Workpiece loading device

Abstract

This workpiece loading device is provided with a pickup table (31), an A-side stacking table (41), a B-side stacking table (141), an A-side lifting device (42), a B-side lifting device (142), and a workpiece transfer device (60), the workpiece transfer device (60) transferring a workpiece (4) picked up from the pickup table (31) to one of an A-side stocker (44) and a B-side stocker (144) until the workpiece (4) is fully loaded, and transferring the workpiece (4) to the A-side stocker (44) and the B-side stocker (144) until the workpiece (4) is fully loaded. The corresponding one of the A-side lifting device (42) and the B-side lifting device (142) operates so that the height of the corresponding one of the A-side stocker (44) and the B-side stocker (144) matches the horizontal movement height of the workpiece by the workpiece transfer device (60), and the workpiece transfer device (60) transfers the workpiece to the A-side stocker (44) and the B-side stocker (144) when the one of the A-side stocker (44) and the B-side stocker (144) is fully loaded. And switching to transfer the workpiece (4) to the other stocker.

Description

Technical Field

[0001] This invention relates to a workpiece loading device (palletizing device) for stacking and loading materials, components, products and other components (workpieces) into a storage container (pallet). Background Technology

[0002] Previously, as a device that sequentially stacks and loads (palletizes) workpieces flowing from upstream processes on a pressure processing production line into a storage container, there existed such as Figure 6 (A) Figure 6 As shown in (B), a workpiece loading device (palletizing device) using a multi-joint robot.

[0003] The loading (palletizing) operation of the conventional device is performed, for example, by the following steps (1) to (7).

[0004] (1) The workpiece 4 processed and punched out by the press 1 is transferred to the conveyor 3 via the workpiece holding part (adsorption holding unit, etc.) 2B installed at the top of the arm 2A of the transfer robot 2.

[0005] (2) The workpiece 4 on the conveyor 3 is sent to the pick-up stage 7.

[0006] (3) The transfer robot 6, which is a multi-joint robot, picks up the workpiece 4 from the pick-up table 7 via the workpiece holding part 6B installed at the top of the arm 6A, and loads the workpiece 4 into the storage device 5 of the palletizing table 8.

[0007] (4) Repeat steps (1) to (3) above to stack workpieces 4 onto storage tank 5 in sequence. When the specified number of sheets is reached in storage tank 5, the transfer robot 6 stops and the production line also stops.

[0008] (5) The storage container 5, which is fully loaded with workpiece 4, is moved out to the full storage container conveyor 9, and the empty storage container 5 is moved from the empty storage container conveyor 10 to the palletizing table 8.

[0009] (6) After that, the pressure processing production line is restarted.

[0010] (7) After that, repeat the above (1) to (6).

[0011] In addition, Patent Document 1 describes a workpiece loading device in which a robot receives a workpiece after pressure processing and loads the workpiece onto trays arranged on both sides of a pressure processing production line.

[0012] Furthermore, the robot in this workpiece loading device is also a multi-joint robot, the same as the transfer robot 6 mentioned above.

[0013] Hereinafter, Patent Document 1 is Japanese Patent Application Publication No. 2003-205331.

[0014] In the conventional apparatus described above, the following problems can be conceived.

[0015] That is, in Figure 6 (A) Figure 6 In the conventional apparatus shown in (B), the switching time from a full hopper to an empty hopper is longer than the production cycle of pressing, thus requiring the production line to be stopped, resulting in problems such as decreased productivity.

[0016] On the other hand, in the device of Patent Document 1, by configuring the storage tanks to be placed on both sides of the pressure processing production line and having multiple multi-joint robots, the switching time when switching from a full storage tank to an empty storage tank is avoided from being longer than the pressing production cycle, thus improving productivity without stopping the production line.

[0017] However, in such Figure 6 (A) Figure 6 The conventional apparatus shown in (B), which uses a multi-joint robot to stack and load workpieces onto a pallet in sequence, as in the apparatus of Patent Document 1, may not be able to cope with the increasing speed of pressure processing production lines.

[0018] In other words, in the case of multi-joint robots, each joint has a large degree of freedom. Furthermore, while accurately controlling the position of each joint to transport workpieces, if workpieces are to be stacked sequentially onto a storage container at high speed, inertial forces and other factors increase with acceleration and deceleration. This leads to increased vibration of the robotic arm and, consequently, the workpieces during loading, limiting the speed at which workpieces can be loaded sequentially onto the storage container. Moreover, increasing the rigidity of the multi-joint robot to suppress vibration increases its weight, thus requiring a larger drive source to power the joints and, consequently, the arm (and necessitating additional braking systems to maintain the joint and arm positions). This may result in larger, more expensive devices and more complex systems. Summary of the Invention

[0019] Therefore, the workpiece loading device of the present invention is characterized by comprising:

[0020] Pick-up station, used to pick up workpieces;

