Workpiece loading device

Abstract

To provide a workpiece loading device capable of contributing to high-speed conveyance of a workpiece and improvement of productivity.SOLUTION: A workpiece loading device includes a pickup stage 31, an A-side palletizing stage 41 and a B-side palletizing stage 141, an A-side lift device 42, a B-side lift device 142, and a workpiece transfer device 60, and the workpiece transfer device 60 transfers workpieces 4 picked up from the pickup stage 31 to one of an A-side stocker 44 and a B-side stocker 144 until the one is fully loaded. The corresponding one of the A-side lift device 42 and the B-side lift device 142 operates to adjust the height of the corresponding one of the A-side stocker 44 and the B-side stocker 144 to the horizontal movement height of the workpiece of the workpiece transfer device 60, and the workpiece transfer device 60 switches to transfer the workpiece 4 to the other stocker when the one of the A-side stocker 44 and the B-side stocker 144 is fully loaded.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work loading device (palletizing apparatus) that stacks and loads materials, parts, products, and other members (workpieces) onto a stocker (pallet). [Background technology]

[0002] Conventionally, there is a work loading device (palletizing device) using an articulated robot as shown in Figures 6(A) and 6(B) as a device for stacking and loading (palletizing) workpieces flowing from an upstream process in a stocker on a press processing line. The loading (palletizing) operation of such a conventional device is carried out, for example, in the following steps (1) to (7). (1) The workpiece 4 processed and stamped out by the press machine 1 is transferred to the transport conveyor 3 via a workpiece holder (such as a suction holding means) 2B attached to the tip of the arm 2A of the carry-out robot 2. (2) The workpiece 4 on the transport conveyor 3 is sent to the pickup stage 7. (3) The transfer robot 6, which is an articulated robot, picks up the workpiece 4 from the pickup stage 7 via the workpiece holder 6B attached to the tip of the arm 6A and loads it into the stocker 5 on the palletizing stage 8. (4) The above steps (1) to (3) are repeated to stack the workpieces 4 in the stocker 5 in order, and when the specified number of workpieces is loaded into the stocker 5, the transfer robot 6 stops and the line also stops. (5) The stocker 5 filled with workpieces 4 is carried out onto the full stocker conveyor 9, and an empty stocker 5 is carried into the palletizing stage 8 from the empty stocker conveyor 10. (6) Then, restart the press processing line. (7) After that, repeat steps (1) to (6) above.

[0003] Furthermore, Patent Document 1 describes a work loading device in which a robot receives a work after press working and loads it onto pallets arranged on both sides of a press working line. The robot in such a workpiece loading device is also an articulated robot similar to the transfer robot 6 described above. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-205331 Summary of the Invention [Problem to be solved by the invention]

[0005] The above-described conventional device is expected to have the following problems. In other words, with the conventional equipment shown in Figures 6(A) and 6(B), when switching from a full stocker to an empty stocker, the switching time is longer than the production cycle of the press, so the line needs to be stopped, resulting in a problem of reduced productivity. On the other hand, the system of Patent Document 1 has stockers on both sides of the press processing line and is configured with multiple articulated robots, thereby preventing the changeover time when switching from a fully loaded stocker to an empty stocker from being longer than the press production cycle, and preventing the line from being stopped, thereby improving productivity. However, configurations such as the conventional devices shown in Figures 6(A) and 6(B) and the device in Patent Document 1, which use an articulated robot to stack and load workpieces onto a pallet in order, may not be able to keep up with the increasing speed of press processing lines. That is, in the case of an articulated robot, each joint has a large degree of freedom, and because workpieces are transported while the position of each joint is precisely controlled, if workpieces are to be stacked in a stocker at high speed, inertial forces and the like increase with acceleration and deceleration, causing greater vibration of the robot arm and the workpieces during the loading operation, limiting the speed at which the workpieces can be loaded in a stocker. Furthermore, if an attempt is made to increase the device rigidity of an articulated robot to suppress vibration, the weight increases, which increases the capacity of the drive source that drives the joints and therefore the arms (and further requires the provision of a separate brake system to maintain the position of the joints and arms), which could lead to larger device sizes, higher costs, and more sophisticated systems.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a work loading device that is relatively simple and low-cost, and has a configuration that allows for high-precision work transport with little vibration when loading work, thereby contributing to the realization of high-speed work transport and ultimately improved productivity. [Means for solving the problem]

