JP3233110B2 - Flexible transfer line - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible transfer line in which a plurality of machine tools such as a machining center are provided, and a workpiece is sequentially transported between them by a transport device for processing.

[0002]

2. Description of the Related Art Conventionally, a transfer apparatus 10 shown in FIG. 17 has been used to transport a workpiece to a processing station or the like of a machine tool. S1 to S3 are processing stations, 17 is a conveyor, 10 is a transfer device,
Each of the processing stations S1 to S3 is arranged with a constant laying pitch P. Transfer bars 11 transfer device 10 which is a workpiece holding member 16 at regular pitch P provided with, and movable in the retractable and lifting direction in the conveying direction of the workpiece W, the forward and backward and lifting movement The workpiece W is transported by the combination.

The transfer bar 11 is movable on rollers rotatably supported by one ends of a plurality of swing arms 15. The bending portion of the swing arm 15 is rotatably supported on a reference plane (not shown), the roller is rotatably supported at one end, and the other end is swingably supported by the lift bar 14. I have. When the swing arm 15a is rotated by the lift device 13 composed of a motor, all the swing arms 15 swing in synchronization, and the transfer bar 11 is moved up and down. Further, the transfer bar 11 is connected to the shift device 12, and the transfer bar 11 is moved forward and backward by driving the shift device 12. The shift device 12 includes a link mechanism and a cylinder (not shown), and moves the transfer bar 11 forward and backward regardless of the elevation of the transfer bar 11.

[0004]

A transfer device for transferring a workpiece W using a transfer bar 11 like the transfer device 10 described above can easily control the transfer of the workpiece W (driving of the transfer bar 11). However, there is a problem described below. That is, if the pitches between the processing stations S1 to S3 are not the same, they cannot be used, and as a result, the flexibility in changing the machine tools and in the process knitting deteriorates. Furthermore, according to the cycle time of the machine tool with the longest cycle time, only in-line type transport that simultaneously transports workpieces of all machine tools can be performed,
When the processing of the workpiece is completed at each processing station, it can be used for independent type transport, in which the completed workpiece is unloaded and the next workpiece to be processed is loaded on each machine tool. Because it is not possible, even when measuring a workpiece machined with a machine tool with a short cycle time to check the machining accuracy, it is necessary to wait until the machining of the machine tool with the longest cycle time is completed. There has been a problem that the cycle time of the entire time becomes longer.

[0005] Further , the processing stations S1, S2, S3
Because the transfer bar 11 is always located below
Each processing station cannot be covered with a cover,
Is scattered over a wide area,
Difficult because chips accumulate on the transfer bar 11
Poor holding of the object W occurs and extra load
Problems such as acting on the transfer device 10 and processing steps.
A posture change device for a workpiece such as a turntable
There was a problem that it was difficult to provide. Further, when the installation of all the machine tools and the installation of the transfer device 10 are not completed at the time of configuring the production line, the test operation cannot be performed, and there is a problem that it takes a long time to start up the production line.

[0006]

According to a first aspect of the present invention, there is provided a machine tool for machining a workpiece carried into and out of a machining station, comprising: And a plurality of them are arranged at intervals along the transfer direction of the workpiece, and a transfer device is provided between the plurality of machine tools along the transfer direction of the workpiece from the processing station of the machine tool in the previous process. in the flexible transfer line for sequentially conveying the pre Symbol workpiece to the machine tool processing station in the next step, and composed of a plurality of machine tools between conveying device independent the conveying device, each of the plurality of transport devices, said plurality On a straight line connecting the respective processing stations of the machine tool, is provided independently between the machine tool of the preceding process and the machine tool of the next process, and the plurality of transfer devices are fixed. And wood, and the elevating member which is movable up and down to the fixed member, the processing of the elevating device for elevating the elevating member, the provided elevating member and the processing station of the previous step on the lifting member the next step and a sliding member capable of reciprocating in the direction connecting the stations, dynamic for reciprocating between the slide member and the processing station of the previous step and the processing station of the next step
A slide device including a servomotor as force means, and a reciprocating movement of the slide member capable of holding the workpiece.
Reciprocating relative to this slide member in parallel to the direction
A movable workpiece holding member, and movement of the slide member.
The same direction of the workpiece holding member on this slide member
In addition to the previous and next steps,
The work holding member can reach any of the work stations
Linked to the reciprocating movement of the slide member
Moving the workpiece holding member in the moving direction of the slide member.
And a mechanism for moving the slide device and the elevating device in parallel with and in the same direction ,
The control device is configured to control the plurality of
Moving the slide member of the transfer device to the processing
From both the station and the next processing station
Make the machine stand by at the initial position separated by the same distance,
When transporting an object, move the slide member forward from the initial position.
In the direction opposite to the workpiece transfer direction,
To the station and move it to this retreat position.
And the work holding member connects the elevating member to the processing step.
From the position below the workpiece at the machining position on the
Operate so that it can be raised to a position above the machining position.
The workpiece from the processing station in the previous process.
Delivered to the workpiece holding member, and then the workpiece holding member
While holding the plurality of slides in the upper position.
In the transport direction of the workpiece, the guide member is moved
Forward to the station, and
And the work holding member moves the elevating member to the upper position.
From the lower position to the lower position
The workpiece is moved from the workpiece holding member to the next process step.
Transfer, and after this transfer operation,
The guide member is moved backward to the initial position .

