JPH0683637U - Transported object storage stackable work stocker - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a work stocker that can store particularly large workpieces in a space-saving manner by stacking pallets in multiple stages, and also makes the pallet changer simple and compact to save space. . Constitution: A conveying means 4 having a grasping portion 8 movable in a three-dimensional direction and conveying an object to be conveyed W grasped by the grasping portion 8, and the grasping portion 8 engaged so that the conveying means 4 can convey the object W to be conveyed. A pallet P for accommodating an object to be conveyed W provided with an engaging portion Pa that can be fitted and a plurality of pallets P are stacked and placed, and an object to be conveyed is held between the gripping portion 8 of the conveying device 4 and the pallet P. The pallet transport means 3 positions the pallet P at the transfer position A for transferring W, and the transfer means 4 stacks an empty pallet P on the pallet P storing a predetermined number of transferred objects W to be transferred. The work of storing the objects W can be continuously performed.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention has a plurality of transported object storage bodies such as pallets (hereinafter, referred to as pallets) for storing the transported objects transported by transportation means such as robots, and the transported objects (workpieces) are transported to these pallets. In particular, the present invention relates to a work stocker capable of sequentially storing the pallets, and more particularly, to a work stocker in which the pallets can be stacked three-dimensionally by a carrying means.

[0002]

[Prior art]

 There is a work stocker in which the transported objects transported by the transportation means are stored in a pallet, and the palettes storing the transported objects can be further sequentially stored. The transfer means moves linearly on the traveling rail and performs a transfer operation for storing the transferred object in the pallet at the transfer position with the work stocker. Further, the work stocker has a plurality of pallets for accommodating the objects to be conveyed, and it is often equipped with pallet conveying means for circulating the pallets in a plane and sequentially conveying the pallets. Then, the transported objects transported to the transfer position by using the transport means are stored in the pallets, and the pallets storing the transported objects are sequentially transported by the pallet by the pallet transport means and stored. is there. On the other hand, Japanese Patent Application Laid-Open No. 59-108622 discloses a device in which a tray box accommodating a plurality of small parts is three-dimensionally circulated and accommodated to save space.

[0003]

[Problems to be solved by the device]

 By the way, in the conventional work stocker, the object to be transferred is transferred by the transfer means, the transferred object is exchanged with the pallet, and the pallet is circulated in the plane by the pallet transfer means to transfer the transferred objects sequentially. Therefore, in order to store a large number of objects to be transferred, the pallet transfer means becomes a large device, and there is a problem that a large installation space must be secured. Also, the larger the transported object, the larger the pallet, and the problem of larger pallet transportation means and larger installation space becomes even more serious. On the other hand, the apparatus described in Japanese Patent Laid-Open No. 59-108622 is suitable for small parts because it works by transferring a plurality of tray boxes in three-dimensional circulation, but it is suitable for small parts. As they become heavier and heavier, tray boxes will also become larger and heavier. For this reason, all of the large and heavy tray boxes have to be circulated in a three-dimensional manner, which causes not only the size of the device to be large but also the drive device to be inefficient. The present invention has been made in view of the above problems, and an object thereof is to stack the pallets for storing the conveyed objects in three-dimensional stacks so that the conveyed objects can be stored in a limited space. An object of the present invention is to provide a pallet-stacking type work stocker that can store a large number of items, and is particularly suitable for storing a large number of items to be transported and has a simple structure.

[0004]

[Means for Solving the Problems]

 In order to solve the above problems, a pallet stacking type work stocker of the present invention is a three-dimensional work stocker having a base of a work stocker and a gripping part provided above the base and movable in three dimensions with respect to the base. Conveyance means, a plurality of transferable object storage bodies for accommodating the transferable objects, which can be stacked, and this transferable object storage body formed on the transferable object storage body. An engaged portion for gripping with the gripping portion of the means and moving it with respect to the base body, and a transferred body that is provided on the base body and that conveys the transported object storage body with respect to the base body in a horizontal plane. And a transfer operation of the transferred object while the transferred object storage body at the transfer position is operated by the grip of the three-dimensional transfer means. Performing stacking operation of the transported object storage objects And it features.

[0005]

[Action]

 The empty object storage container is carried by the carrying means or is carried into the transfer position of the work stocker by driving the three-dimensional carrying means. The transported object is gripped and transported by the grip portion of the three-dimensional transport means, and is stored in a predetermined position of the transported object storage body at the transfer position by the movement of the grip portion in the three-dimensional direction. When a predetermined number of transported objects are stored in the transported object storage body, the transporting means transports the next empty transported object storage body from the standby position to finish storing the transported object. Stack on top of the transported object container. The transport means stores the transported object in an empty transported object storage body stacked on the upper stage. As described above, the transport means successively stacks empty transported object storage bodies to store the transported objects, but when the transported object storage bodies storing the transported objects reach a predetermined number of stages. The transported-object storage body transporting means is driven to move the stacked transported-object storage bodies from the transfer position. After that, the above operation is repeated.