[0021] The A-side palletizing station and the B-side palletizing station are located on opposite sides of the pickup station;

[0022] A-side lifting device, which raises and lowers the A-side storage container supplied to the A-side palletizing station;

[0023] The B-side lifting device raises and lowers the B-side storage container supplied to the B-side palletizing station; and

[0024] A workpiece transfer device includes a workpiece holding section configured to hold and release workpieces, and a horizontal moving mechanism for moving the workpiece holding section horizontally between a pick-up table, an A-side stacking table, and a B-side stacking table, and a lifting mechanism for raising and lowering the workpiece holding section as separate mechanisms. The device transfers workpieces picked up from the pick-up table via the workpiece holding section to either the A-side storage container or the B-side storage container.

[0025] The workpiece transfer device will transfer the workpieces picked up from the pick-up table to either the A-side storage container or the B-side storage container until a preset quantity is reached, and...

[0026] The corresponding A-side lifting device or B-side lifting device adjusts the height of the corresponding A-side storage container or B-side storage container according to the stacking height of the workpieces so that it matches the horizontal movement height of the workpieces in the workpiece transfer device.

[0027] When the number of workpieces transferred to one of the corresponding storage devices on side A and side B reaches a preset number, the workpiece transfer device switches to transfer the workpieces picked up from the pick-up table to the other of the storage devices on side A and side B.

[0028] In this invention, the following features are available:

[0029] During the process of the workpiece transfer device loading the workpiece picked up from the pick-up table to the other of the A-side storage container and the B-side storage container,

[0030] When the number of transferred workpieces reaches a preset number, one of the corresponding A-side storage containers and B-side storage containers is removed from the corresponding A-side stacking table or B-side stacking table, and a new A-side storage container or B-side storage container is moved into one of the A-side stacking table or B-side stacking table.

[0031] In this invention, the following features are available:

[0032] The workpiece transfer device is configured to allow the workpiece held by the workpiece holding part to rotate in a substantially horizontal plane, or to allow the workpiece held by the workpiece holding part to pitch about a substantially horizontal plane.

[0033] In this invention, the following features are available:

[0034] At least one of the A-side storage device and the B-side storage device is formed with multiple sections of workpiece receiving support groove arranged in a vertical direction to receive and support the end of each workpiece.

[0035] In this invention, the following features are available:

[0036] The horizontal movement of the workpiece holding part, achieved by the horizontal movement mechanism of the workpiece transfer device, is extended to the outside of the A-side stacking table or the B-side stacking table, and a tool changing table for replacing the workpiece holding part is provided in its extended direction. Attached Figure Description

[0037] Figure 1 In the diagram, (A) is a top view showing an example configuration of a workpiece loading device (palletizing device) according to an embodiment of the present invention, (B) is a front view of the transfer device portion of (A) with the other part removed, and (C) is a left view of (B).

[0038] Figure 2 In the diagram, (A) is a top view showing an example of the workpiece storage state of the storage container (tray) according to the above embodiment, and (B) is a schematic view showing the DD cross section of (A).

[0039] Figure 3 This is a diagram illustrating the overlapping portion 45C of the workpiece receiving support groove 45 of the support column 44e (44f) of the storage container (tray) in the above embodiment with the position limiting element 45B and the workpiece 4. Figure 2 (See the diagram when observing from the direction of arrow E in (A)).

[0040] Figure 4 This is a perspective view of the support column 44e (44f) of the storage container (tray) in the above embodiment.

[0041] Figure 5 This is a flowchart illustrating an example of the workpiece loading (palletizing) operation performed by the workpiece loading device (palletizing device) of the above-described embodiment.

[0042] Figure 6 In the image, (A) is a top view showing an example of a workpiece loading device (palletizing device) using a multi-joint robot, and (B) is a front view with the transfer robot and storage container (pallet) removed.

[0043] Explanation of reference numerals in the attached figures

[0044] 1 press

[0045] 2. Move out the robot

[0046] 4 workpieces

[0047] 30 conveyor belts

[0048] 31 Pickup Platform

[0049] 40A Side Storage Container Supply and Transfer Device

[0050] 41A Side Palletizing Platform

[0051] 42A Side Lifting Device

[0052] 43A Side-Empty Storage Conveyor

[0053] 44(1)~44(3)A Side Storage

[0054] 45 Workpiece receiving support groove

[0055] 45A Support surface (facing upwards)

[0056] 45B Position Restriction Elements

[0057] 46A Side Full Load Storage

[0058] 47A Side Full Load Storage Conveyor

[0059] 60 Transfer device (loading device)

[0060] 61 Workpiece Holding Part

[0061] 62 Support section

[0062] 63. Moving Part (Horizontal Moving Mechanism, Lifting Mechanism)

[0063] 63A Guide Rail (Linear Motion Guiding Rail)

[0064] 63B boot block

[0065] 63C Drive Unit

[0066] 140B Side Storage Tank Supply and Transfer Device

[0067] 141B Side Palletizing Platform

[0068] 142B Side Lifting Device

[0069] 143B Side-Empty Storage Conveyor

[0070] 144(1)~44(3)B-side storage device

[0071] 146B Side Full Load Storage

[0072] 147B Side Full Load Storage Conveyor Detailed Implementation

[0073] Hereinafter, a workpiece loading apparatus (palletizing apparatus) according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below. Furthermore, the same reference numerals are used for elements that are the same as those in the conventional apparatus described above.

