JP5769331B2 - Pallet conveying device and pallet conveying method - Google Patents

Description

  The present invention relates to a pallet conveying apparatus and a pallet conveying method for conveying a plurality of pallets on which a workpiece is placed while being locked to a circulation belt.

  2. Description of the Related Art Conventionally, a belt conveyor is known in which a workpiece is transported by a conveyor in a production line, and a machine tool at a transport destination processing station performs predetermined processing on the workpiece. However, in such a conventional belt conveyor, for example, when a heavy work such as a stator is transported, the inertial force acting on the work when the work is stopped is large, so the transport speed is increased. However, it was difficult to position accurately through the stopper.

  In order to solve such a problem, the present applicant has proposed a pallet transport apparatus that transports a plurality of pallets on which workpieces are placed on a processing station in a rectangular track (for example, see Patent Document 1). In this transport device, the rear side pallet rail and the front side pallet rail extending in parallel with each other, and the two positions facing the both ends of the back side pallet rail and the front side pallet rail are respectively moved to the respective end parts. A left pallet rail and a right pallet rail that can be connected to each other, and a left pallet feed mechanism and a right pallet feed mechanism that move the plurality of pallets forward and backward along the back pallet rail or the front pallet rail. Then, one of the left pallet feed mechanism and the right pallet feed mechanism synchronizes the operation of moving the pallet forward and the other of them moving the pallet backward, and then the plurality of pallets are moved to the left pallet feed mechanism and the right pallet feed mechanism. The sheet is sandwiched between and conveyed. In this way, it is expected that the workpiece conveyance speed and positioning accuracy can be improved by sandwiching and conveying a plurality of pallets between the left pallet feeding mechanism and the right pallet feeding mechanism.

JP 2007-21629 A

  However, in the pallet transporting apparatus, a plurality of pallets are sandwiched and transported between the left pallet feeding mechanism and the right pallet feeding mechanism, and therefore, when the transport distance is relatively long, the number of pallets sandwiched between them is reduced. There was a problem to increase. Further, in the pallet transport device, a plurality of pallets are transported in a rectangular track, and when a plurality of pallets are sandwiched and transported between the left pallet feed mechanism and the right pallet feed mechanism, the left pallet feed mechanism and the right pallet transport mechanism are then There is also a problem that a plurality of pallets cannot be sandwiched and conveyed again unless one of the pallet feeding mechanisms advances the pallet and the other of them moves the pallet backward. For this reason, when the conveyance distance is long, it is necessary to repeat those steps a plurality of times, and there still remains a problem to be solved that it is difficult to quickly convey the pallet over a relatively long distance. .

  An object of the present invention is to provide a pallet transport apparatus and a pallet transport method capable of transporting a pallet quickly and stably over a relatively long distance without increasing the number of pallets.

A pallet transport device according to the present invention includes a pallet rail on which a pallet is movably mounted along a longitudinal direction, first and second pulleys spaced apart in the longitudinal direction of the pallet rail, and first and second pulleys A circulation belt that is provided so as to be able to circulate along the pallet rail by the rotation of the first and second pulleys and is engaged with the pallet mounted on the pallet rail; and a first actuator that rotationally drives the first pulley; And a second actuator configured to be synchronously controlled with the first actuator and rotationally driving the second pulley.
Further, irregularities extending in the width direction are alternately and continuously formed in the longitudinal direction on the circulation belt, and a predetermined length is set so that the circulation belt is sandwiched between the engagement pieces and the engagement pieces on which unevenness that can be engaged with the unevenness is formed. A locking member composed of pressing pieces facing each other with a gap is formed on the pallet, and an inclined portion that facilitates the entry of the circulating belt is formed on the entry side edge of the holding piece into which the circulating belt enters. The

  In the pallet conveying method of the present invention, the pallet is mounted on the pallet rail, and the pallet is placed on the circulation belt along the pallet rail, which is stretched over the first and second pulleys that are spaced apart in the longitudinal direction of the pallet rail. This is a pallet transport method in which the pallet is transported by circulating the circulation belt by locking and rotating the first and second pulleys.

