JP2015150651A - Workpiece moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece moving device which can suppress manufacturing cost.SOLUTION: A workpiece moving device 2 is arranged between a machine tool 1 which performs predetermined processing to a workpiece W, and a robot 3 which has a hand part for holding the workpiece and carries in and out the workpiece by the hand part to the machine tool, and holds and moves the carried-in or out workpiece to a predetermined position. The workpiece moving device 2 includes drive means 14 which drives the workpiece moving device by advancing and retracting by the hand part to the machine tool. The carried-in or out workpiece is moved to the predetermined position by advancing and retracting the drive means by the hand part.

Description

  The present invention is arranged between a machine tool that performs predetermined machining on a workpiece and a robot that loads or unloads the workpiece with respect to the machine tool by a hand unit that holds the workpiece. The present invention relates to a workpiece moving device that holds a transferred workpiece and moves it to a predetermined position.

  For example, in Patent Document 1, as a workpiece supply device that supplies a workpiece to a machine tool, a workpiece changing device that can move away from the machining position of the machine tool in the horizontal direction and enter the workpiece transfer position, and the workpiece transfer position from There is disclosed an apparatus including a transfer device that supplies and discharges a workpiece toward and from the workpiece replacement device at a retreated place. In this transfer device, a large number of movable platforms on which workpieces are respectively placed are circulated around the positions where the workpieces are moved away from the workpiece transfer position, and each movable platform is inserted into the workpiece by a tip of a pusher driven by an air cylinder. Push towards the changer. Then, the moving device provided in the workpiece changer moves the workpiece from the movable platform to the workpiece transfer position and supplies the workpiece to the workpiece changer. Also, by placing the workpiece processed by the machine tool on the movable table by the moving device of the workpiece changer, and pushing the movable table away from the workpiece changer at the tip of the pusher. The machined workpiece is discharged from the machine tool.

  On the other hand, in Patent Document 2, a rotating body that rotates in a vertical plane by a motor around a rotating shaft portion, and is rotatably supported by the rotating body in the vertical plane via a supporting shaft portion. There is disclosed a work stock apparatus including a plurality of pallets, wherein the uppermost position of the pallet rotating in the vertical plane is a work loading position, and the lowermost position of the rotating pallet is a work unloading position. This work stock apparatus is provided with a horizontal holding means for rotating the support shaft portion in a direction opposite to the rotation direction of the rotation shaft portion by the rotation angle of the rotation shaft portion. In this case, each pallet is held in a horizontal state by the horizontal holding means. For this reason, when the rotating body is rotated in a vertical plane and the workpiece is placed on the horizontal pallet and moved from the loading position to the unloading position, the workpiece can be held on the pallet in a horizontal state.

JP 2003-145384 A JP 2001-253509 A

  However, in the workpiece moving device that holds the workpiece and moves it to a predetermined position, such as the workpiece supply device and the workpiece stock device, it is necessary to provide a device for driving the workpiece moving device such as an air cylinder or a motor. was there. Due to this, there has been a concern that the production cost of the workpiece moving device is high.

  The present invention has been proposed in view of such a situation, and an object of the present invention is to provide a workpiece moving device capable of suppressing the manufacturing cost.

  A workpiece moving device according to a first aspect of the present invention includes a machine tool that performs predetermined machining on a workpiece and a hand portion that holds the workpiece, and the workpiece is carried into or out of the machine tool by the hand portion. A workpiece moving device that is disposed between the robot and the workpiece moving device that holds the workpiece that has been loaded or unloaded and moves the workpiece to a predetermined position, by moving the machine tool forward or backward by the hand unit, Driving means for driving the workpiece moving device is provided, and the driving means is moved forward and backward by the hand unit to move the carried-in or unloaded workpiece to the predetermined position.

