JP4202953B2 - Synchronous transfer device - Google Patents

Description

  The present invention relates to a synchronous transfer device that synchronizes, for example, the transfer speed of a pallet on which a workpiece is placed and the transfer speed of a processing device transfer means for transferring a work processing device.

As a conventional synchronous conveyance device, one that synchronizes a movable table for assembling a door with a cart on which a body is mounted is known (for example, see Patent Document 1).
JP-A 61-146690

FIG. 3 of Patent Document 1 will be described with reference to FIG. In addition, the code | symbol was reassigned.
FIG. 12 is a front view of a conventional synchronous conveyance device, in which a carriage 201 is disposed so as to be movable along a conveyance path, and floor rails 202 and 203 are laid on both sides of the carriage 201, respectively. The movable bases 204 and 206 are movably mounted, and a robot 207 (the robot on the movable base 206 side is not shown) and lifting devices 208 and 209 are attached to the movable bases 204 and 206, respectively.

  With the above structure, the body 211 is placed on the carriage 201 and the movable bases 204 and 206 are moved while being synchronized with the carriage 201, and the body 211 is lifted by the lifting devices 208 and 209 while the carriage 201 and the movable bases 204 and 206 are moving. The door 207 is assembled to the body 211 by the robot 207.

  The carriage 201 is driven by a servo motor (not shown) via a floor conveyor 214, and the movable stands 204 and 206 are connected to a servo motor 217 (on the movable stand 206 side) via a rack 215 and a pinion 216 that meshes with the rack 215. The servomotor of the carriage 201 is driven to calculate the speed difference between the movable bases 204 and 206 with respect to the carriage 201, and a control signal based on this speed difference is given to the servomotor 217. The synchronization control 206 is performed.

In the above technique, the respective speeds of the carriage 201 and the movable bases 204 and 206 are detected, a speed difference is calculated from these speeds, and the servo motor 217 is controlled based on the speed difference, whereby the carriage 201 and the movable base are controlled. Since it is necessary to move 204 and 206 synchronously, that is, to maintain the same speed, a large amount of hardware and software costs are required to perform highly accurate control.
Further, the structure in which the doors 212 and 212 are assembled to the body 211 in a state where the body 211 is lifted causes an increase in cost.

  The subject of this invention is reducing the cost of a synchronous conveyance apparatus.

According to the first aspect of the present invention, the synchronous conveying apparatus includes a pallet for supporting a workpiece, and a pallet conveying unit provided with a frictional force conveying mechanism that is installed in a line, operates by a driving source, and conveys the pallet by a frictional force. It means and includes a movable portion for supporting a machining apparatus for machining a workpiece, machining device and the installed processing device conveying means along the pallet conveying means for conveying the pallet transport means the pallet in synchronization with the movable part The synchronizing means comprises an engaged portion provided on the pallet and an engaging portion provided on the movable portion so as to be freely engageable with the engaged portion. During the machining operation, the pallet and the movable part are engaged with each other by the synchronizing means, and the pallet is moved on the pallet conveying means by the driving force of the processing apparatus conveying means .

  Since the pallet conveying means conveys the workpiece by frictional force, the engaging part of the movable part can be engaged with the engaged part of the pallet, and the moving speed of the pallet can be matched with the moving speed of the moving part. Thus, it is not necessary to synchronize the movement speed on the bullet side and the movement speed on the processing apparatus transport means side via the electrical signal while always calculating the speed difference. In addition, since the workpiece can be processed by the processing apparatus while being placed on the pallet conveying means, it is not necessary to lift the workpiece as in the prior art.

In the invention according to claim 2, the engaged portion is a recess, the engaging portion is a rotatable roller that fits into the recess, and the synchronizing means causes the movable portion to generate a speed difference in the pallet transport direction with respect to the pallet. The engaging portion is engaged with the engaged portion.
The movable part has a speed difference in the pallet transport direction with respect to the pallet, and the roller is fitted into the concave part. The pallet can be synchronized with the movable part with a simple structure.

The invention according to claim 3, the pallet engaged portion is provided with a plurality, each processing device conveying means to the plurality of engaged portions, characterized that you have been configured to be engageable.
By providing multiple engaged parts on the pallet, machining to multiple workpieces loaded on the pallet by one machining device at one machining station provided on the pallet conveying means, or one workpiece by multiple machining devices Or processing to a plurality of works can be performed.

