JPH062529B2 - Parts feeder - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a component supply device for supplying components to an assembly line or the like.

[Technical background of the invention]

There is a device called a depalletizer as a type of device that supplies parts to an assembly line or the like. This component supply device is generally installed on the side of an assembly line or the like and sequentially extracts and supplies components from a plurality of separably integrated component boxes, and then reassembles the empty boxes after the components have been extracted. It is designed to be discharged to the outside of the device.

Fig. 6 shows an example of a horizontal circulation system in which each component of this device is arranged in a plane, and several examples of a vertical circulation system in which each component is three-dimensionally arranged in Figs. 7 (A) to (D). Indicates. In each of these devices, (1) is a carrier such as an automated guided vehicle or a trolley, (2) is a stock section for temporarily storing the parts box (B) transferred from this carrier, and (3) is a stack. Stepped part for separating the separated parts boxes (B) one by one, (4) stands for the separated parts box (B), and (5) positions the separated parts box (B) Positioning part, (6) is a stacking part that stacks empty boxes (C) after parts are taken out, (7) is an empty box stock part that stores stacked empty boxes (C), and (8) is It is a base machine of an assembly device. The parts box (B) containing the parts is stacked and conveyed by the conveying device (1), transferred to the component supplying device, and then circulated in the direction indicated by the solid arrow, and the positioning part (4). After being positioned at, the parts are taken out by a transfer robot or the like installed along the base machine (8) as shown by the dashed arrow. And the empty box (C) after the parts are taken out is the empty box stock part (7)
It is designed to be transferred from the carrier to the carrier device (1) and discharged from the component supply device.

[Problems of background technology]

In each of the component supply devices described above, when the configuration of the device is arranged in a plane, the replacement speed of the component box (B) is high, but the installation area is large and the space efficiency is extremely poor. Also, when switching product types, it is not possible to stack and discharge the component boxes (B) left on the component supply device, so it takes time to switch product types, and not only the component supply device, but also the operating rate of the subsequent base machine There is a drawback to lower it.

Further, the three-dimensional arrangement of the device is, for example, in the device shown in FIG. 7 (A), the picking elevator (9)
Takes out the parts box (B) from the stepped-out part (3) and carries out the empty box (C) after the parts are taken out, so that the picking elevator (9) can change the parts box (B) replacement speed. Limited. Also in the device shown in FIGS. 6B to 6D, the transport distance of the parts box (B) from the step disassembly part (3) to the positioning part (5) is long, and the positioning part (5) is also present. It also takes time to carry out the empty box (C) from the box, and the replacement speed of the parts box (B) is slow.

[Object of the Invention]

SUMMARY OF THE INVENTION The present invention is directed to a component supply device that sequentially picks up components from separably stacked component boxes and supplies them, thereby increasing the replacement speed of the component boxes and improving the operating rate of the device.

[Outline of Invention]

The upper part of the component supply device is used as a transfer stage, and the plurality of component boxes that are separably stacked and carried into the transfer stage are conveyed to the lower end and the plurality of empty boxes are separably stacked. A transfer section having a first lifter for carrying out the transfer stage from the transfer stage, a stock section for temporarily storing a plurality of component boxes transferred by the first lifter, and a stock section provided adjacent to the stock section. A second lifter for mounting a plurality of component boxes conveyed from the stock section or the transfer section through the stock section and a plurality of second lifters located on the second lifter and mounted on the second lifter Of the parts box sequentially separated from the upper stage and having a positioning device for positioning the parts box so that the parts can be taken out from the parts box, and the positioning device provided adjacent to the positioning device. A supporting device for stacking and supporting a plurality of empty boxes after the parts are taken out in the storage, and the empty boxes carried out from the positioning device are supplied to the supporting device and the empty boxes supported by the supporting device are described above. And a stacking section having a third lifter that is carried out to the transfer stage.

Example of Invention

Hereinafter, the present invention will be described based on embodiments with reference to the drawings.

