JP3385782B2 - Automatic workpiece transfer device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic work transfer device and a pallet for the device.

[0002]

2. Description of the Related Art As is well known, in the production process of various products, a pallet on which a semi-finished work is attached is instructed for angular displacement, and various operations such as drilling and component mounting are performed. It is being appreciated. For example, Japanese Patent Publication No. 32038/1990 is a conventional example of this type.

Further, the work is attached to a carrier pallet to which the work is attached, a work pallet, or the like by using a hoist or the like to which the work piece is attached. Even in such a case, the work may be light in weight, but when processing a work which is a semi-finished product of the automatic transmission, for example, as shown in FIG. 12, an operator suspends the work from the automatic transmission 1. After mounting the metal fitting 2, the rail 3 is hung by a hoist 4 such as air or electric power that moves and moves, and the work after one processing is moved from the current pallet 5 to the next pallet 6 for processing. Is going.

[0004]

However, in the technique described in Japanese Patent Publication No. 1-32038, the pallet table on which one work is mounted is detachably fixed to the rotary shaft of the angular displacement drive device for the work. By changing the movable pieces of different shapes, it is possible to select the rotation angle of the rotary shaft that interlocks with the pallet base to the desired rotation angle, and the desired movable piece must be converted each time. The sex is bad.

Further, in the case where the work of the above conventional example is a semi-finished automatic transmission (hereinafter, simply referred to as an automatic transmission), the automatic transmission has a total of 100 kg and a torque on the front side. Since the housing 7 of the converter is mounted, it is difficult to balance when the hoist 4 is lifted, and since there are protrusions on the outside, work is performed by a person, but the workability is poor.

Further, since the housing of the torque converter of the automatic transmission has a different shape depending on the arrangement of the engine mounted on the vehicle, it is necessary to prepare a pallet to be mounted in conformity with the shape suitable for the vehicle, resulting in high cost. Becomes The present invention was devised in view of such problems, and paying attention to a pallet that is conveyed on a line for processing and assembling while supporting different kinds of works,
The pallet includes a sub-pallet that directly supports and fixes the work, and a main pallet that supports the sub-pallet and is placed on the line. The work is provided on the main pallet via the sub-pallet. An object of the present invention is to provide an automatic work transfer device and a device pallet for transferring the work onto the main pallet so as to be rotatable about the same rotation axis in the insertion hole.

[0007]

Therefore, the automatic work transfer device of the present invention according to claim 1 is a pallet robot.
On the transfer line that is transported by
Over click and, the support shaft projecting from the work on the back side of the chuck portion and the <br/> chuck for mounting are provided
A transfer device is installed on the transfer line of the pallet robot .
A sub palettes supplied Ri, on said pallet robot has an insertion hole for fitting the support shaft of the sub-palettes
The main pallet supplied by the transfer device and the main body of the sub pallet are gripped on the transfer line to hold the sub pallet.
And the work is attached.
The support shaft of the sub-pallet that has been
On the main pallet.
It is equipped with the pallet robot for transfer,
The robot for the pallet is the above-mentioned transport line of the robot for the pallet.
A rail disposed on both sides along the down, a traveling rail which is drivable disposed is bridged to the opposite sides of the rail, at least one lifting or turning operation on travelable mounted carriers in the running rail Having a frame suspended via actuation means for performing one operation, and a gripping unit for adjusting the width of attachment of the sub-pallet, the sub-rotatably rotatably supported by the frame via a pivot shaft. A frame, a pair of finger pieces provided on the gripping unit that abuts on the mounting surface side and the back surface side of the sub-pallet body and faces each other and sandwiches both surfaces in the thickness direction of the sub-pallet body; an inverting device for rotating the sub-frame provided with a frame to the pivot axis and which can be rotated against the frame, the insertion hole of the main pallet
The support shaft of the sub-pallet that is removably fitted in the
A rotary drive shaft of a rotary drive means for rotating the rotary drive shaft, a reduction mechanism provided on the rotary drive shaft, the sub-pallet, and
Brakes mounted on the rotary drive shaft of the sub-palettes
Attach the brake shoe to the member and rotate the rotary drive shaft.
It is composed of a brake operating means that suppresses rolling.
It is characterized in that that.

[0008]

According to a second aspect of the present invention, there is provided the work automatic transfer device according to the first aspect, wherein the subframe has the configuration described above.
One end of the reversing device is characterized in that the other end is connected via a link to the pivot axis is formed by pivotally fluid圧応operated device to the frame.

[0010]

[0011]

[0012] automatic workpiece transfer apparatus of the present invention according to claim 3, in the structure according to claim 1 or 2, wherein the workpiece
Is a semi-finished automobile transmission
There is.

A workpiece automatic transfer device according to the present invention
The device has the structure according to any one of claims 1 to 3.
There are multiple sub-palettes depending on the type of work.
Different types of chucks are prepared, and the support shaft is
Formed to be commonly used for all types of
It is characterized by that.

The automatic work transfer device of the present invention according to claim 5
Is the rotation drive means in the structure according to claim 1.
The brake operation means is provided at the end of the rotary drive shaft.
It is characterized by that.

