JPH0373421B2 - - Google Patents

Description

【発明の詳細な説明】 技術分野 本発明は、加工機への被加工物の供給方法とそ
の装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a method and apparatus for supplying a workpiece to a processing machine.

従来技術 従来、加工機に被加工物を連続的に供給する方
法としては、プールライン方式あるいはロータリ
ーワークフイーダ方式などがある。両方式の装置
は、中央部に空間のある長円形のコンベアに被加
工物を搭載するパレツトが配置され、このパレツ
トが移動されて被加工物授受位置にきたとき、被
加工物を加工機との間で授受するものである。Prior Art Conventionally, methods for continuously supplying workpieces to a processing machine include a pool line method and a rotary work feeder method. In both types of equipment, a pallet carrying the workpiece is placed on an oval conveyor with a space in the center, and when the pallet is moved to the workpiece transfer position, the workpiece is transferred to the processing machine. It is something that is given and received between.

しかしながら、中央部空間は大きなデツドスペ
ースとなるため、並べられる被加工物の個数に比
して所要面積が大きい。また、拡張性にも乏し
い。このデツドスペースを極力小さくするため、
コンベアを蛇行させることも考えられる。しか
し、隣接パレツトが互いに干渉しないようにする
ため、パレツト間隔を大きくとらなければなら
ず、結局、被加工物を差程多く収容させておくこ
とができない。 However, since the central space is a large dead space, the area required is large compared to the number of workpieces to be lined up. It also lacks extensibility. In order to minimize this dead space,
It is also possible to make the conveyor meander. However, in order to prevent adjacent pallets from interfering with each other, the pallet spacing must be large, and as a result, it is not possible to accommodate a large number of workpieces.

さらに、これら方式のコンベアを立体的に構成
する場合には、重量を支えるための強度が一層要
求され、構造が大規模になるとともに装置も高価
となるという問題があつた。 Furthermore, when these types of conveyors are configured three-dimensionally, there is a problem in that more strength is required to support the weight, resulting in a larger structure and more expensive equipment.

発明の目的 そこで、本発明は、このような従来技術の問題
点に鑑みてなされたもので、加工機への被加工物
の供給を小さな占有面積で有効に行なえる供給方
法およびその装置を提供することを目的としてい
る。Purpose of the Invention The present invention has been made in view of the problems of the prior art, and provides a feeding method and device that can effectively feed workpieces to a processing machine in a small occupied area. It is intended to.

発明の構成 この目的を達成するため、第１の発明は、被加
工物を一列に並べたカセツトをその配列方向と交
わる方向に被加工物供給位置まで送り、被加工物
授受位置にきた被加工物を加工機との間で授受
し、その後、順次カセツトを被加工物の配列方向
に移動して被加工物の授受をした後、カセツトを
完全に被加工物供給位置から排出位置へ送つて被
加工物供給位置に新たなカセツトを送り込み、さ
らに排出されたカセツトは新たなカセツトと隣接
し、その送り方向と逆方向に送り出すような供給
方法としている。Structure of the Invention In order to achieve this object, the first invention provides a method for transporting a cassette in which workpieces are arranged in a row to a workpiece supply position in a direction intersecting with the arrangement direction, and transporting the workpieces at the workpiece transfer position. The workpieces are transferred to and from the processing machine, and then the cassette is sequentially moved in the direction in which the workpieces are arranged to transfer the workpieces, and then the cassette is completely sent from the workpiece supply position to the discharge position. A new cassette is fed into the workpiece feeding position, and the ejected cassette is adjacent to the new cassette and sent out in the opposite direction to the feeding direction.