The invention according to claim 4 is characterized in that the synchronous conveyance device is provided with an original position returning means for returning the movable portion to the original position.
The movement of the processing apparatus supported by the movable part can be patterned, for example, at the original position start and at the original position end.

  According to a fifth aspect of the present invention, the processing device transport means is composed of a first processing device transport means and a second processing device transport means installed close to the pallet transport means, and only the first processing device transport means is involved. In addition to providing a joint portion, the first processing device transporting means is provided with synchronization control means for synchronizing the second processing device transporting means with an electrical signal.

  For example, each engaging part of a 1st processing apparatus conveyance means and a 2nd processing apparatus conveyance means are engaged with the to-be-engaged part of a pallet, and each of a 1st processing apparatus conveyance means and a 2nd processing apparatus conveyance means In the present invention, when the conveyance is controlled, an error is likely to occur in the respective conveyance speeds of the first processing apparatus conveyance means and the second processing apparatus conveyance means. In order to engage only the engaged portion of the pallet, it is only necessary to control the conveyance of only the second machining apparatus conveyance means by the synchronization control means, and each of the first machining apparatus conveyance means and the second machining apparatus conveyance means is movable. The synchronization accuracy of the part can be increased.

According to a sixth aspect of the present invention, the processing device transporting means is composed of a first processing device transporting means and a second processing device transporting means installed close to the pallet transporting means, and these first processing device transporting means, The second processing device transport means is provided with an engaging portion, and the respective engaging portions of the first processing device transport means and the second processing device transport means are selectively engaged with the engaged portion, and the engagement is performed. A synchronization control means for synchronizing the other movable part with an electric signal is provided on one movable part of the first processing apparatus conveying means or the second processing apparatus conveying means provided with the engaged portion.
For example, according to the processing position of a workpiece, it is possible to perform processing by switching between the first processing device transporting means and the second processing device transporting means at the same processing station.

  The invention according to claim 7 is provided with a work position measuring means for measuring a fixed position of the work with respect to the pallet at a position where the pallet is put on the pallet conveying means or at a position upstream in the conveying direction of the pallet conveying means, The measurement information measured by the workpiece position measuring means is sent to a processing device arranged on the downstream side, and the workpiece is processed by the processing device based on the measurement information.

  By providing a workpiece position measuring means for measuring the fixed position of the workpiece with respect to the pallet at the position where the pallet is loaded on the pallet conveying means or at the upstream position in the conveying direction of the pallet conveying means, the workpiece position is measured at the downstream side. There is no need to measure.

  In the invention according to claim 1, since the pallet conveying means conveys the work by frictional force, the engaging part of the movable part is engaged with the engaged part of the pallet, and the moving speed of the pallet is changed to the moving speed of the movable part. Therefore, special equipment for synchronizing the movable part and the pallet and control means for controlling the synchronization are not necessary. Further, the workpiece can be processed by the processing apparatus while being placed on the pallet conveying means. From the above, in the present invention, the cost of the synchronous conveyance device can be reduced.

  In the invention according to claim 2, since the structure is such that the movable part generates a speed difference in the pallet transport direction with respect to the pallet and the roller is fitted into the recess, the movable part and the pallet can be synchronized with a simple structure. The equipment for synchronization can be configured at low cost.

In the invention according to claim 3, by providing a plurality of engaged portions on the pallet, processing to a plurality of workpieces loaded on the pallet by one processing device at one processing station provided on the pallet conveying means, or A single workpiece or a plurality of workpieces can be processed by a plurality of processing devices, and the processing operation can be performed efficiently.

  In the invention which concerns on Claim 4, the movement of the processing apparatus supported by the movable part can be patterned, for example, an original position start and an original position end, and the control method can be simplified.

  In the invention according to claim 5, in order to engage only the engaging portion of the first processing device conveying means with the engaged portion of the pallet, it is only necessary to control the conveyance of only the second processing device conveying means by the synchronization control means. In addition, it is possible to increase the synchronization accuracy of the movable parts of the first processing device transport means and the second processing device transport means. Therefore, the machining accuracy of the workpiece can be improved.

  In the invention which concerns on Claim 6, according to the processing position of a workpiece | work, it can process by switching a 1st processing apparatus conveyance means and a 2nd processing apparatus conveyance means in the same processing station, and is processing a workpiece | work. The degree of freedom can be increased.