[0007] For this reason, the work loading device according to the present invention is A pickup stage for picking up the workpiece; an A-side palletizing stage and a B-side palletizing stage provided on either side of the pickup stage; an A-side lift device that raises and lowers the A-side stocker supplied to the A-side palletizing stage; a B-side lift device that raises and lowers the B-side stocker supplied to the B-side palletizing stage; a work transfer device that includes a work holding section configured to hold and release a workpiece, and that includes a horizontal movement mechanism that moves the work holding section horizontally between the pickup stage, the A-side palletizing stage, and the B-side palletizing stage, and a lifting mechanism that lifts and lowers the work holding section, as separate mechanisms, and that transfers the workpiece picked up from the pickup stage via the work holding section to the A-side stocker or the B-side stocker; Equipped with The workpiece transfer device transfers the workpieces picked up from the pickup stage to either the A-side stocker or the B-side stocker until the number of workpieces reaches a predetermined set number, and The A-side lift device or B-side lift device corresponding to either one of the two lifts up or down to adjust the height of the corresponding A-side stocker or B-side stocker to the horizontal movement height of the workpieces of the workpiece transfer device according to the stacking height of the workpieces, When the number of works transferred to the corresponding one of the A-side stocker or the B-side stocker reaches a predetermined set number, the work transfer device switches to transfer the works picked up from the pickup stage to the other one of the A-side stocker or the B-side stocker. It is characterized by:

[0008] In the present invention, While the workpiece transfer device is loading the workpiece picked up from the pickup stage into the other of the A-side stocker or the B-side stocker, Either the A-side stocker or the B-side stocker that has a predetermined number of transferred workpieces is removed from the corresponding A-side palletizing stage or B-side palletizing stage, and a new A-side stocker or B-side stocker is carried into the A-side palletizing stage or B-side palletizing stage. The present invention can be characterized by the above.

[0009] In the present invention, The workpiece transfer device may be characterized in that the workpiece held by the workpiece holding unit is rotatable within a substantially horizontal plane, or the workpiece held by the workpiece holding unit is tiltable relative to a substantially horizontal plane.

[0010] In the present invention, At least one of the A-side stocker or B-side stocker has The workpiece accommodating and supporting grooves for accommodating and supporting the end of each workpiece are formed in a plurality of stages aligned in the vertical direction.

[0011] In the present invention, The horizontal movement of the workpiece holding part by the horizontal movement mechanism of the workpiece transfer device can be extended to the outside of the A-side palletizing stage or the B-side palletizing stage, and a tool changing stage for changing the workpiece holding part can be provided on that extension. [Effects of the Invention]

[0012] According to the present invention, a work loading device can be provided that is relatively simple and low-cost, and has a configuration that allows for high-precision work transport with little vibration when loading the work, thereby contributing to the realization of high-speed work transport and improved productivity. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1A is a plan view showing an example of the configuration of a work loading device (palletizing device) according to an embodiment of the present invention, FIG. 1B is a front view of the transfer device portion of FIG. 1A, and FIG. 1C is a left side view of FIG. 1B. [Figure 2] 1A is a plan view showing an example of a state in which workpieces are accommodated in a stocker (pallet) according to the embodiment, and FIG. 1B is a schematic view of a cross section taken along the line DD of FIG. 1A. [Figure 3] This is a diagram explaining the position control element 45B provided in the work storage support groove 45 of the support column 44e (44f) of the stocker (pallet) in the above embodiment and the overlapping portion 45C of the work 4 (viewed from the direction of arrow E in Figure 2(A)). [Figure 4] FIG. 2 is a perspective view of a support column 44e (44f) of the stocker (pallet) according to the embodiment. [Figure 5] 4 is a flowchart illustrating an example of a work loading (palletizing) operation performed by the work loading device (palletizing device) according to the embodiment. [Figure 6]FIG. 1A is a plan view showing an example of a workpiece loading device (palletizing device) using a conventional articulated robot, and FIG. 1B is a front view showing the transfer robot and stocker (pallet) portion. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, a workpiece loading device (palletizing device) 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 embodiment described below. Elements similar to those of the conventional device described above will be designated by the same reference numerals. In this embodiment, the workpiece includes a plate-shaped material as a raw material, a processed product or a formed product obtained by processing the plate-shaped material, etc. The workpiece can also include both an intermediate product and a finished product.