また第２の発明は、第１、第２、第３の案内路
をコ字型に配設し、第１案内路上を被加工物の配
列方向と交わる方向にカセツトを送り、第２案内
路で被加工物の配列方向にカセツトを送り、第３
案内路で第１案内路のカセツトを隣接して第１案
内路上のカセツトと反対方向に送り出し、第２案
内路上で被加工物授受位置にきた被加工物を加工
機との間で授受させる被加工物授受装置例えばロ
ボツトハンドを設け、さらに、第１、第２、第３
の案内路においてカセツトをそれぞれ移動させる
第１、第２、第３の送り手段を設ける構成の装置
としている。 Further, in the second invention, the first, second, and third guide paths are arranged in a U-shape, and the cassette is sent along the first guide path in a direction intersecting with the arrangement direction of the workpieces, and the second guide path is arranged in a U-shape. Send the cassette in the direction of arrangement of the workpieces with
The cassettes on the first guide path are fed out in the opposite direction to the cassettes on the first guide path, and the workpieces that have come to the workpiece transfer position on the second guide path are transferred to and from the processing machine. A workpiece transfer device such as a robot hand is provided, and a first, second, and third
The apparatus is provided with first, second, and third feeding means for respectively moving the cassette on the guide path.

実施例 次にこれらの発明を図面に基づいて説明する。Example Next, these inventions will be explained based on the drawings.

第１図〜第４図は第１発明の方法を実施する第
２発明の装置の一実施例を示す図である。図中、
１０はマシニングセンタ等の加工機で、近傍には
ロボツトハンド１１が設けられている。２０は被
加工物ｗを一列に並べて収納するカセツトで、上
方が開放された直方体状を呈している。このカセ
ツト２０には、被加工物ｗが１個づつ収納される
区画２１が設けられており、この区画２１に対応
してここでは底に係合部２２が設けられている。
また、カセツト２０の長手方向両側には一方が上
方を、他方が下方を向いた連結手段２３が設けら
れている。 1 to 4 are diagrams showing an embodiment of the apparatus of the second invention for carrying out the method of the first invention. In the figure,
10 is a processing machine such as a machining center, and a robot hand 11 is provided nearby. Reference numeral 20 denotes a cassette in which the workpieces w are arranged in a row and stored therein, and has a rectangular parallelepiped shape with an open top. The cassette 20 is provided with a compartment 21 in which each workpiece w is stored, and an engaging portion 22 is provided at the bottom corresponding to the compartment 21.
Furthermore, connecting means 23 are provided on both sides of the cassette 20 in the longitudinal direction, with one facing upward and the other facing downward.

３０は、搬送台で、この搬送台３０には加工機
１０に向つてカセツト２０を被加工物ｗの配列方
向と交わる方向に被加工物ｗの供給位置３１まで
案内する第１案内路３２と、この供給位置３１
で、第１案内路３２と交わり、排出位置３３まで
カセツト２０を案内する第２案内路３４と、この
第２案内路３４と交わり、第１案内路３２と平行
であり且つ隣接した第３案内路３５とが設けられ
ている。これら３本の案内路３２，３４，３５
は、コ字状に配設され、第２案内路３４と第３案
内路３５とはカセツト２０をそれぞれの上に案内
するとき、カセツト２０同志が互いに接触しない
程度に隣接している。全案内路３２，３４，３５
にカセツト２０が乗つている場合にはあたかも全
カセツト２０隣接して繋つているように見える。
また、供給位置３１の左端位置はロボツトハンド
１１によつて加工機１０との間で被加工物ｗを授
受す被加工物授受位置３１ａである。図において
は、各案内路３２，３４，３５は各２本づつのレ
ールによつて形成されているが、本数は制限され
ないし、さらに他の案内部材を設けてもよい。 Reference numeral 30 denotes a conveyance table, and the conveyance table 30 has a first guide path 32 for guiding the cassette 20 toward the processing machine 10 to a supply position 31 for the workpieces w in a direction intersecting with the arrangement direction of the workpieces w. , this supply position 31
A second guide path 34 intersects with the first guide path 32 and guides the cassette 20 to the discharge position 33, and a third guide path intersects with the second guide path 34 and is parallel to and adjacent to the first guide path 32. A path 35 is provided. These three guideways 32, 34, 35
are arranged in a U-shape, and the second guide path 34 and the third guide path 35 are adjacent to each other to the extent that the cassettes 20 do not come into contact with each other when the cassettes 20 are guided onto each other. All guide routes 32, 34, 35
When the cassettes 20 are placed on the cassettes 20, it appears as if all the cassettes 20 are connected adjacently.
Further, the left end position of the supply position 31 is a workpiece transfer position 31a where the workpiece w is transferred to and from the processing machine 10 by the robot hand 11. In the figure, each guide path 32, 34, 35 is formed by two rails, but the number is not limited, and other guide members may be provided.

