JPS61257748A - Pallet transfer device for unmanned car - Google Patents

Abstract

PURPOSE:To improve efficiency of transfer operation of pallets in a pallet transfer device by setting tables in such a manner that the center of the pallet conforms with the center of each receiver and moving the pallet by a pallet moving lift as long as a predetermined delivery distance. CONSTITUTION:In this pallet transfer device, an unmanned car 12 carrying an empty pallet 10-1 comes into a taking-in receiver 20, and after the pallet 10-1 is placed in such a manner that the center thereof conforms with the center of the taking-in station 100, the unmanned car 12 goes out of the taking-in receiver 20 to a taking-out receiver 24. Then, the pallet 10-2 placed on the taking-in receiver 20 is transferred by a pallet moving lift 26 to a loading receiver 22 which is apart by the delivery distance P. At this time, the pallet 10-1 which has been placed on the loading receiver 22 and loaded with works is simultaneously moved as long as the delivery distance P from the loading receiver 22 to the taking-out receiver 24. In this way,the center of the pallet 100 conforming with the taking-in station coincides with the loading station 101 and the taking-out station 102.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a pallet transfer device for an automatic guided vehicle, particularly for temporarily transferring intermediate products (hereinafter referred to as workpieces) to an automatic guided vehicle in a production line such as a press line. The present invention relates to a pallet transfer device for an automatic guided vehicle that transfers empty pallets and pallets loaded with workpieces between a production line and an automatic guided vehicle for storage or supply.

[Conventional technology] In production lines such as automated press lines,
Workpieces such as pressed panels are temporarily stored in automatic guided vehicles, in which a predetermined number of workpieces are placed on a pallet and automatically transported to a predetermined location. In this case, a pallet transfer device is used to move an empty pallet to a work loading position and to load a pallet loaded with works onto an automatic guided vehicle. In addition, it is similarly used for unloading work, and loading and unloading work of works can be performed efficiently.

FIG. 5 shows a conventional pallet transfer device for an automatic guided vehicle, in which the automatic guided vehicle 12 carrying an empty pallet 10 stops in front of the carry-in side cradle 140, and is mounted on the automatic guided vehicle 12. The pallet is rolled by a driven roller provided on the carry-in side pedestal and transferred onto the carry-in side pedestal. Then, the pallet is sent to the workpiece loading position by rollers or conveyor 15 and stopped at the position shown by the solid line. In this case, stopper 1
6, the pallet 10 is stopped, and workpieces are loaded in this state. Then, after loading,
The stopper 16 is released and the butt 12 is moved to the outlet pedestal 18.
sent to. At this time, the automatic guided vehicle 12 is waiting in front of the unloading side cradle 18, and is transferred to the unmanned guided vehicle 12 by a drive roller provided on the unloading side pedestal 18.

In addition, as another pallet transfer device, the pallet 1o placed on the automatic guided vehicle 12 is transferred to a loading pedestal for loading the work using a pallet hanging device or a pallet lifting fork, and the work is loaded. There is also a system in which the pallet is then transferred to an automatic guided vehicle using a pallet hanging device or the like.

Conventionally, two methods have been used to transport the pallet and the actual pallet loaded with workpieces, and the transported panels, etc. produced in this way are automatically carried out. .

[Problems to be Solved by the Invention] However, in the former pallet transfer device, since the pallet 10 is stopped by the stopper 16, the center of the pallet is There was a problem in that the workpieces could not be loaded in a predetermined position due to the position shift (the same applies when unloading the workpieces). Conventionally, for this purpose, it has been considered to provide a position detection device corresponding to the various pallets 10 or to modify the pallet itself to detect the center position.
There are disadvantages in that the i control for 0 is complicated and the cost of modifying the pallet 10 is required.

In addition, with the latter pallet transfer device, the equipment cost is high because the transfer device is extremely large, and the center position of the pallet cannot be set sufficiently, so if it is done automatically, the center position cannot be detected. There was a problem that the control was complicated and complicated.

The present invention was made in order to solve the above-mentioned conventional problems, and its purpose is to provide an automatic guided vehicle that can stably position various pallets with low-cost and simple equipment. The purpose of the present invention is to provide a pallet transfer device.

[Means and operations for solving the problems] In order to achieve the above object, the present invention consists of the following configurations.

(b) An entry-side cradle where an entry path is formed for the automated guided vehicle carrying the pallet to receive the pallet by aligning the center of the pallet with the predetermined carrying position of the cradle, and (b) the automated guided vehicle carrying the pallet (c) a carry-out side pedestal with an exit path formed thereon for passing the pallet by aligning the center of the pallet with the center of a predetermined carry-out position of the pedestal; a loading/unloading cradle provided between the loading/unloading pedestal and the loading/unloading position of the workpiece being set at an equal delivery distance between the loading and unloading positions; a pallet moving lift that simultaneously moves the pallets by the above-mentioned delivery distance from the loading/unloading position to the unloading position, and (e) the pallets are moved by aligning the center of the pallet with each position of the pedestal. shall be.