According to a second aspect of the present invention, a machine tool for machining a workpiece carried in and out of a machining station is adjusted to the divided machining steps of the workpiece and spaced along the conveying direction of the workpiece. open the arranging a plurality of the processing stations before Symbol workpiece machine tool next step from the processing station of the machine tool of the previous step along the conveying direction of the workpieces among the plurality of machine tools by the transport device In the flexible transfer line for sequentially transporting, each of the processing stations of the plurality of machine tools is provided with a plurality of jig devices each of which is provided at each processing station and which can hold the workpiece and move up and down by an actuator. It is constituted by a transfer device between machine tools, and each of the plurality of transfer devices is arranged on a straight line connecting each processing station of the plurality of machine tools, A machine tool process provided independently between the machine tool of the next step, the plurality of transport devices, the fixed member, wherein provided on the fixed member and the processing station of the previous step on the fixed member following processing stations and a sliding member capable of reciprocating in the direction connecting the steps, for reciprocating between the slide member and the processing station of the next step and the processing stations of the previous step
A slide device including a servomotor as a power means, capable of holding the workpiece and reciprocating relative to the slide member in parallel to a reciprocating movement direction of the slide member.
A movable workpiece holding member, and movement of the slide member
And the same side of the workpiece holding member on the slide member
Of the previous and next steps
The workpiece holding member reaches any of the processing stations
To reciprocate the slide member to
Moving the workpiece holding member to move the slide member.
A mechanism for moving the direction parallel and in the same direction, and a control unit for controlling the actuator and the slide device of the jig device, the control device, the processing of the workpiece
In some cases, the slide members of the plurality of transporting devices are
Processing station and next processing station
And at an initial position approximately equidistant from any of the above,
When transporting the workpiece after machining,
Forward from the initial position in the direction opposite to the transport direction of the workpiece
Move backward toward the processing station in the previous process,
In this retracted position, the jig device is machined from the machining position.
Processing the workpiece in the preceding process
From the station to the workpiece holding member,
Then, the slide member is moved in the transport direction of the workpiece to the next operation.
To the machining station
The jig device is moved from the workpiece transfer position in the advanced position.
Raising the workpiece to the machining position and holding the workpiece
Delivered from the member to the processing station of the next process,
After the transfer operation, the slide member is moved to the initial position.
It is characterized in that it is moved backward until it moves . Further
The invention of claim 3 is the invention according to claim 1 or 2,
Move the workpiece holding member in the same direction as the movement direction of the slide member.
The mechanism for moving in the same direction
The workpiece holding member is mechanically linked to the movement of the guide member.
That a chain mechanism that moves the
It is a sign.

[0008]

The operation of the present invention will be described below. However, it is assumed that the slide member and the workpiece holding member of the transfer device are at an initial position between the processing station of the previous process and the processing station of the next process and substantially equidistant from any of these processing stations. First, the slide device is driven to move the slide member backward in the direction opposite to the workpiece transfer direction. At the same time, the workpiece holding member is also moved in the same direction as the moving direction of the slide member, and is located at the processing station of the machine tool in the preceding process. In this retracted position, the control device drives the elevating device to elevate the elevating member or lower the jig device installed on the machine tool, and the machining held in the machining station of the machine tool in the previous process. The completed workpiece is transferred to the workpiece holding member of the transfer device.

Subsequently, the slide device is driven to move the slide member and the workpiece holding member forward in the workpiece transport direction. In this forward position, the control device drives the elevating device to lower the elevating member, or raises the jig device installed on the machine tool to move the workpiece held by the workpiece holding member to the next process. Transfer to the machine processing station. Then, the slide device is driven, the slide member is moved backward and returned to the initial position, and the transfer of the work is completed once, and thereafter, the transfer of the work is performed. The above-described transfer device is provided independently between each machine tool, so that the work can be transferred along the entire line.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a production line using the transfer device of the first embodiment. S1 to S3 are processing stations such as machine tools, which are arranged at intervals according to the processing steps of the workpiece, and 117 is a conveyor for supplying and unloading the workpiece W. A support table 118 is provided at each of the processing stations S1 to S3, and the transfer device 100 is fixed on the support table 118. The processing stations S1 to S3 are arranged, and the connecting members 119 connect the front and rear stations S1 to S3 to form a production line.

