JP4334291B2 - Work transfer device and processing system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece transfer device for transferring workpieces or workpiece pallets between different transfer lines in a machining system, and a machining system using the workpiece transfer device.
[0002]
[Prior art]
In a processing system that processes a workpiece into a predetermined shape, a workpiece or a work pallet (hereinafter, typically referred to as a workpiece) is often sequentially processed while being transferred from an upstream processing step to a downstream processing step along a main transfer line. In such a case, processing in each process is performed by a plurality of machine tools arranged along sub-transport lines extending in a direction substantially perpendicular to the main transport line. For this reason, it is necessary to provide a workpiece transfer device for delivering a workpiece from the main conveyance line to the sub conveyance line at the intersection of the main conveyance line and the sub conveyance line.
[0003]
By the way, when a plurality of machine tools are assigned to one machining process, the work is transferred by the conveyor on the main transfer line, while the work is automatically mounted in the machine tool on the sub transfer line. It is often configured by a transport robot such as a gantry loader having a function to perform (see, for example, Patent Document 1). In general, the transfer robot is configured to hold a workpiece from above.
[0004]
In Patent Document 1, a work W transported by a conveyor 15a (main transport line) is transferred to a transport robot 24 (sub transport line) that is suspended from a guide rail 25 and travels by a loading station 17 (work transfer device). Then, it is conveyed to the machine tools 21 and 22 in the machine tool row and processed. A processing system is disclosed in which the processed workpiece W is transferred to the unloading station 16 (work transfer device) by the transfer robot 24, transferred to the conveyor 15b, and transferred to the next processing step. The height position on which the workpiece W of each machine tool of this machining system is placed and the height position on which the workpiece W of the loading station 17 or unloading station 16 is placed are substantially the same height. The height position at which the workpiece W of the machine is placed is often higher than the workpiece placement position of the loading station or unloading station, and the vertical stroke of the transfer robot needs to be long.
[0005]
In addition, when the direction and posture of the work to be taken are different between the main conveyance line and the sub-conveyance line, it is necessary to change the direction and posture of the work by the work transfer device or manually.
[0006]
[Patent Document 1]
Japanese Patent Laid-Open No. 9-11087
[0007]
[Problems to be solved by the invention]
In the above-described conventional technology, there is a problem that the vertical stroke of the transfer robot tends to be long, the overall height of the processing system becomes high, and it can be used on the ceiling of a factory, or the cost becomes high. In order to prevent this, it is conceivable that a table for raising and lowering the workpiece is provided in the workpiece transfer device, and the workpiece is transferred to the sub-conveying line after being raised to almost the same height as the height position on the machine tool. Using a workpiece transfer device provided with a table capable of raising and lowering the workpiece, as in Patent Document 1, in a processing system in which a sub-transfer line is transferred by a transfer robot, one sub-transfer line is provided for each processing step. If assigned, a new workpiece cannot be carried into the sub-conveying line until the processed workpiece is unloaded from the sub-conveying line. For this reason, a desired throughput (a production amount per unit time) may not be ensured. One method for solving this problem is to assign the same processing step to a plurality of auxiliary transport lines provided side by side.
[0008]
However, since the above-described workpiece transfer device has only one table, the workpiece transfer device is mainly used to load the workpiece from the main transfer line to the sub transfer line or to transfer the workpiece from the sub transfer line to the main transfer line. While the workpiece is rising above the height of the transfer line, the workpiece cannot pass through the workpiece transfer device provided on the main transfer line, and until the table is lowered to the same height as the main transfer line, before the workpiece transfer device. I have to wait at. For this reason, the workpiece cannot be smoothly fed to the inlet portion of the sub-conveying line that executes the same process provided on the downstream side along the main conveying line, resulting in a wasteful waiting time and hindering improvement in throughput. It becomes. In order to avoid this, it is necessary to have a complicated design such as providing multiple main transport lines for sending workpieces to the sub-transport lines, and corresponding different main transport lines to different sub-transport lines performing the same process. Arise. Further, it is necessary to provide a plurality of main transport lines for transporting processed workpieces sent from the sub transport line in correspondence with different sub transport lines performing the same process.
[0009]
In addition, when the work direction and posture are different on the main transfer line and the sub-transfer line, a device that converts the work direction and posture is attached to the transfer robot, resulting in a complicated structure and high cost. There is.