[0006]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. 1 is a plan view of a machining line equipped with a pallet stacking type work stocker, and FIG. 2 is a front view of the machining line of FIG. As shown in the figure, on one side of the processing line, a large number of unprocessed transferred objects (hereinafter referred to as works) W are placed with the axis of the works oriented vertically, and the works W are transferred by the transfer device 4 A work feeder 2 for sequentially feeding each one is provided at a position where the work W is processed, and a plurality of pallets P for storing the processed work W with the work axis oriented in the horizontal direction are placed on the other side, and in the horizontal plane. There is provided a pallet transfer device 3 which is a transfer means for transferring the object to be transferred in a circular manner. A machine tool M such as a machining center for processing the work W is arranged between the work feeder 2 and the pallet transfer device 3.

Above the work feeder 2, the machine tool M, and the pallet transfer device 3, a traveling rail 5 supported by columns 6 standing upright at appropriate intervals is installed, and the workpiece W is mounted on this traveling rail. A transport device 4 as a transport means for gripping and transporting is attached to the movable unit. A work stocker 1 is configured by the carrying device 4, the pallet carrying device 3, and a plurality of pallets P placed on the pallet carrying device 3.

The transport device 4 includes a first traveling body 9 traveling along the traveling rail 5, and a guide rail extending horizontally from the first traveling body 9 and orthogonal to the traveling rail 5. A gripper 8 as a gripping part for gripping the work W with a pair of gripping claws 8a and 8b, and an elevating mechanism (not shown) that can move along the guide rail 7 and moves the gripper 8 up and down. It is composed of a traveling body 10. Since the mechanism for moving the first traveling body 9 and the second traveling body 10, the mechanism for moving the gripper 8 up and down, and the mechanism for opening and closing the gripper 8 are known mechanisms including a servo motor, a ball screw, a cylinder, and the like. The detailed description is omitted here. With this configuration, the gripper 8 can move freely in the three-dimensional direction. The gripper 8 is provided with a 90-degree reversing mechanism so that the posture of the gripped work W can be changed between a horizontal state and a vertical state, and the work received from the work feeder 2 in the horizontal state. It is possible to change the posture of W to a vertical state, mount it on the machine tool M, or store it in the pallet P on the pallet carrier 3. Further, two sets of grippers 8 are provided in the transfer device 4, and one of the grippers 8 holds the unprocessed or processed work W, and the other gripper 8 holds the work W on the machine tool M or the like. It can be attached and detached.

According to the above-described aspect, the transport device 4 holds the unprocessed workpieces W from the workpiece feeder 2 by gripping the workpieces W one by one with the gripper 8, conveys the workpieces W to the machine tool M, and the workpiece machine W unmachined workpieces. Hand over W. After the work W is subjected to the predetermined processing by the machine tool M, the transport device 4 receives the worked work W from the machine tool M, transports it to the pallet transport device 3, and transfers it to the pallet at the work transfer position. Store in the designated position of P. At this time, in order to prevent the gripping claws 8a and 8b of the other gripper 8 which is not gripping the work W from interfering with the pallet P and the work W stored in the pallet P, the gripper 8a of the other gripper 8 is held. It is necessary to open the gripping claws 8a and 8b or to reverse the gripper 8.

The box-shaped pallet P for storing the work W is formed so that it can be stacked in an empty state in which the work W is not stored or in a state in which the work W is stored. Two sets of grippers are provided at the center of the bottom. Four engaging portions Pa into which the left and right gripping claws 8a and 8b of 8 can be inserted respectively are provided. Then, by inserting the left and right gripping claws 8a and 8b into the engaging portion Pa and closing the gripper 8, the pallet P is gripped by the gripper 8 and the pallet P can be transported by the three-dimensional transport device 4. become.

The pallet transfer device 3 constituting the work stocker 1 is capable of sequentially circulating movement, so that the pallet P placed at an arbitrary position on the transfer surface is transferred counterclockwise in FIG. Although the positioning can be stopped at a predetermined position on the pallet conveying device 3, since it is a known one, detailed description of the configuration and the like will be omitted. The pallets P are placed on the pallet carrier 3 in a two-tiered state, and the pallet P in which a predetermined number of works W are stored at the transfer position A where the work W is transferred to and from the three-dimensional transfer device 4 is , Is moved from the transfer position A by driving a driving body (not shown) of the pallet transfer device 3.

