JPS6361251B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a parts supply device for supplying parts to an assembly line or the like.

[Technical Background of the Invention] A device called a depalletizer is a type of device that supplies parts to an assembly line or the like. This parts supply device is generally installed on the side of an assembly line, etc., and sequentially takes out and supplies parts from multiple parts boxes stacked in a separable manner, and then stacks the empty boxes again after the parts have been taken out. It is designed to be discharged outside the device.

FIG. 8 shows an example of a horizontal circulation system in which each component of this device is arranged in a two-dimensional manner, and FIGS. 9A to 9D show several examples of a vertical circulation system in which each component is arranged three-dimensionally. In each of these devices, 1 is a transport device such as an automatic guided vehicle or a trolley, 2 is a stock section for temporarily storing parts boxes B transferred from this transport device, and 3 is a storage unit for temporarily storing stacked parts boxes B. 4 is a standby part for separated parts boxes B, 5 is a positioning part for positioning separated parts boxes B, 6 is an empty box C after parts boxes are taken out. 7 is an empty box stocking section for storing the stacked empty boxes C, and 8 is a space machine of the assembly device. A plurality of component boxes B containing components are stacked and transported by the transport device 1, transferred to the component supply device, circulated in the direction shown by the solid line arrow, and positioned in the positioning section 5. , the parts are taken out by a transfer robot or the like installed along the base machine B as shown by the broken line arrow. After the parts have been taken out, the empty box C is transferred from the empty box stock section 7 to the conveying device 1, and is carried out from the parts supplying device.

[Problems with background technology]

Among the above-mentioned component supply devices, those in which the configuration of the device is arranged in a two-dimensional manner have a high replacement speed for the component boxes B, but require a large installation area and are extremely inefficient in terms of space. In addition, when changing the product type, the parts boxes B left on the parts supply device cannot be stacked and discharged, so it takes time to change the product type, reducing the operating rate of not only the parts feed device but also the subsequent base machine. There are drawbacks.

Furthermore, in the case of a device in which the structure is arranged three-dimensionally, for example, in the device shown in FIG. In order to transport the box C, this picking elevator 9 is used to transport the parts box B.
exchange speed is limited. Furthermore, in the apparatuses shown in Figures B to D, the transport distance of the parts box B from the stacking part 3 to the positioning part 5 is long, and it also takes time to transport the empty box C from the positioning part 5. There is a problem in that the exchange speed of box B is slow.

[Purpose of the invention]

The present invention provides a parts supply device that takes out and supplies components from a plurality of separably stacked component boxes, which increases the replacement speed of component boxes and improves the operating rate of the device. It is in.

[Summary of the invention]

A transport means for loading a plurality of component boxes in a separably stacked manner on a lifter, and transporting the uppermost component box by the lifter to a positioning section located above the lifter while the plurality of component boxes are stacked. , separation and positioning means for separating the component box conveyed to the positioning section from the lower component box by the cooperation of the lifter and the positioning section; , Y, and Z directions and then take out the parts from the parts box.

[Embodiments of the Invention] The present invention will be described below based on embodiments with reference to the drawings.

An example of a parts supply device is shown in FIGS. 1 and 2. The parts box B that stores the parts has a flange at the upper end and has a shape that allows a plurality of parts to be stacked in a separable manner. The parts supply device is partially formed into a two-story three-dimensional structure, and is used to carry in parts boxes B transported by the automatic guided vehicle 10, and to carry in empty boxes C after parts are taken out.
A transfer section 11 for transporting the material to the automatic guided vehicle 10, a stock section 12 provided on the base machine 8 side adjacent to this transfer section 11, and a stock section 12 provided on the base machine 8 side adjacent to this stock section 12. The stacking section 14 is provided on the stock section 12 and supports stacking of empty boxes C, and a control section 15 controls the operation of each of these sections.

The transfer section 11 has an upper end connected to a transfer stage 17 for carrying in the parts box B or carrying out the empty box C.
, a frame 18a surrounding this transfer section 11
It has a first lifter 19 inside.