According to the above configuration, an automatic guided vehicle carrying an empty pallet enters the carry-in side cradle and places the pallet with the center of the pallet aligned with the center of the carry-in position, and the automatic guided vehicle exits from the carry-in side cradle and carries it out. Head to the side cradle. Next, the pallet placed on the carry-in side pedestal is transferred to a loading/unloading pedestal located a distance away from the pallet by a pallet moving lift. At this time, the pallets that have already been placed on the loading/unloading pedestal and on which workpieces have been unloaded are simultaneously moved by the pallet moving lift from the loading/unloading pedestal to the unloading pedestal by the delivery distance. Therefore, by repeating this movement by the delivery distance, the pallet is moved so that the center of the pallet aligned with the center of the carry-in position is aligned with the center of the loading/unloading position and the center of the unloading position.

[Example code] Preferred embodiments of the present invention will be described below based on the drawings.

Note that the same members as those in the conventional device are given the same reference numerals and their explanations will be omitted.

Fig. 1 shows a top view of the automatic guided vehicle transfer device for transporting produced panels from the press line, and Fig. 2 shows a cross-sectional view taken along line II-II in Fig. 1. has been done.

The device of the present invention includes a carry-in side pedestal 20 for receiving an empty pallet 10, a loading/unloading pedestal 22 for loading and unloading the pallet 10 onto the pallet 10, and an actual pallet on which the work is loaded. It has three pallet pedestals: an unloading side pedestal 24.

A characteristic feature of the present invention is that the center of the pallet is regularly moved by a predetermined delivery distance so that the center of the pallet is centered at the predetermined position of each pedestal, and the predetermined position of each pedestal is moved to the loading position (carry-in position). A loading/unloading position (loading/unloading stand 22), and an unloading position (unloading side stand 24). A pallet moving lift 26 for moving the pallet 10 is provided at each of these positions, and the present invention is comprised of three pedestals and one lift.

An entry path A through which the automatic guided vehicle 12 carrying a pallet 10 enters is formed in the carry-in side cradle 20, and an entrance path B through which the pallet moving lift 26 enters is perpendicular to the entrance path A. It is formed in the direction that intersects with the Similarly, on the unloading stand 24, the pallet 10 loaded with workpieces
The exit path C through which the automated guided vehicle 12 carrying pallet leaves and the entrance path through which the pallet moving lift 26 enters is formed so as to intersect at right angles. Further, a space is provided below these loading and unloading side pedestals 20, 24 for the automatic guided vehicle to pass through, and the automatic guided vehicle can easily move forward and backward without coming into contact with these pedestals.

Furthermore, the loading/unloading stand 22 is a pallet stand 2 divided into two parts.
Consisting of 8a and 28b, a carry-in side pedestal 20 and a carry-out side pedestal 2
It is located between 4. A pallet moving lift 26 is installed between the divided pallet stands 28a and 28b, making it possible to lift the pallet 10 from the divided space.

This pallet moving lift 26 includes two lifting platforms 30a,
36b and mounted at the bottom of the lift
As shown in FIG. 3, a convex guide 36 provided on the lower side of the pallet moving lift 26 and a pallet stand serving as a loading/unloading stand are used. The guide grooves 38 provided inside 28a and 28tl enable movement between the carry-in side pedestal 20 and the carry-out side pedestal 24.

Note that the pallet moving lift 26 in this embodiment lifts and moves the vicinity of the center of the pallet 10, but the pallet moving lift 26 is arranged on both sides of the loading/unloading platform 22 so that both sides of the pallet 10 are lifted and moved. You can also do it.

Here, the loading side pedestal 20, the loading/unloading pedestal 22, and the unloading pedestal 24 are positioned at a delivery distance (P) in order to regularly move the pallet by a predetermined delivery distance. are set apart. Therefore, as shown in FIG. 1, the loading position 100, the unloading position 101, and the unloading position 102 have a positional relationship in which the delivery distance pH is increased from the center position. In addition, pallet moving lift 2
・The length is set so that two pallets 10 separated by the delivery distance P can be simultaneously lifted even on the elevator platform 30 of No. 6, and in this embodiment, the two elevator platforms 30a
, 30b maintains a relative length that can lift two pallets 10 at the same time. This elevating table 30 can also be formed by integrating the two elevating tables 30a and 30b into one elevating table.

The automatic guided vehicle has a structure that allows it to enter the loading and unloading cradle 20.24 with the pallet 10 on it, and the pallet 10 can be moved up and down by a lift provided on the automatic guided vehicle 12. The pallet 10 can be placed on the pallet 20 or lifted from the unloading pedestal 24 and transported.

The apparatus of the present invention has the above-mentioned configuration.Next, actual pallet movement will be explained based on FIG. 4.