The automatic work transfer device of the present invention as defined in claim 6
In the structure according to claim 1 or 5, the device is the rotary drive.
Engage the drive shaft ends and manually or power
Rotational displacement of the above sub-pallet with respect to the let
It is characterized by being configured in.

The automatic work transfer device of the present invention according to claim 7
In the structure according to claim 1 or 6,
Is mounted on the main pallet body by engaging the support shaft of the pallet.
Equipped with a fall prevention device for the scraped sub-pallet,
Operates after inserting the support shaft and releases it when inserting and removing
It is characterized by being configured.

[0017]

[0018]

In the work transfer device of the present invention as set forth in claim 1 above, the pallet robot transfers the work on the transfer line.
Conveying a workpiece to be supplied by a conveying device, the workpiece to the chuck portion and the chuck portion of the rear side projecting from the support shaft above <br/> transport on line of the pallet robot provided for mounting It includes a sub-palettes supplied by the device, an insertion hole for fitting the support shaft of the sub-palettes
Transfer device on the transfer line of the pallet robot
A main pallet supplied by, the subpalettes
Grasp the main body of and attach the sub-pallet to the work.
Together with the above-mentioned sub-pallet with the above work attached
Fit the support shaft into the insertion hole of the main pallet.
The pallet rolls that are transferred onto the main pallet
Bot and the pallet robot is
The robots are installed on both sides of the transfer line.
Rails and the rails on both sides above are installed so that they can travel.
It is possible to travel on the installed running rail and above running rail.
At least one of raising and lowering or turning operation on the mounted carrier
A frame suspended via an actuation means for
A gripping unit that adjusts the width of the sub-pallet.
It has a knit and can be rotationally displaced to the above frame via a pivot shaft.
Noh pivotally supported subframe and the above subpallet body
Abutting the above-mentioned mounting surface side and back surface side and facing each other
The above grip that holds both sides of the sub-pallet body in the thickness direction.
A pair of finger pieces provided on the holding unit, and
The pivot for rotating the sub-frame with respect to the frame
A reversing device that rotates a subframe provided on the support shaft;
After it is removably fitted in the insertion hole of the main pallet
A rotary drive hand that rotates the support shaft of the sub-pallet.
Stage rotary drive shaft and reduction gear provided on the rotary drive shaft
And the above sub-pallet and the above-mentioned sub-pallet
Install the brake shoe on the brake member attached to the rolling drive shaft.
A brake that can be attached and detached to suppress the rotation of the rotary drive shaft.
Which is configured by a key operation unit, it can be said pallet robot grips the sub-palettes in close proximity to the work that has been transported to the transfer line for fixing the sub-palettes in the <br/> workpiece .

At this time, the support shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the support shaft of the sub-pallet is fitted into the insertion hole of the main pallet. Therefore, the transfer work can be performed smoothly and promptly. Also, for the above work
The sub-pallet supplied to the transfer line is
And the gripping unit together with the subframe
To a substantially horizontal position and feed it to the work transfer line.
After gripping the supplied sub-pallet, rotate it again
By operating the device and rotating the sub-frame,
Subframes can be raised.

At this time, the support shaft of the sub-pallet is supported in a substantially horizontal posture, and the work shaft is supported via the sub-pallet.
Since it is possible to convey the rack and fit the support shaft of the sub-pallet into the insertion hole of the main pallet , the transfer operation can be performed smoothly and promptly. In the work automatic transfer device of the present invention as set forth in claim 2 , the subframe inversion is performed.
One end of the device is connected to the pivot shaft via a link and the other end
Is formed of a fluid pressure responsive device pivotally supported on the frame.
Therefore, the rotation of the sub-frame is continuously and smoothly performed.
I can.

The support shaft of the sub-pallet is substantially horizontal.
It is supported by force and fits into the insertion hole of the main pallet.
Therefore, the transfer work can be performed smoothly and promptly.
be able to.

[0022]

[0023]

The automatic work transfer device of the present invention as defined in claim 3
The device is the work according to claim 1 or 2, wherein:
Is a semi-finished automobile transmission and a heavy load
However, since the transfer device can be automated, it is extremely safe and
The work can be performed promptly.

The automatic work transfer device of the present invention as defined in claim 4.
In the arrangement, the configuration according to any one of claims 1 to 3
Depending on the type of workpiece,
Several kinds of chuck parts are prepared, and the support shaft is
Formed so that they can be used in common for different types of workpieces.
Therefore, one for each of the above chuck types.
Since the above support shaft is sufficient, the cost of the sub pallet can be reduced.
Can be reduced.

[0026]

The automatic work transfer device of the present invention as defined in claim 5.
In the arrangement according to claim 1, the rotary drive hand
The brake operating means is provided at the end of the rotary drive shaft of the step.
Required from outside the main pallet body above
The rotary drive shaft can be operated according to
Support shaft of the above sub-pallet to the main pallet body
Can be rotated.