1 and 2 show the construction of one embodiment of the present invention and the flow of the parts box. Parts boxes (B) containing parts are stacked in a separable manner, for example, an automated guided vehicle (10)
It is mounted on and transported. The parts supply device is partly formed in a two-story three-dimensional structure, and carries in the parts box (B) carried by the automatic guided vehicle (10) and the empty box (C) after the parts are taken out. Transfer section (11) to carry out to unmanned guided vehicle (10)
A stock section (12) provided on the base machine (8) side adjacent to the transfer section (11), and a base machine (8) side provided adjacent to the stock section (12) Step-out part (13)
And a stacking section (14) provided on the stock section (12) for stacking and supporting the empty boxes (C), and a control section (15) for controlling the operation of each of these sections.

The transfer section (11) has an upper end as a transfer stage (17) for loading the component box (B) or unloading the empty box (C), and a frame surrounding the transfer section (11) ( 18a) It has a first lifter (19) inside.

This first lifter (19) has a plurality of rollers (21) rotatably attached to a support frame (20), as shown in FIG. 3 (A).
Mount the chain (23) on the sprocket that is attached to the output shaft of the motor (22) with a reducer and brake fixed to the rotation shaft of each roller (21) and the support frame (20).
The mounting part (2
4) and an elevating mechanism (25) for elevating and lowering the mounting part (24). The elevating mechanism (25) has a pair of upper and lower rotating shafts (27) rotatably supported at both ends of a pair of columns (26) standing upright along the inner side surface of the frame (18). And four sprockets mounted on each end of each rotary shaft (27)
Of the (28), mount the chain on each pair of vertically facing sprockets, and install the sprockets attached to the output shaft of the motor (29) with a reducer and brake fixed to one column (26). It is engaged with one of the chains. The mounting portion (24) is fixed to the attachment (30) attached to the pair of chains, and the pair of linear guides (31) fixed to the column (26) is rotationally driven by the motor (29). Along the vertical direction, the robot moves up and down between the transfer stage at the upper end and the lower end.

The stock part (12) is mounted inside the frame (18b) surrounding the stock part (12), and the mounting part (24) stopped at the lower end.
Mounting part (33) fixed so as to form a straight line on the same plane as
Have. The mounting part (33) has the same structure as the mounting part (24) except that the motor (35) for rotating the plurality of rollers (34) is unidirectionally rotated. Is omitted.

The step-out portion (13) includes a second lifter (37) provided inside the frame (18c) surrounding the step-out portion (13), and a positioning device (on the second lifter (37)). 38) and a pair of upper and lower rollers (39a) (39b) rotatably supported inside the frame (18c) adjacent to the stock portion (12) and a stacking portion (14) described later.

As shown in FIGS. 3A and 3B, the second lifter (37) includes a mounting portion (41) and an elevating mechanism (42) for moving the mounting portion (41) up and down. These mounting parts (41) and lifting mechanism
The (42) is formed to have substantially the same structure as the mounting part (24) and the elevating mechanism (25) of the first lifter (19), and the mounting part (41) lowered by the elevating mechanism (42) has a roller (39a). ) And the mounting portion (33) of the stock portion (12) are stopped so as to be in the same plane and in a straight line. The structures of the mounting portion (41) of the second lifter (37) and the respective portions of the lifting mechanism (42) are as follows.
The same parts as the mounting part (24) and the elevating mechanism (25) of 9) are given the same reference numerals and the details thereof are omitted.