In FIG. 1, the pallet moving lift 26 is on standby with the loading/unloading position on the loading/unloading pedestal 22 at its center position. Then, the automatic guided vehicle 12 enters the carry-in side cradle 20, aligns the center of the empty pallet 10-1 with the center of the carry-in position, and unloads it, and the automatic guided vehicle evacuates from the carry-in side pedestal 20.

Here, as shown in FIG.
Lift up 1.

Next, as shown in Figure (3), the pallet moving lift 26 moves toward the loading/unloading platform 22 by the delivery distance lIP, and unloads the empty pallet 10-1 onto the loading/unloading platform 22. . At this time, the pallet 10-1 will be regularly moved by the delivery distance P from the loading position to the loading/unloading position,
The center of the pallet will be accurately positioned at the center of the loading/unloading position. In this state, the empty pallet 10-1 has a third
As shown in the figure, works such as pressed panels are loaded by a conveyor 40.

In Fig. 4 (4), while a workpiece is being loaded onto the empty pallet 10-1 placed on the loading/unloading cradle, the next empty pallet 10-1 is placed at the loading position and is transported automatically. The car 12 exits from the carry-in side cradle 2o.

Then, as shown in FIG.
Then, the next empty pallet 1o-1 is lifted up, and the other lifting platform 30b lifts up the pallet 10-1 loaded with workpieces. Next, in this state, the pallet moving lift 26 moves by a predetermined delivery distance P toward the carry-out side pedestal 24.

Here, the pallet 1o-1 loaded with works and the empty pallet 10-1 are lowered to the unloading position and the unloading position, respectively, and the center of the pallet is positioned at the center of each position. Thereafter, as shown in FIG. 7, the pallet 10-1 placed at the unloading position is placed on the automatic guided vehicle 12 and transported to a predetermined storage location. At the same time, the next empty pallet 10-2 placed at the loading/unloading position is loaded with workpieces, and a third empty pallet is placed at the loading position by the transport vehicle 12.

By repeating the series of operations shown in FIGS. (1) to (7), the pallet 10 is moved to a predetermined delivery distance
By aligning the center of the pallet with the loading position on the loading side cradle 20, accurate positioning of the center of the pallet can be achieved at the center of the loading/unloading position and the center of the unloading position. . Therefore, as a result, various pallets 10 of different sizes can be placed accurately on the predetermined positions of each pedestal, and workpieces can be easily loaded (the same applies to unloading). .

[Effects of the Invention] As explained above, according to the present invention, each cradle is set so that the center of the pallet is at the center of a predetermined position of each cradle, and at the same time, the pallet moving lift is used to regularly move a predetermined delivery distance. Since the pallets are moved in a consistent manner, it is possible to perform stable positioning for various pallets of different sizes, and a highly efficient pallet transfer operation is achieved.

Furthermore, each pedestal or pallet transfer lift can be assembled and arranged using a simple configuration device, making it possible to obtain a low-cost pallet transfer device for an automatic guided vehicle.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing a preferred embodiment of the automatic guided vehicle pallet transfer device according to the present invention, FIG. 2 is a sectional view taken along line II-II in FIG. 1, and FIG. 3 is a - (2) Cross-sectional view; FIG. 4 is an explanatory diagram showing the movement of a pallet by a pallet moving lift; FIG. 5 is an explanatory diagram showing a conventional pallet transfer device for an automatic guided vehicle. 10...Pallet 12...Automated guided vehicle 20...Carry-in side cradle 22...Loading/unloading pedestal 24...Carry-out side cradle 26...Pallet moving lift 28a, 28b... - Pallet stand 30a, 30
b - Lifting platform A...Automated guided vehicle entry route B, D...Pallet moving lift entry route C...
- Exit path 100 of automatic guided vehicle... Loading position 101... Loading/unloading position 102... Carrying out position.

Claims (2)

[Claims] (1) An entry path is formed through which the automatic guided vehicle carrying the pallet enters, and the loading side cradle receives the pallet by aligning the center of the pallet with the center of the predetermined loading position of the cradle, and the automatic guided vehicle carrying the pallet exits. An exit pedestal is formed with an exit path and the pallet is passed by aligning the center of the pallet with the center of a predetermined unloading position of the cradle, and the loading pedestal and the unloading pedestal are used for loading and unloading workpieces onto the pallet. A loading/unloading cradle is provided in which the loading/unloading position of the workpiece is set at an equal delivery distance between the loading and unloading positions, and from the loading position to the loading/unloading position and from the loading/unloading position to the unloading position. a pallet moving lift that simultaneously moves pallets by the delivery distance;
A pallet transfer device for an automatic guided vehicle, characterized in that the pallet is moved by aligning the center of the pallet with the center of each position of a pedestal. (2) In the device according to claim (1), the unloading pedestal has a pallet pedestal divided into two, and an elevating platform of a mobile lift can move forward and backward between the pallet pedestals, and A pallet transfer device for an automatic guided vehicle, characterized in that the loading and unloading pedestals are capable of moving up and down from the loading and unloading positions where a mobile lift enters and the pallet is placed. .