[0028]

The automatic work transfer device of the present invention according to claim 6
In the configuration according to claim 1 or 5,
Engage with the drive shaft and manually or power the above main
The above sub-pallet can be rotationally displaced with respect to the pallet.
Since it is configured as described above, it can be switched off manually or by power as needed.
Can be replaced. The automatic work transfer of the present invention according to claim 7.
In the mounting device, in the configuration according to claim 1 or 6,
The main pallet is engaged with the support shaft 30 of the sub pallet 26.
Dropout prevention of the sub-pallet provided on the body of the container 34
Equipped with a stop device 40, which operates after the support shaft is inserted and
Since it is configured to be released at times, when inserting / removing
It is extremely easy to insert and remove the support shaft from the main pallet.
You can

[0030]

[0031]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a schematic explanatory view of a work transfer device when the present invention is applied to a processing line of an automatic transmission, FIG. 2 is a schematic vertical sectional view of a sub-pallet attached to a work, and FIG. 3 is a line 2A-2A of FIG. 4 is a schematic explanatory view showing a longitudinal section along the line, FIG. 4 is a schematic explanatory view showing a partial fractured surface along the line 4A-4A in FIG.
FIG. 5 is an explanatory view of the sub-pallet dropout prevention device as viewed in the direction of arrow X in FIG. 1, and FIG. 6 illustrates the sub-pallet dropout prevention device. (A) is a view taken along line 6A-6A of FIG. It is explanatory drawing which shows a fragmentary cross section, (B) is a schematic diagram explaining the engagement sequence of the fall-out prevention means, FIG. 7 is an explanatory view showing a single fall-out prevention device, and FIG. 8 is an explanatory view of the sub-pallet robot. , Fig. 9
Is an explanatory view taken along the line 9A-9A in FIG. 8, and FIG. 10 is an explanatory view schematically showing the inlet side of the transfer line of the work transfer device.
FIG. 11 is an explanatory diagram showing the exit side of the transport line of FIG.

First, the outline of the structure of the work transfer apparatus of the present invention will be described with reference to FIG. Torque converter housing 2 of automatic transmission 22 conveyed by conveyor 174
4, the sub-pallet 26 supplied onto the carrying device 170 is grasped by the sub-pallet robot R1, is erected, and is detachably mounted by the clamp 28. By the main pallet robot R2, the support shaft 30 for the sub pallet 26 is provided.
Is rotatably inserted and fixed in an insertion hole 36 provided in the main pallet 34 of the transfer device 172.
The sub-pallet 26 that penetrates through the back surface of the main body 38 of the
The end portion of the support shaft 30 of the
The automatic transmission 22 is transferred onto the transfer device 172.

As shown in FIG. 2, the sub-pallet 26 is provided with a clamp 28 for fixing the outer peripheral flange 24A of the torque converter housing 24, which is a work, on the work attachment / detachment side 42. Clamp 28
Is pivotally supported on the main body 26A of the sub-pallet 26 via the pin 44 in the elongated hole 46 of the clamp 28, while the clamp 28
Adjustment bottle 5 with pin 50 engaging another slot 48
2 by the extension / contraction means 54, the clamp 28 is rotated about the pin 44 as shown by the chain double-dashed line in FIG.
The flange 24A of the torque converter 24 is connected to and detached from the attachment / detachment side 42 of the sub-pallet 26 by the claw 28A at the tip of 8.

Further, the support shaft 30 is fixed to the main body 26A by a bolt 59 so as to be provided coaxially with the rotation axis 56 of the sub-pallet 26 and on the back side 57 of the attaching / detaching side 42. Further, the end of the support shaft 30 has a small diameter portion 62, and a spring washer 6 provided between two washers 64.
6 is fixed by a nut 68, and a recess 70 is formed.

Further, in the middle of the support shaft 30, there is provided a support portion 72 which engages with an attachment fitted into an insertion hole 36 of a main pallet 38 which will be described later. As shown in FIGS. 3 to 4, the main pallet 34 has an engaging portion 74 that engages with the back side 57 of the sub pallet 26, and the rotation axis 5
An attachment 78 having a cylindrical shaft 76 that rotates about the coaxial line 6 is rotatably mounted in the insertion hole 36 of the main pallet 34 via a thrust bearing 80.

The boss portion 84 of the circular worm gear 82 is provided on the outer periphery of the end small diameter portion 75 of the cylindrical shaft 76 of the attachment 78.
Are fitted and attached by bolts 86. Both ends of the rotary drive shaft 100 of the pinion gear 88, which is arranged so as to be substantially orthogonal to the rotation axis 56 of the worm gear 82 and fits with the worm gear 82, have the main body 38 of the main pallet 34.
It is rotatably provided on the main body 38 through a bearing 99 so as to pass through.

