JPH06269872A - Device for loading work - Google Patents

Abstract

(57) [Abstract] [Purpose] It is possible to automatically and efficiently load works of different shapes on a predetermined pallet. [Arrangement] A bar code 52 provided on the pallet 14 for storing work information such as the type of the work W to be loaded on the pallet 14, the number of loadings, and the loading height, and the work information stored in the bar code 52. A bar code reader 54 for reading and a loading robot 26 based on the work information read by the bar code reader 54.
And a controller 5 for driving and controlling the lift 13
6 and 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work loading device for automatically loading, for example, press-formed works on a predetermined pallet via a loading robot.

[0002]

2. Description of the Related Art For example, various work loading devices have been used to automatically load work such as panel parts carried out from a transfer press into a predetermined pallet. As a work loading device of this type, a work that is intermittently transferred from a transfer press in a relatively short time is positioned at a predetermined position on a transfer conveyor, and then the work is automatically transferred to a pallet via a loading robot. It is known to be configured to be loaded automatically.

[0003]

However, in the above-mentioned work loading device, when the types of works to be press-molded are different, the operator receives a model signal from the transfer press machine and the operation of the loading robot is renewed. We are working on the control panel to change it according to the work. Therefore, it has been pointed out that a worker is required to intervene for each type of work, which makes it difficult to automate and improve the efficiency of the entire work loading work.

The present invention is to solve this kind of problem, and it is an object of the present invention to provide a work loading device capable of automatically and efficiently loading works of different shapes on a predetermined pallet. To aim.

[0005]

In order to achieve the above-mentioned object, the present invention is to hold a work conveyed by a conveyer conveyor by a loading robot and to hold the work on a predetermined pallet placed on an elevator. A work loading device for loading the work, which is provided on the pallet and stores work information such as the type of the work loaded on the pallet, the number of loads, and the loading height, and the work stored in the storage means. It is characterized by comprising: a reading unit for reading information; and a controller for driving and controlling the loading robot and the elevator based on the work information read by the reading unit.

[0006]

In the work loading device according to the present invention described above, the works transported via the transport conveyor are sequentially loaded onto the pallets via the loading robot. that time,
Various work information relating to the work is stored in the storage means provided in the pallet, and the work information is read through the reading means, and the height position of the pallet and the operation of the loading robot correspond to the work. Controlled. Therefore, even if the type of work is changed, the loading robot and the lifting platform are reliably controlled according to this work, and loading work of various different works is automatically performed.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A work loading device according to the present invention will be described below with reference to the accompanying drawings, in connection with an automatic carrying system for carrying out the work loading device.

In FIG. 3, reference numeral 10 indicates an automatic transfer system incorporating a work loading device according to this embodiment. The automatic transfer system 10 distributes a work W such as a panel carried out from the transfer press machine 12 to the left and right at a pair of distribution positions F1 and F2 to generate a first loading position P1 and P1a and a second loading position P2 and P2a. Are selectively transferred to and loaded on a predetermined pallet 14 placed on the elevator 13 and are transferred from the transfer press machine 12 in the direction of arrow X via the two-row carry-out conveyors 16 and 16a. Conveying mechanisms 18 and 1 for allocating the work W in the arrow Y and Ya directions intersecting the arrow X direction.
8a, vertical distribution conveyors 20 and 20a for supplying the works W to the transport mechanisms 18 and 18a, and the works W are positioned corresponding to the first loading positions P1 and P1a and the second loading positions P2 and P2a. The first work positioning mechanism 22, 22a and the second work positioning mechanism 24, 24a, and the loading robot 26 at the first loading position P1, P1a and the second loading position P2, P2a.
And a work loading device 28 according to the present embodiment for loading the work W on a predetermined pallet 14 via the pallet (see FIGS. 1 and 5).

The carry-out conveyor 16 and the sorting conveyor 20 have endless belts 29 and 30 which travel in a circulating manner in the direction of arrow X by a rotation drive source (not shown).
In addition, the sorting conveyor 20 is configured to be swingable with the end portion on the side of the carry-out conveyor 16 as a fulcrum.

As shown in FIGS. 3 and 4, the transport mechanism 1
8 includes a lower conveyor 32 and an upper conveyor 34 for transporting the work W in the arrow X direction. The lower conveyor 32 and the upper conveyor 34 are provided with steel slat belts 36 and 38 that travel around in the direction of the arrow X by a rotation drive source (not shown), and above the lower conveyor 32 and the upper conveyor 34. The pushers 40 and 42 that can move back and forth in the direction of the arrow Y are provided on the.

As shown in FIG. 4, a transfer conveyor 44 is disposed near the end of the lower conveyor 32 and the end of the first work positioning mechanism 22. This transfer conveyor 44
Is provided with an endless belt 46 that can be rotated around by a rotary drive source (not shown), and the endless belt 46 conveys the work W in the arrow Y direction.

The first work positioning mechanism 22 and the second work positioning mechanism 24 are arranged corresponding to the first loading position P1 and the second loading position P2, respectively, and are indicated by arrows via a drive motor (not shown). The steel slat belts 48 and 50 that run in the Y direction are provided.