As shown in FIGS. 4A to 4C, the positioning device (38) includes a first positioning jig (44) mounted on one side surface of the frame (18c) and the first positioning jig (44). The second positioning jig (45) is mounted on the other side surface of the frame (18c) so as to face the positioning jig (44). However, the first positioning jig (44) includes a two-stage motion cylinder (46) fixed to one side surface of the frame (18c) through a support, and an operating shaft of the two-stage motion cylinder (46). It consists of a push plate (47) attached to the. This Push Plate (47)
Is a linear motion track (48) fixed on one side of the frame (18c) and a linear motion rail fixed to the push plate (47) in parallel with the cylinder (46) by the operation of the cylinder (46). Using (49) as a guide,
Parts box (B) transported by the rise of the second lifter (37)
It goes back and forth in two steps for one side. In the first stage of forward movement, the tip surface of the push plate (47) is moved to the parts box (B).
It stops at a position about 1 mm apart from one side surface, and comes into contact with one side surface of the parts box (B) in the second stage of advancement. The second positioning jig (45) is attached to the working shaft of a cylinder (not shown) and is fixed on the other side surface of the frame (18c) so that the stacking portion (1
Traverse rail (5) that extends above the frame (18d) of 4)
It has a jig support base (51) that moves back and forth along the direction 0). A cylinder (52) is attached to the jig support base (51), and a claw extending parallel to the push plate (47) of the first positioning jig (44) on the operating shaft of the cylinder (52). A support (53) is attached. At one end of the claw support (53), there is provided a reference claw (54) having two mutually orthogonal reference surfaces that engage with the side surface corners of the component box (B), and at the other end thereof. , Parts box above
A push claw (55) that comes into contact with the other side surface of (B) is attached. These reference claws (54) and push claws (55) are operated together with the claw support (53) by the operation of the cylinder (52).
Linear motion track fixed to jig support (51)
Using the linear motion rail (57) fixed to (56) and the claw support (53) as a guide, it moves back and forth in the same direction as the push plate (47) of the first positioning jig (44). Also nail support
On the other end side of (53), attached to the operating shaft of the cylinder (58) fixed to the jig support base (51) and moved back and forth in the longitudinal direction of the claw support (53), the tip part was A zide push plate (59) that comes into contact with the side surface of the component box (B) is provided.

This positioning device (38) is a component box that is transported between the first and second positioning jigs (44) and (45) by the second lifter (37).
Compared to (B), the first positioning jig (44) with two-step motion
The push plate (47) is moved forward by the first step to be inserted into the lower part of the brim formed at the upper end of the component box (B), and at the same time, the claw support (53) of the second positioning jig (45). By moving the reference claw (54) and the push claw (55) into the lower part of the collar and bringing them into contact with the other side surface of the component box (B), the first and second positioning jigs ( The parts box (B) is supported by 44) and (45). From this state, the second lifter (37) is lowered by a height corresponding to one component box (B), and the first and second
When the component box (B) supported by the positioning jigs (44) and (45) is separated from the subsequent component box (B), first, the side push plate (59) of the second positioning jig (45). ) Moves forward to sandwich the parts box (B) between the side push plate (59) and the reference claw (54), and the parts box (B) is moved to the first and second positioning jigs (44). , (45) is positioned from the direction orthogonal to the forward / backward direction. After that, the push plate (47) of the first positioning jig (44) is advanced in the second stage, and the reference claws of the push plate (47) and the second positioning jig (45) are moved.
The component box (B) for sandwiching and supporting the component box (B) by the (54) and the push claws (55) are positioned from the directions orthogonal to each other. In this case, the cylinder of the second positioning jig (45)
The thrust of (52) is larger than the thrust of the cylinder (46) of the first positioning jig (44), and the second positioning of the first positioning jig (4
Even if the push plate (47) of 4) comes in contact with one side of the parts box (B) later, the reference claw (54) and the push claw (55) that come in contact with the other side of the parts box (B) first The position of) does not change.

Parts stored in the parts box (B) are
It is taken out by the transfer device such as a robot from the parts box (B) positioned by. The empty box (C) after the parts are taken out is the push plate of the first positioning jig (44).
(47) is retracted by the first step, and after the pinching is released, the jig support base (51) of the second positioning jig (45) is moved along the traverse rail (50) to the stacking section (14). ) Direction. The empty box (C) is clamped by the reference claw (54) of the second positioning jig (45) and the side push plate (59), and the empty box (C) of the first positioning jig (44) retracted by the first step is moved. It is supported and guided by the push plate (47) and conveyed on the roller (39b) toward the stacking section (14). The push plate (47) of the first positioning jig (44) is then retracted in the second stage to return to the original position. In addition, the second positioning jig (45) has the side push plate (5
9) is retracted to release the empty box (C), and the claw support (53)
After being retracted, the jig support body (51) is retracted to return to the original position facing the first positioning jig (44).

The stacking section (14) is a frame (18) surrounding the stacking section (14).
A support for stacking and supporting the empty boxes (C) transported by the positioning device (38) in cooperation with the third lifter (61) provided inside the d) and the third lifter (61). The device (62).

