JP5992889B2 - Transport system and work system - Google Patents

Description

  The present invention relates to a workpiece transfer technique.

  As production equipment for performing various operations on a workpiece, there is known a production facility for alternately repeating workpiece conveyance and conveyance stop and performing work on the workpiece when conveyance is stopped (for example, Patent Documents 1 to 5). ).

Japanese Patent No. 4054171 Japanese Patent No. 4869177 Japanese Patent No. 3687450 JP 2010-23946 A JP-A-6-100136

  In this type of production equipment, work is performed on a workpiece when the workpiece is stopped. Therefore, it is necessary to more reliably stop the workpiece at a predetermined position when the conveyance is stopped. On the other hand, in order to improve the production efficiency, it is required to efficiently carry the workpiece and stop the positioning. Therefore, it is required that the workpiece can be transferred immediately after the work on the workpiece is completed. In particular, in a production facility that continuously performs a plurality of operations on each workpiece, it is required to efficiently transport a plurality of workpieces and stop positioning in a batch.

  An object of the present invention is to improve the efficiency in collectively conveying and stopping a plurality of workpieces.

According to the present invention, a plurality of pallets each having a placement portion on which a workpiece is placed, a guide member that supports the pallet and guides movement of the pallet in a predetermined transport direction, and the plurality of pallets Each of the pallets is provided with a moving mechanism, an engagement member provided on each of the pallets, and an operation mechanism. The moving mechanism includes a traveling member that moves in the predetermined conveying direction. The engaging member is engaged with the traveling member, and is displaced between an engaging position where the pallet can be moved by movement of the traveling member and a non-engaging position separated from the traveling member. provided freely the pallet, the operation mechanism is at least provided at a plurality of stop positions of the pallet along the guide member, a mechanism for displacing the engaging member to the disengaged position, the pallet Of the time of stop, the engagement member is operated to the disengaged position by the operation mechanism is provided transport system, characterized in that.

  According to the present invention, a plurality of pallets on which a workpiece is placed, a guide member that supports the pallet and guides movement of the pallet in a predetermined transport direction, and a plurality of the pallets A moving mechanism that collectively moves in a conveying direction, an engaged member provided at least at a plurality of stop positions of the pallet along the guide member, and a braking member provided on each of the pallets, The braking member includes a non-braking position where the braking member is separated from the engaged member and the pallet can move, and the braking member is engaged with the engaged member, and the movement of the pallet is stopped. The moving mechanism is provided on the pallet so as to be freely displaceable between a braking position to be engaged with the pallet and an engaging portion that is engaged / released collectively with respect to the plurality of pallets. An operation unit that displaces the braking member at the non-braking position / the braking position in conjunction with engagement / disengagement of the engagement unit, and the engagement unit and the operation unit are moved to the predetermined position. A transport system is provided that moves in the transport direction.

  According to the present invention, it is possible to improve the efficiency of carrying and stopping a plurality of workpieces collectively.

Schematic diagram of the work system. The disassembled perspective view of the work system of FIG. The exploded perspective view of a conveyance system. The perspective view of a pallet. The perspective view of a pallet. The exploded perspective view of a pallet. The perspective view of the conveying apparatus which comprises the conveying system of FIG. The disassembled perspective view of the conveying apparatus of FIG. The disassembled perspective view of the conveying apparatus of FIG. Explanatory drawing of the conveying apparatus of FIG. Explanatory drawing of the conveying apparatus of FIG. Explanatory drawing of the conveying apparatus of FIG. Explanatory drawing of the conveying apparatus of FIG. Explanatory drawing of the conveying apparatus of FIG. The perspective view of another conveying apparatus which comprises the conveying system of FIG. The perspective view of the conveying apparatus of FIG. FIG. 16 is an explanatory diagram of the transfer device in FIG. 15. The disassembled perspective view of the transfer apparatus which comprises the conveyance system of FIG. The disassembled perspective view of the fixing unit which comprises the transfer apparatus of FIG. Explanatory drawing of the to-be-operated part of another example. Explanatory drawing of the conveyance apparatus of another example. Explanatory drawing of the conveyance apparatus of another example. Explanatory drawing of the conveyance apparatus of another example. The front view, side view, and back view of an operation mechanism. Operation | movement explanatory drawing of an operation mechanism. Operation | movement explanatory drawing of an operation mechanism. Operation | movement explanatory drawing of an operation mechanism.

<Work system>
FIG. 1 is a schematic view of a work system A which is an embodiment or an application example of the present invention, and FIG. 2 is an exploded perspective view of the work system A. Hereinafter, the work system A will be outlined with reference to FIGS. 1 and 2. In each figure, X and Y indicate horizontal directions orthogonal to each other, and Z indicates the vertical direction.