  In the invention which concerns on Claim 7, since the fixed position of the workpiece | work with respect to a pallet is measured in the upstream of a pallet conveyance means, it is not necessary to measure a workpiece | work position in the downstream, and a workpiece | work measurement position is sufficient at one place, and cost is reduced. Can be suppressed.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals.
FIGS. 1A and 1B are explanatory views of a synchronous transport device according to the present invention.
(A) is a side view of the synchronous conveyance device 10, and the synchronous conveyance device 10 includes a plurality of pallets 13 on which a vehicle door as a work, specifically, a pair of left door 11 and right door 12 is mounted, and these pallets. Pallet conveying means 14 arranged in a line for conveying 13 and a plurality of processing devices 16 and 17 for processing each of the left door 11 and the right door 12 along the pallet conveying means 14 to convey the floor. 18, a processing device transporting means 21 installed in a line, and the speed of the processing device transporting means 21, specifically, the left door 11 while synchronizing the speed of the pallet 13 with a processing device support portion as a movable portion described later. The right door 12 is processed by the processing devices 16 and 17. In addition, the arrow (DOWN) in a figure represents the downstream of the conveyance direction of the pallet conveyance means 14, ie, the downstream of the flow of the pallet 13 (hereinafter the same).
The processing device 16 is a double-arm robot having two arms with a tool attached to the tip, and the processing device 17 is a single-arm robot having one arm with a tool attached to the tip.

  St1 to St6 in the figure are the first station to the sixth station, respectively, and indicate places where the processing devices 16 and 17 perform the processing around the position of the one-dot chain line. (Since the second station St2 is processed manually, the processing apparatus is not on standby.)

FIG. 2B is a plan view of the synchronous transport device 10 and schematically shows the synchronous transport device 10.
The synchronous conveyance device 10 mounts the left door 11 and the right door 12 on the pallet 13 along the flow direction, and engages recesses 23 (here, four locations on one pallet 13) on both sides of each pallet 13. ), And a plurality of processing device support portions 25 for supporting the processing devices 16, 17 are arranged on both sides of the pallet 13, and the engaging recesses 23 of the pallet 13 are engaged with each other. In order to match, the processing device support portion 25 is provided with an engagement portion 27.

FIGS. 2A and 2B are explanatory views of the pallet conveying means according to the present invention.
(A) is a plan view of the pallet conveying means 14, and the pallet conveying means 14 includes two support frames 31, 32 provided in parallel and a plurality of supports attached across these support frames 31, 32. A shaft 33, conveying rollers 34 and 36 rotatably attached to these support shafts 33, a pulley 37 coupled to the transport roller 36 and rotatably attached to the support shaft 33, and a pulley 37 adjacent to each other. The connected connecting belt 38, the drive motor 41 for driving each conveyance roller 36, the drive pulley 42 attached to the output shaft of the drive motor 41, the driven pulley 43 and the drive pulley 42 attached to the conveyance roller 36 It comprises a drive belt 44 laid over each.

  Reference numeral 46 in the figure denotes a support roller that is rotatably attached to the support plate 47, and regulates the positions of the side lower portions 13a and 13b (shown here by two-dot chain lines) of the pallet 13 placed on the transport rollers 34 and 36. Is to do.

(B) is a side view of the pallet conveying means 14 and shows a state in which each pallet 13 is placed on the conveying rollers 34 and 36 and conveyed downstream by the frictional force of the conveying rollers 34 and 36.
The drive motor 41 is attached to the base portion 51 via a bolt 52 and a motor base 53.

  FIG. 3 is a side view showing a work and a pallet according to the present invention. The right door 12 includes an inner panel 55, an outer panel 56 attached to the outside of the inner panel 55, and a sash 57 attached to the upper portion of the inner panel 55. It consists of. Reference numerals 61 to 63 denote front edge portions, rear edge portions, and lower edge portions of the right door 12 in which the edge portion of the outer panel 56 is bent and joined to the front edge, rear edge, and lower edge of the inner panel 55, and 65 denotes component mounting holes. , 66 to 69 are openings. Note that the left door 11 (see FIG. 1) has the same basic structure as the right door 12, and a description thereof will be omitted.

  The pallet 13 includes a base plate 72, support bases 73 and 74 attached to support the lower edge 63 of the right door 12 on the base plate 72, and a front edge 61 and a rear edge 62 of the right door 12. It comprises a first post 76 and a second post 77 raised from the base plate 72 for clamping. Reference numeral 78 denotes a center line of the pallet 13. The support base for supporting the left door 11 is symmetrical to the support lines 73 and 74, the first post 76 and the second post 77 with respect to the center line 78. 73, 74, first post 76 and second post 77 are arranged.