As shown in FIG. 3 (A), the third lifter (61) is substantially the same as the mounting part (24) and the lifting mechanism (25) of the first lifter (19) of the transfer part (11). It has a structure mounting part (64) and a lifting mechanism (65). The mounting part (64) that is lowered by this lifting mechanism (65)
Is the roller (39b) of the step disassembling section (13) and the mounting section (2) of the first lifter (19) that has risen and stopped at the transfer stage (17).
It stops at the same plane as 4) and in a straight line. The structures of the mounting portion (64) of the third lifter (61) and the lifting mechanism (65) are the same as those of the mounting portion (24) and the lifting mechanism (25) of the first lifter (19). A number is given and detailed description thereof is omitted.

The supporting device (62) includes a pair of slide shafts (66) which are erected along the side surface of the frame (18d) and whose both ends are fixed,
It is composed of a pair of upper and lower support parts (67a) (67b) attached to the pair of slide shafts (66) and having the same structure, and those of the same structure are provided on opposite sides of the frame (18d), and One of them is a pair of columns of the third lifter (61).
It is located inside (26). The support (67a) or (67
b) is a bolt (68) as shown in FIGS. 5 (A) and (B).
The fixed block (69) that can be repositioned on the pair of slide shafts (66) by means of this fixed block (6).
It is composed of a square-shaped claw (71) attached to an operating shaft of a cylinder (70) fixed to 9) and advanced and retracted by being guided by grooves formed on both end surfaces of the fixed block (69).

The support device (62) includes a pair of opposing support portions provided along the frame (18d), for example, a lower support portion (67a).
The claw (71) of (1) is moved forward and inserted into the lower part of the collar of the empty box (C) to support it. The 3rd lifter (61) is an empty box that is installed first.
The upper end surface of (C) rises until it comes into contact with the bottom of the empty box (C) supported by the support section (67a), and then temporarily stops. Support (67
The empty box (C) supported by (a) is the nail (7) of this support (67a).
By retreating 1), it is released from the support part (67a),
It is stacked on the empty box (C) mounted on the third lifter (61). The third lifter (61) then rises by a height corresponding to one empty box (C), and the empty boxes (C) stacked on the third lifter (61) are then moved forward by a supporting portion ( 67a) claws (71)
Supported by.

Next, a method of supplying components to the base machine (8) by this component supply device will be described.

First, multiple parts boxes stacked in an automated guided vehicle (10)
(B) is transported, and the loading unit (2) of the first lifter (19) stopped on the transfer stage (17) by a transfer device such as a robot.
When it is transferred to 4), the control signal sent from the control section (15) causes the rollers (21) of the mounting section (24) to rotate and be transferred, so that a plurality of stacked component boxes are mounted. (B) this mounting part
Transport to the fixed position in (24). When the mounted component box (B) is transported to the fixed position, the mounting section (24) descends to the lower end of the transfer section (11), and the rollers (21) are rotated again to be mounted. The component box (B) is conveyed toward the stock section (12).

The mounting portion (33) of the stock portion (12) rotates the roller (34) simultaneously with the rotation of the roller (21) of the mounting portion (24) that has descended to the lower end of the transfer portion (11). The parts box (B) conveyed in the direction of the section (12) is conveyed to a fixed position on the mounting section (33). The mounting portion (24) of the first lifter (19) then returns to the transfer stage (17).

The step-out portion (13) is connected to the second lifter (3) of the step-out portion (13).
7) When the parts box (B) disappears, the sensor provided in the second lifter (37) detects it and sends it from the control unit (15) based on the signal sent from this sensor. By the control signal, the mounting part (41) is lowered to a position forming the same plane as the mounting part (33) of the stock part (12). The roller (21) together with the mounting portion (33) and the roller (34) of the stock portion (12)
Is rotated to convey the component box (B) on the stock part (12) to a fixed position on the mounting part (33) of the second lifter (37). When the parts box (B) transferred from the automated guided vehicle (10) is transferred to the stock section (12), the parts box (B) is placed on the second lifter (37) of the unstacking section (13). Without, mounting part (33)
Goes down to the lower end and stands by, and the parts box (B) transferred from the automated guided vehicle (10) passes through this stock section (12) without being temporarily stored in the stock section (12). And is directly conveyed to the fixed position of the mounting part (33) of the step-out part (13).