The configuration on the carry-out conveyor 16 side has been described above, but the carry-out conveyor 16a side is also configured in the same manner, and the same reference numerals are given to the same constituent elements and the detailed description thereof will be given. Omitted (see FIGS. 3 and 4).

As shown in FIG. 1, a work loading device 28.
Is a bar code (storage means) 52 which is provided on the pallet 14 and stores work information such as the type of the works W to be loaded on the pallet 14, the number of loads, and the loading height.
A bar code reader (reading means) 54 for reading the work information stored in the bar code 52, and for driving and controlling the loading robot 26 and the elevator 13 based on the work information read by the bar code reader 54. And a controller 56.

The pallet 14 is configured to correspond to a predetermined shape of the works W, and as shown in FIGS. 1 and 2, the front side toward the works W arranged at the first loading position P1 is opened. And a frame member 58. Cups 60 are provided at the four corners of the lower end of the frame member 58, respectively, and positioning protrusions 62 are provided between the cups 60, 60 arranged at the front and rear. Reinforcing stays 66 are provided on the vertical frames 64a and 64b forming the rear side of the frame member 58.
The hanging bars 68a and 68b extend horizontally and are fixed via a and 66b.
Plate-shaped stoppers 70a and 70b are provided at the tips of 8a and 68b. Front vertical outer frames 72a, 72 of the frame member 58
b is a stopper member 74a, 74b which is long in the vertical direction.
Is provided.

A front vertical outer frame 72a of the frame member 58
A bar code 52 is attached to the lower part of the. Work information such as the type of the work W, the number of loadings, and the loading height is recorded on the barcode 52 via the barcode printer 76. The bar code printer 76 is configured to receive the work information from the controller 56 as an optical signal, record the work information in the bar code 52, and attach the work information to the lower portion of the front vertical outer frame 72a.

The lift table 13 on which the pallet 14 is placed is rotatable via a pair of cylinders 78a and 78b.
0, and the mounting plate 82 is disposed on the leg portion 80.
A bar code reader 54 is mounted on the mounting plate 82 corresponding to the bar code 52 attached to the frame member 58. The work information read by the barcode reader 54 is supplied to the controller 56, and
The controller 56 is connected to a robot controller 84 for controlling the driving of the loading robot 26, an elevator controller 86 for controlling the elevator 13 and a keyboard 88.

An empty pallet arrangement portion 90 is provided in the vicinity of the first work positioning mechanism 22a so that the pallet 14 can be circulated and used, and the bar code printer 76 is installed in the empty pallet arrangement portion 90. It is arranged.

Next, the operation of the automatic transfer system 10 thus constructed will be described in connection with the work loading device 28 according to this embodiment.

First, a die type number is input from the transfer press machine 12 to the controller 56, and information such as a workpiece name is input to the controller 56 via the keyboard 88. Meanwhile, the barcode printer 7
Work information such as the type of work W, the number of loadings, and the loading height is input to the controller 6 as an optical signal from the controller 56. Then, the bar code printer 76 records the work information on the bar code 52, and thereafter, the front vertical outer frame 72a of the predetermined pallet 14 corresponding to the inputted mold.
The barcode 52 is attached to the lower part of the.

The pallet 14 to which the bar code 52 is attached is moved from the empty pallet placement portion 90 to a predetermined position by the pallet transfer device 92, for example, the first loading position P.
1 is transported and placed on the mounting plate 82 of the lifting table 13 provided at the first loading position P1. A bar code reader 54 is attached to the mounting plate 82, and the bar code 52 is passed through the bar code reader 54.
Is read and the work information recorded therein is input to the controller 56, and the type of the work W, the number of loadings, the loading height, etc. are confirmed.

Therefore, as shown in FIG. 3, the work W sent from the transfer press 12 is placed on the carry-out conveyors 16 and 16a and conveyed in the direction of the arrow X, and the inspector inspects the molding quality and the like. Done. If there is no abnormality, the work W is distributed to the distribution conveyors 20, 20.
It is loaded into a.

The works W sent from the carry-out conveyor 16 are distributed via the distributing conveyor 20 to the first loading position P1.
When the sheet is conveyed to the endless belt 30 with the swinging tip side of the sorting conveyor 20 being swung downward.
Is lapped around. Therefore, the work W sent from the carry-out conveyor 16 is placed on the endless belt 30 and conveyed to the lower conveyor 32.

On the lower conveyor 32, a steel slat belt 36 is running around, and the work W sent from the sorting conveyor 20 is carried onto the steel slat belt 36. Then, after the pusher 40 is moved in the direction of the arrow Y and the work W is placed on the transfer conveyor 44, it is conveyed to the first work positioning mechanism 22 via the transfer conveyor 44, and on the first work positioning mechanism 22. Then, it is positioned corresponding to the first loading position P1.

At the first loading position P1, the elevator 1 is moved through the controller 56 and the elevator controller 86.
The three cylinders 78a, 78b are driven to move the elevator 1
The height position of 3 is adjusted based on the work information read from the barcode 52. In addition, the controller 56
Is the robot controller 8 based on the work information.
4, and the loading robot 26 is operated corresponding to a predetermined work W via the robot controller 84.