  The first post 76 includes a positioning piece 81 that positions the front edge 61 of the right door 12 in the front-rear direction of the right door 12 (that is, the left-right direction in the drawing), and a clamp member that clamps the front edge 61 of the right door 12. 82 and a holding member 83 that holds the side surface of the outer panel 56 of the right door 12 are provided at the top.

  The second post 77 is attached to the base plate 72 via the slide mechanism 85 and includes a clamp member 86 for clamping the rear edge 62 of the right door 12 at the upper portion. The slide mechanism 85 described above causes the second post 77 to be attached to the right door. The doors of different sizes can be stacked on the pallet 13 by being slidable in the longitudinal direction.

FIG. 4 is a plan view of a pallet according to the present invention, in which an engagement recess 23 is provided in each of the side upper portions 13c and 13d of the pallet 13, and the engagement recess 23 is provided in the processing apparatus transport means 21 (see FIG. 1 (a)). It shows that the engaging part 27 to be engaged with is provided. One engagement portion 27 is engaged with the engagement recess 23, and the other engagement portion 27 is released from the engagement recess 23.
The engaging recess 23 includes an engaged metal fitting 92 having a groove 91 and guide plates 93 and 93 disposed on both sides of the engaged metal fitting 92.

The engagement portion 27 includes a roller 95 and a roller support portion 96 that rotatably supports the roller 95, and is attached to an engagement portion drive mechanism 97 supported by the processing device conveying means 21.
The engaging recess 23 and the engaging portion 27 described above are parts constituting the synchronizing means 98.

  The engagement portion drive mechanism 97 includes a cylinder portion 101 provided on the processing device conveying means 21 side, rods 102, 103, 102 provided movably on the cylinder portion 101, and the rods 102, 103, 102, respectively. The end member 104 is attached to the tip of the end member 104, and the engaging portion 27 is attached to the end member 104.

  FIG. 5 is a side view showing a processing apparatus and a processing apparatus transport means according to the present invention. The processing apparatus 16 includes a base 111 attached to the processing apparatus transport means 21, a first arm part 112 attached to the base 111, and It consists of a second arm 113 and tools 115 and 116 attached to the tips of the first arm 112 and the second arm 113, respectively.

The processing device transport means 21 includes a transport rail 122 attached to the floor 18 with a plurality of bolts 121, the above-described processing device support portion 25 that is movable on the transport rail 122, and a processing device support for the transport rail 122. It comprises a drive device (not shown) for driving the portion 25, and a bracket 123 is attached to the processing device support portion 25, and the aforementioned engagement portion drive mechanism 97 is attached to this bracket 123.

  FIG. 6 is a cross-sectional view of the pallet and the pallet conveying means according to the present invention. The pallet 13 connects the base frame 72 with corner frame members 131 and 132 provided at both ends, and the corner frame members 131 and 132. It is a member composed of a connecting member 133 and a lower plate 134 attached to the lower surface of each of the corner frame members 131, 132. Each side surface of the corner frame members 131, 132, that is, the above-mentioned side upper portions 13c, 13d. The engaging recess 23 is provided on the side plate, and the support roller 46 is applied to the side surface of the lower plate 134, that is, the side lower portions 13a and 13b.

  The pallet conveying means 14 connects the support frames 31 and 32 with the connecting frame 141, passes the support shaft 33 to the support frames 31 and 32, and the cylindrical members 143 and 143 through the bearings 142 and 142 to the support shaft 33. The transport rollers 34 and 36 are attached to the cylindrical member 143. Reference numeral 145 denotes a friction member that covers the outer peripheral surfaces of the transport rollers 34 and 36 in order to increase the frictional force with the pallet 13.

  Reference numeral 146 denotes a pallet fixing device disposed below the pallet 13 in order to fix the pallet 13 to a workpiece position measurement position (described later) or the like where conveyance of the pallet 13 needs to be stopped. A plurality of rods 152 that are movably inserted into the rods, end plates 153 attached to the tips of the rods 152, and engagement pins 154 and 154 that protrude from the end plates 153 toward the pallet 13 side.

  For example, by supplying hydraulic pressure to the cylinder portion 151 of the pallet fixing device 146, the rod 152 is moved to the pallet 13 side, and the engagement pin 154 is inserted into the engagement hole 156 formed in the pallet 13, so that the pallet 13 Lock movement.