[0010]
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a workpiece transfer device and a machining system in which the overall height of the machining system does not become too high. Another object of the present invention is to provide a workpiece transfer device and a machining system that allow passage of another workpiece while raising one workpiece and eliminate the workpiece waiting time in the main transfer line. It is. Another object of the present invention is to provide a workpiece transfer device and a machining system that can easily change the orientation and orientation of a workpiece even when the orientation and orientation of the workpiece are different on the main conveyance line and the sub conveyance line. It is.
[0011]
[Means for Solving the Problems]
In order to achieve the above-described object, a workpiece or workpiece is transferred along a main conveyance line that conveys a workpiece or a work pallet to a plurality of machine tool rows and a path different in height from the main conveyance line along each machine tool in the machine tool row. In a work transfer device that is arranged at a branching point with a sub-transport line that transports a pallet and transfers a work or a work pallet between the main transport line and the sub-transport line, a standing frame and a work or work A table on which a pallet is placed and which is guided by the frame and moves up and down between a position corresponding to the main transport line and a position corresponding to the sub transport line; And the table has a feeding means for transporting the work or work pallet received from the main transport line or the sub transport line in the table and sending it to the main transport line or the sub transport line. A workpiece transfer device is provided.
[0012]
Since the workpiece transfer device has a table for raising and lowering the workpiece, the height position of the workpiece on the main transfer line can be substantially matched with the height position of the workpiece placed on the machine tool, and the workpiece holding device on the sub transfer line can be raised and lowered There is no need to increase the stroke, and the overall height of the machining system can be kept low.
[0013]
The table is provided with a workpiece transfer device having a workpiece rotating means for rotating a workpiece or a work pallet around a vertical axis and / or a workpiece tilting means for tilting around a horizontal axis.
[0014]
Since the work transfer means and / or the work tilting means are provided on the table of the work transfer device, even if the work direction and posture are different on the main transport line and the sub transport line, the work gripping of the sub transport line is possible. This can be done without complicating the device.
[0015]
Further, the table is at a position corresponding to the sub-transport line. Sometimes or During movement, it is positioned at a position corresponding to the main transport line. Another table, and the other table is Main transfer line Received from Workpiece or work palette Within the table Transport And feeding means for feeding to the main conveying line A workpiece transfer device is provided.
[0016]
Since there are at least two tables for the workpiece transfer device, when one table is raised to a position corresponding to the sub-transport line, the other tables are aligned with the main transport line and go to the next machine tool line. The workpiece to be processed is transferred, and the waiting time for transferring the workpiece in the main transfer line can be eliminated.
[0017]
In addition, a main transfer line for transferring a workpiece or a work pallet to a plurality of machine tool rows and a height different from the main transfer line along each machine tool in the machine tool row of A processing system in which a workpiece transfer device is arranged at a branching portion with a sub-conveying line that conveys a work or a work pallet along a route, and conveys and processes the work, wherein the main conveying line is sequentially arranged in a plurality of machine tool rows. Conveying lines arranged in one row for conveying workpieces or workpiece pallets, and the sub-conveying line is composed of a gantry loader for conveying workpieces or workpiece pallets between each machine tool and the main conveying line. The transfer device is a table on which a standing frame and a work or a work pallet are placed and which is guided by the frame and moves up and down between a position corresponding to the main transfer line and a position corresponding to the sub transfer line. And The table has feeding means for transporting the work or work table received from the conveyor line in the table and sending it to the conveyor line. A processing system is provided.
[0018]
The main transfer line is a type of processing system that sequentially transfers workpieces to multiple machine tool rows, and the workpiece transfer table is moved up and down, so the workpiece position on the main transfer line is placed on the machine tool. Therefore, it is not necessary to increase the lifting / lowering stroke of the workpiece gripping device in the sub-transport line, and the overall height of the machining system can be kept low.
