JP3692008B2 - Auto palletizer pallet transfer device and replacement method using auto palletizer pallet transfer device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to the replacement process according to the pallet conveying apparatus and pallet conveyance device of the automatic palletizer auto palletizer to move the pallet plate workpiece loading pallet is supported into the working range of the robot.
[0002]
[Prior art]
Conventionally, an automatic palletizer installed in a transfer press of a press factory is provided with a robot for loading a panel as a press-formed workpiece onto a pallet. A gripper for holding the panel is detachably attached to the robot, and the robot can be replaced with a gripper adapted to the panel shape to be press-molded. And when replacing | exchanging this gripper, the attachment delivery apparatus is used (refer registration patent 2677782).
[0003]
The attachment delivery device includes: a rail provided along a conveying path of the pallet; a supply moving table and a receiving moving table that move along the rail; and the supply moving table and the receiving moving table. A rodless moving cylinder that moves, moves the supply moving table and the receiving moving table within the working range of the robot, and places a used gripper mounted on the robot on the receiving moving table. After being placed, the receiving moving table is retracted out of the working range of the robot, and a gripper to be used next mounted on the supplying moving table can be mounted on the robot.
[0004]
[Problems to be solved by the invention]
However, in the configuration described above, a dedicated facility called an attachment delivery device is required in addition to the workpiece loading pallet transfer device, and the rail must be extended from the working range of the robot to the outside of the working range. There was a problem that the installation area of the palletizer expanded. In addition, if the installation space for the rail is reduced, the work area of the worker who sets up the attachment is limited, and the installation position of the robot is also limited.
[0005]
The present invention has been made in view of such conventional problems, and provides a pallet conveying device for an auto palletizer and a replacement method using the pallet conveying device for an auto palletizer capable of reducing the installation area of equipment. It is intended to provide.
[0006]
[Means for Solving the Problems]
In the present onset bright in order to solve the above problems, the pallet plate workpiece loading pallet is supported, together with the movement into the working range of the robot to transfer holding the workpiece gripper, the pallet plate A pallet transfer device for an auto palletizer provided with a workpiece loading pallet support part for supporting the workpiece loading pallet and at least a setup tool pallet support part for supporting a setup tool pallet on which the workpiece receiver and the gripper are loaded. The gripper attached to the robot is collected on a set-up tool pallet for recovery and a receiving / replacement gripper held on the mounting base is attached, and the work support set on the work receiving base is held by the receiving / replacement gripper. And collect it on the set-up tool pallet for recovery Placing together the setup supported workpiece received in the tool palette in the shape of a workpiece which has been changed is set to the pedestals.
In addition, the pallet plate on which the workpiece loading pallet is supported is moved within the working range of the robot that holds and transfers the workpiece with the gripper, and the workpiece loading pallet support unit that supports the workpiece loading pallet on the pallet plate And a workpiece receiving and exchanging method using a pallet conveying device of an auto palletizer provided with at least a workpiece receiving and a setting tool pallet supporting portion for supporting a setting tool pallet on which the gripper is loaded, and is attached to the robot Recovering the gripper on the set-up tool pallet for recovery, attaching the receiving / replacement gripper held on the mounting base, and holding the work receiver set on the work receiving base by the receiving / replacement gripper. To collect in the set-up tool pallet When, a, placing together supported workpiece receiving a setup tool palette for carrying the shape of the workpiece which has been modified to set the pedestals.
[0007]
In other words, the pallet plate that is moved into the work range of the robot by the pallet transport device is provided with a workpiece loading pallet support portion that supports the workpiece loading pallet and a setup tool pallet support portion that supports the setup tool pallet. . For this reason, at the time of workpiece production, the workpiece loading pallet can be supported on the pallet plate and moved into the working range of the robot. In addition, when replacing the gripper accompanying the workpiece replacement, the setup tool pallet on which the gripper is loaded can be supported on the pallet plate and moved into the working range.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an automatic palletizer 2 (hereinafter referred to as palletizer 2) for loading a panel 1 as a workpiece press-formed by a transfer press apparatus onto a pallet for transportation. A pallet transfer device 3 according to the embodiment is provided.
[0009]
The palletizer 2 includes an unloading work cradle 11 on which a panel 1 unloaded by a transfer press device through a pressing process is placed, and an extraction that holds and moves the panel 1 placed on the unloading work cradle 11. A robot 12, a workpiece cradle 14 on which the panel 1 held by the extraction robot 12 is positioned and placed, and a palletizing robot 15 that moves while holding the panel 1 placed on the workpiece cradle 14. A delivery conveyor 13 for sending out the panel 1 for inspection immediately after the press die replacement is provided, and a receiving replacement gripper 16 is disposed in the vicinity of the work receiving base 14. The palletizing robots 15 and 15 are movably supported by a linear guide 17, and the pallet transfer device 3 is provided on a side portion of the linear guide 17.