As shown in FIG. 3A, this first lifter 19 includes a plurality of rollers 21 rotatably attached to a support frame 20, and a motor with a reducer and brake fixed to the rotating shaft of each roller 21 and the support frame 20. 2
A chain 23 is mounted on a sprocket attached to the output shaft of the motor 2, and the mounting part 24 can be rotated in both forward and reverse directions by the rotational drive of the motor 22, and an elevating mechanism 25 that raises and lowers the mounting part 24. This elevating mechanism 25 includes a pair of columns 26 erected along the inner side of one side of the frame 18a.
It has a pair of upper and lower rotating shafts 27 that are rotatably supported at both ends of the shaft, and among four sprockets 28 attached to both ends of each rotating shaft 27, a chain is attached to each pair of sprockets that face each other vertically. At the same time, a sprocket attached to the output shaft of a motor 29 with a reducer and brake fixed to one column 26 is engaged with one of the chains. The mounting section 24 is fixed to an attachment 30 attached to the pair of chains, and is rotated by the motor 29 to move the transfer stage at the upper end and the lower end along the pair of linear guides 31 fixed to the column 26. Go up and down between the parts.

The stock part 12 has a mounting part 33 fixed to the inside of a frame 18b surrounding the stock part 12 so as to form a straight line on the same plane as the mounting part 24 stopped at the upper and lower ends. This mounting section 33
is a motor 35 that rotates a plurality of rollers 34;
The mounting portion 24 is different from the above, except that the mounting portion 24 rotates in one direction.
Since it has the same structure as , detailed explanation thereof will be omitted.

The step-breaking section 13 includes a second lifter 37 provided inside the frame 18c surrounding the step-breaking section 13, a positioning section 38 provided above the second lifter 37, the stock section 12, and the stock section 12, which will be described later. A pair of upper and lower rollers 39 are rotatably supported inside the frame 18c adjacent to the stacked portion 14.
It consists of a and 39b.

As shown in FIGS. 3A and 3B, the second lifter 37 includes a mounting section 41 and an elevating mechanism 42 that moves the mounting section 41 up and down. The mounting portion 41 and the lifting mechanism 42 are connected to the first lifter 19.
The mounting part 41 is formed to have almost the same structure as the mounting part 24 and the lifting mechanism 25, and is lowered by the lifting mechanism 42.
It stops so as to be on the same plane and in a straight line with the mounting section 33 of No. 2. Note that the mounting portion 41 of this second lifter 37
Regarding the structure of each part of the elevating mechanism 42, the same numbers are given to the same parts as the mounting part 24 and the elevating mechanism 25 of the first lifter 19, and detailed explanation thereof will be omitted.

As shown in FIGS. 4A to 4C, the positioning section 38 includes a first positioning tool 44 attached to one side of the frame 18c, and a first positioning tool 44 mounted on one side of the frame 18c.
4 and a second positioning tool 45 mounted on the other side of the frame 18c (the separation positioning means consists of a first positioning tool 44 and a second positioning tool 45). The first positioning tool 44, which is a lever, includes a two-stage motion cylinder 46 fixed to one side of the frame 18c via a support.
It consists of a push plate 47 attached to the operating shaft of this two-stage motion cylinder 46. Due to the operation of the cylinder 46, the push plate 47 is inserted into the frame 18c in parallel with the cylinder 46.
Using the linear motion track 48 fixed on one side and the linear motion rail 49 fixed to the push plate 47 as guides, the parts box B is moved against one side of the parts box B transported by the upward movement of the second lifter 37. Advance and retreat in two stages. The first
In the advance stage, the end surface of the push plate 47 stops at a position approximately 1 mm away from one side of the parts box B, and comes into contact with the one side of the parts box B in the second stage of advance. Further, the second positioning tool 45 is attached to the operating shaft of a cylinder (not shown), and is attached to the frame 18c.
The frame 1 of the stacked part 14 is fixed on the other side.
It has a positioning tool support 51 that moves back and forth along a traverse rail 50 extending up to 8d. A cylinder 52 is attached to the positioning tool support 51, and a claw support 53 extending parallel to the push plate 47 of the first positioning tool 44 is attached to the operating shaft of the cylinder 52. At one end of this pawl support 53, there is a reference pawl 54 having two mutually orthogonal reference surfaces that engage with the side corner portions of the parts box B, and at the other end, a reference pawl 54 is provided. A push claw 55 that comes into contact with the other side is attached. These reference claws 54 and pusher claws 55 are
By the operation of the cylinder 52, the first position is achieved along with the claw support 53 using the linear motion track 56 fixed to the positioning tool support 51 and the linear motion rail 57 fixed to the claw support 53 as guides. Push rate 4 of ingredient 44
Advance and retreat in the same direction as 7. Further, on the other end side of the claw support 53, a claw support 53 is attached to the operating shaft of a cylinder 58 fixed to the positioning tool support 51.
A side push plate 59 is provided which moves forward and backward in the longitudinal direction and whose tip abuts against the side surface of the parts box B.