  According to a second aspect of the present invention, in the first aspect, the driving unit is a pallet on which the workpiece is placed, and the workpiece moving device is a guide member that guides the pallet so that the pallet can move in a forward and backward direction with respect to the machine tool. The hand unit moves the pallet in the forward / backward direction on the guide member to place the loaded or unloaded workpiece on the pallet and move it to the predetermined position. To do.

  According to a third aspect of the present invention, in the first aspect, the workpiece moving device includes an endless member capable of traveling in a forward and backward direction with respect to the machine tool, and the endless member at a predetermined interval along an outer periphery of the endless member. A plurality of oscillating bodies that are mounted on the slidable member so as to oscillate in the forward and backward directions, and respectively mount the work in a horizontal state, and the drive means is disposed at the predetermined interval with the endless member. A plurality of protrusions are provided on the outer side of the endless member so that the endless member can move in the forward / backward direction along with the travel of the endless member, and the hand portion locks the locking portions. While moving the endless member in the forward / backward direction, the loaded or unloaded work is placed on each swinging body and moved to the predetermined position.

According to the workpiece moving device of the first aspect of the present invention, there is no need to provide a device for driving the workpiece moving device such as a motor or a cylinder. Thereby, the manufacturing cost of the workpiece moving apparatus can be suppressed.
According to the invention of claim 2, the driving means is a pallet on which a work is placed and moved by the hand portion, and the work moving device is a guide member that guides the pallet so that the pallet can move in the forward and backward directions. As a result of the simple structure, maintenance of the driving means and the workpiece moving device is facilitated.
According to the invention of claim 3, since the plurality of rocking bodies for placing the workpiece in a horizontal state are attached to the endless member capable of traveling in the forward and backward direction with respect to the machine tool, for example, the plurality of pallets for placing the workpiece Compared with a case where the workpiece mounting body (oscillating body) is linearly arranged, the space for arranging the workpiece mounting body (oscillating body) can be reduced. Thereby, it is possible to reduce the size of the workpiece moving device.

It is a top view which shows the positional relationship of a machine tool, a workpiece moving apparatus, and an articulated robot in Embodiment 1 of this invention. It is a whole principal part perspective view of the workpiece movement apparatus of Embodiment 2. It is a whole principal part perspective view of the conventional workpiece moving apparatus.

<Embodiment 1>
Embodiment 1 of the present invention will be described with reference to FIG. FIG. 1 shows a planar arrangement of the machine tool 1, the workpiece moving device 2, and the articulated robot 3. The machine tool 1 includes a base 4, and a turntable 5 having a substantially circular shape in plan view on which a work W is placed is provided on the front end side (lower side in FIG. 1) of the base 4. ing. On the turntable 5, two mounting tables 6 and 6 for mounting the workpiece W are provided so as to face each other with a predetermined interval. As shown in FIG. 1, the front end of the base 4 is a loading / unloading position P1 of the workpiece W, and a cover 8 removes the loading / unloading position P1 from the front side of the base 4 (lower side of FIG. 1). Side) and the rear side (upper side in FIG. 1), and the left and right side surfaces (left side and right side in FIG. 1) of the base 4 are surrounded. The front surface of the cover 8 (the lower side in FIG. 1) is open, and the front half of the stationary turntable 5 is exposed from the opening to the loading / unloading position P1. The turntable 5 of the present embodiment can transport the workpiece W between the carry-in / out position P1 and the processing position P2 of the workpiece W in the cover 8 by rotating horizontally.