  FIG. 7 is a cross-sectional view for explaining the structure of the processing apparatus conveying means according to the present invention. Two processing apparatus conveying means 21 are arranged below the pallet conveying means 14 and in the width direction (left-right direction in the figure). The driving device 160 of the processing device transport means 21 includes a pair of rail base portions 161 and 162 attached to the transport rail 122, a rack 163 attached to the rail base portion 161, and a pinion gear 164 meshing with the rack 163. In order to drive the pinion gear 164, a drive motor 166 attached to the processing device support 25 and a plurality of balls 167 on the transport rail 122 side to slide the processing device support 25 relative to the transport rail 122 And a pair of slide rails 168 and 169 attached to the upper and lower portions of the lower portion of the processing device support 25. That. Reference numeral 172 denotes a rotating shaft of the drive motor 166, to which a pinion gear 164 is attached.

When the drive motor 166 is operated, the drive motor 166, the processing device support portion 25, and the processing device 16 move on the transport rail 122 by the rotation of the pinion gear 164 meshed with the rack 163.
In order to distinguish between the left and right processing device transporting units 21 and 21, here, one is a first processing device transporting unit 21A and the other is a second processing device transporting unit 21B.

  FIG. 8 is a block diagram of the synchronous conveyance control unit of the synchronous conveyance device according to the present invention. The synchronous conveyance control unit 180 includes a pallet position detection unit 181 for detecting the position of the pallet on the pallet conveyance unit, and the pallet position. Based on the pallet position information PPJ from the detection means 181, the processing apparatus transport means, more specifically, the synchronization control means 182 for synchronously controlling the pallet with respect to the processing apparatus support portion (ie, controlling to the same speed), and this Based on the first control signal CS1 from the synchronization control means 182, the first engagement is made to engage or disengage with respect to the engagement recess by moving the engagement portion on the first processing apparatus transport means side forward and backward. Based on the second control signal CS2 from the synchronization control means 182 and the part drive mechanism 97A (here, the engagement part drive mechanism 97 is referred to as the first engagement part drive mechanism 97A). Based on the first drive device 160A (here, the drive device 160 is referred to as the first drive device 160A) that moves the processing device support portion on the conveying means side and the third control signal CS3 from the synchronization control means 182. 2 The second engagement portion drive mechanism 97B (here, the engagement portion drive mechanism 97 is moved into the engagement state or the engagement release state with respect to the engagement recess portion by moving the engagement portion on the processing apparatus transport means side forward and backward. And a second driving device 160B for moving the processing device support portion on the second processing device conveying means side based on the fourth control signal CS4 from the synchronization control means 182. Then, the driving device 160 is the second driving device 160B).

Next, the operation of the synchronous conveyance device 10 described above will be described.
FIG. 9 is a first operation diagram showing the operation of the synchronous conveyance device according to the present invention.
In the synchronous conveyance device 10, since the positional relationship between the pallet 13 and the processing devices 16 and 17 (see FIG. 1A for the processing device 17) is known, the positions of the pallet 13, the left door 11, and the right door 12. If a relationship is calculated | required, the positional relationship of the processing apparatuses 16 and 17 and the left door 11 and the right door 12 will be calculated | required, and the processing precision of the left door 11 and the right door 12 by the processing apparatuses 16 and 17 can be improved.

  Therefore, when the pallet 13 loaded with the left door 11 and the right door 12 is put into the pallet conveying means 14, the pallet 13 is temporarily stopped at the work position measuring position by the pallet fixing device 146 (see FIG. 6), and visually A sensor 191 measures the positions of the left door 11 and the right door 12 with respect to the pallet 13. Specifically, the positions of the circled portions, that is, the positions of the component mounting holes 65 of the inner panel 55 of the left door 11 and the right door 12, the corner portions 11a and 12a, the corner portions 57a and 57b of the sash 57, and the like are measured.

10 (a) to 10 (d) are second operation diagrams showing the operation of the synchronous conveyance device according to the present invention. (The black arrow in the figure indicates the direction of movement of the pallet, the white arrow indicates the direction of movement of the processing device support and processing device, the small arrow indicates the direction of movement of the engaging portion, and the number of white arrows is 2. Indicates that the speed has increased.)
In (a), the pallet position detection means 181 (see FIG. 8) detects that the pallet 13 (the part indicated by a bold line for easy understanding of the shape) has reached the robot original position. Then, on the basis of the signal from the synchronization control means 182 (see FIG. 8), the first engagement portion drive mechanism 97A (see FIG. 8) (and / or the second engagement portion drive mechanism 97B (see FIG. 8)) By supplying air from an air supply means (not shown), the cylinder portion 101 is operated, the engaging portion 27 moves to the engaging concave portion 23 side, and the processing device support portion 25 moves at substantially the same speed as the pallet 13.