[0015] 1(A) to 1(C) according to the embodiment of the present invention, a workpiece loading device (palletizing device) 100 performs the following loading operation (palletizing operation). The workpiece loading device (palletizing device) 100 is configured to include a transfer conveyor 30, stocker supply / carry-out devices (40, 140), stockers (44, 144), a transfer device 60, etc., which will be described later. <Step 1> In step 1, the workpiece 4 machined by the press machine 1 is held by the workpiece holder 2B supported on the tip of the arm 2A of the carry-out robot 2, which is an articulated robot, and transferred to the transport conveyor 30. The workpiece holder 2B is configured to be able to hold and release the workpiece 4 by magnetic attraction, suction, etc.

[0016] <Step 2> In the following step 2, the transfer conveyor 30 transfers the workpiece 4 on the transfer conveyor 30 to the pickup stage 31. The transfer conveyor 30 can be a belt conveyor, a roller conveyor, or the like.

[0017] <Step 3> In step 3, in the A-side stocker supply / unloading device 40 of Fig. 1(A), an empty A-side stocker 44(2) is supplied from the A-side empty stocker conveyor 43 onto the A-side lift device 42 (see Fig. 1(B)) disposed on the A-side palletizing stage 41 and set as A-side stocker 44(3), and the A-side lift device 42 then raises the set empty A-side stocker 44(3) to its initial position and waits there. Note that a stocker can also be called a pallet.

[0018] The A-side empty stocker conveyor 43 includes a belt conveyor and transports an empty A-side stocker 44(1) placed on the conveying surface of the belt conveyor toward the right in FIG. 1(A) until it reaches the position of the A-side stocker 44(2), which is at the right end in FIG. 1(A). In this state, the empty A-side stocker 44(2) is pushed toward the A-side palletizing stage 41 (downward in FIG. 1(A)) by an air cylinder (not shown) or the like, and is moved on a roller conveyor or the like to be supplied (transported) to the A-side palletizing stage 41 and ultimately onto the A-side lift device 42. The stocker supplied to the A-side palletizing stage 41 is shown as A-side stocker 44(3) in FIG. 1.

[0019] 2(A) and 2(B), the A-side stockers 44(1) to 44(3) each have the same configuration, but are configured to include a base 44A with a roughly rectangular parallelepiped outer shape having a space 44B into which the claws of a forklift or the like can be inserted, four pillars 44a to 44d erected at the four corners of the base 44A, and four support pillars 44e to 44h that support the workpieces. The four pillars 44a to 44d can function as pillars that allow other stockers to be stacked on top of them.

[0020] Furthermore, the support columns 44e to 44h are provided with workpiece accommodating support grooves 45 that are formed along the minor axis direction of each of the support columns 44e to 44h and that accommodate and support the end of each workpiece 4. The workpiece accommodating support grooves 45 are formed in multiple stages and aligned in the longitudinal direction (vertical direction, lifting direction) of each of the support columns 44e to 44h. The workpiece accommodating support grooves 45 of these support columns 44e to 44h are configured to cooperate to support the workpiece 4.

[0021] In this embodiment, as shown in FIG. 2(A), the outer shape of the workpiece 4 is a hexagon with a protrusion 4A on the left side in the drawing. Therefore, when attempting to transfer (load) the workpiece 4 parallel to the support surface (upward surface) 45A of the workpiece accommodating and supporting groove 45 from the direction of arrow C (workpiece transfer direction) (a direction perpendicular to the plane of FIG. 2(B)), the position restricting element 45B and the workpiece 4 interfere with each other at the overlapping portion 45C, as shown in FIG. 3. Therefore, in this embodiment, the workpiece 4 passes through the overlapping portion 45C and is transferred to a workpiece transfer direction position (the position in FIG. 2(A)) where they do not interfere with each other, and then the workpiece 4 is lowered (or dropped) in the direction of arrow F in FIG. 3 and placed on the lower surface 45A of the workpiece accommodating and supporting groove 45. However, if there is no such protrusion 4A, for example, if the long sides of the workpiece 4 are approximately parallel to each other, or if the position control element 45B is not required, the workpiece 4 can be transferred at a height position closer to the support surface 45A of the workpiece storage support groove 45 than shown in Figure 3.

[0022] <Step 4> Next, in step 4, the transfer device (loading device) 60 picks up the workpiece 4 from the pickup stage 31 via the workpiece holding section 61, transports the workpiece 4 horizontally toward the A-side stocker 44 (3), and transfers (loads) the workpiece 4 into the workpiece storage support groove 45 at the bottom of the A-side stocker 44 (3). Here, the transfer device (loading device) 60 corresponds to an example of a work transfer device according to the present invention.