[0074] In this embodiment, the workpiece includes a sheet material as raw material, a processed product obtained by processing the sheet material, a shaped product, etc. Furthermore, the workpiece can include both semi-finished products and finished products.

[0075] The present invention was made in view of the aforementioned actual situation, and its object is to provide a workpiece loading device that, by being configured to be relatively simple and low-cost, with less vibration during workpiece loading, and capable of high-precision workpiece handling, can help to achieve high-speed workpiece handling and thereby improve productivity.

[0076] Figure 1 (A) Figure 1 The workpiece loading device (palletizing device) 100 of the embodiment of the present invention shown in (C) performs the following loading operation (palletizing operation). In addition, the workpiece loading device (palletizing device) 100 is configured to include a conveyor 30, a feeder and transfer device (40, 140) for each storage container, each storage container (44, 144), a transfer device 60, etc., as described later.

[0077] <Step 1>

[0078] In step 1, the workpiece 4 processed by the press 1 is held by the workpiece holding part 2B supported at the top of the arm 2A of the transfer robot 2, which is a multi-joint robot, and transferred to the conveyor 30. The workpiece holding part 2B is configured to hold and release the workpiece 4 by means of magnetic attraction, adsorption, etc.

[0079] <Step 2>

[0080] In the next step, step 2, the conveyor 30 transports the workpiece 4 on the conveyor 30 to the pick-up table 31. The conveyor 30 can utilize a belt conveyor, roller conveyor, etc.

[0081] <Step 3>

[0082] In step 3, Figure 1 In the A-side storage device 40 of (A), the empty storage device 43 on the A side is conveyed from the A-side empty storage device conveyor 43 to the A-side lifting device 42 (see reference) installed on the A-side palletizing platform 41. Figure 1 An empty A-side storage container 44(2) is supplied and installed on the (B) side, and as an A-side storage container 44(3), the A-side lifting device 42 raises the installed empty A-side storage container 44(3) to its initial position and puts it into standby mode. In addition, the storage container can also be called a tray.

[0083] Here, the A-side empty storage container conveyor 43 is configured to include a belt conveyor, etc., to transport the empty A-side storage container 44(1) placed on the conveying surface of the belt conveyor. Figure 1 In (A), move it to the right and make it reach... Figure 1 The position of the A-side storage container 44(2) at the right end of (A). The configuration is such that, in this state, an empty A-side storage container 44(2) is moved towards the A-side stacking platform 41 (in the...) using a cylinder (not shown) or the like. Figure 1 (A) is pushed out from below, moving it above a roller conveyor or the like and supplying it to the A-side palletizing platform 41, and then to the A-side lifting device 42. Furthermore, in Figure 1 In the middle, the storage device supplied to the A-side palletizing station 41 is denoted as A-side storage device 44 (3).

[0084] The storage containers 44(1) to 44(3) on side A have the same structure, as shown below. Figure 2 (A) Figure 2 As shown in (B), the configuration includes: a base 44A with a generally rectangular shape having a space 44B for inserting a forklift or similar device; four pillars 44a to 44d erected at the four corners of the base 44A; and four support pillars 44e to 44h for supporting workpieces. The four pillars 44a to 44d can function as pillars on which other storage containers can be stacked.

[0085] Furthermore, each of the support columns 44e to 44h is provided with a workpiece receiving support groove 45, which is formed along the minor axis of each of the support columns 44e to 44h and receives and supports the end of each workpiece 4. These workpiece receiving support grooves 45 are arranged in multiple segments along the length direction (vertical direction, vertical direction) of each of the support columns 44e to 44h. These workpiece receiving support grooves 45 of the support columns 44e to 44h are configured to cooperate (coordinate) in supporting the workpiece 4.

[0086] Furthermore, in this embodiment, such as Figure 2 As shown in (A), the outer shape of workpiece 4 is a hexagonal shape with a protrusion 4A on the left side of the figure. Therefore, in the direction to be moved from arrow C (workpiece transfer direction) (and...) Figure 2 In the case where the workpiece 4 is transferred (loaded) at a height close to the support surface (facing upwards) 45A of the workpiece receiving support groove 45 (in the direction orthogonal to the plane of (B)), such as Figure 3 As shown, the position limiting element 45B and the workpiece 4 will interfere with each other at the overlapping portion 45C. Therefore, in this embodiment, the workpiece 4 is moved to a workpiece transfer direction position that will not interfere with each other by passing through the overlapping portion 45C. Figure 2 After the position of (A), make the workpiece 4-way Figure 3 The arrow F descends (or falls) and is placed on the support surface 45A of the workpiece receiving support groove 45.