[0019]
Also, a main transport line for transporting workpieces or work pallets to a plurality of machine tool rows, and a height different from the main transport line along each machine tool in the machine tool rows of A processing system that disposes a workpiece transfer device at a branch point with a sub-transport line that transports a workpiece or a work pallet along a path, and transports and processes the workpiece. The main transport line performs a first processing step on the workpiece. A first conveyor line that conveys a workpiece or a work pallet to a plurality of machine tool rows to be applied, and a second conveyor line that conveys the workpiece subjected to the first machining process to the machine tool row in the next machining process The sub-conveying lines are arranged in parallel, and each gantry loader conveys a workpiece or a work pallet between each machine tool and the first conveyor line or the second conveyor line of the main conveying line, The workpiece transfer device for transferring workpieces or workpiece pallets between a gantry loader and the first conveyor line or the second conveyor line is provided with a vertically installed frame. And over-time, the work or work pallet is placed , A first table guided by the frame to move up and down between a position corresponding to the first conveyor line or the second conveyor line and a position corresponding to the gantry loader; and the first table is the gantry When in a position corresponding to the loader Or on the move, Positioned at a position corresponding to the first conveyor line or the second conveyor line. Ru And a second table The first table conveys the workpiece or work pallet received from the first conveyor line or the second conveyor line in the first table and transfers it to the first conveyor line or the second conveyor line. Feed means for delivering, and the second table conveys the workpiece or work pallet received from the first conveyor line or the second conveyor line in the second table, and the first conveyor line or Having feeding means for feeding to the second conveyor line A processing system is provided.
[0020]
The main conveyor line is composed of a first conveyor line and a second conveyor line, and there are two workpiece transfer device tables. One table is moving to a height position corresponding to the gantry loader. The table is positioned at a height corresponding to the first conveyor line or the second conveyor line, and can pass the workpiece to be transferred to the next machine tool row, resulting in a waiting time for the workpiece on the main transfer line. I won't let you.
[0021]
Moreover, the processing system which provided the inspection station which test | inspects the workpiece | work processed at each processing process in each processing process is provided.
[0022]
The dimension of the processed workpiece can be measured at the inspection station to check whether it has been processed to the desired accuracy. In the case of defects, the workpiece is not transferred to the next machining step, and unnecessary machining can be eliminated.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0024]
FIG. 1 is a perspective view of a workpiece transfer device used in a machining system and having one table. FIG. 2 is a side view of another type of workpiece transfer device having two tables. FIG. 3 is a side view of the workpiece transfer apparatus shown in FIG. 2 when the two tables are in the raised position, and FIG. 4 is a workpiece shown in FIG. FIG. 5 is an overall configuration diagram showing a first embodiment of a machining system using the transfer device, and FIG. 5 is a second embodiment of the machining system using the workpiece transfer device shown in FIGS. 1 to 3. FIG. 6 is an overall configuration diagram showing a third embodiment of a machining system using the workpiece transfer apparatus shown in FIGS. 1 to 3.
[0025]
Initially, with reference to FIGS. 1-3, the workpiece | work transfer apparatus used for the processing system of this invention is demonstrated.
[0026]
The workpiece transfer apparatus 10 shown in FIG. 1 has a substantially rectangular parallelepiped shape constituted by four struts extending in parallel and perpendicular to each other and cross members extending between adjacent struts at the upper and lower ends of the struts. Frame 12 and a table 16 placed in the frame 12 on which the work W transferred from the transfer line 14 is placed.
[0027]
The workpiece transfer device 10 includes only one table 16, and a turntable 18 that is rotatable about a rotation axis extending perpendicularly to the surface formed by the table 16 is provided on the table 16. A conveyor 20 for sending the workpiece W received from the transfer line 14 in the table 16 is provided on the table 18. The table 16 is horizontally disposed between support plates 26 supported by a slider 24 that can move on a guide rail 22 that extends in the vertical direction (that is, the vertical direction) along two adjacent columns. It is supported so as to be rotatable around an extending pivot 28. That is, the table 16 has a function of moving in the vertical direction by sliding the slider 24 in the vertical direction, a function of rotating the work W around the vertical axis by the rotation of the rotary table 18, and a function of rotating the table 16 around the turning axis 28. A function of tilting the workpiece W around the horizontal axis and a function of feeding the workpiece W within the table 16 by the conveyor 20 provided on the table 16 are realized. The plurality of rollers of the conveyor 20 are rotationally driven by a motor and a chain (not shown).
[0028]
The turntable 18 is provided with chuck means (not shown) for positioning and fixing the workpiece W positioned on the conveyor 20, and the workpiece is moved from the conveyor 20 when the table 16 is rotated around the turning shaft 28. W does not fall off. For example, when the workpiece W is fixed and conveyed on the workpiece pallet, the chuck means may be a taper pin inserted into a plurality of holes provided on the side surface of the workpiece pallet. In this case, it can be configured by a taper pin inserted from below the workpiece W into a hole provided on the lower surface of the workpiece W and a clamp member that presses the workpiece W toward the conveyor 20 from the upper surface of the workpiece W. Such chuck means are well known in the art and will not be described in detail here.