The characteristic feature is that unevenness extending in the width direction is formed alternately and continuously in the longitudinal direction on the circulation belt, and the circulation belt is attached together with an engagement piece and an engagement piece formed with an unevenness that can be engaged with the unevenness. An inclining portion is formed on the pallet with a locking member composed of pressing pieces facing each other with a predetermined interval so as to be sandwiched, so that the circulating belt can easily enter the end edge on which the circulating belt of the pressing piece enters. It is formed and the first pulley and the second pulley with driving and rotating the first actuator is rotated driven by the first actuator and the synchronous control is the second actuator, disposed along the pallet mounted on the pallet rail to pallet rail It is in a place where it is transported while being locked to the circulating belt .

  In the pallet transport apparatus and the pallet transport method of the present invention, the pallet mounted on the pallet rail is transported while being locked to the circulating belt provided along the pallet rail and circulated. It can be quickly conveyed over a relatively long distance. Further, since the pulleys at both ends that circulate the circulation belt are rotated in synchronization by different actuators, it is possible to prevent the circulation belt from being bent or extended, thereby causing unevenness in the circulation speed of the circulation belt. This can be prevented. Since uneven circulation speed can be prevented in this way, the pallet locked to the circulation belt can be stably conveyed.

It is a front view which shows the pallet conveying apparatus of embodiment of this invention. It is the figure which looked at the pallet mounted in the pallet rail from the upper part. It is the sectional view on the AA line of FIG. It is the C section enlarged view of FIG. 1 which shows the attachment state of the 2nd pulley. It is the BB sectional view taken on the line of FIG. It is a front view which shows the pallet conveying apparatus which has a stopper with which a pallet contacts. It is a front view corresponding to FIG. 6 which shows the state which rotated the 1st and 2nd pulley in the reverse direction.

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 shows a pallet conveying apparatus 10 according to the present invention. In each figure, three axes X, Y, and Z orthogonal to each other are set, the X axis extends in a substantially horizontal lateral direction, the Y axis extends in a substantially horizontal front-rear direction, and the Z axis extends in a vertical direction. The configuration will be described. The pallet transport device 10 in this embodiment is exemplified by a device provided in a line for manufacturing a stator in an electric motor such as a motor. This manufacturing line includes three processing stations 11 to 13 at predetermined intervals in the X-axis direction. Indicates a line. Each processing station 11-13 has a box shape, and a machine tool (not shown) is installed inside. And the machine tool in each process station 11-13 performs various processes in order, such as insertion of an insulating member, the crimping of the lead wire of each phase coil, welding, etc. with respect to the workpiece | work which is not shown in figure conveyed by the pallet conveying apparatus 10. A stator (not shown) is automatically manufactured.

  The pallet transport device 10 includes a pallet rail 16 that connects a plurality of processing stations 11 to 13 installed in a scattered manner with a standby position, and a pallet 21 mounted on the pallet rail 16. The plurality of processing stations 11 to 13 are linearly arranged in the X-axis direction, and a standby table 14 serving as a standby position is installed on an extension line of the X-axis. The plurality of processing stations 11 to 13 are respectively provided with mounts 11a to 13a to which the pallet rail 16 is fixed, and the standby table 14 is provided with a top plate 14a to which the pallet rail 16 is fixed.

  As shown in FIG. 3, the pallet rail 16 in this embodiment has a support plate 18 having a square shape in the Z-axis direction in cross section, and a commercially available linear motion fixed to the upper edge of the support plate 18 by screwing. A guide rail 19 is provided. A mounting plate 17 is welded to the lower end of the support plate 18, and the mounting plate 17 is directly screwed to the gantry 11a to 13a in each processing station 11 to 13 and the top plate 14a in the standby table 14 (in FIG. (The table 14 is fixed to the top plate 14a.) The pallet rail 16 is fixed so as to connect the standby position on the standby table 14 and the plurality of processing stations 11 to 13 by being screwed to the mounts 11a to 13a and the top plate 14a (FIG. 1). .