[0023] The workpiece holding portion 61 is configured to be able to hold and release the workpiece 4 by magnetic attraction or suction. 1(A) and 1(B), and a moving section 63 equipped with a horizontal movement mechanism that enables the workpiece holding section 61 to move horizontally in the left-right direction, and a lifting mechanism that enables the workpiece holding section 61 to move up and down (up and down in FIG. 1(B)) via a support section 62. For convenience of explanation, in FIG. 1(B), five moving sections 63 and therefore five transfer devices 60 are depicted, including those with the parenthesized reference numerals (63) or (60), but in reality, one transfer device with the reference numeral 63 or 60 without parentheses is provided.

[0024] 1(A) and 1(B), the horizontal movement mechanism of the moving unit 63 includes a guide rail 63A (partially shown in FIG. 1(A)) extending in the left-right direction, a guide block 63B (not shown in FIG. 1(A)) that is movably guided along the guide rail 63A, and a drive unit 63C (not shown in FIG. 1(A)) for moving the guide block 63B and therefore the moving unit 63 along the guide rail 63A. The drive unit 63C can be, for example, a rotary-linear motion conversion mechanism including an electric motor and a rack-and-pinion mechanism (not shown) or a linear motion mechanism such as a linear motor.

[0025] The lifting mechanism of the moving part 63 is configured to be able to raise and lower the support part 62 relative to the main body of the moving part 63 via a rotary-linear motion conversion mechanism consisting of an electric motor and a rack and pinion mechanism (not shown) or a linear motion mechanism such as a linear motor. With this configuration, when the transfer device 60 picks up the workpiece 4, it lowers the workpiece holding section 61 on the pickup stage 31 to hold the workpiece 4, and then raises the workpiece 4 to the workpiece transport height.

[0026] In this embodiment, the horizontal movement mechanism of the moving part 63 and the lifting mechanism of the moving part 63 are mutually independent mechanisms (separate mechanisms) and are configured to be capable of independent movement control (drive control) of each.

[0027] Then, after raising the workpiece 4, the transfer device 60 moves the moving part 63 along the guide rail (linear guide rail) 63A using the horizontal movement mechanism, and transfers (conveys) the held workpiece 4 to a predetermined position (the position in FIG. 2(A)) in the lowest workpiece storage support groove 45 of the A-side stocker 44(3), and then lowers the workpiece holding part 61 and releases the workpiece 4, transferring (loading) the workpiece 4 into the lowest workpiece storage support groove 45 of the A-side stocker 44(3). However, if scratches and the like are not an issue, it is also possible to release and drop the workpiece 4 at the work transport height without lowering the workpiece holding part 61. Thereafter, the lifting mechanism raises the workpiece holding section 61 to a predetermined height to ensure that there is no interference with other components, and the horizontal movement mechanism moves the moving section 63 along the guide rail 63A to the initial position (pickup stage 31), where it waits for the next workpiece transfer (loading).

[0028] <Step 5> In step 5, the A-side lift device 42 descends by one level of the workpiece storage support groove 45 of the A-side stocker 44(3) and waits for the next workpiece 4 to be transferred to the empty workpiece storage support groove 45. The A-side lift device 42 can be configured to be able to rise and fall using a linear actuator such as an air cylinder, but it can also use a rotary-linear motion conversion mechanism consisting of an electric motor and a rack and pinion mechanism, or a linear motion mechanism such as a linear motor.

[0029] <Step 6> In step 6, steps 4 and 5 are repeated, and when the workpieces 4 have been transferred (loaded) onto all levels of the workpiece storage support grooves 45 of the A-side stocker 44(3), the transfer device 60 begins transferring (loading) the workpieces 4 from the pickup stage 31 to the empty B-side stocker 144(3), which is arranged symmetrically to the A-side stocker 44(3). Note that B-side stockers 144(1) to 144(3) are stockers of the same configuration as A-side stockers 44(1) to 44(3), arranged symmetrically with respect to plane X (see FIG. 1(B)) perpendicular to center line L (see FIG. 1(A)) of the workpiece conveying line, and therefore description thereof will be omitted. Also, B-side stocker supply / unloading device 140, B-side palletizing stage 141, B-side lift device 142, and B-side empty stocker conveyor 143 have the same configuration as A-side stocker supply / unloading device 40, A-side palletizing stage 41, A-side lift device 42, and A-side empty stocker conveyor 43, respectively, and description thereof will be omitted.