[0029]
2 and 3 is similar to the workpiece transfer apparatus 10 illustrated in FIG. 1, but the workpiece transfer apparatus 10 illustrated in FIG. 1 has only one table 16. 2 and 3 is different in that two tables 32 and 34 are provided at different positions in the vertical direction. Each table 32, 34 is rotatably supported about pivot axes 48, 50 between support plates 44, 46 mounted on sliders 40, 42 which are movable along different pairs of guide rails 36, 38. Has been. Each table 32, 34 is similar to the table 16 of the workpiece transfer apparatus 10 shown in FIG. 1, and a turntable 52, which can be rotated around a rotation axis extending perpendicular to the surface formed by the tables 32, 34, 54, and conveyors 56 and 58 provided on the turntables 52 and 54, respectively. The frame 60 of the workpiece transfer device 30 is the same as the frame 12 of the table transfer device 10 shown in FIG. 1 and will not be described in detail here.
[0030]
Further, in the workpiece transfer device 30, as shown in FIG. 3, when one table 32 is raised from a predetermined position, the other table 34 is moved to the predetermined position, and the workpiece W is moved to the other position. The workpiece transfer device 30 can pass through the conveyor 58 on the table 34.
[0031]
The lower table 34 of the two tables 32 and 34 may not have a function of rotating around the turning shaft 50. Furthermore, it is preferable that the two tables 32 and 34 can move independently in the vertical direction, but the elevation of one table 32 may be linked to the elevation of the other table 34. In addition, the pair of guide rails can be shared by the two tables 32 and 34.
[0032]
Next, an embodiment of a machining system using the workpiece transfer devices 10 and 30 shown in FIGS. 1 to 3 will be described with reference to FIGS. 4 to 6. The processing systems 70 and 80 are basically different in height from the main transport lines 72 and 82 for transporting the workpiece W from the upstream processing process to the downstream processing process and the main transport lines 72 and 82 for execution of each processing process. Are arranged at a branching portion between the main conveyance lines 72 and 82 and the main conveyance lines 72 and 82 and the sub conveyance lines 74 and 84, and the main conveyance lines 72 and 82 and the sub conveyance lines 74 and 84. And workpiece transfer devices 10 and 30 that transfer workpieces W to and from.
[0033]
The processing system 70 shown in FIG. 4 includes four sub-transport lines 74 corresponding to four different processing steps, one main transport line 72 connecting the sub-transport lines 74, the main transport line 72, The workpiece transfer apparatus 10 includes a workpiece transfer apparatus 10 that transfers a workpiece W to and from the transfer line 74. In the present embodiment, each sub-transport line 74 is disposed along a machine tool row including three machine tools 76, and the main transport line 72 is disposed substantially perpendicular to the four machine tool rows. In the main transfer line 72, the workpiece W is transferred by the conveyor 72a, and in the sub-transfer line 74, the workpiece W is transferred by a transfer robot 74a such as a gantry loader. In addition, one machining process is performed by three machine tools 76 including a machining center. Each of the machine tools 76 may share a part of one machining process, and the three machine tools 76 may perform the entire machining required for one machining process. The machine 76 may perform the entire machining required for one machining process in parallel.
[0034]
In such a processing system 70, each processing step must be performed on each workpiece W. Therefore, when the table 16 is raised to deliver the workpiece W to the transfer robot 74a of the sub-transfer line 74, There is no need for the subsequent workpiece W to simply pass through the workpiece transfer device 10, pass the preceding workpiece W, and be sent to the subsequent machining step. For this reason, the workpiece transfer device 10 of the type shown in FIG. 1 is used as the workpiece transfer device 10.
[0035]
The operation of the workpiece transfer apparatus 10 in this case will be described with reference to FIGS. 1 and 4. First, the workpiece W sent from the upstream processing step on the conveyor 72 a of the main transfer line 72 is transferred to the main transfer line 72. The workpiece is transferred onto the conveyor 20 of the table 16 of the workpiece transfer apparatus 10 located at the same height as the conveyor 72a. When the workpiece W reaches a predetermined position on the table 16, the conveyor 20 of the workpiece transfer device 10 is stopped, and the workpiece W is fixed on the conveyor 20 by chuck means (not shown).