  The work system A is a system that performs a predetermined work on the workpiece W on the pallet 1. The predetermined work includes, for example, assembly, processing, inspection, and the like. The work system A includes a conveyance system CS that cyclically conveys the plurality of pallets 1.

  The transport system CS includes transport devices 2 and 3 that transport the pallet 1, and transfer devices 4 </ b> A and 4 </ b> B that transport the pallet 1 between the transport device 2 and the transport device 3. Further description will be given with reference to FIGS. FIG. 3 is an exploded perspective view of the transport system CS, but the transfer device 4B is not shown.

  The transport device 2 transports the plurality of pallets 1 intermittently at equal pitches in the d1 direction, which is one direction of the predetermined transport direction, on the guide member 20 arranged at a predetermined position. The d1 direction is the X direction. A predetermined operation is performed on the workpiece W on the pallet 1 during the conveyance of the conveyance device 2. That is, the transfer apparatus 2 constitutes a work station for the workpiece W.

  The transport device 3 transports the plurality of pallets 1 on the guide member 30 arranged at a predetermined position in the d3 direction, which is one direction of the predetermined transport direction. The d3 direction is the X direction and is opposite to the d1 direction. During the transfer of the transfer device 3, the work W on the pallet 1 that has been worked is carried out of the work system A by a carry-out device (not shown). In addition, a new workpiece W is carried onto the empty pallet 1 by a carry-in device (not shown) during the conveyance of the transfer device 3. That is, the transfer device 3 constitutes a loading / unloading station for the workpiece W.

  The transfer device 4A conveys the pallet 1 in the d2 direction. Specifically, the pallet 1 moved to one end of the guide member 20 disposed at a predetermined position is received from the transport device 2 and transported in a direction different from the d1 direction (here, the Y direction) to the transport device 3. Deliver. The transfer device 4A includes fixed units 40A and 40B, a movable unit 41, and a moving device 42.

  The fixed unit 40 </ b> A includes a guide member 400 arranged at a predetermined position continuous with the guide member 20 arranged at a predetermined position, and receives the pallet 1 moved to one end of the guide member 20 from the transport device 2. Then, it is conveyed to the movable unit 41. The moving device 42 can move the movable unit 41 in the Y direction, and reciprocates the movable unit 41 between the fixed units 40A and 40B.

  The movable unit 41 conveys the pallet 1 to the fixed unit 40B. The fixed unit 40 </ b> B includes a guide member 400 disposed at a predetermined position continuous with the guide member 30 disposed at a predetermined position, and transports the pallet 1 to the transport device 3.

  The transfer device 4B conveys the pallet 1 in the d4 direction. Specifically, the pallet 1 moved to one end of the guide member 20 disposed at a predetermined position is received from the transport device 3 and transported in a direction different from the d3 direction (here, the Y direction) to the transport device 2. Deliver. The d4 direction is the Y direction and opposite to the d2 direction. In the case of this embodiment, the transfer device 4B has the same configuration as the transfer device A.

  In this way, the pallet 1 is arranged at a predetermined position of each of the transport device 2, the transport device 3, the transfer device 4A, and the transfer device 4B, and is placed on each guide member 20, 30, 400 that forms the transport path of the pallet 1. Along the transfer device 2 → the transfer device 4A → the transfer device 3 → the transfer device 4B → the transfer device 2. As shown in FIGS. 2 and 3, the transport system CS can also transport another pallet 1 ′ having a basic configuration in common with the pallet 1. A work W ′ different from the work W is placed on the pallet 1 ′.

  Referring to FIGS. 1 and 2, work system A includes a plurality of work units U1. The plurality of work units U1 are arranged in the X direction at the same pitch as the transport pitch of the pallet 1 by the transport device 2. Each work unit U1 is provided for each predetermined stop position of the pallet 1 by the transport device 2, and performs a predetermined work on the workpiece W on the pallet 1 stopped at the stop position.

  In the case of the present embodiment, the work unit U1 can move forward and backward in the Y direction and can turn (turn) around the Z axis. The work unit U1 has a work tool T, and drives the work tool T to perform assembly work.

  The work system A also includes a plurality of component supply units U2 arranged in the X direction at a position facing the transfer device 2. The component supply unit U2 supplies components to be assembled to the work W to the work unit U1.

  The work system A also includes an input / output unit U3. The input / output unit U3 includes a touch panel type display unit, and can display output information such as the operation status of the work system A and input various instruction input information.

<Palette>
Next, the configuration of the pallet 1 will be described with reference to FIGS. 4 and 5 are perspective views of the pallet 1 with different viewpoints, and FIG. 6 is an exploded perspective view of the pallet 1. The pallet 1 includes a placement member 10, a moving body 11, and an engagement member 12.