When the parts box (B) is mounted on the mounting part (33), the second lifter (37) is such that the topmost parts box (B) stacked on the mounting part (33) is positioned by the positioning device ( 38) 1st and 2nd positioning jig
It rises to the height inserted between (44) and (45). When the component box (B) is inserted between the first and second positioning jigs (44) and (45), the sensors provided in these positioning jigs (44) and (45) move it. Detected, by the control signal sent from the control unit (15) based on the signal sent from this sensor,
First, the push plate (47) of the first positioning jig (44) of the two-step motion advances by the first step, and at the same time, the claw support (53) of the second positioning jig (45) moves forward. Reference claw attached to push plate (47) and claw support (53)
(54) and the push claw (55) are inserted into the lower part of the collar of the component box (B). Thereafter, the second lifter (37) descends at least a height corresponding to one component box (B) to move the upper component box (B) to the first and second positioning jigs (44), ( It is supported by 45) and separated from the parts box (B) at its lower end. The component box (B) supported by the first and second positioning jigs (44) and (45) has a reference claw (54) that is in contact with the corner of the component box (B) after that, and the reference claw (54). By the side push plate (59) that moves forward toward the reference claw (54), positioning in one direction is performed, and by the second step forward movement of the push plate (47) of the first positioning jig (44), Positioning is performed in a direction orthogonal to the one direction.

When this positioning is completed, a transfer device such as a robot picks up parts from the parts box (B) and transfers them to the base machine (8).

When the parts are removed, the first positioning jig (4
The push plate (47) of 4) retreats in the first stage, and then the jig support base (51) of the second position jig (45) moves along the traverse rail (50) to move to the second position. A push plate in which the empty box (C) clamped by the reference claw (54) of the squeeze jig (45) and the side push plate (59) is retracted by the first step described above.
It is conveyed in the stacking section (14) direction using (47) as a support guide. In the second position setting jig (45), the side push plate (59) is retracted at a predetermined position to release the empty box (C), and then the claw support (53) is retracted to restore the first position setting jig. It returns to the original position on the second lifter (37) directly facing the tool (44). Meanwhile, during this time, the push plate (47) of the first positioning jig (44)
Performs the second stage of retreat and waits for the support position of the next parts box (B).

When the empty box (C) is carried in from the positioning device (38), the stacking section (14) detects this by a sensor provided in this stacking section (14) and sends out from this sensor. Control unit based on signal
By the control signal sent from (15), the roller (21) of the mounting portion (64) of the third lifter (61) is rotated, and the empty box (released from the second positioning jig (45) ( Carry C) to a fixed position on this mounting part (64). After that, the third lifter (61)
The upper end surface of the empty box (C) on the mounting portion (64) rises to a height at which it contacts the bottom of the empty box (C) supported by the lower support portion (67a) of the support device (62). After that, the lower support part (67a), the claw (71)
Back to release the empty box (C) supported by the lower support part (67a), and the empty box mounted on the mounting part (64).
(C) Stack on top. When the empty boxes (C) supported by the lower support part (67a) are stacked, the third lifter (61) moves the mounting part (64) to a height corresponding to one empty box (C), that is, to the maximum. The lower empty box (C) rises to a height at which it is inserted between the pair of lower support parts (67a). Then, the lower support part (67a) advances the claw (71) and inserts it into the lower part of the brim of the lowermost empty box (C) to support the stacked empty boxes (C). The mounting portion (64) then descends to the lower end portion that forms the same plane as the rollers (39b) of the stage disassembling portion (13), and waits for the next empty box (C) to be loaded.

Carrying out the empty boxes (C) stacked on the lower support (67a)
Raise the mounting part (64) to a height at which it abuts the bottom of the empty box (C) supported by the lower support part (67a), and then the claws of the lower support part (67a).
After the empty box (C), which was supported by retracting (71), is transferred to the mounting part (64), this mounting part (64) is located on the transfer stage (17), and the first lifter (19) is positioned. It is lowered to the lower end portion which is flush with the mounting portion (24) of. And these mounting parts (64), (2
Rotate the roller (21) of 4) in the same direction to transfer stage (17)
It is transported to the fixed position of and the automatic transfer vehicle (1
It is done by transferring to (0).