[0036]
Next, the table 16 is raised above the conveyor 72 a of the main transfer line 72. When the orientation of the workpiece W when supplied to the machine tool 76 is different from the orientation of the workpiece W on the main conveyance line 72, for example, the orientation of the workpiece W on the main conveyance line 72 is changed as shown in FIG. When it is desired to supply the workpiece W to the machine tool 76 in a state of being rotated by 90 °, the rotary table 18 on the table 16 is rotated while the table 16 is raised, so that the orientation of the workpiece W is changed. It can be changed. Further, when the posture of the workpiece W or the inclination with respect to the horizontal plane when supplied to the machine tool 76 is different from the posture or inclination of the workpiece W on the main conveyance line 72, for example, as shown in FIG. When it is desired to supply the workpiece W to the machine tool 76 with the side surface of the workpiece W on the upper surface or the lower surface on the upper surface 72, the table 16 is rotated around the turning axis 28, and the workpiece W is moved to the horizontal axis. It can be tilted around.
[0037]
Next, when the transfer robot 74a grips the workpiece W in the desired orientation and posture, the chuck means (not shown) is released, and the workpiece W is delivered from the table 16 of the workpiece transfer apparatus 10 to the transfer robot 74a. Thereafter, the transfer robot 74 a supplies the workpiece W to a predetermined machine tool 76, and instead delivers the processed workpiece W received from the machine tool 76 onto the table 16 of the workpiece transfer apparatus 10. Then, the table 16 of the workpiece transfer device 10 is lowered until the conveyor 20 provided thereon becomes the same height as the conveyor 72a of the main transfer line 72 again. If it is necessary to change the posture and orientation of the workpiece W during the descent, the rotation of the rotary table 18 around the vertical axis and the rotation of the table 16 around the pivot axis 28 are performed. And if the conveyor 20 on the table 16 and the conveyor 72a of the main conveyance line 72 become the same height, the conveyor 20 of the workpiece transfer apparatus 10 will be operated and the workpiece | work W will be sent out to the downstream process process side of the main conveyance line 72a. It is.
[0038]
While the table 16 is raised to a position higher than the conveyor 72a of the main transfer line 72, a stopper (not shown) provided on the conveyor 72a of the main transfer line 72 is operated, and the subsequent workpiece W is moved. It is made not to enter into the workpiece transfer apparatus 10.
[0039]
In this machining system 70, the workpiece transfer device 10 is provided at a plurality of positions. However, any workpiece transfer device 10 has a feed function for feeding the workpiece W within the table 16, and a vertical movement for moving the workpiece W in the vertical direction. It has a moving function, a rotating function for rotating the workpiece W around the vertical axis, and a tilting function for tilting the workpiece W around the horizontal axis. At least one of the functions can be selectively executed.
[0040]
The processing system 80 shown in FIG. 5 is different from the processing system 70 shown in FIG. 4 in that the same processing steps are assigned to two adjacent sub-transport lines 84 and 84 ′. For this reason, each of the two sub-conveying lines 84, 84 'receives the work W supplied to each sub-conveying line 84, 84' from the upstream processing step, and receives the work W on the sub-conveying lines 84, 84 '. Carrying-in workpiece transfer devices 86 and 86 ′ to be carried in, and unloading workpiece transfer devices 88 and 88 ′ for sending the workpiece W unloaded from the sub-conveyance lines 84 and 84 ′ to the downstream machining process are separately provided. . Then, the workpiece transfer devices 88 and 88 ′ for carrying out the two sub-conveying lines 84 and 84 ′ to which the same machining process is assigned are the same main conveyance line 82 and the two sub-conveying lines to which the next machining process is assigned. 84 and 84 'are connected to the workpiece transfer devices 86 and 86', and the workpiece transfer devices 86 and 86 'for the two sub-transport lines 84 and 84' to which the same processing steps are assigned are the same. In the transfer line, the workpiece transfer devices 88 and 88 'for unloading of the two sub-transfer lines 84 and 84' to which the previous processing steps are assigned are connected.