The transport device 100 will be described in detail. The transport device 100 is roughly divided into two devices, a slide device 1 for transporting the workpiece W and an elevating device 2 for loading and unloading the workpiece W. First, the slide device 1 will be described with reference to FIGS. FIG. 2 is a detailed view of the slide device of the transport device 100, and FIG. 3 is a cross-sectional view as viewed from the AA direction in FIG. The slide device 1 is mounted on an elevating member 101 which is moved up and down by an elevating device 2 to be described later.
A slide member 102 having a length approximately half of the distance between three (workpiece transport distance) is supported so as to be movable in the left-right direction in FIG. A rack 107 is provided below the slide member 102, and a pinion 108 meshing with the rack 107 is rotatably supported by the elevating member 101. The movement of the slide member 102 is performed by rotating the pinion 108.

The rotation of the pinion 108 is performed by the following configuration. That is, as shown in FIG. 3, the servomotor 110 is fixed to the elevating member 101 with the shaft 110 a as its output shaft being coaxial with the center of rotation of the pinion 108. The shaft 110a passes through the elevating member 101 and is connected to a transmission shaft 120 rotatably supported in the pinion. Further, the transmission shaft 120 is connected to a speed reducer 121, and is connected to the pinion 108 via the speed reducer 121 so as to transmit the power of the servomotor 110.

A pair of sprockets 104 are rotatably supported by the slide member 102, and a chain 105 is hung over the sprocket 104. Both ends of this chain 105 are
1 and is supported by a chain fixing member 106 fixed to the
4 to be moved. Further, a work holding member 103 that is supported above the slide member 102 so as to be movable in the same direction as the movement direction of the slide member 102 and that holds and holds a work is fixed to the chain 105. Accordingly, the workpiece holding member 103 moves on the slide member 102 at the same speed as the movement of the slide member 102 in the same direction as the movement of the slide member 102 by the movement of the slide member 102. A double speed double mechanism that moves at twice the moving amount and twice the moving speed with respect to the movement of 102.

Next, the lifting device 2 will be described with reference to FIG. A fixing member 140 is fixed to a support stand 118 provided in the processing stations S1 to S3. The above-described elevating member 101 is supported by the fixed member 140 so as to be able to ascend and descend via a pair of first and second links 141 and 142, respectively. One end of the first link 141 is swingably supported by a fixed member 140 by a pin, and a roller 141a is rotatably supported at the other end. The roller 141a is provided in the elongate hole 101a provided in the elevating member 101. Is engaged. On the other hand, one end of the second link 142 is swingably supported by the elevating member 101 by a pin, and a roller 142 a is rotatably supported at the other end. The roller 142 a is provided on the fixed member 140. It is engaged with the hole 140a. The first and second links 141 and 142 are connected to the pin 14 at the midpoint of each other.
The support member 3 is swingably supported at 3, and supports the load of the elevating member 101 by increasing or decreasing the angle of intersection of the first and second links 141 and 142.

The tip of the shaft 130a of the hydraulic cylinder 130 fixed to the fixing member 140 is
1 and the shaft 13 of the hydraulic cylinder 130
The elevating member 101 is moved up and down by expanding and contracting Oa. The drive of a hydraulic source (not shown) that drives the servomotor 110 and the hydraulic cylinder 130 described above is controlled by the control device 150.

The operation of the transport device 100 according to the first embodiment having the above configuration will be described with reference to FIG. FIG. 5 is a diagram in which the operation of the transport device 100 is modeled. Now
The process will be described in three steps: a process of unloading the workpiece W from the processing station S1 by the transfer device 100 between the processing stations S1 and S2, a process of transporting the workpiece W from the processing station S1 to the processing station S2, and a process of loading the work W into the processing station S2. I do. However, at first, the transfer device 100
As shown in FIG. 5A, the lifting member 101 is lowered, the slide member 102 is positioned at the center position of the symmetrical movement, and the workpiece holding member 103 is moved to the work station S1, S2. It is assumed that it is at a position that does not interfere with the object W (this position is hereinafter referred to as an initial position).