[0087] However, in the absence of such a protrusion 4A, for example, when the long sides of workpiece 4 are approximately parallel to each other, and when the positional constraint element 45B is not required, it is possible to achieve a higher performance than... Figure 3 The workpiece 4 is transferred to a height position closer to the support surface 45A of the workpiece receiving support groove 45.

[0088] <Step 4>

[0089] Next, in step 4, the transfer device (loading device) 60 picks up the workpiece 4 from the pick-up table 31 via the workpiece holding part 61, horizontally transports the workpiece 4 towards the A-side storage container 44 (3), and transfers (loads) the workpiece 4 to the workpiece receiving support groove 45 at the lowest section of the A-side storage container 44 (3).

[0090] Here, the transfer device (loading device) 60 corresponds to an example of the workpiece transfer device of the present invention.

[0091] Furthermore, the workpiece holding part 61 is configured to hold and release the workpiece 4 using magnetic attraction, adsorption, or the like.

[0092] Additionally, the transfer device 60 includes a moving part 63, which has a function to hold the workpiece 61 in a certain position. Figure 1 (A) Figure 1 (B) includes a horizontally moving mechanism that moves horizontally in the left-right direction and a workpiece holding part 61 that can be raised and lowered via a support part 62 (enabling the workpiece holding part 61 to be in...). Figure 1 The lifting mechanism (moving vertically) in (B). Furthermore, in Figure 1 In (B), for ease of explanation, five configurations are depicted for the moving part 63 and, further, for the transfer device 60, including those indicated by parenthetical reference numerals (63) or (60), but in reality, only one configuration is indicated by reference numerals 63 or 60 without parentheses.

[0093] The horizontal movement mechanism of the moving part 63 is configured to include: a guide rail 63A (in... Figure 1 (A) is a portion of the diagram, which is in Figure 1 (A) Figure 1 Extending left and right in (B); guide block 63B (in Figure 1 (Illustration omitted in (A)) is guided in a manner that allows it to move along guide rail 63A; and drive unit 63C (in Figure 1 (Illustration omitted in (A)) is used to move the guide block 63B, and thus the moving part 63, along the guide rail 63A. The drive part 63C can be, for example, a rotary-linear motion conversion mechanism or a linear motion mechanism such as a linear motor, which consists of an electric motor and a rack and pinion mechanism (not shown).

[0094] The lifting mechanism of the moving part 63 is configured to allow the support part 62 to be raised or lowered relative to the main body of the moving part 63 via a rotary-linear motion conversion mechanism or a linear motion mechanism such as a linear motor, which is composed of an electric motor and a rack and pinion mechanism (not shown).

[0095] With this configuration, when the transfer device 60 picks up the workpiece 4, it can lower the workpiece holding part 61 at the pick-up table 31 to hold the workpiece 4, and then raise the workpiece 4 to the workpiece conveying height.

[0096] Furthermore, in this embodiment, the horizontal movement mechanism and the lifting mechanism of the moving part 63 are independent mechanisms (separate independent mechanisms), configured to perform movement control (drive control) independently.

[0097] Furthermore, after the workpiece 4 is raised, the transfer device 60 uses a horizontal moving mechanism to move the moving part 63 along the guide rail (linear motion guide rail) 63A, transferring (transferring) the held workpiece 4 to a predetermined position in the workpiece receiving support groove 45 at the lowest section of the storage container 44 (3) on side A. Figure 2 After reaching position (A), the workpiece holding part 61 is lowered and the workpiece 4 is released, and the workpiece 4 is transferred (loaded) to the workpiece receiving support groove 45 at the lowest section of the storage container 44 (3) on side A. However, if scratches or the like are not a problem, the workpiece 4 can be released at the workpiece conveying height position without lowering the workpiece holding part 61, causing the workpiece 4 to fall.

[0098] Then, the lifting mechanism is used to raise the workpiece holding part 61 to a predetermined height so that it is in a state without interference with other objects. The horizontal moving mechanism is used to move the moving part 63 along the guide rail 63A to the initial position (pick-up table 31) and stand by for the next workpiece transfer (loading).

[0099] <Step 5>

[0100] In step 5, the A-side lifting device 42 lowers the workpiece receiving support groove 45 of the A-side storage container 44 (3) by a certain amount, waiting for the next workpiece 4 to be transferred to the empty workpiece receiving support groove 45. The A-side lifting device 42 can be configured to lift using a linear motion actuator such as a cylinder, or it can also use a rotary-linear motion conversion mechanism or a linear motion mechanism such as a linear motor composed of an electric motor and a rack and pinion mechanism.