[0041]
Therefore, the carrying-in workpiece transfer device 86 positioned upstream along the main transfer line 82 and the unloading workpiece transfer device 88 ′ positioned downstream along the main transfer line 82 are sub-transfer lines 84, 84 ′. While the table is raised so that the conveyor on the table is higher than the conveyor 82a of the main transfer line 82 in order to transfer the workpiece W to and from the transfer robots 84a and 84'a, the workpiece W is moved downstream. The workpiece transfer device 30 of the type shown in FIGS. 2 and 3 is used. On the other hand, the carrying-in workpiece transfer device 86 ′ located downstream along the main transfer line 82 and the unloading workpiece transfer device 88 positioned upstream along the main transfer line 82 are not required. Therefore, the workpiece transfer device 10 of the type shown in FIG. 1 is used.
[0042]
Here, the operation of each workpiece transfer device used in the machining system of FIG. 5 will be described. Hereinafter, the same reference numerals as those of the parts of the workpiece transfer device 30 shown in FIGS. 2 and 3 are used for the table, the turning shaft, the turntable, and the conveyor of the transfer workpiece transfer device 86 and the unloading workpiece transfer device 88 ′. Used for the table, swivel axis, turntable, and conveyor of the workpiece transfer device 86 'and the workpiece transfer device 88 for unloading that use the same reference numerals as those of the workpiece transfer device 10 shown in FIG. And
[0043]
First, the loading / unloading device 86 located on the upstream side along the main conveyance line 82 first connects the conveyor 56 on the upper table 32 of the upper and lower tables 32 and 34 with the conveyor 82a of the main conveyance line 82. Keep them at the same height. The workpiece W sent from the upstream machining process by the conveyor 82a of the main conveyance line 82 is transferred to the conveyor 56 on the upper table 32, and when the workpiece W reaches a predetermined position on the table 32, the workpiece for loading is transferred. The conveyor 56 of the transfer device 86 is stopped, and the workpiece W is fixed on the conveyor 56 by chuck means (not shown). Next, the table 32 is raised above the conveyor 82 a of the main transfer line 82 so that the main transfer line 82 does not interfere with the operation of the transfer robot 84 a of the sub transfer line 84. During the ascent, the direction and posture of the workpiece W are changed as necessary by rotating the turntable 52 on the table 32 and tilting the table 32 as in the case of the workpiece transfer apparatus 10 of FIG.
[0044]
Next, when the transfer robot 84a grips the workpiece W in the desired orientation and posture, the engagement by the chuck means (not shown) is released, and the workpiece W is transferred from the table 32 of the loading workpiece transfer device 86 to the transfer robot 84a. Delivered. On the other hand, when the upper table 32 is moved above the conveyor 82a of the main transfer line 82, the lower table 34 has the conveyor 58 provided thereon at the same height as the conveyor 82a of the main transfer line 82. It is moved to become. As a result, even while the upper table 32 is positioned above the conveyor 82a of the main transfer line 82, the subsequent workpiece W sent from the upstream processing step is loaded downstream with the workpiece transfer device 86 '. It is possible to pass through. When the workpiece transfer device 86 'receives the workpiece W sent through the loading workpiece transfer device 86 located on the upstream side, the workpiece transfer device 86' is similar to the workpiece transfer device 10 used in the machining system of FIG. In operation, the workpiece W is delivered to the transfer robot 84'a in the sub-transfer line 84 '.
[0045]
When the machining process performed along the sub-transport line 84 positioned upstream along the main transport line 82 is completed, the processed workpiece W is transferred to the table of the unloading work transfer device 88 positioned upstream by the transport robot 84a. 16 and fixed on the conveyor 20 of the table 16 in the same manner as the workpiece transfer device 10 of the processing system of FIG. The unloading work transfer device 88 is the work transfer device 10 of the type shown in FIG. 1, and at this time, the table 16 of the unloading work transfer device 88 is raised above the conveyor 82a of the main transfer line 82. It has been moved to the position. Next, the table 16 descends until the conveyor 20 reaches the same height as the conveyor 82a of the main transfer line 82, and transfers the workpiece W onto the conveyor 82a of the main transfer line 82.
[0046]
The workpiece W moves along the main transfer line 82 and reaches the unloading workpiece transfer device 88 'located on the downstream side. At this time, the upper table 32 of the unloading work transfer device 88 ′ located on the downstream side is above the conveyor 82 a of the main transfer line 82 in order to receive the work W from the transfer robot 84 ′ a of the sub transfer line 84 ′. Even if it has been moved, the lower table 34 has moved so that its conveyor 58 is at the same height as the conveyor 82a of the main transfer line 82. Therefore, the workpiece W is transferred to the downstream side as a workpiece transfer device 88 '. To reach the downstream processing step. On the other hand, when the processing step for the workpiece W supplied to the sub-conveying line 84 ′ located downstream along the main conveying line 82 is completed, the processed workpiece W is similarly transferred by the conveying robot 84 ′ a to the main conveying line. 82 is transferred to the upper table 32 of the unloading workpiece transfer device 88 ′ located downstream, and the upper table 32 descends to the height of the conveyor 82 a of the main transfer line 82, and the conveyor of the main transfer line 82. The workpiece W is transferred to 82a.