First, in the unloading step from the processing station S1, the control device 150 drives the servomotor 110 to move the slide member backward in the direction opposite to the workpiece transfer direction (rightward in the drawing). The workpiece holding member 103, which moves in conjunction with the movement of the workpiece 102, is placed directly below the place where the machining station S1 holds the workpiece (FIG. 5).
(B) position). Subsequently, the controller 150 controls a hydraulic source (not shown) to
0 shaft 130a is extended, and the machining station S
1 is the position holding the workpiece W (the processing position in FIG. 5)
The lifting member 10 is located at a higher position (the rising end face in FIG. 5C).
Ascend 1 Then, the workpiece W which has been processed and held in the processing station S1 is moved to the workpiece holding member 10.
3 and the workpiece is delivered and completed to complete the unloading process.

Subsequently, in the transporting step from the processing station S1 to the processing station S2, the servomotor 110 is driven by the control device 150 by the control device 150 while the elevating member 101 is kept up (the rising end in FIG. 5). Member 10
2 in the work transfer direction (left direction in the drawing), and moves the work holding member 103 to a position (position [D] in the figure) just above the place where the processing station S2 holds the work W. The transfer process is completed.

Next, transfer step of the processing station S2 controls an unillustrated hydraulic source by the control device 150, shrink the shaft 130 a of the hydraulic cylinder 130, the lifting member 10
1 is lowered to the same height as the initial position (the lower end in FIG. 5E). Then, the workpiece W placed on the workpiece holding member 103 is delivered to the processing station S2, and the loading step is completed. Then, the servo motor 110 is driven, the slide member 102 is moved backward and returned to the initial position (the position shown in FIG. 5A), and one transfer of the workpiece is completed. Is carried out.

As shown in FIG. 1, the above-described transfer device 100 is used to move each of the processing stations S1 to S3 and the conveyor 1
17 on a straight line connecting each processing station S1
To S3 and the conveyor 117, so that the entire line is conveyed. Since the transport device 100 can be driven individually, the control device 1
Since the moving distance of the workpiece holding member 103 can be set arbitrarily by changing the moving distance of the slide member 102 according to 50, even in a production line having a different distance between processing stations (transport distance), it is possible to match the individual transport distance. By driving the workpieces in synchronization with each other, an in-line type workpiece can be transported. That is, since the movement of the slide member 102 is performed by the servomotor 110, the workpiece holding member 103 can be moved to an arbitrary position.
The transfer can be performed even if the distances from the initial position of 0 (see FIG. 5A) to the processing stations on both sides are not equal. That is, this indicates that the degree of freedom in the installation position of the transport device 100 is large. Further, since the slide device 2 is a double-speed and double-length mechanism, the length of the slide member 102 is approximately half the length of the laying pitch between the processing stations, so that a wide range of conveyance can be performed at a high speed.

Further, as shown in FIG. 6, in a production line in which the processing stations S1 to S3 are arranged at intervals of the laying pitch P, the slide members 102 of the transfer device 100 are connected by connecting rods 180, If the transfer device 100 is driven synchronously, it can be used as an inline type transfer device similar to the conventional one. Conversely, if the transfer device 100 of the first embodiment is used alone, it can be used as a carry-in / out device for a machine tool, and can also be used as an independent transfer device. While machining is still being performed on the machine tool, the workpiece that has been machined with a short cycle time can be unloaded and measured, etc., to check machining accuracy. Can be shortened.

As described above, the transfer device 100 of the first embodiment can be used as a transfer device of any production line, and can easily rearrange the processing stations, organize the processes, etc., and have the effect of having good flexibility. is there. Further, the transporting device 100 is provided between the individual processing stations S1 to S3 and the conveyor 117, respectively.
Since it is provided independently and adjacent to 1 to S3, a test operation can be performed for each processing station even when all the processing stations are not installed when the production line is configured.

During processing of a workpiece, the transfer device 100
Is located between the processing stations, so that it is easy to provide a posture changing device for a workpiece such as a turntable in each processing station. In addition, this makes it less susceptible to the chips and makes it possible to cover the entire processing station with a cover, so that there is an advantage that scattering of the chips can be limited.

In the first embodiment, the slide member 102 is moved by a servomotor 110 provided on the elevating member 101 via a rack 107 and a pinion 108.
However, a driving device such as a motor does not need to be provided in the elevating member 101, and the following modifications are also possible. First, as shown in FIG. 7, a first modified example is such that the rack 107 and the pinion 10 of the transfer device of the first embodiment are used.
8 is abolished, and the sprocket 10
4 is provided with a driving device 200 for rotating one of them. In the second modified example, as shown in FIG. 8, in addition to the conveying device of the first modified example, gears 104a fixed to the sprocket 104 and rotating together are provided.
With an endless chain 201.
In the third modification, as shown in FIG.
Drive device 20 for driving individual sprockets 104
The slide member 102 and the workpiece holding member 103 are moved by driving the driving devices 202 and 203 in synchronization with each other.