As a result, the works W positioned corresponding to the first loading position P1 are held by the loading robot 26 and carried into the frame member 58 constituting the pallet 14 and hung on the hanging bars 68a and 68b. (See FIGS. 1 and 2). Then, after a predetermined number of works W are loaded on the pallet 14, the pallet 14 is unloaded from the first loading position P1 by the pallet transfer device 92, and a new empty pallet 14 is placed at the first loading position P1. Are placed.

On the other hand, when the works W are conveyed to the second loading position P2, the swinging leading end side of the sorting conveyor 20 is swung upward, and the works W are sent from the sorting conveyor 20 to the upper conveyor 34. . After that, the work W is conveyed to the second work positioning mechanism 24 via the pusher 42 provided on the upper conveyor 34, and is similarly positioned at the second loading position P2, and then is loaded onto the predetermined pallet 14 by the loading robot 26. Be loaded.

The work W sent to the unloading conveyor 16a is sorted downward or upward by the allocating conveyor 20a in the same manner as the unloading conveyor 16 described above, and then in the direction of the arrow Ya under the action of the pushers 40a and 42a. It is conveyed and positioned at the first loading position P1a or the second loading position P2a by the first work positioning mechanism 22a or the second work positioning mechanism 24a. And
The work W is loaded on the predetermined pallet 14 by the loading robot 26.

By the way, when the type of the work W to be press-molded is different, the die type number corresponding to the new work W from the transfer press machine 12 is the controller 56.
And the information such as the work name is input to the controller 56 via the keyboard 88. On the other hand, after the work information such as the new work W type, the number of loadings and the loading height is input to the barcode printer 76, the barcode 52 in which this work information is recorded is pasted on a predetermined empty pallet 14. To be

The pallet 14 is used as a mounting plate 8 for the lifting table 13.
2, the bar code 52 is read via the bar code reader 54, and the work information recorded on the bar code 52 is input to the controller 56, so that the type of the work W, the number of loadings, the loading height, and the like are displayed. It is confirmed. Then, based on this work information, the loading robot 26 is controlled and the lift 13 is controlled in height.

As described above, in this embodiment, when the model of the work W to be press-molded is changed, the work information such as the type of the work W, the number of loadings and the loading height is recorded in the bar code 52. Then, it is attached to the pallet 14 corresponding to the work W. Therefore, by reading the work information recorded in the bar code 52, the operation control of the loading robot 26 and the height control of the lifting platform 13 applied to the work W newly press-formed via the controller 56 are automatically performed. In addition, the effect of being surely performed is obtained. As a result, unlike the prior art, it is not necessary for the operator to operate the control panel of the loading robot in response to the model signal from the transfer press machine, and unmanned operation can be easily achieved.

[0032]

According to the work loading device of the present invention, the following effects can be obtained.

When works transferred via the transfer conveyor are sequentially loaded on the pallet by the loading robot, various work information relating to the works is stored in the storage means provided in the pallet. The work information is read through the reading means, and the height position of the pallet and the operation of the loading robot are controlled corresponding to the work. Therefore, even if the type of work is changed, the loading robot and the lifting platform are reliably controlled according to this work, and loading work of various different works is automatically and reliably performed.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a work loading device according to an embodiment of the present invention.

FIG. 2 is a front explanatory view showing the operation of the lifting table.

FIG. 3 is a perspective explanatory view of an automatic transport system incorporating the work loading device.

FIG. 4 is a schematic explanatory view of conveyors lined up in the arrow Y and Ya directions of the automatic transport system.

FIG. 5 is a schematic front view showing an arrangement state of a loading robot and a pallet.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Automatic transfer system 12 ... Transfer press machine 13 ... Elevating table 14 ... Pallet 16, 16a ... Unloading conveyor 18, 18a ... Transfer mechanism 20, 20a ... Sorting conveyor 22, 22a, 24, 24a ... Work positioning mechanism 26 ... Loading robot 28 ... Work loading device 32, 32a ... Lower conveyor 34, 34a ... Upper conveyor 52 ... Bar code 54 ... Bar code reader 56 ... Controller 58 ... Frame member 68a, 68b ... Hanging bar 76 ... Bar code printer 84 ... Robot controller 86 ... Elevating platform controller 90 ... Empty pallet placement site 92 ... Pallet transfer device

Front page continuation (72) Inventor Tadashi Oba 1-10-1 Shin-Sayama, Sayama-shi, Saitama Honda Engineering Co., Ltd.

Claims (1)

[Claims] 1. A work loading device for holding a work carried by a carrying conveyor by a loading robot, and loading the work on a predetermined pallet placed on an elevator, the pallet being provided on the pallet. Storage means for storing the work information such as the type of work to be loaded, the number of loads, and the loading height; a reading means for reading the work information stored in the storage means; and a work information read by the reading means. A work loading device, comprising: a controller that drives and controls the loading robot and the lifting platform based on the loading robot.