This positioning section 38 is configured to push the push plate 47 of the first positioning tool 44 of the two-stage motion with respect to the parts box B transported between the first and second positioning tools 44 and 45 by the second lifter 37. is advanced to the first stage and inserted into the lower part of the flange formed at the upper end of the parts box B. At the same time, the claw support 53 of the second positioning tool 45 is advanced to move the reference claw 54 and the pusher claw 55 into the above-mentioned positions. By inserting it into the lower part of the flange and bringing it into contact with the other side of the parts box B, the parts box B is supported by the first and second positioning tools 44 and 45. From this state, the second lifter 37 descends to a height equivalent to at least one parts box B, and the parts box B supported by the first and second positioning tools 44 and 45 is separated from the succeeding parts box B. When the positioning in the height direction is performed, the second
The side push plate 59 of the positioning tool 45 moves forward to sandwich the parts box B between the side push plate 59 and the reference claw 54, and moves the parts box B to the first and second positioning tools 44, Positioning is performed from a direction perpendicular to the forward and backward direction of 45. Thereafter, a second stage of advancement of the push plate 47 of the first positioning tool 44 is performed, and this push plate 47 and the reference claw 54 of the second positioning tool 45 are moved forward.
and the pusher claws 55 sandwich and support the component boxes B. As a result, the component boxes B are positioned at the separation position in the X, Y, and Z directions perpendicular to each other. Position in three dimensions. In this case, the thrust of the cylinder 52 of the second locating tool 45 is greater than the thrust of the cylinder 46 of the first locating tool 44, and the push plate 47 of the first locating tool 44 is moved to the parts box B by the second stage of advancement. Even if they come into contact with one side later, the positions of the reference pawl 54 and the push pawl 55, which have come into contact with the other side of the parts box B first, do not change.

The parts housed in the parts box B are taken out from the parts box B positioned by the positioning section 38 by a transfer device such as a robot. After the parts have been taken out, the empty box C is moved back to the push plate 47 of the first locating tool 44 by the first step, and after the push plate 47 of the first locating tool 44 is released, the push plate 47 of the first locating tool 44 is released, and then the push plate 47 of the first locating tool 44 is moved back to the positioning tool support of the second locating tool 45. This is done by moving the stand 51 along the traverse rail 50 in the direction of the stacked portion 14. The empty box C is the reference claw 54 of the second positioning tool 45.
The roller 3
9b and is conveyed toward the stacking section 14. Note that the push plate 47 of the first positioning tool 44
The robot then performs the second stage of retreat and returns to its original position. In addition, the second positioning tool 45 moves the side push plate 59 back at a predetermined position to release the empty box C, and after moving the claw support 53 back, the second positioning tool 45 moves back to the first position by moving the positioning tool support 51 back.
It returns to its original position facing the positioning tool 44.

The stacked portion 14 has a third lifter 61 provided inside the frame 18d surrounding the stacked portion 14.
and a support device 62 that, in cooperation with the third lifter 61, stacks and supports the empty boxes C conveyed by the positioning section 38.

The third lifter 61, as shown in FIG.
4 and a mounting section 6 having almost the same structure as the lifting mechanism 25.
4 and a lifting mechanism 65. This lifting mechanism 65
The loading section 64 that descends due to the step separation section 1
3 and the mounting portion 24 of the first lifter 19 that has risen and stopped on the transfer stage 17 so as to be on the same plane and in a straight line. The structure of each part of the mounting part 64 of the third lifter 61 and the elevating mechanism 65 is as described in the first
The same numbers are given to the same parts as the mounting part 24 and the elevating mechanism 25 of the lifter 19, and detailed explanation thereof will be omitted.

