JPS63229230A - Feeding/discharging method for workpiece housing container - Google Patents

Abstract

PURPOSE:To transfer containers in three dimensions and improve a space efficiency by feeding said containers from a taking in/out place to an upper take-out place via a standby place in front of said taking in/out place, temporarily storing emptied containers in a stacked condition in stages in a returning place in the rear of said take-out place, and lowering these emptied containers to said taking in/out place. CONSTITUTION:Until the container on the lowermost stage of previously fed containers (first container group) W which are stacked in stages is lifted up from a standby place 3 to a take-out place 4 and emptied and returned to a returning place 5, the containers from which workpieces are previously taken out of the first container group are stored in a stacked condition in stages on this returning place 5. Hence, the following containers (second container group) which are stacked in stages can be kept previously fed in a taking in/out place 2. And, when the container on the lowermost stage of the first container group is returned to the returning place 5, the containers of the first container group which are stacked in stages are lowered to the taking in/out place 2 and taken out of the taking in/out place 2 and the following containers stacked in stages are fed to the taking in/out place 2 and, by a similar procedure, containers can be continuously fed to the take-out place 4.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a method for supplying and discharging a workpiece storage container, which is mainly applied when a robot automatically takes out a workpiece.

(Prior art) Conventionally, a transfer path is provided to transfer a container for storing a workpiece in a plane from an input location to a takeout location, and the container is stopped at a fixed position at a takeout location in the middle of the transfer path to take out the workpiece. That's what I do.

(Problems to be Solved by the Invention) In the above method, there is a problem in that the transfer path occupies a relatively large space because the containers are transferred in a planar manner, resulting in poor space efficiency.

In this case, there is an entry/exit area where a predetermined number of stacked containers for storing workpieces can be accessed, a waiting area in front of the entry/exit area, a take-out area above the waiting area, and an access/exit area behind the take-out area. A return area is provided above the place, and after the stacked containers to be put into the loading/unloading area are sent to the waiting area, these containers are sequentially ascended to the take-out area from the top to the take-out area and the workpieces are removed. It is also conceivable to transport the empty containers from the take-out location, through the return location, and back to the entry/exit location, thereby reducing space by three-dimensionally transporting the containers.

However, if the empty containers returned to the return location are lowered one by one to the entry/exit location and stacked at the entry/exit location, the containers that were put into the entry/exit location first will be all stored at the entry/exit location. until it is returned and removed from the entry/exit location.
The next container cannot be loaded into the loading/unloading area, and after the removal of workpieces from the lowermost container into which it was previously input is completed, it takes time to start removing the workpieces from the topmost container, which is to be loaded next. Since this time becomes loss time and reduces productivity, it is desirable to solve this problem.

Note that loading and unloading of containers is carried out by placing the empty container taken out from the loading/unloading area on a trolley, and then placing the container containing the workpiece previously placed on the truck into the loading/unloading area. If the locations are separate, work efficiency will be poor, so it is better to perform the work of loading and unloading containers at the same loading and unloading location as described above.

An object of the present invention is to provide a method for supplying and discharging containers, which solves the above-mentioned problems in those in which containers are transferred three-dimensionally, and allows containers to be continuously supplied to a workpiece take-out location. That purpose.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides an entry/exit location where a predetermined number of containers for storing workpieces can be taken in and out, and a waiting area in front of the entry/exit location. and a take-out place above the waiting place for taking out workpieces from containers, and a return place located behind the take-out place and above the take-out place, and stacked containers to be put into the take-out place. After sending the containers to the waiting area, the containers are sequentially ascended to the take-out place from the top to take out the workpieces, and the empty containers are returned from the take-out place to the return place via the return place. The container is characterized in that the containers to be returned to the return location are sequentially stacked on the return location, and when a predetermined number of containers have been stacked, the containers are lowered to the entrance/exit.

(Function) The lowest container of the stacked containers loaded earlier (hereinafter referred to as cylinder 1 container group) is raised from the standby position to the take-out position until it is emptied and returned to the return location. Containers from which the work has been taken before the first container group are stocked in a stacked state on the return location, and therefore, the next container (hereinafter referred to as container group of tube 2) that is stacked in advance at the entry/exit location can be put in.

Then, when the lowermost container rises to the take-out position, a second group of containers is sent to the waiting area, and when the lowermost container becomes empty and is returned to the return location, the second container group is The uppermost container is raised to the removal location, and removal of workpieces from the group of containers is started.

Further, when the containers in the first container group are returned to the return location, the containers in the first container group are lowered to the entry/exit location in a stacked state,
This is taken out from the loading/unloading location, and the next stacked container is put into the loading/unloading location, and the containers are continuously supplied to the loading/unloading location using the same procedure as described above.