  On the other hand, the pallet 21 includes a linear motion block 21a configured to be movable on the rail 16 across the pallet rail 16, a pedestal 21b screwed to the block 21a, and a pallet rail below the pedestal 21b. 16 and a locking member 26 provided on both sides of the 16. This linear motion block 21a is a commercially available product sold in pairs with the linear motion guide rail 19 in the pallet rail 16, and as shown in FIG. 2, there are two linear motion blocks 21a with respect to the base 21b, and the X axis. They are spaced apart in the direction. By using this linear motion block 21a, the movement of the pallet 21 on the pallet rail 16 is reduced while prohibiting movement in the width direction (Y-axis direction). Thereby, the pallet 21 is movably mounted on the pallet rail 16. Although not shown, a work support for mounting a work (not shown) is further mounted on the base 21b of the pallet 21, and the pallet 21 is configured so that a work (not shown) can be mounted via the work support. The The details of the locking member 26 will be described later.

  Returning to FIG. 1, the pallet transporting apparatus 10 has a pallet rail 16 between a standby position on the standby table 14 on which the pallet 21 is mounted and a plurality of processing stations 11 to 13 spaced from the standby position. Conveying means 22 for conveying along is provided. The pallet conveying means 22 in this embodiment is stretched over first and second pulleys 23 and 24 provided apart from each other in the longitudinal direction of the pallet rail 16 and the first and second pulleys 23 and 24. And a circulation belt 27 provided so as to be circulated along the pallet rail 16 by rotation of the first and second pulleys 23 and 24. In this embodiment, the first and second pulleys 23 and 24 are made of the same product of the same shape and size, and will be described with reference to the second pulley 24 shown in FIGS. 24a and flanges 24b and 24c that sandwich the circulation belt 27 from the width direction are provided on both sides of the main body 24a. The first pulley 23 is provided in the first processing station 11, and the second pulley 24 is provided in the standby table 14. The circulation belt 27 is provided on the first and second pulleys 23 and 24 so as to connect the standby position and the first processing station 11 farthest from the standby position along the pallet rail 16. .

  Further, the circulation belt 27 in this embodiment is a so-called toothed belt. As shown in the enlarged view of FIG. 1, the circulating belt 27, which is a toothed belt, is a belt 27 in which concave and convex portions 27a and 27b extending in the width direction are alternately continued in the longitudinal direction, and is engaged with the concave and convex portions 27a and 27b. Possible uneven portions 26 a and 26 b are formed on the locking member 26 in the pallet 21. As shown in FIG. 3, the locking members 26 are provided on both sides of the pallet 21 sandwiching the pallet rail 16 below the base 21b. The locking members 26 are formed with uneven portions 26a and 26b. Each of the locking pieces 26c and the pressing pieces 26d facing each other at a predetermined interval so as to sandwich the circulation belt 27 together with the locking pieces 26c are provided. Then, when the circulation belt 27 enters from the Y-axis direction between the locking piece 26c and the pressing piece 26d, the irregularities 27a and 27b formed on the circulation belt 27 engage with the irregularities 26a and 26b on the locking piece 26c. The pressing piece 26d is configured to prevent the circulating belt 27 from being lifted from the locking piece 26c and releasing the engagement between the irregularities 27a and 27b and the irregularities 26a and 26b. FIG. 3 shows a state in which the circulation belt 27 is engaged with one of the locking members 26. In addition, an inclined portion for facilitating the entry of the circulation belt 27 is formed at an entry side end edge of the holding piece 26d into which the circulation belt 27 enters. The concave and convex portions 26a and 26b are respectively formed on the locking members 26 provided on both sides of the pallet 21 even when the pallet 21 is mounted with the left and right sides in FIG. This is for engaging with the belt 27.