[0010]
The pallet conveying device 3 is configured by first to third conveying paths 21 to 23 connected in a U-shape, and a track 24 is provided at the end of the first and third conveying paths 21 and 23. A passage 26 for the pallet transport carts 25 and 25 to be moved is formed. A pallet input part 27 is formed at the end of the first transport path 21, and a pallet extraction part 28 is formed at the end of the third transport path 23. As a result, the pallet plate 29 transported by the pallet transport carts 25, 25 (see FIG. 4) is carried into the first transport path 21 via the pallet loading section 27 and the second and third transport paths 22. , 23 after passing through the pallet unloading section 28, the pallet conveying cart 25 can be carried out.
[0011]
As shown in FIG. 2, the work cradle 14 includes a plurality of vertical beam portions 31,... And horizontal beam portions 32,. .. Are provided at equal intervals in the vertical crosspieces 31.... As a result, the mounting holes 34,... Are arranged in the work cradle 14 in a state where they are aligned vertically and horizontally. In each of the vertical beam portions 31,..., A lock mechanism (not shown) that prevents the set pin 35 (see FIG. 8) of the work receiver 33 inserted in the mounting holes 34,. The lock mechanism is configured to be driven by a cylinder 36 provided on the workpiece cradle 14. Accordingly, as shown in FIG. 3, a plurality of workpiece receivers 33,... Are held upright on the workpiece cradle 14, and the panel 1 is held by each workpiece receiver 33,. It is comprised so that it can position in the state supported.
[0012]
As shown in FIGS. 1 and 4, the first and third transport paths 21 and 23 constituting the pallet transport device 3 include a pair of chain conveyors 41 and 41 for transporting the placed pallet plate 29, and A transfer support device for supporting the transfer of the pallet plate 29 between the pallet transfer carriages 25, 25 and the first or third transfer path 21, 23 and between the first or third transfer path 21, 23 and the second transfer path 22. 42, the transfer assist device 42 is provided with locking claws 43, 43 for locking the pallet plate 29 and a cylinder 44 for driving the locking claws 43, 43 (FIG. 4). reference). Further, as shown in FIG. 1, the second transport path 22 includes a pair of chain conveyors 41 and 41 for transferring the placed pallet plate 29, and both the chain conveyors 41 and 41 include Free rollers 45 for transferring the pallet plate 29 on the first conveyance path 21 to the second conveyance path 22 and the pallet plate 29 on the second conveyance path 22 to the third conveyance path 23 are provided. ing. In the vicinity of the free rollers 45, 45, pallet plate positioning pins 46 for positioning the stop position of the pallet plate 29 conveyed on the second conveying path 22 are provided at four locations.
[0013]
As shown in FIG. 4, the pallet plate 29 is configured to be able to place two workpiece loading pallets 51 on which a plurality of panels 1 are stacked in a standing state. A positioning portion 53 having a positioning hole 52 is provided on the lower surface of the projection. Further, on the upper surface of the pallet plate 29, a work placement pallet support portion 54 for supporting the work load pallet 51 is formed. As shown in FIG. A pair of support bars 55 and 55 extending along the width direction (vertical direction in FIG. 5) of the pallet plate 29, and support columns 56 and 56 (FIG. 4) for supporting the support bar parts 55 and 55. Reference). As shown in FIG. 4, a pallet positioning pin 57 to be inserted into the positioning hole 52 of the workpiece loading pallet 51 is provided between the support bars 55 and 55. Further, as shown in FIG. 6, the pallet plate 29 has a setup tool pallet support portion 54a formed on the upper surface, and a pallet positioning pin 57a is provided so as to allow the setup tool pallet 58 to be placed thereon. Further, a positioning portion 53a having a positioning hole 52a is projected from the lower surface of the setup tool pallet 58 in the length direction (left-right direction in FIG. 6). Thereby, the pallet plate 29 is configured to selectively position and support both the workpiece loading pallet 51 and the setup tool pallet 58.
[0014]
As shown in FIGS. 6 and 7, the set-up tool pallet 58 is provided with support columns 62,... That detachably support the grippers 61,... (FIGS. 6 and 7 show a palletizer). The figure shows a state where grippers 61 for three robots 15 are supported. The gripper 61 is provided with a mounting portion 64 that is detachably attached to an arm 63 (see FIG. 1) of the palletizing robot 15, and a pipe 65,. Vacuum cups 66,... Further, the set-up tool pallet 58 is provided with support plates 67 for detachably supporting the workpiece receivers 33,... A support hole into which the pin 35 is inserted is provided (not shown). Thereby, this setup tool pallet 58 is comprised so that the said work receptacle 33, ... and the said grippers 61, ... can be supported detachably.