[0101] <Step 6>

[0102] In step 6, steps 4 and 5 above are repeated. After the workpiece 4 is transferred (loaded) to the workpiece receiving support groove 45 of all sections of the A-side storage 44 (3), the transfer device 60 starts to transfer (load) the workpiece 4 from the pick-up table 31 to the empty B-side storage 144 (3) which is symmetrically arranged with respect to the A-side storage 44 (3).

[0103] Furthermore, the B-side storage devices 144(1) to 144(3) are positioned relative to the center line L of the workpiece conveying line, which is the center line of the A-side storage devices 44(1) to 44(3). (Refer to...) Figure 1 (A)) perpendicular to plane X (refer to) Figure 1 The storage container with the same configuration as that of the (B) side, which is symmetrically arranged, is omitted from the description. In addition, the B-side storage container supply and transfer device 140, the B-side stacking platform 141, the B-side lifting device 142, and the B-side empty storage container conveyor 143 have the same configuration as the A-side storage container supply and transfer device 40, the A-side stacking platform 41, the A-side lifting device 42, and the A-side empty storage container conveyor 43, respectively, and are therefore omitted from the description.

[0104] <Step 7>

[0105] In step 7, during the transfer (loading) of workpiece 4 to the multi-segment workpiece receiving support groove (same as workpiece receiving support groove 45) of the B-side storage 144(3), on the A side, the A-side storage 44(3) fully loaded with workpiece 4 is pushed out from the A-side stacking table 41 by a cylinder (not shown) or the like, and is moved out to the A-side full-load storage 46 to the A-side full-load storage conveyor 47. Additionally, a new empty A-side storage 44(2) is moved from the A-side empty storage conveyor 43 to the A-side stacking table 41, and placed in the initial position ( Figure 1 (A) of the A-side storage device 44(3) position) standby.

[0106] Furthermore, here, "full load" means "a state in which a predetermined number (or a predetermined number, or a predetermined number of) workpieces are transferred (accommodated) in the A-side storage container 44 (or the B-side storage container 144)," and does not necessarily mean that the A-side storage container 44 (or the B-side storage container 144) has the maximum number of workpieces that can be physically accommodated. For example, even if workpieces are not accommodated in all segments of the multi-segment workpiece receiving support groove 45, as long as the number of workpieces accommodated is the predetermined number, it is called "full load."

[0107] <Step 8>

[0108] Subsequently, steps 1 to 7 above are repeated alternately in storage tank 44 on side A and storage tank 144 on side B.

[0109] Therefore, in this embodiment, when switching from a full-load storage tank to an empty storage tank, it is not necessary to stop the operation of the pressure processing production line, which can improve productivity.

[0110] Furthermore, according to this embodiment, since a device with a high rigidity mechanism (independent horizontal movement mechanism and lifting mechanism) is used instead of a multi-joint robot to load workpieces sequentially into the storage container (pallet), it is possible to cope with the high speed of loading workpieces into the storage container (high speed of palletizing), and thus to cope with the high speed of pressure processing production lines.

[0111] Furthermore, according to this embodiment, since the workpiece receiving support groove 45 is used instead of directly stacking the workpieces in the storage container, it is possible to suppress the occurrence of damage such as scratches caused by contact between the workpieces, the embedding of the workpieces, the tilting of the workpieces, etc.

[0112] Here, according to Figure 5 The flowchart below illustrates the workpiece loading (stacking) operation performed by the workpiece loading device (stacking device) 100 in this embodiment. First, initial values ​​are set.

[0113] In step (denoted as S)101 in the figure, this process begins.

[0114] In step 102, it is determined whether the workpiece transfer (loading) operation is performed on side A or side B (the loading side of the transfer device is specified as GO). Here, since it is set to transfer to the storage container on side A first, the process proceeds to step 103 (initial value: GO = A).

[0115] In step 103, the transfer device 60 picks up the workpiece 4 from the pick-up table 31.

[0116] In step 104, the workpiece counter TOTAL is incremented by 1 to update the value of TOTAL (TOTAL+1→TOTAL). Furthermore, the initial value of the workpiece counter TOTAL is 0 (initial value: TOTAL=0).

[0117] In step 105, the transfer device 60 transfers (loads) the workpiece 4 to the workpiece receiving support groove 45 of the P(A) segment of the A-side storage device 44(3).

[0118] In step 106, the segment counter P(A) is incremented by 1 to update the value of P(A) (P(A) + 1 → P(A)). Furthermore, the initial value of the segment counter P(A) is 1 (initial value: P(A) = 1).

[0119] In step 107, it is determined whether the workpiece counter TOTAL has reached the predetermined value S. If it is "No", proceed to step 108; if it is "Yes", it is considered that the transfer of the set number (predetermined number) of workpieces has been completed, and the process ends.