[0030] <Step 7> In step 7, while the workpieces 4 are being transferred (loaded) into the multiple stages of workpiece storage support grooves (similar to the workpiece storage support grooves 45) of the B-side stocker 144(3), on the A-side, the A-side stocker 44(3) fully loaded with workpieces 4 is pushed out from the A-side palletizing stage 41 by an air cylinder or the like (not shown) and carried out to the A-side fully loaded stocker conveyor 47 as the A-side fully loaded stocker 46. Also, a new empty A-side stocker 44(2) is carried into the A-side palletizing stage 41 from the A-side empty stocker conveyor 43 and waits at the initial position (the position of the A-side stocker 44(3) in FIG. 1(A)). Here, "full" means "a state in which a predetermined set number (or a predetermined number, or a plurality of predetermined numbers) of workpieces have been transferred (stored) in the A-side stocker 44 (or the B-side stocker 144)," and does not necessarily mean a state in which the maximum number of workpieces that can be physically stored in the A-side stocker 44 (or the B-side stocker 144) have been transferred. For example, even if workpieces are not stored in all stages of the multi-stage work storage support groove 45, it is still called "full" as long as the number of stored workpieces is a predetermined set number.

[0031] <Step 8> Thereafter, the above steps 1 to 7 are repeated alternately for the A-side stocker 44 and the B-side stocker 144. As a result, in this embodiment, when switching from a fully loaded stocker to an empty stocker, it is not necessary to stop the operation of the press working line, thereby improving productivity.

[0032] Furthermore, according to this embodiment, instead of using an articulated robot to load workpieces sequentially onto a stocker (pallet), an equipment configuration using highly rigid mechanisms (mutually independent horizontal movement mechanisms and lifting mechanisms) is adopted, which makes it possible to speed up the loading of workpieces into the stocker (faster palletizing), and ultimately to speed up the press processing line. Furthermore, according to this embodiment, the work storage support groove 45 is adopted, and the workpieces are not directly stacked on top of each other inside the stocker, so that it is possible to prevent damage such as scratches caused by contact between the workpieces, workpieces getting stuck in each other, and workpiece tilting, etc.

[0033] Here, the work loading (palletizing) operation performed by the work loading device (palletizing device) 100 according to this embodiment will be described according to the flowchart in Fig. 5. First, each initial value is set. This flow starts at step (denoted as S in the figure) 101. In step 102, it is determined whether the workpiece transfer (loading) operation will be performed on side A or side B (determining whether the transfer device loading side designation GO is performed). Here, since it is set to transfer to the stocker on side A first, the process proceeds to step 103 (initial value: GO=A).

[0034] In step 103 , the transfer device 60 picks up the workpiece 4 from the pickup stage 31 .

[0035] In step 104, the transported workpiece counter TOTAL is incremented by 1 to update the value of TOTAL (TOTAL+1→TOTAL). Note that the initial value of the transported workpiece counter TOTAL is 0 (initial value: TOTAL=0).

[0036] In step 105, the transfer device 60 transfers (loads) the workpiece 4 into the workpiece accommodation support groove 45 on the P(A)th level of the A-side stocker 44(3).

[0037] In step 106, the stage counter P(A) is incremented by one to update the value of P(A) (P(A)+1→P(A)). Note that the initial value of the stage counter P(A) is 1 (initial value: P(A)=1).

[0038] In step 107, it is determined whether the transported workpiece counter TOTAL has reached a predetermined value S. If NO, the process proceeds to step 108, and if YES, the transport of the set number (predetermined number) of workpieces is considered to have been completed, and this flow is ended.

[0039] In step 108, it is determined whether the tier counter P(A) has reached "N+1" (N is the number of tiers in the stocker's workpiece accommodation support grooves). If YES, it is assumed that the A-side stocker 44(3) is fully loaded (a state in which a predetermined number of workpieces have been transferred (accommodated)), and the process proceeds to step 109. If NO, the process returns to step 103, and steps 103 to 108 are repeated until YES is reached.

[0040] In step 109, since the A-side stocker 44(3) is fully loaded, in order to proceed to the transfer (loading) of the work to the B-side stocker, B is set in the transfer device loading side designation GO, and the process returns to step 102 and proceeds to step 110.