It should be noted that the rotary drive shaft 100 does not have to project to the outside as long as it can transmit power from the outside. A brake member 102 of a brake operating means 103 is attached to one end of the rotation drive shaft 100, and brake shoes 104 are provided on both sides of the brake member 102 as shown in FIG.
4 is provided with the brake operating means 103 (not shown), and when the link 110 is lowered, the link 10 in FIG.
8 actuate in the direction in which the right and left are separated from each other,
4 is removed from the brake member 102 to release the brake, and the brake operating means 103 is operated in the braking direction so that the return spring 112 always urges the link 110 upward to move the brake shoe 104 to the brake member 102. When engaged, the rotary drive shaft 100 is acted on by a brake.

When releasing the brake, if the link 110 is lowered downward by the brake operating means 103 (not shown) against the urging force of the return spring 112, the link 108 moves to the left and right via the link 106 as described above. When the brake shoe 104 is opened, the brake is released. Further, the brake operating means 103 composed of the above-mentioned brake member 102 and the like can also be provided in the above-mentioned attachment 78 to achieve the same effect.

A manual handle 116 that engages with the engaging portion 114 at the other end of the rotary drive shaft 100 of the pinion 88 is provided. Further, as shown in FIG. 1, the tip portion of the support shaft 30 of the sub pallet 26 is arranged so as to project from the main pallet body 38, and is formed by the fall prevention device means 40 so as not to fall off from the body 38. There is.

As shown in FIGS. 5 to 7 , the fall-out prevention device 40 is formed of a substantially H-shaped plate 120, and as shown by the chain double-dashed line in FIG. This pushes down the plate 120 against the urging force of the return spring 123,
After removing the shaft pressing portion 124 having a gap t having a width slightly larger than the diameter of the small diameter portion 62 of the support shaft 30 of the sub pallet 26 from the position of the recess 70 of the small diameter portion 62 of the support shaft 30 , the main pallet 34 The cylindrical shaft 76 of the
When the support shaft 30 is inserted to a position where it can be held, an output signal from a sensor (not shown) inputs the robot arm 126 to move the grip chuck clamp 128 by a chain double-dashed line as shown in FIG. 6 (B). Open and close as shown above
Grasp the recess 70 at the tip of the inserted support shaft 30,
The arm 126 retreats again, the support shaft 30 is pulled out to the position shown by the solid line in FIG. 6 (A), and then the fluid pressure responsive means 1
When the fluid pressure of 22 is applied upward, it is returned to the position indicated by the solid line by the urging force of the return spring 123, and the shaft pressing portion 12
As shown in FIG. 2, the reference numeral 4 enters the recess 70 against the urging force of the washer spring 66 and holds the small-diameter portion 62, thereby preventing the sub-pallet from falling off.

At this time, since the plate 120 is attached to the outer side surface of the main body 38 of the main pallet 34, the outer side surface and the plate 120 cooperate to firmly prevent the support shaft 30 from falling off. it can. Also, the main palette 3
4 of attachment 78 and sub-pallet 26
2 is adapted to be engaged by attaching and detaching the knock pin by means not shown.

Next, the sub-pallet robot R1 for attaching the sub-pallet 26 to the torque converter 24.
I will explain. As shown in FIG. 8, the left and right columns 130
The rails 132 provided on the upper portion and extending in the direction perpendicular to the plane of FIG.
The horizontal frame 131 rotating on the rail 132 bridged above by the roller 134, and the roller 13 on the horizontal frame 131 (which also serves as a traveling rail of the carrier 136).
A carrier 136 rotatably provided by 6a is provided.

The carrier 136 is provided with a gate type frame 142 which is suspended via an operating means 140 for performing at least one of lifting and rotating operations. In addition, as shown by a chain double-dashed line in FIG. 8, the gate-shaped frame 142 has a gripping unit 144 for adjusting the width of the main body 26A of the sub-pallet 26 to be narrowed.
A sub-frame 146 pivotally supported by 42 is provided.

Further, the gripping unit 144 corresponds to the main body 2 described above.
6A has at least a pair of finger pieces 148 that sandwich the opposite end faces of each other. Further, a pivot shaft 149 at the lower end of the sub-frame 146 is supported by the lower end of the frame 142 via a bearing 150, one end is connected to an end projecting from the frame 142 via a link 152, and the other end is a gate. The subframe 146 is pivotally supported by a bracket 154 on the front surface of the mold frame 142, and the subframe 146 is provided with a reversing device 160 including a fluid pressure responsive means 156 by air, hydraulic pressure, or the like. .

As indicated by the chain double-dashed line in FIG. 8, the sub-pallet 26 is supplied substantially horizontally by a carrying device (not shown) so that the support shaft 30 is on the lower side. Next, a case where the sub-pallet 26 is attached to the torque converter housing 24 will be described. First, the reversing device shown in FIG.
The fluid pressure responsive device 156, which is a fluid pressure responsive means, is actuated to rotate the piston rod 157 downwardly from the position indicated by the solid line to the position indicated by the chain double-dashed line, so that the link 152 is also pivotally supported by the rod 157. The sub-frame 146 is rotated about the center 149, and the sub-frame 146 is rotated to the position shown by the chain double-dashed line in FIG.