[0120] In step 108, it is determined whether the segment counter P(A) has reached "N+1" (N is the number of segments of the workpiece receiving support groove of the storage device). If it is "yes", it is considered that the storage device 44(3) on side A has become fully loaded (the state of transferring (accommodating) a preset number of workpieces), and proceeds to step 109. If it is "no", it returns to step 103, and steps 103 to 108 are repeated until it becomes "yes".

[0121] In step 109, since the storage container 44(3) on side A is fully loaded, in order to transfer the workpiece to the storage container on side B, the loading side of the transfer device is assigned GO setting B, returning to step 102 and proceeding to step 110.

[0122] In step 110, the fully loaded storage container is discharged. That is, the A-side storage container 44(3), which has become fully loaded, is moved to the A-side fully loaded storage container conveyor 47 as the A-side fully loaded storage container 46.

[0123] In step 111, an empty storage container is installed on side A. That is, a new empty storage container 44(2) on side A is moved from the empty storage container conveyor 43 on side A to the palletizing station 41 on side A and installed in the initial position. Figure 1 (A) Position of the A-side storage device 44(3).

[0124] In step 112, the segment counter P(A) is restored to its initial value of 1, and the process returns to step 103.

[0125] Here, when proceeding from step 109 to step 102, since GO is set to B, the process proceeds from step 102 to step 113 in order to transfer the workpiece to the storage container on side B.

[0126] In step 113, the transfer device 60 picks up the workpiece 4 from the pick-up table 31.

[0127] In step 114, the workpiece counter TOTAL is incremented by 1 to update the value of TOTAL (TOTAL+1→TOTAL). Furthermore, the initial value of the workpiece counter TOTAL is 0 (initial value: TOTAL=0).

[0128] In step 115, the transfer device 60 transfers (loads) the workpiece 4 to the workpiece receiving support groove 45 of the P(B) segment of the B-side storage device 144(3).

[0129] In step 116, the segment counter P(B) is incremented by 1 to update the value of P(B) (P(B) + 1 → P(B)). Furthermore, the initial value of the segment counter P(B) is 1 (initial value: P(B) = 1).

[0130] In step 117, it is determined whether the workpiece counter TOTAL has reached the predetermined value S. If it is "No", proceed to step 118; if it is "Yes", it is considered that the transfer of the set number (predetermined number) of workpieces has been completed, and the process ends.

[0131] In step 118, it is determined whether the segment counter P(B) has reached "N+1" (N is the number of segments of the workpiece receiving support groove of the storage device). If it is "yes", the storage device 144(3) on side B is considered to be in a full-load state, and the process proceeds to step 119. If it is "no", the process returns to step 113 and repeats steps 113 to 118 until it becomes "yes".

[0132] In step 119, since the B-side storage device 144(3) is in a fully loaded state, in order to transfer the workpiece to the A-side storage device for loading, the loading device is assigned GO setting A, returning to step 102 and proceeding to step 120.

[0133] In step 120, the fully loaded storage container is discharged. That is, the B-side storage container 144(3), which has become fully loaded, is moved to the B-side fully loaded storage container conveyor 147 as the B-side fully loaded storage container 146.

[0134] In step 121, an empty storage container is installed on side B. That is, a new empty storage container 144(2) on side B is moved from the empty storage container conveyor 143 on side B to the stacking platform 141 on side B and installed in the initial position. Figure 1 (A) Position of the B-side storage device 144(3).

[0135] In step 122, the segment counter P(B) is restored to its initial value of 1, and the process returns to step 113.

[0136] By executing such a control flow chart, in this embodiment, workpieces are first transferred (loaded) from the pick-up station to an empty storage container (pallet) on side A. If the storage container on side A is full of workpieces, the process switches to transferring (loading) workpieces to an empty storage container on side B, which is located on the opposite side of the storage container on side A, separated from the pick-up station by the workpieces. This allows the pressure processing production line to continue operating without stopping. Furthermore, during the transfer of workpieces to the storage container on side B (before the storage container on side B becomes full), the full storage container on side A is removed and replaced with an empty storage container. Thus, when the storage container on side B becomes full, the process switches again to transferring (loading) workpieces to an empty storage container on side A.

[0137] That is, in this embodiment, the following action is repeatedly performed: a workpiece is transferred (loaded) to one of the two storage containers on side A and side B. If the storage container is full of workpieces, the workpiece is transferred (loaded) to the other storage container. Therefore, the operation of the pressure processing production line does not need to be stopped, and productivity can be improved.

[0138] In addition, instead of using a multi-joint robot to load workpieces sequentially into the storage container (pallet), this embodiment uses a relatively low-cost and high-rigidity mechanism that makes horizontal movement and vertical movement independent. Therefore, it is possible to realize a workpiece transfer device (60) with low vibration and high rigidity during workpiece loading. Thus, it is possible to cope with the high speed of workpiece loading into the storage container (high speed of palletizing) and, in turn, the high speed of pressure processing production line.