  As shown in FIG. 1, the workpiece moving device 2 is arranged between the front of the machine tool 1 (lower side in FIG. 1) and the rear of the articulated robot 3 (upper side in FIG. 1). Here, the workpiece moving device 2 is erected on the floor and surrounds the front, rear, left and right of the articulated robot 3, and a plurality of the workpiece moving devices 2 that are rotatably supported by the frame 10 and are adjacent to each other in the conveying direction of the pallet 14 described later. And a conveyance line 11 (11A to 11D) composed of a conveyance roller (see the conveyance roller 105 in FIG. 3). The transport roller rotates when the pallet 14 is moved in a direction perpendicular to the rotation axis of the transport roller in a state where the pallet 14 is placed on the transport roller, and a force necessary for the movement of the pallet 14 is obtained. I try to make it smaller. The transfer line 11 </ b> A extends in the left-right direction of the machine tool 1 (in the left-right direction in FIG. 1) behind the articulated robot 3 and in front of the machine tool 1, and is disposed on the same plane as the turntable 5. . The transfer line 11B extends in the left-right direction in front of the articulated robot 3 (lower side in FIG. 1) and is arranged on the same plane as the transfer line 11A. The transfer line 11C extends between the transfer lines 11A and 11B on the left side (left side in FIG. 1) of the articulated robot 3 and is disposed on the same plane as the transfer lines 11A and 11B. The transfer line 11D extends between the transfer lines 11A and 11B on the right side (the right side in FIG. 1) of the articulated robot 3 and is arranged on the same plane as the transfer lines 11A and 11B. The frame 10 positioned in front of the articulated robot 3 is provided with a workpiece loading / unloading portion P5 that protrudes rearward from an intermediate portion in the extending direction of the frame 10 (left-right direction in FIG. 1). The work loading / unloading portion P5 is supported by a pair of plate members 13 and 13 projecting rearward from the frame 10 and spaced apart in the extending direction of the frame 10, and rotatably supported by both plate members 13 and 13, It is comprised by the some conveyance roller (refer the conveyance roller 105 in FIG. 3) adjoined toward the conveyance line 11B. In the present embodiment, the workpiece is loaded while the rectangular pallet 14 on which the workpiece W is placed is placed on the workpiece loading / unloading portion P5 by using the hand portion of the articulated robot 3 or by the operator's manual work. It moves on the exit P5 and guides it onto the transport line 11B. As will be described later, the pallet 14 guided onto the transport line 11B is moved on the transport lines 11A to 11D while being gripped by the hand portion of the articulated robot 3.

  As shown by a two-dot chain line in FIG. 1, the articulated robot 3 is rotatable 360 degrees around the central axis of the articulated robot 3, and is attached to the tip of the wrist of the articulated robot 3. A hand portion (not shown) for gripping W is provided. The hand unit of the articulated robot 3 moves the pallet 14 on which the workpiece W is placed on the transfer lines 11B, 11C, and 11A to reach the front of the turntable 5 on the transfer line 11A. Is used to place the workpiece W on the mounting table 6 located at the loading / unloading position P1. Further, after predetermined processing is performed on the workpiece W at the processing position P2 of the machine tool 1, when the processed workpiece W is conveyed to the loading / unloading position P1 by horizontally rotating the turntable 5, the hand portion of the articulated robot 3 is moved. Is used to unload the workpiece from the loading / unloading position P1 and place it on an empty pallet 14 positioned in front of the turntable 5 on the transfer line 11A.

  Next, the operation of the workpiece moving device 2 will be described. In this workpiece moving device 2, the pallet 14 on which the workpiece W is placed as shown by the thin line arrow in FIG. 1 is placed on the workpiece loading / unloading portion P5 by the manual operation of the articulated robot 3 or the operator. Is moved and guided onto the transport line 11B. Thereafter, as will be described below, the pallet 14 on which the workpiece W is placed is advanced on the transfer lines 11B, 11C, and 11A toward the loading / unloading position P1 of the machine tool 1 by the hand portion of the articulated robot 3. Let