  Returning to the enlarged view of FIG. 1, the engaging member 26 is configured so that the uneven portions 26 a and 26 b formed continuously in the longitudinal direction can be engaged with the uneven portions 27 a and 27 b in the circulation belt 27. When the irregularities 26a and 26b are engaged with the irregularities 27a and 27b, the longitudinal movement of the pallet 21 independent of the circulation belt 27 is prohibited, whereby the pallet 21 is locked to the circulation belt 27. In this way, the circulation belt 27 that is a toothed belt is configured so that the pallet 21 mounted on the pallet rail 26 can be locked. The pallet 21 is configured so as to move along with the circulation belt 27 and to convey the pallet 21 along the pallet rail 16 along which the circulation belt 27 extends.

  As shown in FIG. 1, the pallet conveying means 22 further includes a first actuator 28 that rotationally drives the first pulley 23 and a second actuator 29 that rotationally drives the second pulley 24. The first and second actuators 28 and 29 in this embodiment are electrically driven servomotors that can rotate the first and second pulleys 23 and 24. A first servo motor 28 having a first pulley 23 attached to the rotating shaft is attached to the first processing station 11, and a second servo motor 29 having a second pulley 24 attached to the rotating shaft is attached to the standby table 14. It is done. Since the mounting structure of the first and second servomotors 28 and 29 is the same, the structure for mounting the second servomotor 29 to the standby table 14 will be described as a representative as shown in FIGS. A mounting wall 30 parallel to the pallet rail 16 is erected on the standby table 14, and a second servo motor 29 is mounted on the mounting wall 30 with its rotating shaft 29 a directed in the Y-axis direction. And the 2nd pulley 24 is attached to the rotating shaft 29a of the 2nd servomotor 29 extended in a Y-axis direction.

  A pair of bearing rollers 31 that sandwich the first and second pulleys 23 and 24 from above and below are respectively attached to the top and bottom of the first and second pulleys 23 and 24 in the Z-axis direction. As a representative example of the second pulley 24, as shown in FIGS. 4 and 5, the bearing roller 31 is pivotally supported by an adjustment plate 31a, and the adjustment plate 31a is attached to the attachment wall 30. Long holes 31b that are long in the Z-axis direction are formed on both sides of the adjustment plate 31a in the longitudinal direction, and a small screw 31c inserted through the long hole 31b is screwed into a female screw hole (not shown) formed in the mounting wall 30. Thus, the adjustment plate 31a is attached to the attachment wall 30 so as to sandwich the second pulley 24 from above and below in the Z-axis direction. The adjustment plate 31a is configured such that the position in the Z-axis direction can be adjusted by shifting the position with respect to the machine screw 31c inserted through the long hole 31b. The position of the adjustment plate 31a is adjusted and pivoted to the adjustment plate 31a. The clearance d between the supported bearing roller 31 and the pulley body 24 a of the second pulley 24 is adjusted so as to be the thickness t of the circulation belt 27. Reference numeral 31d in the drawing denotes a belt receiver 31d provided on the adjustment plate 31a. The belt receiver 31d is provided in parallel to the circulation belt 27 in the vicinity of the second pulley 24, and the circulation belt 27 is bent. Further, it is possible to prevent the circulation belt 27 from being further bent or vibrated by contacting the circulation belt 27.

  Returning to FIG. 1, control outputs from the controller 32 are connected to the first and second servo motors 28 and 29, respectively, and the controller 32 controls the first servo motor 28 and the second servo motor 29 synchronously. Configured as follows. When the first and second servomotors 28 and 29 are driven in synchronization with the command from the controller 32, the first and second pulleys 23 and 24 rotate simultaneously with their rotation shafts, and the first and second A circulation belt 27 wound around the second pulleys 23 and 24 is configured to circulate. When the circulation belt 27 circulates in this way, the pallet 21 locked to the belt 27 is configured to move on the pallet rail 16 and to transport a workpiece (not shown) mounted thereon.