[0139] Furthermore, according to this embodiment, the A-side lifting device 42 and the B-side lifting device 142 are configured to raise and lower the storage container according to the change in the stacking amount (stack height) of the workpieces 4 in the storage container. This configuration can maintain the workpiece conveying height side at a constant level. Therefore, the movement in the lifting direction of the movable part and the inertial force transfer device (60) in the high-speed conveying of the workpiece can be suppressed to the necessary minimum. Thus, the occurrence of unnecessary vibrations can be suppressed, which can help to speed up the loading of workpieces into the storage container (high-speed stacking), and further help to speed up the pressure processing production line.

[0140] Thus, according to this embodiment, a workpiece loading device (transfer device) can be provided that, by having a relatively simple and low-cost configuration, minimizing vibration during workpiece loading, and enabling high-precision workpiece transfer, facilitates high-speed workpiece transfer and thereby improves productivity.

[0141] Furthermore, according to this embodiment, since the storage container is provided with a workpiece receiving support groove (45) that independently accommodates and supports each workpiece one by one without causing them to come into contact with each other, workpieces are not directly stacked in the storage container, thus suppressing damage such as scratches caused by contact between workpieces, workpiece embedding, workpiece tilting, etc. However, in the case of workpieces where scratches are not a problem, it is also possible to configure the storage container without providing the workpiece receiving support groove 45 so that the next workpiece is stacked on top of the workpiece.

[0142] Furthermore, according to this embodiment, since the storage container is provided with a workpiece receiving support groove (45) that independently receives and supports each workpiece, the occurrence of defects such as two-sheet adsorption can be suppressed when the workpiece is taken out from the storage container in the next process.

[0143] Furthermore, in this embodiment, since a position limiting element 45B is provided in the workpiece receiving support groove 45 to limit the position of the workpiece 4, the posture of the workpiece in the storage container is stable. Therefore, for example, it is not necessary to correct the posture of the workpiece before supplying it to the next process, which can help improve productivity and workpiece handling.

[0144] Furthermore, in this embodiment, since in Figure 1 In (A), the palletizing stations (41, 141) on sides A and B are symmetrically arranged relative to the pick-up station 31. Therefore, even if the transfer direction is switched between sides A and B, the transfer can be performed in the same cycle. Consequently, the pressure processing production line does not need to be stopped when switching the storage container for workpiece transfer. As a result, high productivity can be maintained.

[0145] Furthermore, in this embodiment, since the workpiece can be transferred horizontally to the storage container at the height picked up from the pick-up table 31, the lifting and lowering motion of the transfer device can be suppressed to the minimum required stroke, which can help to increase the speed of the cycle.

[0146] Furthermore, in this embodiment, by providing a rotating part 62A that allows the workpiece held by the workpiece holding part 61 to rotate within the workpiece plane, and by providing a pitching part 62B that allows the workpiece held by the workpiece holding part 61 to tilt about the longitudinal central axis (approximately vertical axis) of the support part 62, it is possible to facilitate the transfer of workpieces of various shapes to the storage container and expand the possibility of easily handling the shape of the storage container required by the next process.

[0147] Furthermore, in this embodiment, by providing a tool changing table 70 in the extension direction of the horizontal moving axis (guide rail 63A) of the transfer device 60, the tool can be changed quickly and easily according to the specifications (size, shape, etc.) of the workpiece flowing along the pressure processing production line (for example, replacing the workpiece holding part 61 with workpiece holding parts 71, 72, etc.), thus contributing to the automation of the pressure processing production line and helping to provide a user-friendly system.

[0148] Furthermore, in this embodiment, in Figure 1 In (A), side A is configured as follows: when an empty storage container 44 on side A is transported from the empty storage container conveyor 43 on side A to the stacking platform 41 on side A, Figure 1 In (A), the material is conveyed from left to right and then moved downwards. The B side, which is symmetrically arranged about surface X on the opposite side of the A side (separated from the pick-up table 31), is configured as follows: When an empty B-side storage container 144 is transferred from the B-side empty storage container conveyor 143 to the B-side palletizing table 141, in... Figure 1In (A), the material is conveyed from right to left and then moved downwards, as described above. However, the invention is not limited to this. For example, it is also possible to configure the material so that side A remains unchanged, while on side B, the storage container 144 on side B is conveyed from right to left and then moved upwards. Alternatively, it is also possible to configure the material so that side B remains unchanged, while on side A, the storage container 44 on side A is conveyed from right to left and then moved upwards.

[0149] That is, as long as the configuration is such that A-side palletizing station 41 and B-side palletizing station 141 are set on both sides of the pickup station 31, and these three are arranged and configured so that empty storage containers (pallets) can be supplied to A-side palletizing station 41 and B-side palletizing station 141 in sequence, and when one of the storage containers (pallets) is full, it can be moved out and a new empty storage container (pallet) can be supplied, then there are no particular limitations on the method of supplying and moving the storage containers (pallets) and the path of transporting (supplying) them.