  As shown by a thin line arrow in FIG. 1, the hand unit grips the pallet 14 on the transport line 11B in a state of being placed on the work moving device 2 and is on the transport line 11B. It is moved from the intermediate portion in the extending direction (left and right direction in FIG. 1) to the left end on the transport line 11B. At this time, if another pallet 14 on which the workpiece W is already placed is positioned at the left end, the hand unit moves the other pallet 14 onto the workpiece moving device 2 before moving the pallet 14 to the left end. The other pallet 14 is caused to enter the transport line 11C from the left end on the transport line 11B while being gripped while being placed on the transport line 11C. In addition, even when other pallets 14 are already positioned on the transport line 11C or the transport line 11A, the other pallets 14 are moved one by one to the forward side in the movement direction. By repeating such movement of the pallet 14, as shown in FIG. 1, the workpiece W is temporarily placed on the mounting table 6 toward the loading / unloading position P1 of the workpiece W and is empty. Except for the pallet 14 that has become, the three pallets 14 on which the workpieces W are placed are positioned next to each other on the transfer lines 11B, 11C, and 11A. By repeating such movement of the pallet 14, in the present embodiment, the hand unit of the articulated robot 3 simply holds the pallet 14 on which the workpiece W is placed and moves it on the transfer lines 11B, 11C, and 11A. Thus, the pallet 14 can be moved to the front of the turntable 5. For this reason, unlike the prior art, for example, in order to move the pallet 14 to the front of the turntable 5, there is no need to provide a motor, a cylinder or the like for driving the workpiece moving device 2. In addition, conveyance line 11A-11D is an example of the guide member of this invention, and the front of the turntable 5 on 11 A of conveyance lines is an example of the predetermined position of this invention.

  As described above, when the pallet 14 on which the workpiece W is placed reaches the front of the turntable 5 on the transport line 11A, the hand unit removes the workpiece W from the pallet 14 as shown by a thick arrow in FIG. Then, it is loaded into the loading / unloading position P <b> 1 and placed on the mounting table 6. The workpiece W mounted on the mounting table 6 is transported to the processing position P2 by horizontally rotating the turntable 5. At the machining position P2, a predetermined machining is performed on the workpiece W. In the present embodiment, using the time during which the workpiece W is subjected to predetermined machining, the hand unit of the articulated robot 3 removes the unmachined workpiece W by the same method as the movement operation of the pallet 14 described above. The other placed pallet 14 is made to enter the empty transfer line 11C from the work loading / unloading part P5, or the pallet 14 on which a processed work W to be described later is placed is guided to the work loading / unloading part P5. . As described above, in the present embodiment, the pallet 14 on which the unprocessed workpiece W is placed enters the transfer line 11C, or the pallet 14 on which the processed workpiece W is placed is guided to the workpiece loading / unloading portion P5. In addition, the processing time of the workpiece W can be used.

  After the processing of the workpiece W at the processing position P2 is completed, the processed workpiece W is conveyed to the loading / unloading position P1 by horizontally rotating the turntable 5. Then, the hand unit unloads the processed workpiece W from the loading / unloading position P1 as shown by the thick arrow in FIG. 1, and on the empty pallet 14 positioned on the conveying line 11A in front of the turntable 5. Placed on. After that, as will be described below, the pallet 14 on which the processed workpiece W is placed is moved on the transfer lines 11A, 11D, and 11B by the hand unit toward the vicinity of the workpiece loading / unloading portion P5. Retract from machine 1.