[0047]
As described above, when the workpiece transfer device 30 of the present invention is used, even when the same machining process is assigned to the two sub-transport lines 84 and 84 ′, the work W between the sub-transport lines 84 and 84 ′ and the main transport line 82 is used. Therefore, it is possible to improve throughput without interfering with the transfer of other workpieces W along the main transfer line 82.
[0048]
The processing system 90 shown in FIG. 6 differs from the processing system 80 shown in FIG. 5 in that a cleaning / inspection station 92 is provided downstream of one processing step. At the cleaning / inspection station 92, the processed workpiece W is cleaned by air blow or coolant shower, the dimensions are measured and inspected, and only the workpiece W that has passed the inspection is sent to the downstream processing step by the main conveyance line 82. ing. Since the operations of the workpiece transfer devices 86, 86 ', 88, 88' in this case are the same as those shown in FIG. 5, they will not be described in detail here.
[0049]
The workpiece transfer apparatuses 10 and 30 and the processing systems 70, 80, and 90 according to the present invention have been described above with reference to the embodiments illustrated in FIGS. 1 to 6, but the present invention is limited to the embodiments. It is not something. For example, in the processing systems 70, 80, 90 of FIGS. 4 to 6, a conveyor or the like is used as the sub conveyance lines 74, 84, 84 ′ and the sub conveyance lines 74, 84, 84 ′ are connected to the main conveyance lines 72, 82. And the tables 16 and 32 of the workpiece transfer devices 10, 86, 86 ′, 88, 88 ′ are usually positioned at the same height as the main transfer lines 72, 82. , 84 ′, the workpiece W may be transferred to and from the sub-transport lines 74, 84, 84 ′. 2 and 3 includes the two tables 32 and 34, it is also possible to include three or more tables. In the present embodiment, the case of conveying a single workpiece has been described. However, the workpiece may be conveyed while being fixed to a workpiece pallet, and the workpiece fixed to the workpiece pallet may be processed by a machine tool.
[0050]
【The invention's effect】
As described above, according to the present invention, the workpiece transfer device has a table for placing the workpiece or the work pallet and moving up and down, so that it is almost the same as the height position for placing the workpiece or the workpiece pallet on the machine tool. The workpiece or the work pallet can be raised to the same height position, and it is not necessary to increase the lifting stroke of the workpiece gripping device in the sub-transport line. Therefore, the overall height of the processing system can be kept low, and cost increases such as raising the ceiling of the factory can be avoided.
[0051]
In addition, since the workpiece rotating means and / or the workpiece tilting means are provided on the table of the workpiece transfer device, even if the orientation or posture of the workpiece or the work pallet is different between the main conveyance line and the sub conveyance line, the sub conveyance line This can be handled without complicating the workpiece gripping device.
[0052]
In addition, since at least two tables that move up and down with the workpiece or work pallet fixed to the workpiece transfer device are provided, even if one table is moving to the height position corresponding to the sub conveyance line, the other table is the main conveyance. Positioned at a height position corresponding to the line, the workpiece or workpiece pallet can be transported to the next machine tool row without waiting time, and the production efficiency of the machining system can be improved.
[Brief description of the drawings]
FIG. 1 is a perspective view of a workpiece transfer device used in a processing system of the present invention and having one table.
FIG. 2 is a side view of another type of workpiece transfer device having two tables, and shows a state where the two tables are in a lowered position.
FIG. 3 is a side view of the workpiece transfer apparatus shown in FIG. 2 when two tables are in the raised position.