In addition, when carrying out this empty box (C), the loading part (64) is the positioning device.
The empty box (C) conveyed from (38) is raised to the height at which it contacts the bottom of the empty box (C) supported by the lower support part (67a), and the lower support part ( It is also possible to stack the empty boxes (C) supported by 67a) and then descend.

When carrying out the component box (B) remaining in this component supply device due to product type switching, etc., the mounting portion (64) is brought into contact with the bottom of the empty box (C) supported by the lower support portion (67a). After mounting the empty box (C) supported by the lower support section (67a) by raising it to the height, the lower empty box (C) is paired with the upper support section (67b).
Raise it to the height inserted between them, and after supporting this empty box (C) on the upper support part (67b), lower it to the lower end,
This is performed by sequentially supporting the component box (B) conveyed by the positioning device (38) on the lower support part (67a). The unloading of the parts box (B) stacked on the lower support (67a) is the same as the unloading of the empty box (C) or the empty box (C) supported by the upper support (67b). Be delivered at the same time.

As described above, a lifter for mounting a plurality of component boxes that are separably stacked in the stepped portion is provided, and a plurality of component boxes mounted on this lifter are sequentially separated from the upper stage on the lifter. By providing a positioning device for positioning,
It is possible to construct a small parts supply device having a stock part for temporarily storing the parts box to be supplied to the step-out part, and by installing this stock part, the parts box can be supplied to the positioning device seamlessly. Will be able to.

Moreover, if a positioning device is provided on the lifter of the step-out part,
A stacking part that stacks and supports empty boxes can be provided adjacent to this positioning device, and empty boxes can be carried out from the positioning device in a short time. It is possible to provide a parts supply device that is fast and has a high operating rate.

[Brief description of drawings]

1 to 5 show an embodiment of the present invention.
The figures are perspective views showing the whole of the component supply apparatus, FIGS. 2 (A) and (B) are plan views and front views showing their configurations, and FIGS. 3 (A) and (B) are their configurations, respectively. Is a plan view showing the details of FIG. 4A and an arrow view taken along line III-III of FIG. 4A, and FIGS. 4A to 4C are plan views, front views and side views of the positioning device, 5 (A) and 5 (B) are a plan view and a front view of the supporting device, FIG. 6 is a plan view of a conventional horizontal circulation type component supplying device, and FIGS. 7 (A) to 7 (D). FIG. 4 is a front view of a conventional component supply device of a different vertical circulation system. (8) ... Base machine, (10) ... Automated guided vehicle (11) ... Transfer section, (12) ... Stock section (13) ... Stacking section, (14) ... Stacking section (15) ... Control section, (17)… Transfer stage (19)… First lifter (24), (33), (41), (64)… Mounting part (25), (42), (65)… Lifting mechanism (37)… Second lifter (38) ... Positioning device (44) ... First positioning jig (45) ... Second positioning jig (62) ... Supporting device, (B) ... Parts box (C) ... Empty box

Claims (3)

[Claims] 1. A plurality of empty boxes in which the upper end portion is a transfer stage and a plurality of component boxes that are separably stacked and are carried into the transfer stage are conveyed to the lower end portion and are separably stacked. A transfer section having a first lifter for carrying out from the transfer stage, a stock section for temporarily storing a plurality of component boxes transported by the first lifter, and a stock section provided adjacent to the stock section. A second lifter for mounting a plurality of component boxes conveyed from the stock section or the transfer section through the stock section and a plurality of second lifters located on the second lifter and mounted on the second lifter Of the component box of the above-mentioned is separated from the upper stage one by one, and the step separating portion having a positioning device for locating the parts so that the parts can be taken out from the component box, and the positioning device provided adjacent to the positioning device. In the above, a supporting device for stacking and supporting a plurality of empty boxes after the parts are taken out and an empty box carried out from the positioning device are supplied to the supporting device and the empty boxes supported by the supporting device are transferred to the above-mentioned transfer device. And a stacking section having a third lifter which is carried out to a mounting stage. 2. The component supply device according to claim 1, wherein each of the first, second and third lifters has a mounting portion composed of a roller conveyor. 3. The component supply device according to claim 2, wherein the first lifter has a drive device for rotating the rollers of the roller conveyor in both forward and reverse directions.