(Example) Referring to FIGS. 1 to 4, (1) shows a machine frame with a framework so that a container W containing a work can be transferred back and forth and up and down, and the machine frame (1) There is an entrance/exit area (2) at the rear of the lower part where a predetermined number of containers W, for example, three stacked containers, can be taken in and out, a waiting area (3) in front of it, and a waiting area (3) where works are taken out from the containers W. 3) Upper extraction location (4)
and a return location (5) located behind the take-out location (4) and above the entry/exit location (2), and the containers W placed in the entry/exit location (2) are transferred to the machine frame (1). The first one placed at the bottom
The Wi feed device (6) allows the stacked state to be transferred to the waiting area (3).
), and these containers W are sequentially raised to the take-out location (4) from the upper one using the first lifting device (7) located at the rear of the machine frame (1). The positioning device (8) positions the container W using a robot, etc.
After taking out the workpiece inside, the empty container W is placed in the machine frame (
The second transport device (9) placed on the top of the machine frame (1) returns the goods to the return place (5), and the second lifting device (IQ) placed at the rear of the machine frame (1) returns the goods to the return place (5). The containers WW returned above were stacked, and when three containers 9 were stacked, they were lowered to the entry/exit location (2).

The first Wi feed @ (6) includes a plurality of conveyance rollers (
6C), and the first
The lifting gear 2f (7) is composed of a chain lifter driven by a motor (7a), that is, a pair of lower drive sprockets (front and rear) provided on both left and right sides of the front part of the machine frame (1). 7b) and the upper driven sprocket (7C
), a support plate (7e) for supporting the container W is installed between the front and rear pairs of right and left chains (76H7d), and the motor (7a) A first sprocket (1g) that rotates in opposite directions with the power from the motor (7a) is connected to the gearbox (7f)
) and a second sprocket (7h), and the first sprocket (7g) connects the drive sprocket (7b) on the left side in FIG. 3 via the chain (71).
The second sprocket (7h) connects the right drive sprocket (yb) (in Fig. 3) via the chain (7j).
7b) is rotated, and by forward and reverse rotation of the motor (7a), a pair of front and rear support plates (7e) (7e) is given a mutually synchronized vertical movement, and as a result, the container W is rotated between the two supports. Board (
7c) It was designed so that it could be raised and lowered while being placed on (7e).

The positioning device (8) includes a pair of pressing cylinders (8a) (8a) that press both rear corners of the container W lifted to the take-out location (4) in a diagonal direction of the container W;
A pair of positioning frames (8b) (8b) fixed to the machine frame (1) for receiving the corners on both sides of the front of the container W, and a pair of left and right support arms (8c) (8c) that support the bottom surface of the container W. Each support arm (8C) is composed of a pair of upper and lower cams formed on a guide plate (8e) fixed to the machine frame (1) by a cylinder (8d), as shown in FIG. Groove (8f) (
8f), the actuating position protrudes into the container lifting trajectory between the waiting place (3) and the take-out place (4), and the escape position outside the actuating position, and by moving to the escape position. The container W can be moved up and down without interfering with the support arms (8C).

The second conveying device (9) has a pair of left and right conveyor frames (9a) extending between the take-out location (4) and the return location (5).
) (9a) is a return roller that receives both sides of the bottom of the container W (
9b) and a pair of starting rollers (9C) (9c) that come into contact with the side surface of the container W existing at the take-out position (4), and these return of each conveyor frame (9a) The rollers (9b) are interlocked with each other via a chain (9d), and the starting rollers (9C) are interlocked with the return roller (9b) at the front end via a belt (9e). 4. As shown in the figure, a motor (9f) is provided between the take-out location (4) and the return location (5), and the shaft (9h) connected to the motor (9f) via a chain (9g) is connected to the negative side. An appropriate return roller (9b) of the conveyor frame (9a) on the other side and another return roller (9b) of the support frame (9a) on the - side are connected to the conveyor frame (9a) on the other side via the shaft (91). Connected to an appropriate return roller (9b),
Thus, both conveyor frames (9a) are moved by the motor (9f).
The return roller (9b) and the start roller (9C) of (9a) are given mutually synchronized rotation, and the container W present at the take-out location (4) is moved by the start roller (9C) to the support arm (
8c) (8C) It was sent out onto the return roller (9b) from above, and was conveyed to the return location (5) by the return roller (9b).