[0150] Alternatively, in this embodiment, multiple workpiece transfer devices 60 may be arranged in the workpiece conveying direction. Here, the guide rails 63A of the multiple workpiece transfer devices 60 are arranged parallel to each other and orthogonal to the workpiece conveying direction. The A-side stacking platform 41 corresponds to each of the multiple workpiece transfer devices 60. Similarly, the B-side stacking platform 141 corresponds to each of the multiple workpiece transfer devices 60.

[0151] In this case, multiple workpieces 4 are sequentially fed onto the pick-up table 31. While the multiple workpieces 4 are arranged on the pick-up table 31, multiple transfer devices 60 simultaneously pick up these workpieces 4. These picked-up workpieces 4 are simultaneously transferred to multiple A-side storage containers 44(3) located on the A-side palletizing table 41. Similarly, multiple other workpieces 4 are simultaneously transferred to multiple B-side storage containers 144(3) located on the B-side palletizing table 141.

[0152] As a result, the conveying efficiency of workpiece 4 is further improved.

[0153] In addition, in this embodiment, the configuration of the A-side and B-side storage container supply and transfer devices 40 and 140 for placing them on the floor or the like and moving each storage container relative to them is described as an example. However, the present invention is not limited to this configuration, and it can also be configured as an unmanned transport vehicle (AGV: Auto Guided Vehicle) that moves each storage container while holding it in place.

[0154] In addition, in this embodiment, the workpiece transfer operation of this device can also be reversed. In this case, it can also be set as a destacking (unloading) device for unloading workpieces from the storage tank and feeding (supplying) workpieces to the press.

[0155] According to the present invention, a workpiece loading device can be provided that, by having a relatively simple and low-cost configuration, minimizing vibration during workpiece loading, and enabling high-precision workpiece handling, facilitates high-speed workpiece handling and thereby improves productivity.

[0156] The embodiments of the present invention described above are merely illustrative examples of the present invention, and various modifications can be made without departing from the spirit of the present invention.

Claims

1. A workpiece loading device, characterized in that, have: Pick-up station, used to pick up workpieces; The A-side palletizing station and the B-side palletizing station are located on opposite sides of the pickup station; A-side lifting device, which raises and lowers the A-side storage container supplied to the A-side palletizing station; The B-side lifting device raises and lowers the B-side storage container supplied to the B-side palletizing station; and A workpiece transfer device includes a workpiece holding section configured to hold and release workpieces, and a horizontal moving mechanism for moving the workpiece holding section horizontally between a pick-up table, an A-side stacking table, and a B-side stacking table, and a lifting mechanism for raising and lowering the workpiece holding section as separate mechanisms. The device transfers workpieces picked up from the pick-up table via the workpiece holding section to either the A-side storage container or the B-side storage container. The workpiece transfer device will transfer the workpieces picked up from the pick-up table to either the A-side storage container or the B-side storage container until a preset quantity is reached, and... The corresponding A-side lifting device or B-side lifting device adjusts the height of the corresponding A-side storage container or B-side storage container according to the stacking height of the workpieces so that it matches the horizontal movement height of the workpieces in the workpiece transfer device. When the number of workpieces transferred to one of the A-side storage containers and the B-side storage container reaches a preset number, the workpiece transfer device switches to transfer the workpieces picked up from the pick-up table to the other of the A-side storage container and the B-side storage container.

2. The workpiece loading device according to claim 1, characterized in that, During the process of the workpiece transfer device loading the workpiece picked up from the pick-up table to the other of the A-side storage container and the B-side storage container, When the number of transferred workpieces reaches a preset number, one of the corresponding A-side storage containers and B-side storage containers is removed from the corresponding A-side stacking table or B-side stacking table, and a new A-side storage container or B-side storage container is moved into one of the A-side stacking table or B-side stacking table.

3. The workpiece loading device according to claim 1 or 2, characterized in that, The workpiece transfer device is configured to allow the workpiece held by the workpiece holding part to rotate in a substantially horizontal plane, or to allow the workpiece held by the workpiece holding part to pitch about a substantially horizontal plane.

4. The workpiece loading device according to any one of claims 1 to 3, characterized in that, At least one of the A-side storage device and the B-side storage device is formed with multiple sections of workpiece receiving support groove arranged in a vertical direction to receive and support the end of each workpiece.

5. The workpiece loading device according to any one of claims 1 to 4, characterized in that, The horizontal movement of the workpiece holding part, achieved by the horizontal movement mechanism of the workpiece transfer device, is extended to the outside of the A-side stacking table or the B-side stacking table, and a tool changing table for replacing the workpiece holding part is provided in its extended direction.

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