In the first embodiment, the work holding member 103 is moved by the double-speed double mechanism which moves in conjunction with the movement of the slide member 102. May be separately provided. Further, in the first embodiment, the lifting device 2 is performed by the hydraulic cylinder 130, but the lifting device 2 may be constituted by a servomotor, a ball screw mechanism, and the like. And this gives
If the elevating operation of the elevating member 101 can be accurately controlled, and the elevating operation of the elevating member 101 is also controlled in the process of transporting the workpiece W, the work can be performed between the processing stations having different heights for processing the workpiece W. Objects can be transported.

Next, a second embodiment of the present invention will be described below. The same components as those in the first embodiment are denoted by the same reference numerals. FIG. 10 shows a transfer device 200 according to the second embodiment.
It is the schematic which showed the production line using. S1 to S
Reference numeral 3 denotes a processing station such as a machine tool, which is disposed at a predetermined interval in accordance with a processing step of a workpiece.
Is a conveyor for supplying and unloading the workpiece W placed on the pallet P, and 300 is a workpiece W placed on the pallet P
Is a jig device for positioning and holding.

A support table 118 is provided at each of the processing stations S 1 to S 3, and a transfer device 200 is fixed on the support table 118. Then, the processing stations S1 to S3 are arranged, and the front and rear processing stations S1 to S3 are connected by a connecting member 119 to form a production line. The transport device 200 is the same as the transport device 100 of the first embodiment described above except that the lifting device 2 is omitted.
As shown in FIG. 1, the lifting member 101 is directly fixed to the support base 118. Conveyor device 1 for slide device 1
The configuration is exactly the same as 00. However, a positioning pin 103a is provided on the upper surface of the workpiece holding member 103, and fits into a positioning hole 150 provided in the center of the lower surface of the pallet P, which will be described later, to position the pallet P on the workpiece holding member 103. (See FIG. 12).

The jig device 300 is connected to each processing station S1.
S3, respectively, for positioning the workpiece W placed on the pallet P and transferring the pallet P from the workpiece holding member 103 of the transfer device 200. The jig device 300 will be described in detail.
FIG. 12 is a configuration diagram of the jig device 300 as viewed from a direction in which the workpiece W is transported in a direction perpendicular to the drawing. FIG.
3 is a side view seen from the direction of arrow C in FIG. In addition,
The pallet P used in the second embodiment has grooves 151 on both sides on which pawl portions 302 of a jig device 300 described later can be loosely fitted.
A groove 1 having a width equivalent to the width of the workpiece holding member 103 and extending in the transport direction of the pallet P is formed on the lower surface.
50a are formed. Further, a pallet positioning hole 150 into which the pallet positioning pin 103a is fitted is provided at a center position of the pallet P in the groove 150a.

The jig body 301 is centered on the transfer device 200.
The slide member 102 and the workpiece holding member 103 have a space where they can enter, and are provided with a claw portion 302 that fits loosely into a groove 151 provided on the side surface of the pallet P. That is,
The claw portion 302 is provided on the workpiece holding member 1 of the slide device 1.
In the state where the pallet P is placed on the pallet 03 (the position of the pallet P indicated by the two-dot chain line in FIG. 12 and the state in FIG. 13), the groove 15
1 is loosely fitted to the claw portion 302 and the claw portion 302 is set at a height that does not interfere with the pallet P.

A hydraulic cylinder 303 is fixed to the center of the jig main body 301 so that the direction of movement of a shaft 306, which is the drive shaft of the hydraulic cylinder 303, is vertical. The transmission member 304 shown in FIG. 14 is horizontally fixed to the shaft 306 at the center thereof. FIG. 14 is a top view of the transmission member 304 as viewed from the BB direction in FIG. 12, and the transmission member 304 is an X-shaped plate member. The square end of the transmission member 304, Pas <br/> let the support member 305 of the four in which the cylindrical shape is fixed in a direction parallel to the front Symbol shaft 306. Further, the pallet support member 305
Positioning pins 305a are provided at the two diagonal tips.

Then, by driving the hydraulic cylinder 303 and moving the shaft 306 up and down, the pallet support member 305 fixed to the transmission member 304 is moved up and down. That is, by raising the pallet support member 305, the positioning pins 305a of the pallet support member 305 are fitted into the positioning holes 153 provided on the lower surface of the pallet P to position the pallet P. Tip surface and the jig body 30
The pallet P is held by the jig device 300 by sandwiching the pallet P by the one claw portion 302.
When the pallet P is carried in and out, the pallet support member 305 is lowered and retracted to a position where the pallet P does not interfere with the pallet P being carried in and out (the position indicated by the two-dot chain line in the drawing). Note that a space is provided below the jig main body 301 where the transmission member 304 enters when the shaft 306 is lowered.