Here, as shown in FIG. 6, both conveyor frames (ga) (9a) are pivotally supported by supporting pieces (9j) erected on the upper surface of the conveyor frame (ga) so as to be able to open and close laterally with respect to the machine frame (1). , each link (9'') is operated by a lever (91) interlocked with a rotary actuator (9k) placed near the motor (9'').
1) so that the containers W are opened and closed in synchronization with each other, and the containers W described above are transported in the closed position shown by the solid line in FIG. The virtual line in the figure opens like water, and the container W rises from the waiting area (3) to the take-out area (4), and from the return area (5) to the entry/exit area (2).
When the container W is lowered to the container 23w, the starting roller (9C)
and the return roller (9b) from interfering with each other. In addition, the shaft (9h) (9iH2, both conveyor frames (9a)
) (9a) is constructed with a hook joint so as not to hinder the opening/closing operation. In the figure (9n) each conveyor frame (9n)
a) Shows the guide plate provided above to prevent the container W from shifting laterally.

The second lifting device (IO) is composed of a chain lifter driven by a motor (10a), and the difference from the first lifting device @ (7) is that a container is used instead of the support plate (7e). The only difference is that a hook (10e) is provided on both sides of the bottom of the W to engage with the engagement groove Wa formed as shown in Figure 7, and the other configurations are not particularly different and are the same members as the first lifting device (7). The same alphabet as the alphabet given to numeral 7 is given to numeral 10, and the explanation thereof will be omitted.

Here, each hook (10e) is attached to each chain (10d) so as to be tiltable between a laterally inward protruding position where it engages with the container W and a laterally outward escape position, as shown in FIG.
When each hook (10e) is lowered from above to the container W, each hook (10e) is pushed by the side of the container and tilted to the escape position, and each hook (10e) is lowered to the container W from below. When raising the hook, each hook (10e
) is engaged with the engagement groove Wa of the container W, and the motor (
10a), these hooks (10e) are synchronized with each other via each chain (10d) between an upper upper end position of the return location (5) and a slightly lower intermediate position of the return location (5). It can be raised and lowered freely from the intermediate position to the descending end position slightly below the entrance/exit location (2), and then from the descending end position to the ascending end position via the circulation path outside of each chain (10d). It was possible to move back freely.

Machine frame (1) Ic C, each of the above devices (6) (7) (
8) (9) (Various sensors are provided for operating the IO in sequence, and the operation of this embodiment will be explained below with a description of these sensors.

A container loading sensor aυ consisting of a phototube is placed in which the front end of the lowest container W is placed at the lower front side of the loading/unloading location (2). When reaching this point, the motor (6a) of the first conveying device (6) is activated by the signal from the sensor CIv, and the container group is conveyed to the waiting area (3), and the front end of the lowest container W is When the sensor (1
The motor (6a) stops in response to a signal from 21, and then the motor (7a) of the first lifting device (7) is activated to raise the group of containers in a stacked state, and the container W on the top tier rises. When it rises to the take-out position (4), the detection claw (13a) provided on the front side of the take-out position (4) swings inward and engages with the detection groove Wb formed at the front bottom of the container W. The tail end of the detection claw (13a) faces a container rise sensor (13) consisting of a proximity switch, and the sensor (13) confirms that the container W has risen to the taken-out image N (4).

At this point, the motor (7) is activated by the signal from the sensor (13).
a), and at the same time actuates the suppression cylinder (8a) of the positioning device (8), and takes out the first container W on the uppermost stage while positioning it in two horizontal directions between it and the positioning frame (8b). Temporarily fix in position (4), then motor (7a)
is operated in reverse to lower the remaining containers W, and
When the container W has been lowered to a position below the remaining container lowering sensor 11 @ consisting of a photocell placed below the extraction position (4) and no longer interferes with the support arm (8c) of the positioning device (8). The support arm (8C) is projected to the operating position by the signal from the sensor aΦ, the first container W is positioned in the vertical direction, and the type II discrimination holes WC formed on the front surface of the container W are arranged. It is detected by the model discrimination sensor 0 installed on the front side of the extraction location (4), and compared with the model data stored in advance. If the data matches, the robot sequentially removes the workpieces from the container W. Take it out.

After the work is taken out, the conveyor frame (9a) of the second conveyance device (9) is closed, the press cylinder (8a) is retired, and the support piece (9j) controls the swinging of the conveyor frame (9a) to the closed position. After detection by the conveyor frame opening sensor ae, which consists of a proximity switch that works with do.