The support device 62 includes a pair of slide shafts 66 that are erected along the side surfaces of the frame 18d and have both ends fixed, and the pair of slide shafts 66.
A pair of upper and lower support parts 6 of the same structure attached to the
5a and 67b, those having the same configuration are provided facing each other on both sides of the frame 18d, and one of them is connected to the pair of columns 26 of the third lifter 61.
It is located inside. The support part 67a or 67b, as shown in FIGS. 5A and 5B, a fixing block 69 that is attached to the pair of slide shafts 66 with bolts 68 so that the position can be changed, and a cylinder 70 that is fixed to this fixing block 69. The fixing block 69 has a rectangular claw 71 which is attached to the operating shaft and moves forward and backward guided by grooves formed on both end faces of the fixed block 69.

This support device 62 advances the claws 71 of a pair of opposing support parts provided along the frame 18d, such as the lower support part 67a, and inserts them into the lower part of the collar of the empty box C to support it. Third lifter 61
first rises until the upper end surface of the loaded empty box C comes into contact with the bottom of the empty box C supported by the support section 67a, and then stops once. The empty box C supported by the support part 67a is moved by the claw 7 of this support part 67a.
1 is released from the support section 67a and stacked on the empty box C mounted on the third lifter 61. The third lifter 61 then rises to a height corresponding to one empty box C, and the empty boxes C stacked on the third lifter 61 are supported by the claws 71 of the support section 67a, which then moves forward.

Next, a method of supplying parts to the base machine 8 using this parts supplying device will be described.

First, a plurality of stacked parts boxes B are transported by an automatic guided vehicle 10, and a transfer device such as a robot moves them to the first stage 17, which is stopped on a transfer stage 17.
When the parts boxes B are transferred to the mounting section 24 of the lifter 19, each roller 21 of this mounting section 24 is rotated by a control signal sent from the control section 15, and the stacked parts boxes B are transferred and loaded. are transported to the fixed position of this mounting section 24 while being stacked. When the mounted parts box B is transported to the fixed position, the mounting part 24
descends to the lower end of the transfer section 11, rotates the rollers 21 again, and transports the component box B mounted on the mounting section toward the stock section 12.

The loading section 33 of the stock section 12 and the transfer section 11
The rollers 34 are rotated at the same time as the rollers 21 of the mounting section 24, which has been lowered to the lower end thereof, are rotated, and the component box B, which has been transported in the direction of the stock section 12, is transported to a fixed position on the mounting section 33. The first lifter 1
The mounting section 24 of No. 9 returns to the mounting stage 17 thereafter.

The stepped part 13 is the second part of this stepped part 13.
When there is no parts box B on the lifter 37, this second
A sensor (not shown) provided on the lifter 37 detects this, and a control signal is sent from the control unit 15 based on the signal sent from this sensor.
The mounting portion 41 is lowered to a position where it forms the same plane as the mounting portion 33 of the stock portion 12. Then, the roller 21 is rotated together with the roller 34 of the mounting section 33 of the stock section 12, and the component box B on the stock section 12 is conveyed to a fixed position on the mounting section 41 of the second lifter 37. Note that when transporting the parts box B transferred from the automatic guided vehicle 10 to the stock section 12, if there is no parts box B on the second lifter 37 of this step-breaking section 13, the loading section 41 will be lowered to the lower end. The parts box B transferred from the automatic guided vehicle 10 is not stored in the stock part 12, but directly passes through the stock part 12 to the fixed position of the loading part 41 of the unbundling part 13. transported.

When the parts box B is mounted on this mounting section 41,
The second lifter 37 rises to a height at which the uppermost component box B stacked on the mounting section 41 is inserted between the first and second positioning tools 44 and 45 of the positioning section 38. These first and second positioning tools 44, 45
When the parts box B is inserted between them, the sensors (not shown) provided on the positioning tools 44 and 45 detect the control signals sent from the control unit 15 based on the signals sent from the sensors. First, the first positioning tool 4 of the two-stage motion
At the same time, the push plate 47 of No. 4 moves forward by the first step, the claw support 53 of the second positioning tool 45 moves forward, and the reference claw 54 and the pusher mounted on the push plate 47 and the claw support 53 move forward. A plate claw 55 is inserted into the lower part of the collar of the parts box B. Thereafter, the second lifter 37 descends by a height equivalent to at least one parts box B, and supports the uppermost parts box B by the first and second positioning tools 44, 45, and Lower parts box B
Separate from. These first and second positioning tools 4
The parts box B supported by 4 and 45 is then moved between the reference claws 54 which are in contact with the corner parts of the parts box B,
One positioning is performed by the side push plate 59 moving forward toward the reference claw 54, and further, by the second stage of advancement of the push plate 47 of the first positioning tool 44, a direction perpendicular to the above one direction is performed. The separated uppermost component box B is three-dimensionally positioned in the X, Y, and Z directions at the separated position.