  In (b), when the engaging portion 27 hits the guide plate 93 of the engaging recess 23, the driving device 160 moves the processing device support portion 25 at a speed larger than the speed of the pallet 13 based on the signal from the synchronization control means 182. Increase the speed.

  In (c), since the engaging portion 27 is elastically pressed against the guide plate 93 by the air supplied to the cylinder portion 101, when the engaging portion 27 reaches the entrance of the groove 91 of the engaging recess 23, The engaging portion 27 is fitted in the groove 91. As a result, the pallet 13 flows in synchronization with the speed of the processing device support portion 25, so that the left door 11 and the right door 12 by the processing device 16 (and / or the processing device 17 (see FIG. 1B)) are used here. Start processing.

In (d), when the processing of the left door 11 and the right door 12 by the processing device 16 (and / or the processing device 17) is finished, the engaging portion 27 is retracted from the groove 91 and the engaging portion with respect to the engaging recess 23 is engaged. 27 is disengaged.
And the processing apparatus 16 and the processing apparatus support part 25 are returned to an original position.

FIG. 11 is a third operation diagram illustrating the operation of the synchronous conveyance device according to the present invention, and the operation illustrated in FIG. 10 will be described with reference to a flowchart. STXX represents a step number.
ST01 ... The pallet position is detected by the pallet position detecting means.
ST02 ... It is determined whether the pallet position has reached the robot original position.
When the pallet position reaches the robot original position (YES), the process proceeds to ST03.
If the pallet position does not reach the robot original position (NO), the process proceeds to ST01.

ST03 ... The engaging portion is moved to the pallet side.
ST04 ... It is determined whether or not the engaging portion hits the engaging recess.
If the engaging portion hits the engaging recess (YES), the process proceeds to ST05.
If the engaging portion does not hit the engaging recess (NO), the process proceeds to ST03.

ST05 ... The processing device support is moved at a speed larger than that of the pallet.
ST06 ... The engaging part is engaged with the engaged recessed part.
ST07 ... It is determined whether or not the processing of the door by the processing device is finished.
When the processing is completed (YES), the process proceeds to ST08.
If the processing is not completed (NO), the process proceeds to ST07.

ST08 ... The engagement portion is disengaged from the engagement recess.
ST09 ... The processing apparatus support unit is moved to the robot original position.

  As described above with reference to FIGS. 1 (a), 1 (b) and FIG. 4, according to the present invention, firstly, the synchronous conveyance device 10 is provided with a pallet 13 for supporting the left door 11 and the right door 12 as works, Along with the pallet conveying means 14 for conveying the pallet conveying means 14 installed in a line for carrying the pallet 13 by the frictional force and the processing devices 16 and 17 for processing the left door 11 and the right door 12. The processing device transporting means 21 installed in the process, and the synchronizing means 98 for moving the pallet 13 in synchronism with the processing device support portion 25 as a movable part provided in the processing device transporting means 21 to support the processing devices 16 and 17. The synchronizing means 98 includes an engaging concave portion 23 as an engaged portion provided on the pallet 13 and an engaging portion provided on the processing apparatus support portion 25 so as to be freely engageable with the engaging concave portion 23. 2 Consist of a, during processing operations, the engagement portion 27 is engaged with the engaging recesses 23, and the pallet 13, characterized in that to follow the machining apparatus supporting portion 25.

  Since the pallet conveying means 14 conveys the left door 11 and the right door 12 by frictional force, the engaging portion 27 of the processing device support portion 25 is engaged with the engaging recess 23 of the pallet 13, and the processing device support portion 25 The moving speed of the pallet 13 can be matched to the moving speed, and special equipment for synchronizing the processing device support portion 25 and the pallet 13 and control means for controlling the synchronization are not necessary. Further, the left door 11 and the right door 12 can be processed by the processing devices 16 and 17 while being placed on the pallet conveying means 14. From the above, in the present invention, the cost of the synchronous conveyance device 10 can be reduced.

  Secondly, according to the present invention, the engaging recess 23 is a recess, specifically a groove 91, and the engaging portion 27 is a rotatable roller 95 that fits into the groove 91. 13 is caused to cause the engaging portion 27 to engage with the engaging recess 23 by causing a speed difference in the pallet conveying direction with respect to 13.