FIG. 4 is an overall configuration diagram showing a first embodiment of a machining system of the present invention using the workpiece transfer device shown in FIG. 1;
FIG. 5 is an overall configuration diagram showing a second embodiment of the machining system of the present invention using the workpiece transfer device shown in FIGS. 1 to 3;
FIG. 6 is an overall configuration diagram showing a third embodiment of the machining system of the present invention using the workpiece transfer device shown in FIGS. 1 to 3;
[Explanation of symbols]
10 ... Work transfer device
14 ... Conveying line
16 ... Table
30 ... Work transfer device
32 ... Table
34 ... Table
70 ... Machining system
72 ... Main transfer line
74 ... Sub-transport line
80 ... Machining system
82 ... Main transfer line
84 ... Sub-transport line
84 '... Sub-transport line
86 ... Work transfer device for loading
86 '... Loading / unloading device
88 ... Work transfer device for unloading
88 '... Work transfer device for unloading

Claims (6)

A main transport line for transporting workpieces or work pallets to a plurality of machine tool rows, and a sub transport line for transporting workpieces or work pallets along a path having a height different from that of the main transport line along each machine tool in the machine tool rows; In the workpiece transfer device that is arranged in the branching section and transfers workpieces or workpiece pallets between the main transfer line and the sub transfer line,
A standing frame;
A table on which a work or a work pallet is placed and which is guided by the frame and moves up and down between a position corresponding to the main transport line and a position corresponding to the sub transport line;
And the table has a feeding means for conveying the workpiece or the work pallet received from the main conveying line or the sub conveying line in the table and sending it to the main conveying line or the sub conveying line. Transfer device.   2. The workpiece transfer device according to claim 1, wherein the table includes one or both of a workpiece rotation unit that rotates a workpiece or a work pallet about a vertical axis and a workpiece tilt unit that tilts the workpiece or a work pallet about a horizontal axis. During or move when in a position where the table corresponding to the auxiliary transfer line, said comprising a main the transport line is positioned at a position corresponding Rumo one table, the other one table, from the main conveying line The workpiece transfer apparatus according to claim 1, further comprising a feeding unit that feeds the received workpiece or workpiece pallet in the other table and sends the workpiece or the workpiece pallet to the main conveyance line . A main transport line for transporting workpieces or work pallets to a plurality of machine tool rows, and a sub transport line for transporting workpieces or work pallets along a path having a height different from that of the main transport line along each machine tool in the machine tool rows; Is a processing system that arranges a workpiece transfer device at the bifurcation of the workpiece, conveys and processes the workpiece,
The main transfer line is a conveyor line arranged in one row for sequentially transferring a work or a work pallet to a plurality of machine tool rows,
The sub-transport line is composed of a gantry loader that transports a workpiece or a work pallet between each machine tool and the main transport line,
The workpiece transfer device places a standing frame, a workpiece or a work pallet, and moves up and down between a position corresponding to the main transfer line and a position corresponding to the sub transfer line guided by the frame. A processing system having a feeding means for transporting a workpiece or a work pallet received from the conveyor line in the table and feeding the workpiece or work pallet to the conveyor line . A main transport line that transports workpieces or work pallets to a plurality of machine tool rows, and a sub transport line that transports workpieces or work pallets along a path having a height different from that of the main transport line along each machine tool in the machine tool rows. A processing system that places a workpiece transfer device at the branching section and conveys and processes the workpiece,
The main transport line includes a first conveyor line that transports a workpiece or a work pallet to a plurality of machine tool rows that perform a first machining step on the workpiece, and a workpiece that has been subjected to the first machining step as a next machining step. A second conveyor line for conveying to the machine tool row of
The sub-transport line is composed of a gantry loader that transports a workpiece or a work pallet between each machine tool and the first conveyor line or the second conveyor line of the main transport line,
The workpiece transfer device for transferring a workpiece or a work pallet between each gantry loader and the first conveyor line or the second conveyor line, the standing frame and a workpiece or the work pallet are placed , A first table guided by the frame to move up and down between a position corresponding to the first conveyor line or the second conveyor line and a position corresponding to the gantry loader; and the first table is the gantry comprising or moving when in a position corresponding to the loader and the first conveyor line or second Ru is positioned at a position corresponding to the conveyor line the second table,
The first table conveys the workpiece or work pallet received from the first conveyor line or the second conveyor line in the first table and sends it out to the first conveyor line or the second conveyor line. Having a feeding means, wherein the second table conveys the workpiece or work pallet received from the first conveyor line or the second conveyor line in the second table, and the first conveyor line or the second conveyor line. A processing system having feeding means for feeding to two conveyor lines .   The processing system according to claim 4 or 5, wherein an inspection station for inspecting a workpiece processed in each processing step is provided in each processing step.

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