これら案内路３２，３４，３５に対して、それ
ぞれカセツト２０を送る第１送り手段３６、第２
送り手段３７および第３送り手段３８が設けられ
ている。各送り手段３６，３７，３８は、エアあ
るいはオイルが使用されたシリンダ３６ａおよび
ピストン３６ｂで構成され、ピストン３６ｂの先
端には送り爪３６ｃがシリンダ３６ａ側にスプリ
ング３６ｄで引き起されるように付勢され、直立
係止位置にストツパ３６が設けられている。送り
爪３６ｃは先端のシリンダ３６ａ側に斜面３６ｆ
が形成され、２点鎖線で示すようにスプリング３
６ｄの付勢力に抗して倒された場合には、ピスト
ン３６ｂの軸心と略平行となるようになつてい
る。また、この送り爪３６ｃはカセツト２０の周
壁および係合部２２と係合可能となつている。な
お、これら送り手段３６，３７，３８はこれらに
限定されることはないけれども、例えば第１送り
手段３６および第３送り手段３８は、各案内路３
２，３５を傾斜させた重力を利用する手段であつ
てもよい。 A first feeding means 36 and a second feeding means 36 feed the cassette 20 to these guide paths 32, 34, and 35, respectively.
A feeding means 37 and a third feeding means 38 are provided. Each of the feeding means 36, 37, and 38 is composed of a cylinder 36a using air or oil and a piston 36b, and a feeding claw 36c is attached to the tip of the piston 36b so as to be pulled up by a spring 36d toward the cylinder 36a. A stopper 36 is provided in the upright locking position. The feed claw 36c has a slope 36f on the cylinder 36a side at the tip.
is formed, and the spring 3 is formed as shown by the two-dot chain line.
When it is pushed down against the urging force of 6d, it becomes substantially parallel to the axis of the piston 36b. Further, this feed pawl 36c can engage with the peripheral wall of the cassette 20 and the engaging portion 22. Although these feeding means 36, 37, and 38 are not limited to these, for example, the first feeding means 36 and the third feeding means 38 are
2, 35 may be used to make use of gravity.

次にこのような構成の被加工物の供給装置の動
作を説明するとともに第１発明の供給方法をも説
明する。 Next, the operation of the workpiece supply apparatus having such a configuration will be explained, and the supply method of the first invention will also be explained.

まず、多数の被加工物ｗを各区画２１に１個づ
つ入れて多数のカセツト２０を準備する。このよ
うなカセツト２０をその連結手段２３でもつて互
いに連結してカセツト群を構成させ、この群で搬
送台３０の第１案内路に被加工物ｗの配列方向と
直角方向にしてカセツト２０を送り込む。したが
つて、カセツト群の加工機１０に一番近いカセツ
ト２０は、被加工物供給位置３１でもあり、第２
案内路３４上でもあるところに位置する。ここで
はカセツト２０を４個づつで群を構成しており、
次の群は第１図に示す位置に待機させられてい
る。群を構成するカセツトの数が任意に採りうる
ことは勿論であり、更に前記次の群を第１案内路
に移動させる送り手段を設けることにより拡張す
ることができる。 First, a large number of cassettes 20 are prepared by putting a large number of workpieces w into each compartment 21, one by one. Such cassettes 20 are connected to each other by the connecting means 23 to form a cassette group, and the cassettes 20 in this group are fed into the first guide path of the transport platform 30 in a direction perpendicular to the arrangement direction of the workpieces w. . Therefore, the cassette 20 closest to the processing machine 10 in the cassette group is also the workpiece supply position 31, and the second
It is also located on the guide path 34. Here, each group consists of four cassettes 20.
The next group is kept waiting at the position shown in FIG. It goes without saying that the number of cassettes constituting a group can be arbitrarily selected, and can be further expanded by providing a feeding means for moving the next group to the first guide path.