[0046] Although not shown at this time, because apart from the main body 2 6 A and finger pieces 148 of the sub-frame 26, and operates the electric motor 161, the horizontal frame (traveling rate
(3) The rail 131 rotates the rail 132 and approaches the rail 132, and the main body 26A is clamped between the pair of finger pieces 148 as shown in FIG. At this time, although not shown, it goes without saying that the grip unit 144 is actuated to move the finger piece 148 to an arbitrary position and accurately grip it.

Thereafter, when the fluid pressure responsive device 156 is operated to move the rod 157 upward, the link 152 also moves upward contrary to the above, and the sub-frame 146 moves the pivot shaft 149 to the position shown by the solid line in FIG. The sub-pallet 26 rotates about 90 degrees upward from the horizontal position as shown in FIGS.
It stands up as shown in. In addition, 162,164
Is a stopper for positioning the link 152.

From this state, the electric motor 161 is operated to rotate the horizontal frame 131 on the rail 132, and the horizontal frame 131 is rotated as shown in FIGS.
Attachment 7 of main pallet 34 as shown in
It is inserted and fixed to the cylindrical shaft 76 of No. 8. Next, the entire transfer line of the automatic transfer apparatus of the above embodiment will be described with reference to FIGS.

FIG. 10 shows the sub-pallet 26 which is supplied from the stocker of the sub-pallet 26 (not shown) on the carrying line and which is horizontally arranged as shown by the alternate long and two short dashes line in FIG. Standing by at the waiting place P1. On the other hand, the automatic transmission 22 that is the work is the transfer device 174.
Is supplied to the standby station P3.

When the automatic transmission 22 detects that the automatic transmission 22 is supplied to the waiting place P3 as shown in FIG. 10, an output signal is input to the sub-pallet robot R1 shown in FIGS. 8 and 9. And the sub-pallet robot R1 as described above.
Responsive device (fluid pressure responsive device) of the reversing device 160 of FIG.
6 is operated, the sub-frame 146 is rotated to the position shown by the chain double-dashed line in FIG. 9, and the sub-pallet 2 is moved as described above.
The main body 2 6 A of 6 is sandwiched between the finger pieces 148,
Again, the fluid responsive device 156 is rotated upward, contrary to the above, and the sub-pallet 26 is held in an upright state.

Next, FIG. 1, the sub as shown in FIG. 10
The pallet robot R1 moved along the rail 132, against a torque converter housing 24 in the detachable side 42 of the main body 26A of the sub-palettes 26 equivalents, not shown support
Bolts 52 of the clamp 28 by the nut runner of Buparetto robot R1 is stretch as described above shown in FIG. 2, and allowed to move a clamp 28 from the position of two-dot chain line to the position indicated by the solid line fixed, the sub-palettes robot R1 retreats to its original position.

Torque converter how with sub-pallet 26
Zing 24, the output of come to the position of the standby station P4 sensor by a conveying device 174 as shown in FIG. 10, similarly to the main <br/> operated in-pallet robot R2 above subpalettes robot R1 Formed gripping unit 144
Is operated, the finger piece 148 clamps the main body 26A of the sub-pallet 26, and the main pallet robot R2
There are conveyed in operation, near the standby station P2 of the transfer device 172
The support shaft 30 is inserted and fitted into the insertion hole 36 of the cylindrical shaft 76 so as to come into contact with the attachment 78 of the main pallet 34.

The support shaft 30 is fitted and fixed by engagement between the engagement portion 72 and the inner circumference of the cylindrical shaft 76 of the attachment 78, and engagement between the hole of the attachment body 74 and the boss portion 30A of the support shaft 30. Then, the concave portion 70 at the end of the support shaft 30 is locked by the plate 120 of the fall prevention device as shown in FIG.

When the main pallet robot R2 grips the main body 26A of the sub pallet 26 and moves up, the carrier pallet is left on the carrier device 174 and is circulated to the carrier line via the stocker (not shown) and used. It has become so. <br/> main pallet 34 of the automatic transmission 22 rotatably mounted above the standby station P2 via the sub pallet 26 is loosened as described the brake operating means 103 in FIGS. 3 and 4, The rotation shaft of a robot conversion machine (not shown) is fitted into the hole 101 at the end of the rotary drive shaft 100 on the side of the brake member 102, and the worm gear 82 is rotated via the pinion gear 88 to attach the attachment 78.
After being properly displaced with respect to the main body 38 of the main pallet 34, various processing operations can be performed by operating the brake operating means 103 to suppress rotation.

When the mounting angle of the work is displaced in this way and various processing is completed , the results shown in FIGS.
As described above, it is transported to the waiting place 178 by the transport device 176 . Next, after the reference zero point of the main pallet 34 and the main body 38 is set, the plate 120 is lowered downward as described above, and as shown by a chain double-dashed line in FIG.
From the small diameter portion 62 (recess 70) of the support shaft 30 to the shaft pressing portion 12
4 is released, the arm 126 of the robot is actuated, and the support shaft 30 is moved by the chuck clamp 128 shown in FIG.
6 is pushed to the left in FIG. 6 (A) and pushed out from the main body 38.