  The hand unit moves the pallet 14 on which the processed workpiece W is placed to the right end on the transfer line 11A while gripping the pallet 14 in a state of being placed on the workpiece moving device 2. At this time, when another pallet 14 on which the processed workpiece W has already been placed is located at the right end, the hand unit has a pallet on which the processed workpiece W has been placed on the right end from the front of the turntable 5. Before moving 14, the other pallet 14 enters the transfer line 11D from the right end on the transfer line 11A while holding the other pallet 14 in a state of being placed on the workpiece moving device 2. deep. In addition, even when another pallet 14 on which the already processed workpiece W is placed is positioned on the transfer line 11D or the transfer line 11B, the other pallet 14 is moved to the workpiece loading / unloading portion P5 in the moving direction. Move one by one to the side. In FIG. 1, the processed workpiece W is placed on the transfer lines 11 </ b> D and 11 </ b> B from the loading / unloading position P <b> 1 of the workpiece W toward the workpiece loading / unloading portion P <b> 5 by repeating such movement of the pallet 14. An example is shown in which two pallets 14 are positioned next to each other. From this state, the hand unit moves the transfer line 11B to the left while grasping the pallet 14 that has entered the right end of the transfer line 11B, and moves the pallet 14 on the transfer line 11B in the vicinity of the workpiece loading / unloading part P5. To reach. Thereafter, the pallet 14 is guided from the transfer line 11B to the work carry-in / out part P5 by the hand part or the operator's manual work, moved on the work carry-in / out part P5, and discharged to the outside of the work moving device 2. To do. The other pallet 14 on which the processed workpiece W is placed in front of the turntable 5 is also loaded into the pallet 14 simply by holding the other pallet 14 and moving the transfer lines 11A, 11D, and 11B. It is possible to move to the vicinity of the exit P5. In addition, the vicinity of the workpiece carry-in / out part P5 on the transfer line 11B is an example of a predetermined position of the present invention.

<Effect of Embodiment 1>
In the workpiece moving device 2 of the present embodiment, there is no need to provide a device for driving the workpiece moving device 2 such as a motor or a cylinder. Thereby, the manufacturing cost of the workpiece moving apparatus 2 can be suppressed.

  Further, a structure for moving the pallet 14 on which the workpiece W is placed with respect to the machine tool 1 is gripped by the hand portion of the articulated robot 3, and the pallet 14 is moved on the transport lines 11 </ b> A to 11 </ b> D. As a result of being simply moved, maintenance of the structure for moving the pallet 14 forward and backward with respect to the machine tool 1 is facilitated.

<Embodiment 2>
An embodiment of the present invention will be described with reference to FIG. Here, the same configurations as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. 2 is arranged between the front of the machine tool 1 (see FIG. 1) and the articulated robot 3 (see FIG. 1). In the present embodiment, the machine tool 1 is arranged on the right diagonal front side of the workpiece moving device 2A in FIG. 2, and the articulated robot 3 is arranged on the diagonally left front side of the workpiece moving device 2A in FIG. The workpiece moving device 2 </ b> A includes a pair of guide members 20, 20, a pair of endless chains 21, 21, a swing pallet 22, and a grip portion 23.

  As shown in FIG. 2, each guide member 20 has an elliptical plate shape that is long in the forward / backward direction with respect to the machine tool 1 (right diagonally forward and rearward direction in FIG. 2). Each guide member 20 is fixed to a column (not shown) erected on the floor, and the pair of guide members 20, 20 are in the left-right direction of the machine tool 1 (left diagonally forward direction in FIG. 2). Are arranged opposite to each other. The opposing surfaces of both guide members 20 and 20 are connected to each other by columnar connecting members 25 at positions separated from each other in the advance / retreat direction.

  An endless chain 21 is wound around the outer periphery of the pair of guide members 20, 20, and each chain 21 can travel along the guide member 20 in the forward and backward direction with respect to the machine tool 1. Further, a plurality of swing pallets 22 are arranged between the opposing surfaces of both guide members 20, 20 at equal intervals along the outer circumferences of both chains 21, 21. Each swing pallet 22 has a rectangular parallelepiped shape on which the work W can be placed. Further, each swing pallet 22 is connected to both chains 21 and 21 via a support member (not shown) that supports the swing pallet 22 so as to be swingable in the forward and backward directions. When both the chains 21 and 21 travel in the forward / backward direction, for example, if the rotation angle of the support member is controlled so that the detected value of the inclination sensor provided on each swing pallet 22 becomes zero, each swing The moving pallet 22 can be kept horizontal. The endless chain 21 is an example of the endless member of the present invention, and the swing pallet 22 is an example of the swing body of the present invention.

