece inspection device disposed in the middle of the intermittent feeding device, and a device for taking out defective workpieces. 4) An intermittent feeding device that intermittently sends the work sent out from the transfer press, a plurality of intermediate work conveying devices that lift the work sent by the intermittent feeding device from the intermittent feeding device, and convey the intermediate work. A plurality of temporary workpiece receiving devices that temporarily receive workpieces sent by the transport device, and a plurality of transfer devices that support the workpieces placed on each temporary workpiece receiving device and stack them vertically into containers that are waiting in advance. A device, a pallet transport device for supplying empty containers to each transfer device, a workpiece inspection device disposed in the middle of the intermittent feeding device, and a device for taking out defective workpieces. automatic loading device.