  The placement member 10 is a portion on which the workpiece W is placed, and has a plate shape. In the case of this embodiment, the workpiece W is a substantially square and thin box-shaped case component (thin plate tray component), and two workpieces W are placed on one pallet 1. The mounting member 10 has a plurality of pins 19 that support the work W from below, a side of the work W, and a position thereof (a horizontal first direction position and a horizontal second direction orthogonal to the horizontal first direction). A plurality of fixing pins 18A and 18B that define the position) and the side of the workpiece W, and the workpiece W at that position (the first horizontal position and the second horizontal position perpendicular to the first horizontal direction). Are provided with a plurality of pressing mechanisms 16 and 17.

  The pressing mechanism 16 includes an L-shaped movable member 161 having a roller that contacts the workpiece W at the tip, and a d5 direction (FIG. 4) that is an operation direction when the movable member 161 is positioned at the first direction position of the workpiece W. A shaft member 162 that is rotatably supported, and an elastic member (for example, a spring) 163 that urges the movable member 161 in a direction in which the workpiece W is pressed are provided. The pressing mechanism 16 is disposed to face the fixed pin 18B, and presses the workpiece W against the fixed pin 18B to perform positioning.

  The pressing mechanism 17 includes an L-shaped movable member 171 having a roller that contacts the workpiece W at the tip, and a d6 direction (FIG. 4) that is an operation direction when the movable member 171 is positioned at the second direction position of the workpiece W. A shaft member 172 that rotatably supports and an elastic member (for example, a spring) 173 that urges the movable member 171 in a direction of pressing the workpiece W are provided. The pressing mechanism 17 is disposed to face the fixing pin 18A, and presses the workpiece W against the fixing pin 18A to perform positioning.

  For example, the workpiece W is held by a carry-in device (not shown) and is placed on the pin 19 from above the placement member 10. At this time, the movable members 161 and 171 of the pressing mechanisms 16 and 17 rotate in the retracting direction to allow the workpiece W to be seated on the pin 19. Thereafter, when the carry-in device is retracted, the movable members 161 and 171 press the work W against the fixed pins 18A and 18B in accordance with a predetermined operation sequence by the urging of the elastic members 163 and 173, and the positioning is completed. When unloading the workpiece W, the workpiece W may be lifted and moved by an unillustrated unloading device.

  In the case of this embodiment, the mounting member 10 is detachable from the moving body 11. For this reason, for example, by exchanging the mounting member 10 according to the type of the workpiece W, it is possible to deal with different types (shapes and sizes) of workpieces W while using the moving body 11 in common. As described above, in this embodiment, the pallet 1 ′ shown in FIGS. 2 and 3 can be mixed, but the pallet 1 ′ has the pallet 1 and the moving body 11 in common and another mounting member 10. The workpiece W ′ can be placed.

  The moving body 11 includes a main body part 111, a slider 112, and a support part 113. The main body 111 has a plate shape, and includes two sets of detachable parts 1111 and 1112 on the upper surface of which the mounting member 10 can be detachably attached. In the case of this embodiment, the attachment / detachment portions 1111 and 1111 are holes into which the pin members 14 and 14 provided on the mounting member 10 are inserted and attached, respectively. The pin members 14, 14 incorporate an engagement mechanism that can be separated from the mounting member 10 by pressing the head thereof. The attachment / detachment portions 1112 and 1112 are holes into which positioning pin members 15 and 15 protruding from the lower surface of the mounting member 10 are inserted and attached. Therefore, the mounting member 10 can be attached and detached only by moving the mounting member 10 up and down with respect to the main body 111, and the mounting member 10 can be replaced with a simpler operation. In addition, the pin members 15 and 15 may be provided on the main body 111 side to be an attaching / detaching portion, and a hole corresponding to the mounting member 10 side may be formed.

  The main body 111 is provided with an engaged portion 13 that protrudes to the side (the rear side of the pallet 1 (the side opposite to the portion on which the workpiece W is placed)). The engaged portion 13 is a portion that is engaged with the transport device 3 when the transport device 3 transports the pallet 1. In other words, the engaged portion 13 is provided on the surface of the main body 111 that faces the conveying device 3. In the case of the present embodiment, the engaged portion 13 is a roller and is rotatably attached with the Y direction as a rotation axis.

  A slider 112 and a support portion 113 are fixed to the lower surface of the main body portion 111. The slider 112 engages with the guide members 20, 30 and 400 so as to be movable in the longitudinal direction (conveying direction). Accordingly, the pallet 1 is movable along the guide members 20, 30 and 400 by the guide of the guide members 20, 30, and 400 while the position of the pallet 1 is defined in a direction orthogonal to the transport direction.

  The support part 113 supports the engagement member 12. In the present embodiment, the support unit 113 includes two sliding guide members 1131 at a predetermined interval in the transport direction. The sliding guide member 1131 includes a sliding member 1131a that can move forward and backward in the Z direction.