  Here, reference numeral 33 in FIGS. 1 and 3 denotes a belt rail that supports the belt below the circulation belt 27 wound around the first and second pulleys 23 and 24 and suppresses the slackness of the circulation belt 27. 3 is a first attachment member 34 which is provided on the belt rail 33 with a predetermined interval in the longitudinal direction and attaches the belt rail 33 to the pallet rail 16. Further, reference numeral 36 in the enlarged view of FIG. 1 and FIG. 3 is a support member 36 provided on the pallet rail 16 to prevent the circulation belt 27 on the upper side from being bent, and reference numeral 37 is the support member. A second attachment member 37 for attaching 36 to the pallet rail 16.

  Next, the pallet conveyance method in the present invention using the pallet conveyance device will be described.

  In the pallet conveying method according to the present invention, the pallet 21 is mounted on the pallet rail 16, and the pallet rail 16 is stretched over the first and second pulleys 23 and 24 that are spaced apart in the longitudinal direction of the pallet rail 16. In this method, the pallet 21 is engaged with the circulating belt 27 along which the pallet 21 is rotated, and the first and second pulleys 23 and 24 are rotated to circulate the circulating belt 27 and convey the pallet 21. The transport method in this embodiment transports between the standby position 14 and the plurality of processing stations 11 to 13, and the movement of the pallet 21 from the standby position 14 toward the processing stations 11 to 13 is set as a forward direction. The movement of the pallet 21 from the stations 11 to 13 toward the standby position will be described as backward movement. Further, it is assumed that a workpiece (not shown) for processing is already mounted on the pallet 21, and the mounting is performed in a state where the pallet 21 is mounted on the pallet rail 16 at the standby position, or a pallet on which the workpiece is previously mounted. 21 is mounted on the pallet rail 16 at the standby position.

  First, the pallet 21 mounted on the pallet rail 16 at the standby position is advanced along the pallet rail 16 toward the processing stations 11 to 13. The pallet 21 is advanced by rotating the first and second pulleys 23 and 24 and circulating the circulation belt 27. The first and second pulleys 23 and 24 are rotated by driving the first and second servo motors 28 and 29 that rotationally drive them according to a command from the controller 32. The first and second pulleys 23 and 24 rotate, and the circulating belt 27 wound around them circulates, so that the pallet 21 locked to the circulating belt 27 can be advanced along the pallet rail 16. . In this way, the pallet 21 mounted on the pallet rail 16 is transported while being locked to the circulating belt 27 provided along the pallet rail 16 and circulating, so that the pallet 21 is relatively long without increasing the pallet 21. It can be transported quickly over a distance.

  In the pallet conveying method of the present invention, the first pulley 23 is driven to rotate by the first actuator 28, and the second pulley 24 is driven to rotate by the second actuator 29 that is synchronously controlled with the first actuator 28. And That is, when circulating the circulating belt 27 spanned between the pair of pulleys 23 and 24, it is possible to rotate only one of the pulleys, but in this case, reciprocation between the other pulley that does not rotate is possible. The belt on one side of the belt to be pulled is pulled, and the belt on the other side is loosened. Then, the circulation belt 27 bends and extends, and the conveyance speed of the pallet 21 locked to the belt 27 is uneven. In addition, the other pulley that does not rotate is rotated by the belt on one side that is pulled, but when the belt on the other side is bent, the belt on the other side extends in the axial direction of the other pulley that is pulled and rotated. There is also a possibility that the circulating belt 27 may move away from the pulley. In particular, when the circulation belt 27 is relatively long, such as exceeding 3 meters or 4 meters, the extension of the belt on one side that pulls the other pulley that does not rotate and the deflection of the belt on the other side increase. Tend to. For this reason, the malfunction which cannot convey the pallet 21 stably is produced.