Next, the operation of the second embodiment will be described with reference to FIGS. FIGS. 15 and 16 are model diagrams showing the operation of the transfer device 200. FIG. Now, there are three steps: a step of carrying out the workpiece W from the processing station S1 by the transfer device 200 between the processing stations S1 and S2, a step of transporting the workpiece W from the processing station S1 to the processing station S2, and a step of loading into the processing station S2. Will be explained. However, the transfer device 200 is the same as that shown in FIG.
It is assumed that the slide member 102 is at the initial position where the slide member 102 is located at the center of the symmetric movement as shown in FIG.

First, in the unloading step from the processing station S1, the slide member 102 is moved backward in the direction opposite to the work transfer direction (rightward in the drawing), and the work holding is moved in conjunction with the movement of the slide member 102. The member 103 is placed immediately below the place where the jig device 300 of the processing station S1 holds the workpiece W placed on the pallet P (FIG. 15B).
Position).

The hydraulic cylinder 303 of the jig 300 is driven to lower the pallet support member 305. Then
The contact between the groove 151 of the pallet P and the claw 302 is separated,
The pallet P descends. When the pallet support member 305 is further lowered, the lower surface of the pallet P is placed on the upper surface of the workpiece holding member 103, and is transferred from the pallet support member 305. At this time, the workpiece holding member 10
The positioning pin 103a provided on the upper surface of the pallet 3 fits into the positioning hole 150 provided in the groove 150a of the pallet P, and the pallet P is positioned on the workpiece holding member 103 (FIG. 1). 5 [C] state). In addition,
The pallet P delivered to the workpiece holding member 103 is held at a height at which the groove 151 does not contact the claw 302. As described above, the workpiece is delivered from the jig device 300 to the transfer device 200, and the unloading process is completed.

Subsequently, in the transfer step from the processing station S1 to the processing station S2, the slide member 102 is moved forward in the work transfer direction (left direction in the drawing), and the work station S2 is directly below the place where the work W is held ( FIG.
The work holding member 103 is moved to the position [D].
At this time, since the groove 151 of the pallet P is not in contact with the claw 302 of the jig device 300, the pallet P can be moved in the workpiece transfer direction by the transfer device 200. Thus, the transporting step is completed.

Next, in the step of loading into the processing station S2, the hydraulic cylinder 303 of the jig device 300 is driven,
The pallet support member 305 is raised. Then, the tip surface of the raised pallet support member 305 contacts the lower surface of the pallet P, and lifts the pallet P. At this time, the positioning pin 305 provided at the tip of the pallet support member 305
By fitting a into the positioning holes 153 on the lower surface of the pallet P, the pallet P is positioned with respect to the jig device 300. Further, the pallet support member 305
Is lifted, the lifted pallet P is disengaged from the pallet positioning pin 103a and the pallet positioning hole 150, and the pallet P is delivered.

The pallet P is lifted by the pallet support member 305 to a position where the lower surface of the claw portion 302 loosely fitted into the groove portion 151 of the pallet P comes into contact with the lower surface of the groove portion 151 (position [E] in FIG. 16). By holding at this position, the pallet P is positioned and held on the jig device 300. Thus, the loading step is completed.
Then, the slide member 102 is moved backward to return to the initial position (the position shown in FIG. 16F), and one transfer of the workpiece W is completed. Thereafter, the transfer of the workpiece W is repeated. .

The transfer device 200 is connected to each of the processing stations S1 to S3 between the processing stations S1 to S3 and the straight line connecting the conveyor 117 shown in FIG.
In addition, they are independently provided between the conveyors 117 so that the entire line is conveyed. The transfer device 200 of the second embodiment described above has the same effects as the transfer device 100 of the first embodiment. Further, by providing a device for transferring the workpiece W from the transfer device to the processing station, such as the transfer device 200 of the second embodiment, in the processing station (the jig device 300), the transfer device 20 is provided.
0 has the advantage that there is no need to provide a lifting device 2 for lifting and lowering the slide member 102.

[0039]

As described above, the flexible transfer line of the present invention includes a plurality of transfer devices, and connects the plurality of transfer devices to processing stations of a plurality of machine tools arranged at intervals. On the straight line, it is provided independently between the machine tool of the previous process and the machine tool of the next process, so that the production line can be configured even if the laying pitch of each machine tool is not the same, It is possible to take out only a specific transfer device at the time of rearrangement of machine tools or at the time of process knitting. Also, at the time of line construction before the start of the production line, there is no need to wait for all the machine tools that make up the production line to be installed. Yes, it is efficient. In addition, since the transfer distance can be adjusted on the transfer device side, high-precision positioning as in the related art is not required at the time of setting the processing station configuring the production line, so that the production line construction work becomes easier accordingly.