  The support portion 113 also includes a guide shaft 1133 that guides the vertical movement of the engagement member 12 (see also FIG. 17). A biasing member (not shown) (for example, an elastic member such as a coil spring) is attached to the guide shaft 1133 and constantly biases the engaging member 12 downward.

  The engaging member 12 functions as a braking member that engages with an engaged member 23 to be described later and maintains the movement stop or stopped state of the pallet 1 in relation to the transport device 2. On the other hand, in the relationship with the conveying device 3, it functions as a transmission member that engages with a traveling member 326 described later and transmits a moving force to the pallet 1. It also functions as a transmission member in relation to the transfer devices 4A and 4B. Thus, in this embodiment, the engaging member 12 is utilized as a different functional member.

  In the case of this embodiment, the engaging member 12 includes a main body 121, a contact part 122, and an operated part 123.

  The main body 121 has a plate shape extending in the X direction, and is connected to lower ends of the two sliding members 1131a and 1131a. As a result, the engaging member 12 is supported by the moving body 11 so as to be displaceable (movable back and forth) in the Z direction by the guide of the sliding member 1131a, and the biasing force of the biasing member mounted on the guide shaft 1133 described above. Is supported by the main body 121 in a state of being constantly urged in the d7 direction (downward). The engaging member 12 engages with the engaged member 23 or the like when in the relatively lower position. This lower position is called an engagement position or a braking position. When the engaging member 12 is at a relatively upper position, the engaging member 12 is separated from the engaged member 23 or the like and is not engaged. This upper position is called a non-engagement position or a non-braking position.

  Thus, in this embodiment, since the engagement member 12 is made displaceable and can be displaced between the engagement position and the non-engagement position, the movement and stop (positioning) of the pallet 1 can be performed. It can be switched at the position. Therefore, it is not necessarily restricted by the drive and stop of the movement mechanism of the pallet 1, and the freedom of movement and stop of the pallet 1 can be improved.

  The contact part 122 has a predetermined length and width in the horizontal direction, and is attached to the lower surface of the main body part 121. The lower surface of the contact portion 122 becomes a contact surface that comes into contact with an engaged member 23 or the like of the transfer device 2 described later, and frictionally engages with an engaged surface such as the engaged member 23. The contact portion 122 is preferably a member having a high friction coefficient. The frictional force, that is, the engagement force can be improved by bringing the contact portion 122 and the engaged member 23 into contact with each other on the surface. In particular, in this embodiment, since the contact surface of the contact part 122 is long in the longitudinal direction of the engaged member 23 and the like, the engagement force in the longitudinal direction can be improved.

  The operated part 123 is a part operated from the outside in order to displace the engaging member 12 to a non-engagement position (non-braking position). A guide shaft 1133 is inserted through the operated portion 123. The above-described urging member (not shown) is built in the operated portion 123, and always urges the engaging member 12 toward the engaging position.

  In the case of the present embodiment, when the transport device 2 moves the pallet 1, it pushes up the operated portion 123 to displace the engaging member 12 to the non-engaging position (non-braking position).

  By enabling the engagement member 12 to be displaced by such an external input, the degree of freedom in controlling the movement and positioning stop of the pallet 1 can be further improved. In the present embodiment, the configuration is such that the operated portion 123 is urged in the direction of the engagement position by the urging member built in the operated portion 123 and attached to the guide shaft 1133 and is displaced to the non-engagement position by an external operation. However, the reverse relationship can be adopted.

  In the case of the present embodiment, the operated portion 123 has an inverted L shape, one end of which is fixed to the main body 121, and the other end thereof from the pallet 1 (side surface of the support portion 113) in the Y direction. It protrudes. When the conveying device 2 moves the pallet 1, the conveying device 2 engages with the protruding other portion and pushes up the other end. The support portion 113 is formed with a recess 1132 for securing the movement range of the operated portion 123. In the present embodiment, the mounting member 10 is detachably attached to the main body portion 11, while the operated portion 123 is provided on the engaging member 12 supported by the main body portion 11, so that the operation on the operated portion 123 can be performed. It is configured so that it can be operated as a common operation unit without being affected by the change of the mounting member 10. That is, even if it is a case where it replaces | exchanges for another kind of mounting member 10, the change of the to-be-operated part 123 is not required.

<Conveyor>
Next, the transport device 2 will be described with reference to FIGS. FIG. 7 is a perspective view of the transport apparatus 2, and FIGS. 8 and 9 are exploded perspective views of the transport apparatus 2 with different viewpoints. FIG. 10 is a YZ plan view of FIG. 7 viewed from the X direction. FIG. 11 to FIG. 14 are explanatory views of the main parts related to the mechanism. First, the transport device 2 will be described with reference to FIGS. 7 to 10.