Then, as shown in FIG.
The Tsu preparative robot R2 body 26A of the sub-pallet robot R1 in the same manner as the sub-pallet 26 lifts and nipped finger piece 148 when bets with subpalettes
The lux converter housing 24 rises, the main pallet 34 remains in the waiting place 178, and the lifter 180 is directly mounted on the return transport device 184 shown in FIG. 11 on the second floor, and the stocker on the transport line side , the lifter 202 , and the transport device 172.
It is returned to the waiting place P2 shown in FIG.

In addition, as described above, at the waiting place 178, the main pas
With sub-pallet 26 raised by the robot R2 for the let
The torque converter housing 24 is shown in FIG.
Since the conveyor pallet urchin conveying device on 184b have been returned, and transported mounted thereon, unclamping 28 in the nut runner (not shown) in the standby station P5, sub Palais
When the main body 26A of the sub pallet 26 is gripped and lifted by the robot for robot R1 as described above, the torque converter housing 24 left in the pallet for transportation is returned to the transportation device 1
By 8 2 is transported to the next step, also shown in FIG. 11
Further, the sub-pallet 26 is transported to the waiting place P6 via the transport device 184b.

At the waiting place P6, the reversing device described in FIG.
In contrast to the case described above by the sub-pallet robot R1 having 160 , shown in FIGS.
As described above, the sub-pallet 26 is displaced from the upright state to the horizontal state, and is lifted to the second floor by the lifter 186, and the return transport device 1
It is conveyed by 88 and lowered to the first floor by the lifter 200 as shown in FIG.
To the standby station P1 via

[0059] The main pallet 34 which has been conveyed by the return conveying device 18 4, the lifter 2, as shown in FIG. 10
It is lowered to the first floor at 02, passes under the return transport device 188, makes a U-turn, and is supplied to the waiting place P2 via a stocker and a transport device 172 (not shown). The reference position of the attachment position of the work with respect to the main body 26A of the sub-pallet 26 is, for example, not shown, but this main body 26
It is only necessary to attach a knock pin or a sensor to A, rotate the work, and automatically stop the work.

The reference position of the main pallet 34 with respect to the main body 38 can be similarly adjusted, and it is necessary to attach and detach both pallets after setting the reference positions of both. Is. A plurality of types of main bodies 26A of the sub-pallets 26 of the above embodiment are prepared according to the type of work, and the support shaft 30 can be commonly used for each type of work. By replacing the nut 59 shown in FIG. 2 so that the nut can be used, the cost can be reduced and the operation can be easily performed.

When the work is transferred between the lines, since the transfer device does not directly contact the work, there is no fear of damaging the work, and a dedicated gripping portion for transfer is formed on the work. It became unnecessary to do it. Further, since the side supporting the work and the side supporting the main pallet of the sub pallet 26 are in mutually opposite directions, the transfer between the lines can be performed by linear movement, and The structure can be simplified.

Further, in the above embodiment, the case where the driving means of the reversing device of the sub-pallet robot R1 is the fluid pressure responding means has been described, but the one in which the gears are fitted by the electric motor or the cog belt and the cog belt pulley are used, Further, a chain drive mechanism may be used.

[0063]

According to the automatic work transfer apparatus of the present invention as set forth in claim 1 described above, the transfer carried by the pallet robot is carried.
And the work supplied by the transport device on the line, the word <br/> over click support shaft protruding from the rear side of the chuck portion and the chuck portion for mounting is provided a robot for the pallet
A sub palettes supplied by the transport device to Tsu City of the transfer on the line, the main supplied by the transport device on the conveying line of the pallet robot has an insertion hole for fitting the support shaft of the sub-palettes Pallet and above
Hold the main body of the palette and
Mounted on the sub, and the sub
Insert the support shaft of the pallet into the main pallet
Fit the holes into the holes and transfer them onto the main pallet.
And a pallet robot.
Rails arranged on both sides along the transfer line of the pallet robot, traveling rails installed on the rails on both sides so as to be traveled, and carriers movably mounted on the traveling rails. It has a frame suspended through an actuating means for performing at least one of lifting and swiveling operations, and a gripping unit for adjusting the width of the mounting of the sub-pallet, and the frame is rotationally displaced through a pivot shaft. The sub-frame that is pivotally supported and the grip unit that abuts the mounting surface side and the back surface side of the sub-pallet body and opposes each other to sandwich both sides in the thickness direction of the sub-pallet body. a pair of Fuingapisu an inverting device for rotating the sub-frame which is provided with the sub-frame to the pivot axis and which can be rotated against the frame, the main Removably fitted into the insertion hole of Nparetto
Rotate the support shaft of the combined sub-pallet
A rotary drive shaft of the rotary drive means, the reduction mechanism provided on the rotary drive shaft, shake the brake member attached to the rotary drive shaft of the sub-palettes and the sub-palette
-Removing the kish suppresses rotation of the rotary drive shaft.
It is composed of a brake operating means
When securing the sub-palettes in the work pallet robot approaches the workpiece which is conveyed to the sub-pallet gripping conveyance line, together with the support shaft of the sub-palettes is supported substantially horizontal position, The work can be conveyed through the sub pallet and the support shaft of the sub pallet can be fitted into the insertion hole of the main pallet, whereby the transfer work can be performed smoothly and promptly .