Further, the flexible transfer line of the present invention can be used as an in-line type transfer by arranging each machine tool at equal pitches, connecting slide members of each transfer device, and driving all the transfer devices synchronously. In addition, if independent conveyors and loaders are installed and each conveyor is driven independently, independent-type conveyors can be used.To check machining accuracy, use a machine tool with the longest cycle time. While the machining is still being performed, a workpiece that has been machined can be carried out by a machine tool with a short cycle time, and measurement and the like can be carried out. This has the effect of reducing the overall cycle time. In addition, during machining of the workpiece
The slide member of the feeding device is
Equivalent distance from any of the process stations
To the transfer device.
Preservation of workpieces without the accumulation of chips generated by machining
No defects occur. Also, during machining, the machining
Cover with a cover to prevent chips from scattering.
Or turntable at any processing station
It is easy to provide a posture change device for workpieces such as
You. In particular, the movement of the slide member and
Of the workpiece holding member in the same direction
The workpiece holding member is a work station for the previous or next process.
The slide member itself.
Determine the required travel distance and total length from the distance between the front and rear processing stations.
And the front and rear ends in the moving direction of the slide member
In the standby state at the initial position, the front and rear machining stations
Can be moved far away from the
Prevents the accumulation of chips on the processing stations
The cover surrounding this station upwards and the posture change
This makes it easier to install the switching device. More
Driving means for a slide device for moving a slide member;
The servomotor was used for
The slide member from its initial position.
Transport even if the distance to the processing station
Production line with different distances between processing stations.
The degree of freedom such as application to
No need for complicated fine adjustment positioning when installing
And the like. According to the third aspect of the invention,
Mechanically link the object holding member to the movement of the slide member
When using a chain mechanism as the mechanism, for example,
Workpiece holding member compared to the case using cupinion mechanism
The length in the transport direction can be shortened,
A guide element such as a slide member for guiding an object holding member
Approximately the entire area is used as the movement stroke of the workpiece holding member.
This work holding member can be used for
This guide element even when located at the moving end of the
Additional effects such as the removal of protrusions can be obtained.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a production line using a transfer device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram illustrating a slide device of the transport device according to the first embodiment of the present invention.

FIG. 3 is a cross-sectional view as viewed from an AA direction in FIG.

FIG. 4 is a configuration diagram illustrating an elevating device of the transport device according to the first embodiment of the present invention.

FIG. 5 is a model diagram showing the operation of the transport device according to the first embodiment of the present invention.

FIG. 6 is a view showing an in-line type production line using the transfer device according to the first embodiment of the present invention.

FIG. 7 is a diagram showing a first modification of the present invention.

FIG. 8 is a diagram showing a second modification of the present invention.

FIG. 9 is a view showing a third modification of the present invention.

FIG. 10 is a schematic diagram showing a production line using a transfer device according to a second embodiment of the present invention.

FIG. 11 is a configuration diagram illustrating a transport device according to a second embodiment of the present invention.

FIG. 12 is a configuration diagram of a jig device according to a second embodiment of the present invention.

13 is a side view as seen from the direction of arrow C in FIG.

14 is a top view of the transmission member as viewed from the direction of arrow B in FIG.

FIG. 15 is a model diagram showing the operation of the transport device according to the second embodiment of the present invention.

FIG. 16 is a model diagram showing an operation of the transport device according to the second embodiment of the present invention.

FIG. 17 is an overall configuration diagram showing a conventional transport device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Slide device 2 Elevating device 100 Transport device 101 Elevating member 102 Slide member 103 Work holding member 104 Sprocket 105 Chain 107 Rack 108 Pinion 110 Servo motor 118 Support base 130 Hydraulic cylinder 140 Fixing member 141 First link 142 Second link 151 Groove Reference Signs List 200 Conveying device 300 Jig device 302 Claw portion 303 Hydraulic cylinder 304 Transmission member 305 Pallet support member 306 Shaft P Pallet W Workpiece

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B23Q 7/14 B23Q 7/00 B23Q 39/04 B65G 25/02

Claims (3)