  The transport device 2 includes a guide member 20, a moving mechanism 22, an engaged member 23, and a support member 21 that supports these members. The support member 21 is a plate-like body on the XZ plane extending in the X direction, and a stepped portion 21a formed continuously in the X direction is formed at the upper end portion (see FIG. 10). . The guide member 20 is brought into contact with the stepped portion 21 a so that the guide member 20 can be disposed at a predetermined position on the upper end portion of the support member 21. Further, the upper end portion is formed to be shorter than the respective end portions of the entire length of the plate-like body in the X direction, and can be supported so that the respective X direction end portions of the guide member 20 protrude from the respective X direction upper end portions. Yes. The guide member 20, the moving mechanism 22 and the engaged member 23 are supported by the common support member 21, thereby facilitating the alignment between the components and the work when assembling the work system 2.

  In the present embodiment, the guide member 20 is a rail-like member extending in the X direction, and is a member having the same length as the length of the support member 21 in the X direction. A plurality of pallets 1 are supported on the guide member 20 via sliders 112 and guide the movement of the plurality of pallets 1 in the X direction.

  The moving mechanism 22 includes a plurality of engaging units 221. By engaging one pallet 1 with each engagement unit 221 (specifically, engaging with the engaged portion 13 of the pallet 1), and simultaneously moving all the engagement units 221 in the transport direction. The plurality of pallets 1 can be moved and stopped in a batch. In the case of this embodiment, since it is necessary to hold and transfer the pallet 1 waiting on the upstream side, one additional engagement unit 221 is provided (with five engagement units 221), so Five pallets 1 can be moved together. 8 and 9, four engagement units 221 out of the five engagement units 221 are illustrated, and the remaining one is omitted. This is a configuration employed when a plurality of moving mechanisms 22 are continuously arranged to form a transport path, and the pallet 1 on the upstream side of each moving mechanism 22 has different movements arranged on the upstream side. This is because the engagement unit 221 of the mechanism 22 is transferred to a predetermined position of a different moving mechanism 22 configured on the downstream side.

  Each engagement unit 221 is arranged at equal pitches (equal intervals) P1 in the X direction. For this reason, the plurality of pallets 1 can be collectively moved and positioned and stopped at the equal pitch P1.

  In the case of this embodiment, engagement and disengagement of the engagement unit 221 with respect to the engaged portion 13 are also performed collectively. For this reason, the moving mechanism 22 reciprocates all the engagement units 221 in a lump in the X direction that is the conveying direction of the pallet 1 and a direction orthogonal to the X direction (here, the Z direction). FIG. 7 illustrates the movement cycle CY of the engagement unit 221.

  Step ST1 is a step of moving the engagement unit 221 to the upper engagement position in the Z direction. In this step, the state of the engagement unit 221 with respect to the engaged portion 13 shifts from the disengaged state to the engaged state. The subsequent step ST2 is a step of moving the engagement unit 221 by the pitch P in the conveyance direction (X direction) of the pallet 1. In this step, the plurality of pallets 1 are moved together in the transport direction.

  The subsequent step ST3 is a step of moving the engagement unit 221 to the lower engagement release position in the Z direction. In this step, the state of the engagement unit 221 with respect to the engaged portion 13 shifts from the engaged state to the disengaged state. Subsequent step ST4 is a step of moving the engagement unit 221 by the pitch P in the direction opposite to the conveying direction of the pallet 1. In this step, the movement cycle CY is completed and the engagement unit 221 returns to the original position. FIG. 7 shows the positional relationship at the completion of step ST2.

  Thus, the plurality of pallets 1 can be intermittently and collectively transported by collectively moving the engagement units 221 collectively. Since each engagement unit 221 is disposed at the equal pitch P1 in the X direction and reciprocates by the pitch P1, each pallet 1 not only moves at the equal pitch P1, but also at a predetermined interval spaced by the pitch P1. It will stop and be positioned at the stop position. The work unit U1 performs work on the work W on the pallet 1 that has been positioned and stopped at the stop position.

  Work by the work unit U1 can be started upon completion of the process ST3. Therefore, by performing step ST4 during the work, preparation for the next conveyance can be completed at an early stage. That is, the engagement unit 221 can be returned using the work time of the work unit U1. At that time, it is necessary to stop the pallet 1 at the stop position. This is realized by engaging the engaging member 12 of the pallet 1 with the engaged member 23 as described later. . In this way, when the plurality of workpieces W are collectively conveyed and positioned and stopped by the reciprocating movement of the engagement unit 221, the efficiency can be improved. The details of the moving mechanism 22 will be described below with reference to FIGS.

  In the present embodiment, the moving mechanism 22 includes a first drive mechanism 222 and a second second drive mechanism 223. The first first driving mechanism 222 reciprocates the engagement unit 221 in the direction of approaching / separating the pallet 1. That is, the first drive mechanism 222 reciprocates the engagement unit 221 in the Z direction, and engages / disengages the engagement unit 221 with the engaged portion 13 of the pallet 1 (steps ST1 and ST3). The second drive mechanism 223 moves the engagement unit 221 in the X direction to carry the pallet 1 and return to the original position (steps ST2 and ST4). By combining two drive mechanisms having different reciprocating directions in this way, the engagement unit 221 can be moved cyclically relatively easily.