被加工物供給位置３１にきているるカセツト２
０の左端の区画２１は、被加工物授受位置３１ａ
にきており、その区画２１内の被加工物ｗは、ロ
ボツトハンド１１により区画２１内から取り出さ
れ、加工機１０に渡される。加工機１０で被加工
物ｗが加工された後、ロボツトハンド１１によ
り、加工機１０からの元のカセツト２０の区画２
１へ戻される。そして、次の被加工物ｗの加工の
ために、第２送り手段３７でカセツト２０の１区
画だけ第２案内路３４上で排出位置３３側へ送ら
れる。この送りの詳細は、第４図に示す送り爪３
６ｃがカセツト２０の係合部２２に入り込んでお
り、ピストン３６ｂが伸ばされると送り爪３６ｃ
は立つたそのままでカセツト２０を１区画２１だ
け送り、ピストン３６ｂが縮むときは、スプリン
グ３６ｄの張力に抗して送り爪３６ｃが２点鎖線
のように倒れてカセツト２０の底を摺接して次の
係合部２２まできて実線で示すようにストツパ３
６ｅの位置まで立ち上がり、係合部２２と係合す
る。このようにして、被加工物ｗの加工が完了し
て、ロボツトハンド１１による被加工物ｗの授受
が完了する度に、排出位置３３に向つてカセツト
２０が１区画２１ごとに送られる。送り爪３６ｃ
は、係合部２２のみならず、カセツト２０の周壁
も同様に係合してカセツト２０を送る。 Cassette 2 at workpiece supply position 31
The leftmost section 21 of 0 is the workpiece transfer position 31a
The workpiece w in the section 21 is taken out from the section 21 by the robot hand 11 and delivered to the processing machine 10. After the workpiece w is processed by the processing machine 10, the robot hand 11 removes the compartment 2 of the original cassette 20 from the processing machine 10.
Returned to 1. Then, in order to process the next workpiece w, only one section of the cassette 20 is sent to the discharge position 33 side on the second guide path 34 by the second feeding means 37. The details of this feeding are as shown in FIG.
6c has entered the engaging portion 22 of the cassette 20, and when the piston 36b is extended, the feed pawl 36c
When the cassette 20 is fed by one section 21 while still standing, and the piston 36b contracts, the feed pawl 36c falls down as shown by the two-dot chain line against the tension of the spring 36d and slides into contact with the bottom of the cassette 20, causing the next step. When it reaches the engaging portion 22 of the stopper 3 as shown by the solid line,
It rises to position 6e and engages with the engaging portion 22. In this way, each time the processing of the workpiece w is completed and the transfer of the workpiece w by the robot hand 11 is completed, the cassette 20 is sent one section 21 at a time toward the discharge position 33. Feed claw 36c
In this case, not only the engaging portion 22 but also the peripheral wall of the cassette 20 is engaged in the same manner to feed the cassette 20.

被加工物供給位置３１にあつたカセツト２０が
第２案内路３４によつて完全に排出位置に送られ
ると、次のカセツト２０は第１送り手段３６によ
つて前述のように被加工物供給位置３１に送られ
る。排出位置３３に送れたカセツト２０は、次に
送られてくるカセツト２０のため第３送り手段３
８によつて第３案内路３５上を送り出される。同
様にして、次のカセツト２０が被加工物供給位置
３１から排出位置に送られると同様の操作が繰返
されて順次第３案内路３５上を送り出される。第
２案内路３４から外れて第３案内路３５に待機し
ているカセツト２０に連結するように連結手段２
３で互に連結して第３案内路３５上を移動させる
こともできる。 When the cassette 20 in the workpiece supply position 31 is completely sent to the discharge position by the second guide path 34, the next cassette 20 is transferred to the workpiece supply position by the first feeding means 36 as described above. Sent to location 31. The cassette 20 sent to the ejection position 33 is transferred to the third feeding means 3 for the next cassette 20 to be sent.
8 on the third guide path 35. Similarly, when the next cassette 20 is sent from the workpiece supply position 31 to the discharge position, the same operation is repeated and the cassette 20 is sequentially sent out on the three guide paths 35. The connecting means 2 is connected to the cassette 20 that has come off the second guide path 34 and is waiting in the third guide path 35.
3 can be connected to each other and moved on the third guide path 35.