  Since the processing device support portion 25 has a structure in which a speed difference in the pallet transport direction with respect to the pallet 13 is generated and the roller 95 is fitted in the groove 91, the processing device support portion 25 and the pallet 13 can be synchronized with a simple structure. Therefore, the equipment for synchronization can be configured at low cost.

Third, the present invention is characterized in that a plurality of engaging recesses 23 are provided in the pallet 13.
By providing a plurality of engaging portions 27 on the pallet 13, one processing station (any one of the processing stations St1 to St6 (excluding the processing station St2)) provided on the pallet conveying means 14 is used. Processing to the plurality of left doors 11 and right doors 12 loaded on the pallet 13 by the processing device 16 (or processing device 17), or one left door 11 (or right door 12) by the plurality of processing devices 16, 17 or A plurality of left doors 11 and right doors 12 can be processed, and processing operations can be performed efficiently.

Fourthly, the present invention is based on the processing device support 25 and the processing devices 16 and 17 in the synchronous transport device 10 as shown in FIGS. 1 (a), 1 (b), 8 and 10 (d). A synchronization control means 182 as an original position return means for returning to the position is provided.
The movements of the processing devices 16 and 17 supported by the processing device support unit 25 can be patterned, for example, starting at the original position and ending at the original position, thereby simplifying the control method of the driving devices 160A and 160B by the synchronization control means 182. Can be planned.

  Fifthly, the present invention will be described with reference to FIGS. 4, 7 and 8. The first processing device transport is provided with the processing device transport means 21 set close to the side and the side of the pallet transport means 14, respectively. The first processing device transport means 21A is provided with an engaging portion 27, and the second processing device transport means 21B is connected to the first processing device transport means 21A by an electrical signal. A synchronization control means 182 for synchronization is provided.

  Since only the engaging portion 27 of the first processing device transport means 21A is engaged with the engagement recess 23 of the pallet 13, the synchronization control means 182 only needs to control the transport of the second processing device transport means 21B. The synchronization accuracy of the processing device support portions 25 of the processing device transport means 21A and the second processing device transport means 21B can be increased. Therefore, the processing accuracy of the left door 11 and the right door 12 can be improved.

  In the sixth aspect of the present invention, as shown in FIGS. 4, 7, and 8, the first processing device transporting means 21 </ b> A and the second processing device 21 are installed by bringing the processing device transporting means 21 close to the pallet transporting device 14. The first processing apparatus transport means 21B and the second processing apparatus transport means 21B are provided with engaging portions 27, and the first processing apparatus transport means 21A and the second processing apparatus transport means 21B. Each of the engaging portions 27 is selectively engaged with the engaging recess 23, and one of the first processing device conveying means 21A and the second processing device conveying means 21B provided with the engaged engaging portion 27 is provided. The processing apparatus support section 25 is provided with synchronization control means 182 for synchronizing the other processing apparatus support section 25 with an electrical signal.

  For example, depending on the processing positions 16 and 17 at which the left door 11 and the right door 12 are processed, the same processing station (any one of the first processing station St1 to the sixth processing station St6 (however, the second processing station St2 is excluded). .)), The first processing device transport means 21A and the second processing device transport means 21B can be switched to perform processing, and the degree of freedom of processing of the left door 11 and the right door 12 can be increased.

  In the seventh aspect of the present invention, as shown in FIGS. 1 (a) and 9, the pallet 13 is placed on the pallet conveying means 14 or the upstream side of the pallet conveying means 14 in the conveying direction. A visual sensor 191 is provided as a work position measuring means for measuring the fixed positions of the left door 11 and the right door 12 with respect to the pallet 13, and the measurement information measured by the visual sensor 191 is sent to the processing devices 16 and 17 arranged on the downstream side. The processing devices 16 and 17 are characterized by processing the left door 11 and the right door 12 based on the measurement information.

  Since the fixed positions of the left door 11 and the right door 12 with respect to the pallet 13 are measured on the upstream side of the pallet conveying means 14, there is no need to measure the work position on the downstream side, and the work measuring position is only one place, and the cost is reduced. Can be suppressed.

  In the present embodiment, as shown in FIG. 4, the engaging portions 27 are provided in the first processing device transport means 21A and the second processing device transport means 21B, respectively. The engaging part 27 may be provided in one of the conveying means 21A and the second processing apparatus conveying means 21B, and the other may be moved in synchronism with one by an electric signal with respect to the one provided with the engaging part 27.