[0041] In step 110, the fully loaded stocker is removed. That is, the fully loaded A-side stocker 44(3) is carried out to the A-side fully loaded stocker conveyor 47 as the A-side fully loaded stocker 46.

[0042] In step 111, an empty stocker is set on side A. That is, a new empty A-side stocker 44(2) is carried from the A-side empty stocker conveyor 43 to the A-side palletizing stage 41 and set in the initial position (the position of A-side stocker 44(3) in FIG. 1(A)).

[0043] In step 112, the stage number counter P(A) is reset to the initial value of 1, and the process returns to step 102.

[0044] Here, when the process proceeds from step 109 to step 102, GO=B is set, so the process proceeds from step 102 to step 113 to transfer the workpiece to the stocker on the B side.

[0045] In step 113 , the transfer device 60 picks up the workpiece 4 from the pickup stage 31 .

[0046] In step 114, the transported workpiece counter TOTAL is incremented by 1 to update the value of TOTAL (TOTAL+1→TOTAL). Note that the initial value of the transported workpiece counter TOTAL is 0 (initial value: TOTAL=0).

[0047] In step 115, the transfer device 60 transfers (loads) the workpiece 4 into the workpiece accommodation support groove 45 on the P(B)th level of the B-side stocker 144(3).

[0048] In step 116, the stage counter P(B) is incremented by one to update the value of P(B) (P(B)+1→P(B)). Note that the initial value of the stage counter P(B) is 1 (initial value: P(B)=1).

[0049] In step 117, it is determined whether the transported workpiece counter TOTAL has reached a predetermined value S. If NO, the process proceeds to step 118, and if YES, the process concludes that the transport of the set number (predetermined number) of workpieces has been completed and ends this flow.

[0050] In step 118, it is determined whether the tier counter P(B) has reached "N+1" (N is the number of tiers in the workpiece accommodation support grooves of the stocker). If YES, it is assumed that the B-side stocker 144(3) is fully loaded, and the process proceeds to step 119. If NO, the process returns to step 113, and steps 113 to 118 are repeated until the result is YES.

[0051] In step 119, since the B-side stocker 144(3) is fully loaded, in order to proceed to the transfer (loading) of the work to the A-side stocker, A is set in the transfer device loading side designation GO, and the process returns to step 102 and proceeds to step 120.

[0052] In step 120, the fully loaded stocker is removed. That is, the fully loaded B-side stocker 144(3) is carried out to the B-side fully loaded stocker conveyor 147 as the B-side fully loaded stocker 146.

[0053] In step 121, an empty stocker is set on side B. That is, a new empty B-side stocker 144(2) is carried from the B-side empty stocker conveyor 143 to the B-side palletizing stage 141 and set in the initial position (the position of side B stocker 144(3) in FIG. 1(A)).

[0054] In step 122, the stage number counter P(B) is reset to the initial value of 1, and the process returns to step 102.

[0055] By executing this control flowchart, in this embodiment, first, workpieces are transferred (loaded) from the pickup stage to an empty stocker (pallet) on side A, and when the stocker on side A becomes full with workpieces, the system switches to transferring (loading) the workpieces to an empty stocker on side B, which is located on the opposite side of the work pickup stage from the stocker on side A, allowing the operation of the press line to continue without stopping. Then, while the workpieces are being transferred to this stocker on side B (before this stocker on side B becomes full with workpieces), the full stocker on the A-side palletizing stage is removed and replaced with an empty stocker, so that when the stocker on side B becomes full, the system switches again to transferring (loading) the workpieces to the empty stocker on side A. In other words, in this embodiment, the work is transferred (loaded) into one of the two stockers on side A and side B, and when that stocker is fully loaded with work, the work is switched to the other stocker and the transfer (loading) of the work is repeated. This eliminates the need to stop the operation of the press processing line, thereby improving productivity.

[0056] Furthermore, in this embodiment, rather than using an articulated robot to load the workpieces into a stocker (pallet) in sequence, the workpieces are transported using a relatively low-cost, highly rigid mechanism that has independent horizontal and vertical movement. This makes it possible to realize a highly rigid workpiece transfer device (60) that produces little vibration when loading the workpieces, thereby enabling faster loading of the workpieces into the stocker (faster palletizing) and ultimately faster press processing lines.