  On the other hand, in the present invention, the first and second servo motors 28 and 29 that are the first and second actuators are driven in synchronization with each other by a command from the controller 32. For example, when the first and second pulleys 23 and 24 at both ends around which the circulation belt 27 is stretched are simultaneously rotated at the same speed in the same direction, the belt 27 on the side where one pulley 23 is rotated and pulled is The pulley 24 is pushed toward the one pulley 23, and the belt 27 on the side where the one pulley 23 rotates and is pushed is pulled by the other pulley 24. Thereby, compared with the case where only one pulley rotates, the bending, extension, etc. of the circulation belt 27 can be suppressed. Therefore, it is possible to avoid the occurrence of unevenness in the circulation speed of the circulation belt 27. By avoiding the unevenness of the circulation speed in this way, the pallet 21 locked to the circulation belt 27 is stably advanced, That is, it can be conveyed.

  In particular, in this embodiment, since a so-called toothed belt is used as the circulation belt 27, the rotational movements of the first and second pulleys 23 and 24 can be converted into the circulation movement of the circulation belt 27 relatively accurately. Since the electrically driven servo motors are used as the first and second actuators 28 and 29 for rotationally driving the first and second pulleys 23 and 24, for example, the circulation belt 27 is bent without being tensioned. Even in such a state, the circulation belt 27 can be circulated with high accuracy, and the conveyance accuracy of the pallet 21 locked to the circulation belt 27 can be improved. Further, a pair of bearing rollers 31 sandwiching the first and second pulleys 23 and 24 from above and below in the Z-axis direction are respectively attached, and the bearing roller 31 and the pulley main body portion 24a in the first and second pulleys 23 and 24 are connected. Since the gap d is adjusted so as to be the thickness t of the circulation belt 27, the circulation belt 27 is always pressed against the pulley body 24a by the bearing roller 31, and flanges 24b and 24c provided on both sides of the body 24a are connected. The situation where the circulation belt 27 crosses is prevented. Thereby, the circulation belt 27 does not come off from the first and second pulleys 23 and 24. For this reason, for example, even if the circulation belt 27 is relatively long such as exceeding 3 meters or 4 meters, the pallet 21 locked to the circulation belt 27 can be conveyed more stably.

  When the pallet 21 moves forward, it first faces the third processing station 13. The first and second servo motors 28 and 29 are stopped at the stage facing the third processing station 13, and the circulation of the circulation belt 27 is stopped, whereby the pallet 21 locked to the circulation belt 27 is subjected to the third processing. The station 13 is kept facing. Then, a machine tool (not shown) in the third machining station 13 is operated to perform a predetermined machining on a workpiece (not shown) placed on the pallet 21. After the processing at the third processing station 13 is completed, the first and second servo motors 28 and 29 are synchronously controlled again to rotate the first and second pulleys 23 and 24 simultaneously in the same direction at the same speed, The circulation belt 27 is circulated to advance the pallet 21 again.

  In this manner, the pallet moving forward from the standby position is sequentially opposed to each of the processing stations 11 to 13 to perform processing on the workpiece (not shown). Then, the first and second servo motors 28 and 29 are finally stopped at the stage facing the first processing station 11 farthest from the standby position, and the circulation of the circulation belt 27 is stopped. The pallet 21 locked to the pallet 21 can be maintained facing the first processing station 11 farthest from the standby position, and a workpiece (not shown) placed on the pallet 21 is processed at the first processing station 11. Thus, a series of processing at each of the workstations 11 to 13 is completed.

  On the other hand, after the processing at each of the processing stations 11 to 13 is finished, the pallet 21 facing the first processing station 11 is moved in the reverse direction and returned to the standby position. The pallet 21 is retracted by circulating the circulation belt 27 in the reverse direction. Circulation in the reverse direction of the circulation belt 27 reverses the rotation direction of the first and second servo motors 28 and 29 and rotates the first and second pulleys 23 and 24 in the reverse direction in synchronization. Thereby, the circulation belt 27 also circulates in the reverse direction, and the pallet 21 to which the circulation belt 27 is locked moves backward. When the pallet 21 returns to the standby position, the first and second servo motors 28 and 29 are stopped, and the circulation of the circulation belt 27 is stopped, whereby the pallet 21 locked to the circulation belt 27 is moved to the pallet rail. 16 standby positions are maintained.