  The moving mechanism 22 also includes a support body 224 and a guide member 226. The support body 224 includes a support plate portion 2241 and a slider portion 2242. The support plate portion 2241 has a plate-like body on the XZ plane extending in the X direction, and the engagement unit 221 and the first drive mechanism 222 are attached to one side surface of the support plate portion 2241. The slider portion 2242 is attached to the other side surface.

  The slider part 2242 includes a plurality of sliders 2242a arranged in the X direction. Each slider 2242 a engages with the guide member 226 and slides on the guide member 226. The guide member 226 is a rail-like member extending in the X direction. That is, the guide member 226 is disposed in parallel with the guide member 21 and is attached to one side surface of the support member 21. Therefore, the support body 224 (support plate portion 2241) is supported to be movable in the X direction, and as a result, the engagement unit 221 and the first drive mechanism 222 are also movable in the X direction.

  The engaged member 23 has an L-shaped cross section and extends in the X direction, and is attached to one side surface of the support member 21. The upper surface of the lower side of the engaged member 23 is an engaged surface, and is disposed at a position facing the contact portion 122 of the engaging member 12 of the pallet 1 and engages with the engaging member 12 of the pallet 1. . FIG. 10 shows the case where the engagement member 12 is in the non-engagement position (non-braking position). In this case, as shown in FIG. The lower surfaces of the twelve contact portions 122 are opposed to each other and are separated from each other. When the engaging member 12 is lowered and displaced to the engaging position (braking position), both are engaged.

  The second drive mechanism 223 is attached to one side surface of the support member 21 and reciprocates the support body 224 along the guide member 226. In the present embodiment, the second drive mechanism 223 employs a ball screw mechanism, but may be another type of drive mechanism.

  The second drive mechanism 223 includes a drive unit 2231, a ball screw 2232, and a moving unit 2233.

  The drive unit 2231 includes, for example, a drive source such as a motor and a speed reducer, and rotates the ball screw 2232. The axial direction of the ball screw 2232 is set to the X direction, and is supported by the support member 21 so as to be rotatable. The moving unit 2233 includes a ball nut that engages with the ball screw 2232, and moves in the X direction by the rotation of the ball screw 2232. The moving unit 2233 is connected to the support plate portion 2242, and the support 224 moves together with the moving unit 2233. As a result, the engagement unit 221 and the first drive mechanism 222 also move.

  The moving unit 2233 is provided with a detected piece Ca, and the second drive mechanism 223 includes sensors Sa and Sa for detecting the detected piece Ca. The sensors Sa and Sa are, for example, optical sensors or push switches. The sensors Sa and Sa are arranged apart from each other in the X direction by a pitch P1 (FIG. 7). By controlling the drive of the drive unit 2231 according to the detection result of the sensor Sa, the engagement unit 221 can be reciprocated in the X direction by the pitch P1.

  Here, the movement range of two engagement units 221 located at both ends in the X direction among the five engagement units 221 will be described. In the present embodiment, as shown in FIG. 2, the pallet 1 is transported from the transfer device 4B to the transport device 2, and the pallet 1 is transported from the transport device 2 to the transfer device 4A.

  Therefore, the second drive mechanism 223 includes the transfer device 4B of the guide member 20 for the engagement unit 221 positioned on the transfer device 4B side among the two engagement units 221 positioned at both ends in the X direction. It moves to the guide member 400 of the transfer device 4B beyond one end which is the end on the side. Further, the engaging unit 221 positioned on the transfer device 4A side is moved to the guide member 400 of the transfer device 4A beyond the other end that is the end of the guide member 20 on the transfer device 4A side. By doing so, the pallet 1 can be transported to a device different from the transport device 2 (that is, the transfer devices 4A and 4B), and the pallet 1 can be carried in and out of different devices. Become.

  Such a movement range of the engagement unit 221 can be set by the length of the support plate portion 2241, the slide portion 2242 and the guide members 20 and 226 in the X direction and the stop position of the pallet 1. At this time, at least the slide portion 2242 is set to have the shortest length in the X direction among the support plate portion 2241 and the guide members 20 and 226. This is because the support 224 cannot be moved to a range where the slider 2242a of the slide portion 2242 falls off the guide member 226. After that, the length of the support plate portion 2241 in the X direction, the attachment position of the slider portion 2242 with respect to the support plate portion 2241, the attachment position of the engagement unit 221 with respect to the support plate portion 2241, and the setting of the stop position (actually, The required movement range can be ensured by the position of the pitch P). The length of the support plate portion 2241 in the X direction is preferably longer than the slide portion 2242 by at least the pitch P.