[0057] Furthermore, according to this embodiment, the A-side lift device 42 and the B-side lift device 142 are adopted, and the stocker is raised and lowered in accordance with changes in the amount (stacking height) of workpieces 4 stacked in the stocker, and the transport height of the workpieces can be maintained constant. Therefore, the movement of the workpieces in the transfer device (60), which is a movable part and on which inertial force acts, in the lifting direction during high-speed transport can be kept to a minimum, thereby suppressing the occurrence of unnecessary vibrations, etc., and contributing to faster loading of workpieces into the stocker (faster palletizing), and ultimately faster press processing lines.

[0058] Thus, according to this embodiment, a work loading device (transfer device) can be provided that is relatively simple and low-cost, and has a configuration that allows for high-precision work transport with little vibration when loading the work, thereby contributing to the realization of high-speed work transport and ultimately improved productivity.

[0059] Furthermore, according to this embodiment, the stocker is provided with workpiece storage support grooves (45) that store and support the workpieces one by one without them coming into contact with each other, so that the workpieces are not directly stacked on top of each other in the stocker, and it is possible to prevent damage such as scratches caused by contact between the workpieces, workpieces getting stuck in each other, workpiece tilting, etc. However, in the case of workpieces for which scratches and the like are not an issue, it is also possible to stack the next workpiece on top of the workpiece without providing the workpiece storage support grooves 45.

[0060] Furthermore, according to this embodiment, the stocker is provided with workpiece storage support grooves (45) that store and support the workpieces one by one individually, so that when the workpieces are removed from the stocker in the next process, problems such as double suction can be prevented.

[0061] Furthermore, in this embodiment, the position regulating element 45B that regulates the position of the workpiece 4 is provided in the workpiece accommodation support groove 45, so the posture of the workpiece in the stocker is stable. Therefore, for example, there is no need to correct the posture of the workpiece before supplying it to the next process, etc., which can contribute to improved productivity and workpiece transportability.

[0062] In addition, in this embodiment, the palletizing stages (41, 141) on the A and B sides in FIG. 1(A) are arranged symmetrically with respect to the pickup stage 31, so that even if the transfer direction is switched between the A side and the B side, transfer can be performed in the same cycle. Therefore, there is no need to stop the press processing line when switching the stocker to transfer the workpieces. This makes it possible to maintain high productivity.

[0063] Furthermore, in this embodiment, the workpiece can be transferred horizontally to the stocker at the height at which it is picked up from the pickup stage 31, thereby limiting the lifting and lowering operation of the transfer device to the minimum required stroke, which contributes to faster cycles.

[0064] Furthermore, in this embodiment, a rotation section 62A is provided that rotates the work held by the work holding section 61 within the work plane, making it rotatable, and a tilt section 62B is provided that tilts the work holding section 61 about the longitudinal center axis (approximately vertical axis) of the support section 62, making it possible to tilt the work held by the work holding section 61, thereby making it easier to transfer work of various shapes to a stocker and expanding the possibilities for easily adapting to the stocker shape required by the next process.

[0065] Furthermore, in this embodiment, by providing a tool exchange stage 70 on the extension of the horizontal traveling axis (guide rail 63A) of the transfer device 60, it becomes possible to quickly and easily exchange tools (for example, exchange work holding unit 61 for work holding units 71, 72, etc.) to match the specifications (size, shape, etc.) of the workpieces flowing through the press processing line, which can contribute to the automation of press processing lines and the provision of a user-friendly system.

[0066] In this embodiment, in FIG. 1A, when an empty A-side stocker 44 is transported from the A-side empty stocker conveyor 43 to the A-side palletizing stage 41, it is transported from left to right in FIG. 1A and then moved downward. On the other hand, on the B-side, which is disposed on the opposite side of the pickup stage 31 and is arranged symmetrically with respect to plane X, when an empty B-side stocker 144 is transferred from the B-side empty stocker conveyor 143 to the B-side palletizing stage 141, it is transported from right to left in FIG. 1A and then moved downward. However, the present invention is not limited to this. For example, it is also possible to leave the A-side as it is and transport the B-side stocker 144 from right to left on the B-side and then move it upward. It is also possible to leave the B-side as it is and transport the A-side stocker 44 from right to left on the A-side and then move it upward. In other words, as long as the A-side palletizing stage 41 and the B-side palletizing stage 141 are provided on either side of the pickup stage 31, and the three are arranged side by side, and empty stockers (pallets) can be supplied sequentially to the A-side palletizing stage 41 and the B-side palletizing stage 141, and when either stocker (pallet) becomes full, it can be removed and a new empty stocker (pallet) can be supplied, there are no particular limitations on the method of supplying and unloading the stockers (pallets) or the transport (supply) route.