Further, when the work is transferred, the transfer device does not come into direct contact with the work, so there is no risk of damaging the work, and a dedicated gripped portion for transfer is provided on the work. No need. Further, the sub-pallet supplied to the work transfer line is supplied to the work transfer line by operating the reversing device to rotate the holding unit together with the sub-frame to a substantially horizontal position. After gripping the sub-pallet, the sub-frame can be erected by operating the turning device again to turn the sub-frame.

At this time, the supporting shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the supporting shaft of the sub-pallet is fitted into the insertion hole of the main pallet. Therefore, the transfer work can be performed smoothly and promptly. Further, when the work is transferred, the transfer device does not come into direct contact with the work, so there is no risk of damaging the work, and there is no need to provide a dedicated gripped portion for transfer on the work. .

According to the work automatic transfer apparatus of the present invention as set forth in claim 2 , in the structure of claim 1 , the reversing device is used.
One end of the device is connected to the shaft via a link and the other end is connected to the shaft.
It is made up of hydraulically actuated devices pivoted to the ram.
Therefore, the rotation of the sub-frame can be continuously and smoothly performed.
it can. Also, the support shaft of the sub-pallet is supported in a substantially horizontal posture.
It is held and the work is carried through the sub-pallet.
Then, the support shaft of the sub pallet is inserted and the main pallet is inserted.
Since it can be fitted into the entry hole, the transfer work is smooth,
And it can be done promptly.

[0067]

[0068]

[0069]

Therefore, if the transfer work can be carried out promptly,
Moreover, since the structure of the transfer device can be simplified, the cost can be reduced.
Can be reduced. Work of the present invention according to claim 3
According to the automatic transfer device, the configuration according to claim 1 or 2
The above work is a semi-finished automobile transmission.
Although it is a heavy item, the transfer device can be automated, so it is extremely important.
The transfer operation can be performed safely and promptly.

The automatic work transfer device of the present invention as defined in claim 4.
According to the arrangement, the configuration according to any one of claims 1 to 3.
In the above, the sub-pallet is
Multiple types of chuck parts are prepared, and the support shaft is
Formed so that they can be used in common for all types of workpieces.
Therefore, one for each of the above chuck types.
Since the above-mentioned support shaft of is sufficient, the cost of the sub-pallet can be reduced.
It can be reduced.

[0072]

Further , the sub-pallet is provided via the main palette.
The rotation position of the work can be changed by rotating the
Therefore, it is possible to obtain the pallet that is easy to process the work.
You can The automatic work transfer device of the present invention according to claim 5.
According to Oki. The structure according to claim 1, wherein the rotary drive
The brake operating means is provided at the rotary drive shaft end of the moving means.
From the outside of the main pallet body
If necessary, the rotary drive shaft can be operated,
Support of the sub-pallet to the main pallet body
The shaft can be rotated.

Therefore, the above for the main palette is
The rotation position of the sub-pallet can be easily selected arbitrarily.
You can

The automatic work transfer device of the present invention according to claim 6
According to the above arrangement, in the structure according to claim 1 or 5,
By engaging with the rotary drive shaft end and manually or by power
Rotational displacement of the above sub-pallet with respect to the main pallet
It has been configured to allow manual or power operation as needed.
You can switch the motion. If the above work is heavy,
Can perform the above work promptly without relying on human power.
It

The automatic work transfer device of the present invention according to claim 7
According to the storage pallet, the configuration according to claim 1 or 6
The main pallet by engaging the sub-pallet support shaft.
A fall prevention device for the sub-pallet provided on the main body of the
The fall prevention device operates after the support shaft is inserted and
It is configured to be released when removed, so when inserting or removing
Very easily inserts and removes the support shaft from the main pallet
In addition to the above, it is possible to transfer and
Be sure to prevent the above sub-pallet from falling off during machining.
But you can do the work.

[0077]

[0078]

[Brief description of drawings]

FIG. 1 is a schematic explanatory view of a work transfer device when applied to a processing line of a work automatic transmission showing an embodiment of the present invention.

FIG. 2 is a schematic explanatory view showing a vertical cross section of the sub-pallet of FIG.

FIG. 3 is a schematic explanatory view showing a vertical section taken along line 2A-2A in FIG.

FIG. 4 is a schematic explanatory view showing a partial vertical section taken along line 4A-4A in FIG.

5 is a schematic explanatory view taken along the arrow X in FIG. 1. FIG.

6 is a view for explaining the fall-out prevention means shown in FIG.
(A) is an explanatory view showing a partial fractured surface taken along the line 6A-6A in FIG. 5, and (B) is a schematic view for explaining the engagement order of the dropout prevention means.

FIG. 7 is a schematic explanatory view showing a single plate of the fall prevention device of FIG.

FIG. 8 is an explanatory diagram of the sub-pallet robot of FIG.