  Next, the configuration of the engagement unit 221 and the first drive mechanism 222 will be described with reference to FIGS. 11 to 14. As described above, FIG. 11 to FIG. 14 are explanatory views of the main parts related to the mechanism, but FIG. 12 to FIG. 14 are perspective views that omit the configuration unnecessary for the description and transmit the support plate portion 2241 and the like. Yes.

  The engagement unit 221 includes a plate-like base member 2213. A groove is formed on the side surface of the base member 2213 on the support plate portion 2241 side, and a guide member 2214 is engaged with the groove. The guide member 2214 is a rail-like member that is fixed to the support plate portion 2241 and extends in the Z direction. The base member 2213 is supported by the guide member 2214 so as to be slidable in the Z direction.

  The engagement unit 221 includes an engagement portion 2211 that is engaged / released with the engaged portion 13 of the pallet 1. In the case of this embodiment, the engaging portion 2211 includes a claw-shaped holding portion 2211a that is formed on a part of the base member 2213 and extends upward, and a movable holding portion 2211b. The holding portion 2211b is a member that is curved in an S shape (bent in a crank shape), and includes a claw-like portion facing the holding portion 2211a at one end thereof, and is held by this portion and the holding portion 2211a. Engage (hold) so as to surround the portion 13.

  The holding portion 2211b is supported by the base member 2213 so as to be rotatable in the d14 direction (FIG. 12), which is the moving direction, with the shaft portion 2211b 'as the rotation center. The rotation operation of the holding portion 2211b in the d14 direction is an operation in a direction in which the claw-shaped portion approaches and separates (opens / closes) from the holding portion 2211a. An elastic member 2216 such as a coil spring is provided between the other end of the holding portion 2211b and the base member 2213. The elastic member 2216 applies a biasing force that constantly biases the holding portion 2211b in the closing direction.

  The holding portion 2211b can be rotated, and the elastic member 2216 is biased in the closing direction, so that the held portion 13 of the pallet 1 is sandwiched between the holding portion 2211a and the holding portion 2211b, and the holding force (Engagement force) can be improved. On the other hand, when an unexpected external force that stops the pallet 1 is applied during the conveyance of the pallet 1, a drag force that is greater than the elastic force (biasing force) of the elastic member 2216 is generated due to interference with the held portion 13 and held. The holding state is released by rotating the portion 2211b in the opening direction, and the failure of the second drive mechanism 223 due to overload can be avoided.

  A detected piece Cb is attached to the holding portion 2211b. A sensor Sb such as an optical sensor or a push switch is attached to the base member 2213 to detect the position of the detected piece Cb. Based on the detection result of the sensor Sb, the opening / closing state of the holding portion 2211b is determined, and when it is engaged (held) with the pallet and is in the open state during movement, the second drive mechanism 223 is controlled to be urgently stopped. It can be performed.

  An operation portion 2212 protruding from the side surface is attached to the side surface of the base member 2213 on the support plate portion 2241 side.

  The operation part 2212 passes through the long hole-shaped opening provided in the support plate part 2241 and extends to the pallet 1 side. The operation portion 2212 has a roller-shaped tip portion, and this tip portion is located below the protruding portion of the operated portion 123. As the engagement unit 221 moves in the Z direction, the operation unit 2212 also moves in the Z direction. When the operation unit 2212 moves upward in the Z direction, the tip portion of the operation unit 2212 abuts on the operated unit 123 of the engaging member 12 to push up the operated unit 123. As a result, the engaging member 12 of the pallet 1 is displaced to the non-engaging position (non-braking position). Conversely, when the operation unit 2212 moves downward in the Z direction, the tip portion thereof is separated from the operated unit 123 of the engagement member 12. For this reason, the engaging member 12 is displaced to the engaging position (braking position) by the urging of the urging member (not shown) attached to the guide shaft 1133 of the pallet 1.

  Here, as described with reference to FIG. 7, the engagement unit 221 is engaged with the engaged portion 13 of the pallet 1 at the relatively upper engagement position, and at the relatively lower engagement release position. The engagement with the engaged portion 13 of the pallet 1 is released. That is, when the engagement unit 221 moves to the engagement position, the operation portion 2212 also moves upward in the Z direction, so that the engagement member 12 of the pallet 1 is displaced to the non-engagement position (non-braking position). The pallet 1 can be moved. Conversely, when the engagement unit 221 moves to the disengagement position, the operation portion 2212 also moves downward in the Z direction, so that the engagement member 12 of the pallet 1 is displaced to the engagement position (braking position). Thus, the pallet 1 is stopped.