[0015]
As shown in FIG. 8, the workpiece receiver 33 is provided with a base portion 72 in which a receiving portion 71 stands and a lower portion of the base portion 72, and a pair of fixing pins 35, 35 protruding downward. 73 and a holding member 75 provided on the base 72 and provided with a pair of holding holes 74 and 74.
[0016]
On the other hand, the receiving and replacing gripper 16 includes a mounting portion 81 that is detachably attached to the arm 63 of the palletizing robot 15, and the mounting portion 81 has a downward extending portion 82 that extends downward. Is formed. A horizontally extending portion 83 extending in the horizontal direction is formed at the lower end of the downward extending portion 82, and drawing cylinders 84, 84 are provided at both ends of the horizontally extending portion 83. . An insertion portion 85 to be inserted into the holding hole 74 of the workpiece receiver 33 is formed at the lower end portion of the drawing cylinder 84. From the insertion portion 85, the insertion portion 85 is not shown according to the operation of the drawing cylinder 84. It is comprised so that a nail | claw may protrude to the side. Accordingly, the workpiece receiver 33 can be held by the receiving and replacing gripper 16.
[0017]
As shown in FIG. 9, the receiving / replacement gripper 16 is configured to be held by a mounting base 91 erected on the floor, and the receiving replacement gripper 16 is sandwiched between the mounting / removal gripper 16. A supporting bifurcated portion 92 is formed. Further, the mounting table 91 includes a holding column 93 that holds the insertion portion 85 of the replacement gripper 16, and is configured so that the receiving replacement gripper 16 can be positioned.
[0018]
In the present embodiment according to the above configuration, when molding of the panel 1 having a different shape is started, the workpiece receivers 33 of the workpiece cradle 14 and the gripper 61 of the palletizing robot 15 are matched to the panel shape. The operation at the time of replacement will be described according to the flowchart shown in FIG.
[0019]
That is, during panel production, an empty collection tool pallet 58 for recovery is set on the pallet plate 29 that supports the work loading pallet 51, and is moved by the pallet transport device 3, and palletizing as shown in FIG. Transfer to the first area A within the work range of the robot 15 (S1). Further, a set-up tool pallet 58 for carrying in support of the workpiece receivers 33,... And the grippers 61,... Adapted to the shape of the panel 1 to be press-formed in the next process is supported on the pallet plate 29 and palletized. The robot 15 is transferred to the second area B within the work range of the robot 15 (S2). Then, the palletizing robot (P robot) 15 is operated to recover the gripper 61 currently attached to the palletizing robot 15 to the recovery setup tool pallet 58 (S3), and the receptacle exchange held by the pedestal 91 is also performed. After the gripper 16 is attached (S4), the receiving and replacing gripper 16 holds the workpiece receivers 33,... Currently set on the workpiece receiving base 14 and collects them on the recovery setup tool pallet 58 (S5). ).
[0020]
Next, after the workpiece receivers 33,... Supported by the carry-in setup tool pallet 58 are set on the workpiece cradle 14 by the palletizing robot 15 and arranged in accordance with the changed shape of the panel 1 ( S6), the receiving and replacing gripper 16 is held on the mounting table 91 and is removed from the palletizer robot 15 (S7). The palletizing robot 15 attaches the gripper 61 supported by the set-up tool pallet 58 for loading (S8).
[0021]
As described above, in the present embodiment, the pallet plate 29 is provided with the workpiece loading pallet support portion 54 that supports the workpiece loading pallet 51 and the setup tool pallet support portion 54 a that supports the setup tool pallet 58. Therefore, at the time of workpiece production, the workpiece loading pallet 51 can be supported on the pallet plate 29 and moved into the working range of the palletizing robot 15 as shown in FIG. Further, when the workpiece receiver 33 and the gripper 61 are exchanged in accordance with the change to the panel 1 having a different shape, the palletizing robot 15 supports the setup tool pallet 58 on the pallet plate 29 as shown in FIG. It is possible to move within the work range.
[0022]
Therefore, the entire installation area of the palletizer 2 facility can be reduced as compared with the conventional case where an attachment delivery device must be installed in addition to the pallet carrying device 3 for carrying the panel 1. As a result, the work area for the worker can be expanded and the installation position of the palletizing robot 15 can be given a degree of freedom. In addition, a dedicated device such as the attachment delivery device is not required, so that the production / installation cost can be reduced, and the maintenance cost of the entire facility can be reduced.