[0067] Furthermore, in this embodiment, the A-side and B-side stocker supply / unloading devices 40, 140 have been described as being installed on a floor or the like and each stocker is moved relative to them, but the present invention is not limited to this configuration, and it is also possible to use a configuration that uses an automatic guided vehicle (AGV) that holds each stocker and moves to transport it.

[0068] Furthermore, in this embodiment, the workpiece transfer operation of this device can also be reversed, in which case it can also be used as a depalletizing (unloading) device for removing the workpiece from the stocker and feeding (supplying) the workpiece into a press machine.

[0069] The embodiments of the present invention described above are merely examples for explaining the present invention, and various modifications can be made without departing from the scope of the present invention. [Explanation of symbols]

[0070] 1 Press machine 2. Carry-out robot 4 Work 30 Transport conveyor 31 Pick-up Stage 40 A-side stocker supply / unloading device 41 A-side palletizing stage 42 A side lift device 43 A-side empty stocker conveyor 44(1)~44(3) A side stocker 45 Workpiece support groove 45A Support surface (upward facing surface) 45B Location Control Elements 46 A-side full load stocker 47 A-side full-load stocker conveyor 60 Transfer equipment (loading equipment) 61 Work holding part 62 Support part 63 Moving part (horizontal movement mechanism, lifting mechanism) 63A Guide rail (linear guide rail) 63B Guide Block 63C Drive Unit 140 B-side stocker supply / unloading device 141 B-side palletizing stage 142 B side lift device 143 B-side empty stocker conveyor 144(1)~44(3) B side stocker 146 B-side full load stocker 147 B-side full-load stocker conveyor

Claims

1. A pickup stage for picking up the workpiece; an A-side palletizing stage and a B-side palletizing stage provided on either side of the pickup stage; an A-side lift device that raises and lowers the A-side stocker supplied to the A-side palletizing stage; a B-side lift device that raises and lowers the B-side stocker supplied to the B-side palletizing stage; a work transfer device that includes a work holding section configured to hold and release a work, and that includes a horizontal movement mechanism that moves the work holding section horizontally between the pickup stage, the A-side palletizing stage, and the B-side palletizing stage, and a lifting mechanism that lifts and lowers the work holding section, as separate mechanisms, and that transfers the work picked up from the pickup stage via the work holding section to the A-side stocker or the B-side stocker; Equipped with The workpiece transfer device transfers the workpieces picked up from the pickup stage to either the A-side stocker or the B-side stocker until the number of workpieces reaches a predetermined set number, and The A-side lift device or B-side lift device corresponding to either one of the two lifts up or down to adjust the height of the corresponding A-side stocker or B-side stocker to the horizontal movement height of the workpieces of the workpiece transfer device according to the stacking height of the workpieces, When the number of works transferred to the corresponding one of the A-side stocker and the B-side stocker reaches a predetermined set number, the work transfer device switches to transfer the work picked up from the pickup stage to the other one of the A-side stocker and the B-side stocker. A work loading device characterized by:

2. While the workpiece transfer device is loading the workpiece picked up from the pickup stage into the other of the A-side stocker or the B-side stocker, The corresponding one of the A-side stocker or the B-side stocker in which the predetermined number of transferred works has been reached is removed from the corresponding A-side palletizing stage or the B-side palletizing stage, and a new A-side stocker or a new B-side stocker is carried into the corresponding A-side palletizing stage or the B-side palletizing stage.

2. The workpiece loading device according to claim 1.

3. The workpiece transfer device is configured so that the workpiece held by the workpiece holding unit can be rotated in a substantially horizontal plane, or so that the workpiece held by the workpiece holding unit can be tilted with respect to a substantially horizontal plane.

3. The workpiece loading device according to claim 1 or 2.

4. At least one of the A-side stocker and the B-side stocker has A workpiece receiving and supporting groove for receiving and supporting the end of each workpiece is formed in multiple rows aligned vertically.

3. The workpiece loading device according to claim 1 or 2.

5. The horizontal movement of the workpiece holder by the horizontal movement mechanism of the workpiece transfer device is extended to the outside of the A-side palletizing stage or the B-side palletizing stage, and a tool exchange stage for exchanging the workpiece holder is provided on the extension.

3. The workpiece loading device according to claim 1 or 2.

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