  Even in this backward movement, the first servo motor 28, which is the first actuator, and the second servo motor 29, which is the second actuator, are synchronously controlled, and the first and second pulleys 23 and 24 around which the circulation belt 27 is stretched are stretched. Are rotated in the same direction and at the same speed. Therefore, the belt 27 on the side where one pulley 23 is rotated and pushed is pulled by the other pulley 24, and the belt 27 on the side where one pulley 23 is rotated and pulled is pushed out by the other pulley 24. Then, it is possible to prevent the circulation belt 27 from being bent or extended as compared with the case where only one pulley is rotated, thereby avoiding unevenness in the circulation speed of the circulation belt 27. . By avoiding uneven circulation speed in this way, the pallet 21 locked to the circulation belt 27 can be conveyed quickly and stably even when the vehicle is moving backward.

  At the standby position of the pallet rail 16, a workpiece (not shown) mounted on the pallet 21 is exchanged, and the pallet 21 loaded with another new workpiece is moved forward again to the processing stations 11 to 13, and each processing station. Processing in 11-13 will be made. In the pallet conveying apparatus and the pallet conveying method configured as described above, since the pallet 21 moves while being mounted on the pallet rail 16, even a heavy workpiece can be conveyed at high speed. Yes, productivity can be increased.

  Moreover, in the pallet conveying apparatus and the pallet conveying method of the present invention, by using an electrically driven servomotor as the first and second actuators 28 and 29, positioning using the stopper can be made accurate. As shown in FIG. 6, the stopper 41 keeps the pallet 21 in a predetermined position when the moving pallet 21 comes into contact with the stopper 41 and is fixedly provided. When an electrically driven servomotor is used as the first and second actuators 28 and 29, the rotational speed and rotational torque of the first and second pulleys 23 and 24 can be varied, so the circulation speed of the circulation belt 27 is controlled. Thus, the pallet 21 can be brought into contact with the stopper 41 after the speed of the pallet 21 approaching the stopper 41 is reduced. As a result, the inertial force applied to the workpiece when the pallet 21 abuts against the stopper 41 can be reduced, and the first and second pulleys 23 and 24 are driven with a small torque to constantly press the pallet 21 against the stopper 41. By doing so, it is possible to prevent the pallet 21 from being separated from the stopper 41, and it is possible to avoid a decrease in the positioning accuracy of the pallet 21 caused by the pallet 21 being separated from the stopper 41.

  In the above-described embodiment, the first and second servo motors that are the first and second actuators 28 and 29 are driven in synchronization, and the first and second pulleys 23 and 24 are simultaneously set in the same direction. Although the case of rotating at a speed has been described, the first and second pulleys 23 and 24 may be rotated in opposite directions as long as the first and second servomotors 28 and 29 are synchronously controlled. As shown in FIG. 7, when the first and second pulleys 23 and 24 are rotated in opposite directions, one side of the circulation belt 27 stretched around the first and second pulleys 23 and 24 is pulled from both sides. As a result, the belt on one side can be stretched. Therefore, when the pallet 21 is locked, the circulation belt 27 tends to loosen, but by rotating the first and second pulleys 23 and 24 in the reverse direction, the belt on the side where the pallet 21 is locked is stretched. The slack that occurs there can be eliminated. In this state, when the rotational torque of one of the first and second pulleys 23 and 24 is larger than the other, the other pulley 23 also rotates in the rotational direction of the one pulley 24 with the large rotational torque. The circulation belt 27 circulates in a state where a tension corresponding to the torque difference is applied to one side. FIG. 7 shows a case where the rotational torque of the second pulley 24 is larger than the rotational torque of the first pulley 23. Since the belt on one side to which tension is applied does not sag and rarely vibrates, the pallet 21 is locked by locking the pallet 21 to the belt on the tension side (the upper belt in FIG. 7). Can be stably conveyed.