このように群でカセツトを搬送する場合には、
搬送台３０へ供給する過程あるいは搬送台３０か
ら外した場合の収納および取り扱いが便利であ
る。ここでは、群を構成して搬送する場合につい
て説明をしたけれども、個々ばらばらのカセツト
２０を送ることも可能である。例えば、前述した
ように第１案内路３２および第３案内路３５を傾
斜させる送り手段を採ることにより送ることがで
きる。 When transporting cassettes in groups like this,
It is convenient to store and handle during the process of supplying to the carrier 30 or when removed from the carrier 30. Although the case where the cassettes 20 are transported in groups has been described here, it is also possible to transport the cassettes 20 individually. For example, as described above, the feeding can be performed by employing a feeding means that tilts the first guide path 32 and the third guide path 35.

第１案内路３２および第３案内路３５上のカセ
ツト２０は互に送り方向が反対で、しかも接触し
ない程度の間隔しか要しないため、全体の搬送が
コ字状であつても、中央部に空間が生じない状態
で最小のスペースで被加工物授受位置３１ａを通
過する供給ができる。 The feeding directions of the cassettes 20 on the first guide path 32 and the third guide path 35 are opposite to each other, and the distance between them is just enough so that they do not come into contact with each other. The workpieces can be fed through the workpiece delivery/reception position 31a in a minimum space without creating any space.

効 果 以上説明してきたように、これらの発明によれ
ば、加工機への被加工物の供給を小さな占有面積
で有効に行なうことができる。殊に、被加工物各
個の加工が短時間の場合あるいは夜間無人操業を
行なう場合等多数の被加工物を効率よい占有面積
で供給可能にすることができ、また必要に応じ容
易に拡張し得る。Effects As explained above, according to these inventions, workpieces can be effectively fed to a processing machine with a small occupied area. In particular, when processing each workpiece for a short time or when unmanned operation is performed at night, it is possible to supply a large number of workpieces in an efficient occupied area, and it can be easily expanded as necessary. .

【図面の簡単な説明】[Brief explanation of drawings]

第１図〜第４図は第１発明の被加工物供給方法
を実施する第２発明の供給装置の一実施例を示す
図で、第１図は平面図、第２図はカセツトの連結
状態を示す図、第３図はカセツトの斜視図、第４
図は送り手段の要部拡大正面図である。 １０…加工機、１１…ロボツトハンド、２０…
カセツト、２１…区画、２２…係合部、２３…連
結手段、３１…被加工物供給位置、３１ａ…被加
工物授受位置、３２…第１案内路、３３…排出位
置、３４…第２案内路、３５…第３案内路、３６
…第１送り手段、３７…第２送り手段、３８…第
３送り手段、ｗ…被加工物。 1 to 4 are diagrams showing an embodiment of the supply device of the second invention for carrying out the workpiece supply method of the first invention, in which FIG. 1 is a plan view and FIG. 2 is a state in which the cassettes are connected. Figure 3 is a perspective view of the cassette; Figure 4 is a perspective view of the cassette;
The figure is an enlarged front view of the main part of the feeding means. 10...processing machine, 11...robot hand, 20...
Cassette, 21... Division, 22... Engaging portion, 23... Connecting means, 31... Workpiece supply position, 31a... Workpiece transfer position, 32... First guide path, 33... Discharge position, 34... Second guide Road, 35...Third guide road, 36
...first feeding means, 37...second feeding means, 38...third feeding means, w...workpiece.

Claims (1)