9 is a schematic explanatory view taken along the line 9A-9A in FIG.

FIG. 10 is an explanatory view schematically showing the entrance side of the transfer line of the work transfer device of the present invention.

11 is an explanatory diagram showing an outlet side of the transport line of FIG.

FIG. 12 is an explanatory diagram showing a conventional transfer device.

[Explanation of symbols]

22 Semi-completed automatic transmission 24 Torque converter housing 26 Sub pallet 28 Clamp 30 Support shaft 34 Main pallet 36 Insert hole 40 Fall prevention device 42 Work attachment / detachment side 44 Pin 46 Long hole 50 Pin 52 Bolt 54 Expansion / contraction means 56 Rotation axis 57 Rear side 59 Bolt 62 Small diameter portion 64 Washer 66 Spring washer 68 Nut 70 Recess 74 Engagement portion 76 Cylindrical shaft 78 Attachment 80 Thrust bearing 82 Worm gear 84 Boss 86 Bolt 88 Pinion gear 99 Bearing 100 Rotation drive shaft 102 Brake member 103 Brake operation means 104 Brake shoe 106 Link 108 Link 110 Link 112 Return spring 114 Engaging portion 116 Manual handle 120 Plate 122 Fluid pressure responsive means 123 Return Pulling 124 (rail carrier 136) axis pressing portion 126 arm 130 posts 131 horizontal Hmm 132 rail 134 roller 136 carrier 140 actuating means 142 frame 144 grasping units 146 subframe 148 finger piece 150 bearing 152 link 154 Buraketo 156 fluid圧応motion means 157 Piston rod 160 Reversing device 161 Electric motor 162 Stopper 164 Stopper 170 Conveying device 172 Conveying device 174 Conveying device 176 Conveying device 178 Waiting place 180 Lifter 182 Returning conveying device 184 Returning conveying device 184b Conveying device 188 Returning conveying device 110 Link 120 Plate 124 Shaft holder Part 128 chuck clamp 132 rail 136 carrier 142 frame 144 gripping unit 146 sub-frame 154 block Ket

Claims (7)

(57) [Claims] 1. A transport line carried by a pallet robot.
And the work supplied by the transport device on the down, the pallet supporting shaft which projects is provided on the rear side of the chuck portion and the chuck portion for mounting the workpiece
Said has a sub palettes supplied by the transport device in the transport on line of Robots, an insertion hole for fitting the support shaft of the sub-palettes
A transfer device is installed on the transfer line of the pallet robot .
Upper main pallet supplied, the sub-palette holding the body of the sub-palettes Ri
After mounting the above work,
Place the support shaft of the sub-pallet above the main pallet.
Fit it in the insertion hole and transfer it onto the main pallet
The pallet robot is provided on the pallet robot.
The rails arranged on both sides along the transport line, the traveling rails erected on the rails on both sides so as to be movable, and the carriers mounted on the traveling rails so as to be movable up and down or turned. It has a frame suspended through at least one actuating means and a gripping unit for adjusting the width of the sub-pallet, and the frame is rotatably supported by the frame via a pivot shaft. A sub-frame, and a pair of finger pieces provided on the gripping unit that abut on the mounting surface side and the back surface side of the sub-pallet body and face each other to sandwich both surfaces in the thickness direction of the sub-pallet body, an inverting device for rotating the sub-frame which is provided with the sub-frame to the pivot axis and which can be rotated against the frame, the insertion hole of the main pallet After having engaged detachably fitted
A rotary drive hand that rotates the support shaft of the sub-pallet.
A rotary drive shaft of the stage, the reduction mechanism provided on the rotary drive shaft, the rotary drive shaft of the sub-palettes and the sub-palette
Attach the brake shoe to the attached brake member.
Wherein the rotation of the rotary drive shaft is constituted by a brake operation means is inhibited Te, automatic transfer device of a work. 2. One end of the reversing device of the sub-frame is above
The other end is connected via a link to Kikururu支 axis, characterized in that it is formed by pivotally fluid圧応operated device to the frame, an automatic transfer device of a work according to claim 1, wherein. 3. The automatic workpiece transfer device according to claim 1, wherein the workpiece is a semi-finished automobile transmission. 4. The sub-pallet is provided with a plurality of types of chuck portions according to the type of the work, and the support shaft is formed so as to be commonly used for the type of the work. Any one of claims 1 to 3.
Item automatic transfer device according to the item. 5. The rotary drive shaft end of the rotary drive means is provided with the above
Characterized in that a brake operating means is provided ,
The automatic workpiece transfer device according to claim 1 . Characterized by being configured to allow rotational displacement of the sub-palettes relative wherein said main pallet manually or by motive power allowed engagement with the rotary drive shaft, automatic claim 1 or 5, wherein the workpiece Transfer device. 7. comprising a falling-off prevention device of the sub-pallet engages said <br/> the sub pallet provided in the main pallet body to the support shaft of operates after the insertion of the support shaft, when inserting and removing the 7. The automatic workpiece transfer device according to claim 1 , wherein the automatic workpiece transfer device is configured to be released.