Then, when the rear end of the container W reaches the container return sensor (+71) consisting of a photocell placed at the rear side of the return location (5), the motor (9f) is stopped by a signal from the sensor (171). At the same time, the motor (tOa) of the second lifting device (IG) is activated to lower the hook (100) located at the first upper end position, and when the hook (10e) is lowered to the intermediate position, the hook (tOa) consisting of the proximity switch is lowered. When detected by the position sensor (+71), the motor (10f
) is reversed, the hook (10e) rises to lift the container W, and when the hook (100) rises to the rising end position and this is detected by the hook rising end sensor a & consisting of a proximity switch, the motor ( 10f) stops.

At the same time, the conveyor frame (9a) is opened by the signal from the sensor (+8), the support arm (8C) is moved to the escape position, and then the motor (7a) is activated to raise the remaining containers, and the middle stage When the second container W rises to the take-out location 4) and is detected by the container rise sensor (13) in the same manner as above, the motor (7a) is stopped, and thereafter the second container W is Temporary fixation at the take-out location (4), lowering of the third container W at the bottom, final positioning of the second container W, work removal, and return location of the empty second container W ( 5), the hook (10e) is lowered from the raised end position to the intermediate position, and raised from the intermediate position to the raised position, and the second container W is placed on top of the first container W. are lifted above the return location (5) in a stacked state,
Next, the third container W at the lowest stage is lifted and positioned at the take-out location (4).

In this case, the support plate (1e) rises to the level of the lower surface of the extraction place (4), and the support plate rising end sensor a9 consisting of a proximity switch is activated, indicating that the '\fSl place (3) is empty. If this is confirmed and the next group of containers has been loaded in advance at the loading/unloading location and a signal is generated from the container loading sensor (+1), the support plate (7e) is lowered to the lowering end position and the support plate (not shown) is lowered. When a signal is generated from the end sensor, the motor (6a) is activated and the next container W is carried into the waiting area (3).

When the removal of the work from the third container W is completed and the work is returned to the return location (5), the hook (1ee) descends from the upper end position to the intermediate position and then rises once to the upper end position. , place the third container W on top of the second and first containers W.
Lift it up in a stacked state, and then lift it up onto the conveyor frame (9a).
After the hook (10Q) is opened, the hook (10Q) is lowered to the lower end position, and these containers W are placed on the conveying roller (6C) located at the entry/exit location (2), while being transported to the waiting location (3). The topmost container W of the next container group is lifted to the take-out location (4), and workpiece removal from the container group according to the method is started.

Note that when the hook (1G (3)) is lowered to the lowering end position, this is detected by the hook lowering end sensor ■ consisting of a proximity switch, and the lowering of the group of empty containers to the entry/exit location is detected by the empty container lowering sensor consisting of a phototube. When @ is detected, an appropriate alarm will be activated to prompt the worker to take in and out the container, and the hook (
1013) is a chain (
10d), and is returned to the rising end position to prepare for stocking of empty containers on the above-mentioned return location (5).

(Effects of the Invention) As described above, according to the present invention, containers are supplied from the loading/unloading area through the waiting area in front to the take-out area above, and the empty containers are once stacked at the return area behind the take-out area. The container is stocked in the same condition and lowered to the entry/exit location, and the container is transferred three-dimensionally, improving space efficiency.
It is now possible to load the next group of containers into the loading/unloading area while the workpieces are being taken out from the previously loaded container group, and after the workpieces have been taken out from the previous container group, the next group of containers can be loaded without any loss time. Workpiece removal can be started, which has the effect of improving productivity.

[Brief explanation of drawings]

FIG. 1 is a front view of an example of a container supply/discharge device used for carrying out the present invention, FIG. 2 is a left side view thereof, and FIG. 3 is a right side view thereof.
Figure 4 is a plan view, Figures 5 and 6 are the v--
FIG. 7 is a side view taken along the V line and the Vl-vt line, and a perspective view of the container. W...Container■...Enter/exit location (3)...Waiting area (4)...Take out hot water area (5)...Return location Patent Applicant: 2 people outside Honda Motor Co., Ltd. ■ Figure 3

Claims (1)

[Claims] an access area where a predetermined number of containers for storing workpieces can be accessed and removed; a waiting area in front of the access area;
A take-out place is provided above the waiting place for taking out workpieces from containers, and a return place is located behind the take-out place and above the loading/unloading area, and stacked containers to be put into the loading/unloading area are placed in the waiting area. After being delivered to a location, these containers are sequentially ascended from the top to the take-out location to take out the workpieces, and the empty containers are returned from the take-out location to the return location via the return location. A method for supplying and discharging workpiece storage containers, characterized in that the containers to be returned to the return location are sequentially stacked on the return location, and when a predetermined number of containers have been stacked, these containers are lowered to the entrance/exit. .