【特許請求の範囲】 １ 複数の被加工物をカセツトに一列に並べて収
納し、該カセツトを前記被加工物の配列方向と交
わる方向に進めて加工機の被加工物供給位置に位
置させ、前記被加工物供給位置で前記カセツトの
被加工物授受位置にある前記被加工物を前記加工
機に授け、加工完了後前記被加工物を前記被加工
物授受位置で前記カセツトに受け、その後、前記
カセツトの前記被加工物の配列方向に該被加工物
を１個づつ移動させる度に加工を完了させ、前記
被加工物供給位置の前記カセツトを隣接した排出
位置に完全に移動させたとき、第２のカセツト前
記被加工物供給位置にくるように他のカセツトを
移動させ、同様に前記被加工物供給位置側の前記
カセツトを順次排出位置に移動させ、該排出位置
の前記カセツトを前記カセツトの被加工物配列方
向と交わる方向で、しかも前記被加工物供給位置
への供給方向と平行で且つ逆方向に送り出すこと
を特徴とする被加工物の供給方法。 ２ 複数のカセツトを群として供給し、被加工物
供給位置から排出位置へ１個づつ移動させた後に
再度群をなして排出することを特徴とする特許請
求の範囲第１項記載の被加工物の供給方法。 ３ 被加工物を一列に並べて収納する区画を有
し、該区画に対応して設けられた係合部を有する
複数のカセツトと、 該のカセツトの前記被加工物の配列方向と交わ
る方向で加工機の被加工物供給位置へ案内する第
１案内路と、 該第１案内路の前記カセツトを前記被加工物供
給位置へ送る第１送り手段と、 該第１送り手段で送られてきた前記被加工物供
給位置のカセツトから被加工物授受位置にきた前
記被加工物を加工機との間で授受する被加工物授
受装置と、 該被加工物授受装置から前記被加工物を元の区
画に受けた後、前記被加工物供給位置にある前記
カセツトを前記係合部と係合して前記区画分づつ
前記被加工物の配列方向へ送る第２送り手段と、 前記被加工物の配列方向に設けられ、前記第２
送り手段によつて前記カセツトを排出位置へ案内
する第２案内路と、 該第２案内路で前記排出位置へ案内された前記
カセツトを送り出す第３送り手段と、 該第３送り手段で送り出された前記カセツトを
案内する、前記第２案内路と交わり、前記第１案
内路と平行で且つ隣接した第３案内路とからなる
ことを特徴とする被加工物の供給装置。 ４ カセツトは、互いに連結してカセツト群を形
成する連結手段を有することを特徴とする特許請
求の範囲第３項記載の被加工物の供給装置。[Scope of Claims] 1. A plurality of workpieces are arranged and stored in a cassette in a line, the cassette is advanced in a direction intersecting with the arrangement direction of the workpieces, and is positioned at a workpiece supply position of a processing machine; The workpiece at the workpiece transfer position of the cassette is delivered to the processing machine at the workpiece supply position, and after machining is completed, the workpiece is received by the cassette at the workpiece transfer position, and then Machining is completed each time the workpieces are moved one by one in the arrangement direction of the workpieces in the cassette, and when the cassette at the workpiece supply position is completely moved to the adjacent discharge position, the process is completed. The other cassettes are moved so that the second cassette is at the workpiece supply position, and similarly, the cassettes on the workpiece supply position are sequentially moved to the ejection position, and the cassette at the ejection position is moved to the workpiece supply position. A method for supplying workpieces, characterized in that the workpieces are fed in a direction that intersects with the workpiece arrangement direction, parallel to and opposite to the direction in which the workpieces are supplied to the workpiece supply position. 2. Workpieces according to claim 1, characterized in that a plurality of cassettes are supplied as a group, moved one by one from a workpiece supply position to a discharge position, and then discharged again as a group. supply method. 3. A plurality of cassettes having compartments for arranging and storing workpieces in a row and having engaging portions provided corresponding to the compartments, and processing in a direction intersecting the arrangement direction of the workpieces in the cassettes. a first guide path for guiding the cassette to the workpiece supply position of the machine; a first feeding means for transporting the cassette in the first guideway to the workpiece supply position; a workpiece transfer device that transfers the workpiece that has come from a cassette at a workpiece supply position to a workpiece transfer position to and from a processing machine; and a workpiece transfer device that transfers the workpiece from the workpiece transfer device to its original compartment. a second feeding means that engages the cassette at the workpiece supply position with the engaging portion and sends the workpieces one by one in the direction in which the workpieces are arranged; the second
a second guide path for guiding the cassette to the ejection position by a feeding means; a third feeding means for sending out the cassette guided to the ejection position by the second guide path; A workpiece feeding device comprising: a third guide path which intersects with the second guide path, is parallel to the first guide path, and is adjacent to the first guide path. 4. The workpiece feeding device according to claim 3, wherein the cassettes have connecting means for connecting them to each other to form a group of cassettes.