When this positioning is completed, the parts are taken out from the parts box B and transferred to the base machine 8 by a transfer device such as a robot.

When the removal of the parts is completed, the push plate 47 of the first locating tool 44 is moved back by the first step, and then the locating tool support 51 of the second locating tool 45 is moved along the traverse rail 50. , the push plate 47 has moved the empty box C, which is held between the reference claw 54 of the second positioning tool 45 and the side push plate 59, by the first step.
is used as a support guide to convey the material in the direction of the stacking section 14.
That is, the positioning section 38 has the function of separating and positioning the parts box B, as well as the function of transporting the empty box C, and operates as a transport mechanism for the empty box C after the parts are taken out. The second positioning tool 45
is the side push plate 5 at the predetermined position.
9 retreats to release the empty box C, and then the claw support 5
3 to return to its original position above the second lifter 37 directly facing the first positioning tool 44. Meanwhile, during this time, the push plate 47 of the first positioning tool 44 performs a second stage of retreat and waits for the next supporting position of the parts box B.

When an empty box C is carried in from the positioning section 38, a sensor (not shown) provided in the stacking section 14 detects this, and a control section is activated based on a signal sent from this sensor. 15, the roller 21 of the mounting section 64 of the third lifter 61 is rotated, and the second positioning tool 45 is rotated.
The empty box C released from the box C is transported to a fixed position on this mounting section 64. After that, the third lifter 61
The upper end surface of the empty box C on this mounting part 64 is the support device 6
It rises to a height where it comes into contact with the bottom of the empty box C supported by the lower support part 67a of No. 2. Thereafter, the lower support part 67a moves the claw 71 backward, releases the empty box C supported by the lower support part 67a, and stacks it on the empty box C mounted on the mounting part 64. When the empty boxes C supported by the lower support part 67a are stacked, the third lifter 61 moves the loading part 64 to a height equivalent to one empty box C, that is, the lowest empty box C is stacked on the lower support part 67a. 67a. After that, the lower support part 67a is
The claw 71 is advanced and inserted into the lower part of the flange of the empty box C at the lowest stage to support the stacked empty boxes C. The mounting section 64 is mounted on the roller 39 of the subsequent disassembling section 13.
It descends to the lower end, which is on the same plane as b, and waits for the next empty box 3 to be carried in. Lower support part 6
To carry out the empty boxes C stacked on 7a, the loading section 67 is supported by the lower support section 67a and raised to a height where it comes into contact with the bottom of the empty boxes C.
After retracting the claw 71 of the empty box C and transferring it to the mounting section 64 of the empty box C that was being supported, this mounting section 64 is transferred to the mounting section 2 of the first lifter 19 located on the transfer stage 17.
4 to the lower end forming the same plane.
The rollers 21 of these mounting sections 64 and 24 are then rotated in the same direction to transport it to a fixed position on the transfer stage 17, and the transfer device transfers it to the automatic guided vehicle 10.

Further, in carrying out the empty box C, the loading section 64 transfers the empty box C conveyed from the positioning section 38 to the lower support section 67.
It can also be carried out by raising the empty box C to a height where it contacts the bottom of the empty box C supported by the lower support part 67a, stacking the empty box C supported by the lower support part 67a on top of this empty box C, and then lowering the empty box C.