  In addition, each chain 21 is provided with a plurality of columnar gripping portions 23 protruding outward from the chain 21. In the present embodiment, a plurality of gripping portions 23 are arranged at the same interval as the arrangement interval of the swing pallet 22 along the outer periphery of each chain 21, and the chain 21 and each swing pallet 22 are connected to each chain 21. It protruded from the vicinity of the connection part. As will be described later, when each gripping part 23 moves in the forward / backward direction with respect to the machine tool 1 while being gripped by the hand part of the articulated robot 3, both endless chains 21 and 21 run in the forward / backward direction and each swing. The workpiece W placed on the pallet 22 is moved in the forward / backward direction. Further, as shown in FIG. 2, around each guide member 20, there is provided a sliding guide member 26 having an elliptical shape surrounding the guide member 20 in contact with each gripping portion 23. The sliding guide member 26 is fixed to the support column to which the guide member 20 is fixed. In the present embodiment, when the hand portion grips each gripping portion 23 and moves it in the forward / backward direction, each gripping portion 23 slides on the inner surface of the sliding guide member 26 to It will move in the circumferential direction.

  Next, the operation of the workpiece moving device 2A will be described. In the workpiece moving device 2A, the workpiece W is placed on the upper surface of the swing pallet 22 positioned at the supply / discharge position P3 of the workpiece W by the hand portion of the articulated robot 3 or the manual operation of the operator. Thereafter, as described below, the hand portion of the articulated robot 3 causes both chains 21 and 21 to travel toward the loading / unloading position P1 (see FIG. 1) of the machine tool 1, whereby both chains 21, The rocking pallet 22 connected to 21 is moved toward the loading / unloading position P1.

  The hand portion grips a grip portion 23 located in the vicinity of a connecting portion between the swing pallet 22 on which the workpiece W is placed and one chain 21 (left diagonally front side in FIG. 2). It slides along the sliding guide member 26 as shown by the arrow. At this time, one chain 21, the swing pallet 22 connected to the chain 21, and the other chain 21 connected to the swing pallet 22 (the diagonally left rear side in FIG. 2) with respect to the loading / unloading position P1. Drive in the forward direction (right diagonally front side in FIG. 2). At that time, since the swing pallet 22 can be kept in the horizontal state as described above, the workpiece W can be placed on the swing pallet 22 in the horizontal state. Subsequently, the hand unit places the workpiece W on the upper surface of the swing pallet 22 that is located at the supply / discharge position P3 and on which the workpiece W is not placed. Thereafter, the hand unit moves the swing pallet 22 in the forward direction in the same manner as described above. Further, when the hand unit is placed again on the upper surface of the swing pallet 22 on which the workpiece W is not placed on the supply / discharge position P3, the swing pallet 22 is moved in the forward direction. The state shown in FIG. In this state, the swing pallet 22 on which the work W is first placed moves to a position P4 adjacent to the loading / unloading position P1. Thus, in the present embodiment, the hand portion of the articulated robot 3 simply slides the grip portion 23 along the sliding guide member 26 and causes one chain 21 to travel in the forward direction. Can be moved together with the other chain 21 to the position P4. For this reason, similarly to the first embodiment, there is no need to provide a motor, a cylinder, or the like for driving the workpiece moving device 2A. The grip portion 23 is an example of the locking portion of the present invention, and the position P4 is an example of a predetermined position of the present invention.

  As described above, when the swinging pallet 22 on which the workpiece W is placed reaches the position P4, the hand unit carries the workpiece W from the swinging pallet 22 to the loading / unloading position P1 and on the mounting table 6 (see FIG. 1). Thereafter, similar to the first embodiment, the machine tool 1 performs predetermined machining on the workpiece W. Subsequently, the processed workpiece W transferred to the loading / unloading position P1 by the turntable 5 is unloaded from the loading / unloading position P1 by the hand unit and placed on the empty swing pallet 22 at the position P4.