  The synchronous conveyance device of the present invention is suitable for processing and assembly in a production line.

It is explanatory drawing of the synchronous conveyance apparatus which concerns on this invention. It is explanatory drawing of the pallet conveyance means which concerns on this invention. It is a side view which shows the workpiece | work and pallet which concern on this invention. It is a top view of the pallet which concerns on this invention. It is a side view which shows the processing apparatus which concerns on this invention, and a processing apparatus conveyance means. It is a cross-sectional view of the pallet and pallet conveying means according to the present invention. It is a cross-sectional view explaining the structure of the processing apparatus conveyance means which concerns on this invention. It is a block diagram of the synchronous conveyance control part of the synchronous conveyance apparatus which concerns on this invention. It is a 1st operation | movement figure which shows the effect | action of the synchronous conveyance apparatus which concerns on this invention. It is a 2nd operation | movement figure which shows the effect | action of the synchronous conveyance apparatus which concerns on this invention. It is a 3rd operation | movement figure which shows the effect | action of the synchronous conveyance apparatus which concerns on this invention. It is a front view of the conventional synchronous conveyance apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Synchronous conveyance apparatus, 11, 12 ... Workpiece | work (left door, right door), 13 ... Pallet, 14 ... Pallet conveyance means, 16, 17 ... Processing apparatus, 21 ... Processing apparatus conveyance means, 23 ... Engagement part ( Engagement recess), 25 ... movable part (processing device support part), 27 ... engagement part, 34 , 36 , 145 ... friction transport mechanism (transport roller, transport roller, friction member), 41 ... drive source (drive motor) , 95 ... roller, 98 ... synchronization means, 181 ... work position detecting means (pallet position detecting means), 182 ... synchronization control means, 184 ... original position return means, 191 ... workpiece position measuring means (visual sensor).

Claims (7)

A pallet that supports the workpiece, and a pallet conveying means that is installed in a line, is operated by a drive source, and includes a frictional force conveying mechanism that carries the pallet and conveys it by a frictional force ;
A movable portion for supporting a processing apparatus for processing a pre-Symbol workpiece, a machining device conveying means placed along the pallet conveying means for conveying the working device,
Becomes a pallet in synchronization before Symbol movable portion and a synchronizing means for moving on the pallet transport means,
The synchronizing means includes an engaged portion provided on the pallet and an engaging portion provided on the movable portion so as to be freely engageable with the engaged portion.
During a processing operation, the synchronous conveying device is characterized in that the pallet and the movable portion are engaged by the synchronizing means, and the pallet is moved on the pallet conveying means by the driving force of the processing device conveying means .   The engaged portion is a concave portion, and the engaging portion is a rotatable roller that fits into the concave portion, and the synchronizing means causes the movable portion to generate a speed difference in the pallet transport direction with respect to the pallet. The synchronous conveyance device according to claim 1, wherein the joint portion is engaged with the engaged portion. Wherein the engaged portion is provided with a plurality of the pallet, claim 1 or claim 2, each of these in a plurality of engaged portions the processing device conveying means, characterized that you have been configured to engage The synchronous conveyance apparatus as described.   The synchronous transport apparatus according to claim 1, wherein the synchronous transport apparatus includes an original position returning unit that returns the movable portion to an original position.   The processing device transport means includes a first processing device transport means and a second processing device transport means installed close to the pallet transport means, and the engaging portion is provided only in the first processing device transport means. 5. The synchronous transfer device according to claim 1, wherein a synchronization control means for synchronizing the second processing device transfer means with an electric signal is provided in the first processing device transfer means.   The processing device transport means comprises a first processing device transport means and a second processing device transport means installed close to the pallet transport means, and these first processing device transport means and second processing device transport means. Each of the engaging portions of the first processing device conveying means and the second processing device conveying means is selectively engaged with the engaged portion, and the engaged engagement is performed. The synchronous processing means which synchronizes the other movable part with an electric signal in one movable part of the 1st processing apparatus conveyance means which provided the part, or the 2nd processing apparatus conveyance means is provided. The synchronous conveyance apparatus of any one of 4.   A workpiece position measuring means for measuring a fixed position of the workpiece with respect to the pallet is provided at a position where the pallet is loaded on the pallet conveying means or at a position upstream of the conveying direction of the pallet conveying means. The synchronized measurement according to any one of claims 1 to 6, wherein the measured measurement information is sent to the processing device arranged on the downstream side, and the processing device is caused to process the workpiece based on the measurement information. Conveying device.

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