  In the above-described embodiment, the case where a single pallet 21 is mounted on the pallet rail 16 has been described. However, a plurality of pallets 21 may be provided, and the plurality of pallets 21 are connected and transported. You may do it.

  In the embodiment described above, an example in which the first and second pulleys 23 and 24 are provided in the first processing station 11 and the standby table 14 is shown. However, the first and second pulleys 23 and 24 are arranged at the end of the pallet rail 16. You may make it provide in a part.

  Further, in the above-described embodiment, the case where the first and second actuators 28 and 29 are electrically driven servomotors has been described. However, as long as the first and second pulleys 23 and 24 can be rotated, the servos can be used. A fluid pressure cylinder or a fluid pressure motor may be used as the first and second actuators 28 and 29 instead of the motor.

DESCRIPTION OF SYMBOLS 10 Pallet conveying apparatus 16 Pallet rail 21 Pallet 23 1st pulley 24 2nd pulley 27 Circulation belt 28 1st servomotor (1st actuator)
29 Second servo motor (second actuator)

Claims (2)

A pallet rail (16) on which the pallet (21) is movably mounted along the longitudinal direction;
First and second pulleys (23, 24) spaced apart in the longitudinal direction of the pallet rail (16);
The pallet rails (32, 24) are provided so as to be circulated along the pallet rail (16) by the rotation of the first and second pulleys (23, 24). A circulation belt (27) for locking the pallet (21) mounted on 16),
A first actuator (28) for rotationally driving the first pulley (23);
A pallet transport device including a second actuator (29) configured to be synchronously controlled with the first actuator (28) and configured to rotationally drive the second pulley (24),
Unevenness (27a, 27b) extending in the width direction is formed alternately and continuously in the longitudinal direction on the circulation belt (27),
Predetermined so as to sandwich the circulation belt (27) together with the locking piece (26c) and the locking piece (26c) on which the unevenness (26a, 26b) that can be engaged with the unevenness (27a, 27b) is formed. A locking member (26) configured with a pressing piece (26d) facing each other with an interval is formed on the pallet (21) ,
A pallet transport device , wherein an inclined portion for facilitating entry of the circulation belt (27) is formed at an entry side end edge of the holding piece (26d) into which the circulation belt (27) enters . A pallet (21) is mounted on the pallet rail (16), and spanned by first and second pulleys (23, 24) spaced apart in the longitudinal direction of the pallet rail (16), and the pallet rail ( The pallet (21) is locked to a circulation belt (27) along 16), and the first and second pulleys (23, 24) are rotated to circulate the circulation belt (27), thereby the pallet ( 21) a pallet transport method for transporting
On the circulation belt (27), unevenness (27a, 27b) extending in the width direction is alternately and continuously formed in the longitudinal direction,
Predetermined so as to sandwich the circulation belt (27) together with the locking piece (26c) and the locking piece (26c) on which the unevenness (26a, 26b) that can be engaged with the unevenness (27a, 27b) is formed. The pallet (21) is formed with a locking member (26) composed of a pressing piece (26d) facing each other with a gap therebetween ,
Forming an inclined portion for facilitating the entry of the circulation belt (27) at the entry side edge into which the circulation belt (27) of the pressing piece (26d) enters,
The first pulley (23) is rotationally driven by a first actuator (28), and the second pulley (24) is rotationally driven by a second actuator (29) controlled synchronously with the first actuator (28) ,
A pallet conveying method, characterized in that the pallet (21) mounted on the pallet rail (16) is engaged with and conveyed by the circulation belt (27) provided along the pallet rail (16) .

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