  After that, the gripper 23 is slid along the sliding guide member 26 as shown by the arrow in FIG. 2 while the hand unit grips the gripper 23 at the supply / discharge position P3. It moves in the forward direction relative to the carry-in / out position P1. Thereby, the swing pallet 22 on which the processed workpiece W at the position P4 is placed moves backward from the machine tool 1 toward the supply / discharge position P3. Then, the workpiece W that has reached the position P4 next together with the swinging pallet 22 is returned to the empty swinging pallet 22 at the position P4 after the machine tool 1 performs predetermined processing. In this way, the swing pallet 22 on which the workpiece W is placed at the supply / discharge position P3 is moved in the forward direction, and the swing pallet 22 on which the processed workpiece W is placed along with this is the supply / discharge position. By repeating the operation of moving backward toward P3, the swing pallet 22 on which the processed workpiece W is placed reaches the supply / discharge position P3. Then, the processed workpiece W is discharged to the outside of the workpiece moving device 2A by manual operation of the hand unit or the operator. The supply / discharge position P3 is an example of a predetermined position of the present invention.

<Effect of Embodiment 2>
In the workpiece moving device 2A of this embodiment, it is not necessary to provide a device for driving the workpiece moving device 2A such as a motor or a cylinder. Thereby, the manufacturing cost of 2 A of workpiece | work moving apparatuses can be held down.

  Further, as shown in FIG. 2, a plurality of swing pallets 22, 22... On which the workpiece W is placed in a horizontal state are moved forward and backward with respect to the loading / unloading position P1 of the machine tool 1 (the diagonally right front and back direction in FIG. 2). ) To a pair of endless chains 21 and 21 that can travel. Thus, like the conventional workpiece moving device 102 shown in FIG. 3, a plurality of pallets 104, 104... On which the workpiece W is placed are linearly extended in the advancing / retreating direction (arrow direction in FIG. 3). Compared to a case where the carriage W is moved at a predetermined interval on a conveyance line composed of a plurality of conveyance rollers 105, 105... The space for linearly arranging 22) can be reduced. As a result, the workpiece moving device 2A can be reduced in size.

  The present invention is not limited to the above-described embodiment, and can be implemented by appropriately changing a part of the configuration without departing from the spirit of the invention. In the first embodiment described above, an example in which the pallet 14 on which the workpiece W is placed is advanced on the transfer lines 11B, 11C, and 11A toward the loading / unloading position P1 of the machine tool 1 by the hand unit of the articulated robot 3. Although shown, it is not limited to this. For example, the path for moving the pallet 14 on which the workpiece W is placed toward the loading / unloading position P1 of the machine tool 1 is changed, and the pallet 14 is moved on the transfer lines 11B, 11D, and 11A by the hand unit. You may advance toward the entry position P1. Furthermore, in Embodiment 1 mentioned above, although the pallet 14 which mounted the processed workpiece | work W by the said hand part was shown on the conveyance lines 11A, 11D, and 11B, the example retracted from the machine tool 1 was shown, Not limited to this. For example, the path on which the pallet 14 on which the processed workpiece W is placed is retracted from the machine tool 1 is changed, and the pallet 14 on which the processed workpiece W is placed on the transfer lines 11A, 11C, 11B by the hand unit. You may make it move upwards and it is made to retreat from the machine tool 1.