[0023]
And since the said setup tool pallet 58 is carried out to the exterior of the palletizer 2 and an external setup can be performed in the place of a wide space, workability | operativity can be improved. Furthermore, when the setup tool pallet 58 is not used, it is possible to save space by stacking and storing it on a shelf.
[0024]
In the present embodiment, the pallet conveyance device 3 in which the first to third conveyance paths 21 to 23 are connected in a U-shape is described as an example. However, the present invention is not limited to this. For example, in the case of a single conveyance path, the workpiece receiver 33, the reciprocating movement of the set-up tool pallet 58 for collection and the set-up tool pallet 58 for loading in the conveyance path is repeated. .. And the gripper 61 can be replaced.
[0025]
【The invention's effect】
In the present onset bright As described above, at the time of production, it is possible to move into the working range of the robot supports the work loading pallets on the pallet plate, during workpiece exchange, supports the setup tool palette to the pallet plate To move within the working range. Therefore, the entire installation area of the auto palletizer facility can be reduced as compared with the conventional case where an attachment delivery device must be installed in addition to the pallet transfer device for transferring the workpiece. As a result, the work area for the operator can be expanded and the degree of freedom of the robot installation position can be increased. In addition, a dedicated device such as the attachment delivery device is not required, so that the production / installation cost can be reduced, and the maintenance cost of the entire facility can be reduced.
[0026]
And since the said setup tool pallet can be carried out outside the apparatus and an external setup can be performed, workability | operativity can be improved. Further, when the setup tool pallet is not used, it is possible to save space by stacking and storing it on a shelf.
[Brief description of the drawings]
FIG. 1 is a plan view of an embodiment of the present invention.
FIG. 2 is a plan view showing a work cradle according to the embodiment;
FIG. 3 is a side view showing a work cradle according to the embodiment.
FIG. 4 is a front view showing a state where a workpiece loading pallet is supported on the pallet plate of the same embodiment;
FIG. 5 is a plan view showing a pallet plate according to the embodiment;
FIG. 6 is a front view showing a state in which the setup tool pallet is supported on the pallet plate according to the embodiment;
FIG. 7 is a side view showing a state in which the setup tool pallet is supported on the pallet plate according to the embodiment;
FIG. 8 is a front view showing a state in which the work receiver is held by the receiver replacement gripper according to the same embodiment;
FIG. 9 is a side view showing a state in which the receiving / replacement grip according to the embodiment is held on the mounting table;
FIG. 10 is a flowchart showing the operation of the embodiment.
[Explanation of symbols]
1 Panel (work)
2 Auto Palletizer 3 Pallet Conveyor 15 Palletizing Robot 33 Work Receiving 51 Work Loading Pallet 54 Work Placement Pallet Support 54a Setup Tool Pallet Support 58 Setup Tool Pallet 61 Gripper

Claims (2)

The pallet plate on which the workpiece loading pallet is supported is moved within the work range of the robot that holds and transfers the workpiece with the gripper, and the workpiece loading pallet support unit that supports the workpiece loading pallet on the pallet plate; A pallet transfer device for an auto palletizer provided with at least a work receiving and a set-up tool pallet support for supporting a set-up tool pallet on which the gripper is loaded ,
The gripper attached to the robot is collected on a set-up tool pallet for collection, and a receiving / replacement gripper held on a mounting base is attached, and the work receiver set on the work receiving base is held by the receiving / replacement gripper. After collecting on the set-up tool pallet for collection, the work support supported by the set-up tool pallet for loading is set on the work cradle and arranged in accordance with the changed work shape. Palletizer pallet transfer device.   The pallet plate on which the workpiece loading pallet is supported is moved within the work range of the robot that holds and transfers the workpiece with the gripper, and the workpiece loading pallet support unit that supports the workpiece loading pallet on the pallet plate; An automatic palletizer replacement method using a pallet conveying device provided with at least a workpiece receiver and a setup tool pallet support part for supporting a setup tool pallet on which the gripper is loaded,
  Recovering the gripper attached to the robot to a set-up tool pallet for recovery;
  Attaching the receiving and replacing gripper held on the table;
  A step of holding the workpiece holder set on the workpiece cradle by the receptacle exchange gripper and collecting it on the collection tool pallet for collection;
  A step of setting a work receiver supported by a set-up tool pallet for loading on the work cradle and arranging it according to the changed shape of the work;
  An automatic palletizer replacement method using a pallet transport device.

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