(57) [Claims] 1. A plurality of machine tools for processing a workpiece carried into and out of a processing station are arranged at intervals along the transport direction of the workpiece in accordance with the divided processing steps of the workpiece. and a flexible transfer line for sequentially conveying the pre Symbol workpiece from a machining station of the machine tool of the previous step along the conveying direction of the workpiece between the plurality of machine tools in machine tool working station of the next step by the transport device In the above, the transfer device is constituted by a plurality of independent transfer devices between machine tools, and each of the plurality of transfer devices is arranged on a straight line connecting the processing stations of the plurality of machine tools, And independently provided between the machine tool of the next step, the plurality of transfer devices,
A fixing member, an elevating member provided so as to be able to elevate and lower the fixing member, an elevating device for elevating the elevating member, and a processing station of the pre-process on the elevating member , Those who connect to the processing station
A slide member capable of reciprocating in the opposite direction, and as a power means for reciprocating the slide member between the processing station of the previous process and the processing station of the next process.
A slide device including a servomotor, capable of holding the workpiece and being parallel to a reciprocating direction of the slide member;
A workpiece holding member capable of reciprocating relative to the slide member;
Combination with movement of the workpiece holding member in the same direction on the member
Processing station of the previous process and the next process
So that the workpiece holding member can reach any of the
The work is performed in conjunction with the reciprocation of the slide member.
Move the object holding member parallel to and in the same
Comprising a mechanism for moving in one direction, and a control device for controlling the sliding device and the lifting device, the control device
At the time of processing the workpiece,
The slide member is connected to the processing station in the previous process and
Approximately equal distance from any of the processing stations in the next process
At the initial position where the
Moves the slide member from the initial position to the workpiece.
Processing station of the previous process in the direction opposite to the transport direction
In the retracted position.
Lowering the workpiece onto the work station
From the position below the workpiece at the machining position
To the upper position.
Holds the workpiece from the previous processing station
And then lift the workpiece holding member
While holding the slide members in position,
The processing station of the next process in the transport direction of the workpiece
Forward in the forward position, and
The lowering member moves the work holding member from the upper position to the lower position.
To move the work piece to the front position.
From the workpiece holding member to the processing station of the next process
After the transfer operation, the slide member is
A flexible transfer line, wherein the flexible transfer line is moved backward to the initial position . 2. A plurality of machine tools for processing a workpiece carried in and out of a processing station are arranged at intervals along the direction of transport of the workpiece in accordance with the divided processing steps of the workpiece. and a flexible transfer line for sequentially conveying the pre Symbol workpiece from a machining station of the machine tool of the previous step along the conveying direction of the workpiece between the plurality of machine tools in machine tool working station of the next step by the transport device In each, provided with a plurality of jig devices each provided at each processing station of the plurality of machine tools and capable of holding the workpiece and moving up and down by an actuator, the transfer device is provided by a plurality of independent machine tool transfer devices Configuring, each of the plurality of transfer devices, on a straight line connecting the respective processing stations of the plurality of machine tools, the machine tool of the preceding process and the Provided next step of independently of between the machine tool, the plurality of transport apparatuses includes a fixed member, wherein provided on the fixed member and the processing station of the previous step on the fixed member and the processing station of the next step Go in the direction of tying
A servo member as a power means for moving the slide member back and forth between the processing station of the previous step and the processing station of the next step;
A slide device including a motor, the slide device being capable of holding the workpiece and being parallel to a reciprocating direction of the slide member;
A work holding member capable of reciprocating relative to the ride member, and movement of the slide member and movement of the slide member
Combination with movement of the workpiece holding member in the same direction at
Of the processing station of the previous process and the next process
To make the workpiece holding member accessible
Holds the workpiece in conjunction with the reciprocation of the slide member
Move the member parallel and in the same direction as the moving direction of the slide member
Comprising a mechanism for moving, and a control device for controlling the actuator and the slide device of the jig device, this
The control device is configured to control the plurality of transports when processing the workpiece.
The slide member of the feeding device is processed at the processing station of the preceding process.
And the processing station of the next process
Wait at the separated initial position and carry the workpiece after machining.
At the time of feeding, the slide member is moved from the initial position to the
In the direction opposite to the crop transport direction,
Move backward toward the
Lower the jig device from the processing position to the workpiece transfer position
The workpiece from the processing station in the previous process.
Transfer to the workpiece holding member, and then remove the slide member
The processing station of the next process in the transport direction of the workpiece
In the forward position, and
Tool is raised from the workpiece transfer position to the machining position.
The workpiece from the workpiece holding member in the next step.
Transfer to the processing station, after this transfer operation
A flexible transfer line, wherein the slide member is moved backward to the initial position . 3. The slide holding member according to claim 1, wherein the workpiece holding member is a slide member.
The mechanism for moving in the same direction as the direction of movement of
Is mechanically linked to the movement of the slide member.
From a chain mechanism that moves the crop holding member in the same direction
The flexi according to claim 1 or 2, wherein
Bull transfer line.