  Further, in the above-described embodiment, an example in which the hand unit loads the workpiece W from the pallet 14 that has reached the front of the turntable 5 on the transfer line 11 </ b> A to the loading / unloading position P <b> 1 and places it on the mounting table 6. However, it is not limited to this. For example, the hand unit may carry the pallet 14 that has reached the front of the turntable 5 into the loading / unloading position P <b> 1 while placing the workpiece W on the turntable 5. In such a case, the hand unit may carry out the pallet 14 from the carry-in / out position P1 while placing the processed workpiece. Furthermore, although the example which conveys the workpiece | work W from the loading / unloading position P1 to the process position P2 by the turntable 5 provided in the machine tool 1 was shown in embodiment mentioned above, it is not restricted to this. For example, the hand unit of the articulated robot 3 may hold the workpiece W placed on the pallet 14 and directly carry it to the processing position P2 without providing the machine table 1 with the turntable 5. In addition, in the above-described embodiment, the articulated robot 3 can be rotated 360 degrees with the front, rear, left, and right surrounded by the transfer lines 11A to 11D. However, the present invention is not limited to this. For example, after the articulated robot 3 is arranged on the side of the transfer line 11D, the hand unit of the articulated robot 3 can rotate at an appropriate angle within a range where the hand W can reach the workpiece W on each of the transfer lines 11A to 11D. It is good. Furthermore, although Embodiment 1 mentioned above showed the example which the pallet 14 moves on the conveyance lines 11A-11D, being hold | gripped by the hand part of the articulated robot 3, it is not restricted to this. For example, when the pallet 14 is pushed through a pallet pusher that can be advanced to the pallet 14 side, the pallet 14 can move on the transport lines 11A to 11D, or the hand part can be hooked on the pallet. A hooking portion may be provided, and the pallet may be moved on the transport lines 11A to 11D by being pushed and pulled by the hand portion hooked on the hooking portion. In Embodiment 2 described above, when the gripping part 23 moves in the forward / backward direction with respect to the machine tool 1 while being gripped by the hand part of the articulated robot 3, the workpiece W moves in the forward / backward direction. Not exclusively. For example, instead of the grip portion 23, a locking member that can lock the hand portion is provided, and the locking member is pushed and pulled by the hand portion locked to the locking member, thereby moving in the advance / retreat direction. You may make it do. The locking member is an example of the locking portion of the present invention.

  1 .... Machine tool, 2, 2A ... Work moving device, 3 .... Multi-joint robot, 10 .... Frame, 11A to 11D ... Transfer line, 14 .... Pallet, 21 ..., Chain, 22 .... Oscillation Pallet, 23 ··········· P1 ··· Workpiece loading / unloading position on machine tool, P3 ··· Work feeding / discharging position on workpiece moving device Position to perform, P5 ... Work loading / unloading section, W ... Work.

Claims (3)

A machine tool that performs a predetermined machining on a workpiece, and a robot that includes a hand unit that holds the workpiece, and that carries the workpiece into or out of the machine tool by the hand unit; A workpiece moving device that holds the workpiece carried in or carried out and moves the workpiece to a predetermined position,
Drive means for driving the workpiece moving device by advancing and retracting the machine tool by the hand unit,
A workpiece moving apparatus characterized in that the loading or unloading workpiece is moved to the predetermined position by moving the driving means forward and backward by the hand portion. The driving means is a pallet on which the work is placed, and the work moving device is a guide member that guides the pallet so that the pallet can move in a forward and backward direction with respect to the machine tool.
The hand unit moves the pallet in the forward / backward direction on the guide member to place the loaded or unloaded work on the pallet and move it to the predetermined position. The workpiece moving apparatus according to claim 1. The workpiece moving device is attached to an endless member capable of traveling in the advancing / retreating direction with respect to the machine tool, and swingable in the advancing / retreating direction to the endless member at a predetermined interval along an outer periphery of the endless member. A plurality of oscillating bodies for respectively placing the workpiece in a horizontal state,
A plurality of the driving means projecting outward from the endless member at the predetermined interval, and the hand unit is locked so that the endless member can move in the advancing and retracting direction with the travel of the endless member. As part
The hand portion moves the endless member in the forward / backward direction while locking each of the locking portions, so that the workpiece that has been loaded or unloaded is placed on each of the oscillating bodies and the predetermined portion is moved. The workpiece moving device according to claim 1, wherein the workpiece moving device is moved to a position.

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