In addition, when carrying out the parts box B remaining in this parts supply device due to product type change, etc., the loading section 6
4 is raised to a height where it touches the bottom of the empty box C supported by the lower support part 67a.
After loading the empty box C supported by the upper supporting parts 67b, the empty box C at the lowest stage is raised to a height where it is inserted between the pair of upper supporting parts 67b.
This is done by supporting the parts box B, which is then lowered to the lower end and being transported by the positioning device 38, on the lower support part 67a. Note that the component boxes B stacked on the lower support part 67a are carried out in the same manner as the empty boxes C are carried out, or they are stacked and carried out simultaneously with the empty boxes C supported on the upper support part 67b.

Lifter 3 that mounts a plurality of component boxes B that are separably stacked on tiered part 13 as described above.
7 is provided, and this lifter 37 is provided with this lifter 3.
A positioning section 38 is provided to separate the parts box B and position the separated parts box B in cooperation with the parts box B, so that the parts box B can be separated from the parts box B in the upper stage and positioned. The replacement speed is fast, and the operating rate of the device can be improved.

Further, since the separation and positioning of the parts box B is carried out by the cooperation of the lifter 37 and the positioning section 38, and is carried out without using any other special structure, the structure of the apparatus can be simplified.

Next, other embodiments will be described.

In the above embodiment, the parts supply device was composed of a transfer section, a stock section, a stacking section, and a stacking section. However, as shown in FIG. Unbundling section 13 and stacking section 1
4, the stacked parts boxes B may be directly transferred from the automatic guided vehicle 10 to the stock section 12, and the empty boxes C may be transferred directly from the stacking section 14 to the automatic guided vehicle 10. . In this case, it is convenient to use a two-story automatic guided vehicle 10 that carries parts boxes B on the lower tier and empty boxes C on the upper tier. In addition, in the drawing, solid line arrows indicate the moving direction of the parts box B and the empty box C.

Further, in this parts supply device, as shown in FIG. 7, a plurality of stages of stock portions 12 can be provided to increase the storage capacity of the parts box B.

〔Effect of the invention〕

(1) A lifter is provided for mounting a plurality of separably stacked component boxes, and a positioning section is provided on the lifter to work together with the lifter to separate the component boxes and position the separated component boxes. Provided,
Since the parts box is positioned separately from the topmost component box, the replacement speed of the parts box is fast, and the operating rate of the apparatus can be improved.

(2) The separation and positioning of the parts box is carried out by the cooperation of the lifter and the positioning section, without using any other special structure, so that the structure of the apparatus can be simplified.

[Brief explanation of drawings]

1 to 5 show an embodiment of the present invention, and FIG. 1 is a perspective view showing the entire parts supply device;
Figures 2A and B are a plan view and a front view showing the configuration, respectively, Figures 3A and B are a plan view showing details of each configuration, and a view taken along the - line in Figure A; 4A to 4C are a plan view, a front view, and a side view of the positioning section, 5A and 5B are a plan view and a front view of the support device, respectively, and 6 and 7 are different from each other. A front view showing the configuration of another embodiment, FIG. 8 is a plan view of a conventional parts supply device of horizontal circulation type,
FIGS. 9A to 9D are front views of conventional component supply devices of different vertical circulation systems. 8...Base machine, 10...Automated guided vehicle, 1
DESCRIPTION OF SYMBOLS 1... Transfer part, 12... Stock part, 13... Stacking part, 14... Stacking part, 15... Control part, 17
...Transfer stage, 19...First lifter, 24,
33, 41, 64...Mounting section, 25, 42, 65
... Lifting mechanism, 37 ... Second lifter, 38 ... Positioning section, 44 ... First positioning tool, 45 ... Second positioning tool, 62 ... Support device, b ... Parts box, C ……empty box.

Claims (1)

[Scope of Claims] 1. A plurality of component boxes are stacked and mounted on a lifter so as to be separable from each other, and while the plurality of component boxes are stacked, the uppermost component box is positioned above the lifter by the lifter. a conveying means for conveying to the positioning section; and a conveying means provided near the positioning section, and separating the uppermost component box conveyed to the positioning section from the plurality of component boxes by cooperating with the lifter. and a separation positioning means having first and second positioning tools driven to perform height direction positioning and further perform horizontal direction positioning at the position; and this separation positioning means. and a component extracting means for extracting components from the uppermost component box separated and positioned by. 2. The component supply device according to claim 1, wherein the positioning section has a transport mechanism for carrying out an empty component box after the components have been taken out.