FIG. 3 is a schematic diagram for explaining the operation of the stacked work stocker of the transported object storage bodies of this embodiment. In addition, in FIG. 3, for convenience of description, the pallets P are marked with P. ₁ , P₂, P₃The description will be made assuming that the work W is stored in this order. At the transfer position A where the work W is transferred to and from the three-dimensional transfer device 4, an empty pallet P is driven in advance by driving the palette transfer device 3.₁Is moving (state (a)). An empty pallet P is placed at a position B subsequent to the transfer position A at which the work W is transferred to and from the three-dimensional transport device 4.₂, P₃Are stacked and waiting. That is, this position B is the empty pallet standby position. The machined workpiece W taken out from the machine tool M (see FIG. 1) is gripped by the gripper 8 of the three-dimensional transport device 4 (see FIG. 1) and moved by the movement of the first traveling body 9 to the transfer position A. Pallets in₁Is transported to above. Then, after the first traveling body 9 and the second traveling body 10 (see FIG. 1) are moved to be positioned at a predetermined position, the gripper 8 is lowered by the driving of an elevating mechanism (not shown) and the pallet P is moved.₁The work W is stored in a predetermined position inside. After that, the above operation is repeated and the pallet P₁The works W are successively stored inside (state (b)).

This pallet P₁When a predetermined number of works W are stored in the three-dimensional transport device 4, the three-dimensional transport device 4 is placed at the position B and has two stacked pallets P.₂, P₃Move to above. Then, the gripper 8 is lowered to move the pallet P on the upper stage side.₂The gripping claws 8a, 8b are inserted into the engaging portion Pa at the bottom, and the gripper 8 is closed (the gripping claws 8a, 8b are moved to the pallet P).₂The state of the pallet P being inserted into the engagement portion Pa of (shown by the chain double-dashed line in FIG.₂ To hold. The three-dimensional transport device 4 drives the lifting mechanism to drive the pallet P.₂The pallet P which has been lifted and transported to finish storing the work W₁Empty pallet P on top₂Stack up. After that, the three-dimensional transfer device 4 transfers the processed work W to the pallet P. ₂ Align and store (state (c)). Upper pallet P₂Also, a predetermined number of works W are stored and the gripper 8 is on the pallet P.₂When it is retracted to a position where it does not interfere with the₁, P₂Are transferred from the transfer position A. On the other hand, by driving the pallet transport device 3, the succeeding empty pallet P is transferred to the transfer position A.₃Is brought in and returns to the state of (a). Thereafter, the above operation is repeated and the works W are stored one after another.

In the above embodiment, the pallets P are explained as being stacked in two stages, but they may be stacked in three stages or more, and the pallet conveying means is limited to the pallet conveying device 3 described above. It is not something that can be done. Further, in the above-mentioned embodiment, the empty pallet P on the first stage is explained as being carried into the transfer position A by the driving of the pallet transfer device 3, but is transferred to the transfer position A by the three-dimensional transfer device 4. It goes without saying that you may do so.

[0015]

[Effect of device]

 Since the present invention is configured as described above, it has the following effects. The objects to be transferred are stacked, and the transfer device stores the objects to be transferred while stacking the empty objects to be transferred onto the objects to be transferred. A large number of objects can be stored in a small floor area. In addition, even though the work stocker three-dimensionally stores the transported object, it is possible to have a simple configuration having only a mechanism for moving the transported object storage body in a horizontal plane. Further, it is possible to provide a work stocker that is large and optimal for storing heavy objects to be transported.

[Brief description of drawings]

FIG. 1 is a plan view of a processing line including a stacked work stocker for storing articles to be transferred according to an embodiment of the present invention.

FIG. 2 is a front view of the processing line of FIG.

FIG. 3 is a schematic diagram for explaining the operation of a stacked work stocker for storing conveyed objects.

[Explanation of symbols]

W Work (object to be transferred) M Machine tool P Pallet (object to be transferred) Pa Engagement part A Transfer position B Wait position 1 Object to be transferred Stackable work stocker 2 Work feeder 3 Pallet transfer device (transferred) Object storage body conveying means) 4 three-dimensional conveying device (three-dimensional conveying means) 5 traveling rail 6 support 7 guide rail 8 gripper (grip)

Claims (1)

[Scope of utility model registration request] 1. A base of a work stocker, a three-dimensional transfer means provided above the base and having a gripper movable in the three-dimensional direction with respect to the base, and a plurality of three-dimensional transfer means for accommodating an object to be transferred. And an object to be transferred that can be stacked, and the object to be transferred is formed on the object to be transferred, and the object to be transferred is gripped by the grip of the three-dimensional transfer means and moved with respect to the base body. An engaged portion for carrying the object to be conveyed, and means to convey the object to be conveyed, which is provided in the base body and conveys the object to be conveyed in a horizontal plane with respect to the base body. The part performs the transfer operation of the transferred object to the transferred object storage body at the transfer position, and performs the stacking operation of the transferred object storage body after the transfer operation of the transferred object is completed. Stacked work stocker for storing transported objects.