  As described above, in the present embodiment, in conjunction with the engagement / disengagement of the engagement portion 2211 with respect to the pallet 1, the operation member 2212 is operated so that the engagement member 12 is displaced at the non-braking position / braking position. As a result, the movement and positioning stop of the pallet 1 can be performed smoothly, and the efficiency can be improved when carrying and stopping the positioning of a plurality of workpieces collectively. In particular, since the engagement / disengagement of the engaging portion 2211 and the non-braking position / braking position of the engaging member 12 are mechanically linked, the correspondence between them can be realized more reliably.

  Moreover, since the engaging member 12 is displaced using the driving force of the first driving mechanism 222 of the transport device 2 via the operation unit 2212, a motor for displacing the engaging member 12 on the pallet 1 side. A driving source such as is not required. This contributes to the weight reduction of the pallet 1 and simplification of a structure.

  Next, the first drive mechanism 222 will be described. The first drive mechanism 222 includes a drive force generator 2221, a drive force transmission member 2222, and a conversion mechanism 2223. In the present embodiment, the driving force generator 2221 includes an electric cylinder 2221a as a driving source. The electric cylinder 2221a is supported by the support plate portion 2241 via the support member 2221d so that the rod portion thereof advances and retreats in the X direction. One end of a link member 2221b is rotatably connected to the rod portion.

  The link member 2221b is rotatably supported by the support member 2221d via a shaft member 2221c at the center portion thereof. The other end of the link member 2221b is rotatably connected to the driving force transmission member 2222.

  In this embodiment, the driving force transmission member 2222 is a shaft member extending in the X direction, and supplies the driving force generated by the driving force generator 2221 to all the engagement units 221. The driving force transmission member 2222 is supported by the support plate portion 2241 so as to be displaceable in the X direction via a plurality of cylindrical guide members 2222a. When the rod portion of the electric cylinder 2221a advances and retreats in the d11 direction (FIG. 11) which is the X direction, the link member 2221b rotates and the driving force transmission member 2222 moves in the d12 direction which is the X direction moving direction. It will be. In the present embodiment, the driving force transmission mode by the driving force transmission member 2222 is the translational motion of the driving force transmission member 2222, but it may be a rotational motion around the axis of the driving force transmission member 2222.

  The conversion mechanism 2223 is provided for each engagement unit 221 and converts the driving force transmitted from the power transmission member 2222 into a force (direction) that moves the engagement unit 221 in the direction of approaching / separating the pallet 1. To do. That is, the engagement unit 221 is displaced between the engagement position and the engagement release position.

  In the case of the present embodiment, the conversion mechanism 2223 includes a lever member 22231 and an elastic member 2224. The elastic member 2224 is, for example, a coil spring, and is provided between the base member 2213 of the engagement unit 221 and the support plate portion 2241. The elastic member 2224 constantly biases the base member 2213 in the d13 direction (FIG. 12), which is the upward operation direction in the Z direction. That is, the elastic member 2224 always urges the engagement unit 221 to the engagement position.

  The lever member 22231 is supported by the support plate portion 2241 via the shaft member 22232 so as to be rotatable. One end portion 22231b of the lever member 22231 is rotatably connected to the driving force transmission member 2222. The other end 22231a of the lever member 22231 has a hook shape. The base member 2213 is provided with an engagement portion 2215 that engages with the end portion 22231a.

  13 and 14, when the driving force transmission member 2222 moves in the d15 (= d12) direction that is the X direction, the lever member 22231 rotates in the d16 direction, and the end 2231a and the engaging portion 2215 are moved. Engage and push down in the d17 direction (downward). As a result, the engagement unit 221 descends to the disengagement position against the urging force of the elastic member 2224. When the driving force transmission member 2222 is moved in the direction opposite to the d15 direction (= d12), the lever member 22231 rotates in the direction opposite to the d16 direction, and the end portion 2231a is separated from the engaging portion 2215. As a result, the urging force of the elastic member 2224 raises the engagement unit 221 to the engagement position.

  Thus, in this embodiment, by operating the conversion mechanism 2223 of each engagement unit 221 by the movement of the common driving force transmission member 2222, all the engagement units 221 can be operated with a single drive source (electric cylinder 2221a). It is possible to move in the Z direction all at once. Note that the operation in the present embodiment has been described as a cyclic movement operation in which the engagement unit 221 moves one by one in the predetermined direction in the X direction as the transport direction and the Z direction in the vertical direction. A reciprocating motion that repeats the moving motion to a plurality of times may be performed. For example, the operation in the X direction may be reciprocated between the pitches P while holding the pallet 1.

<Conveyor>
Next, the transport device 3 will be described with reference to FIGS. 15 to 17. 15 and 16 are perspective views of the transport device 3 with different viewpoints. FIG. 17 is an explanatory view of the conveying device 3 and shows an engagement mode between the engaging member 12 and the traveling member 326.

  The transport device 3 is a continuous movement mechanism that includes a guide member 30, a support member 31, a third drive mechanism 32, and a plurality of sensors 33. The transport device 3 can continuously transport the plurality of pallets 1 in the X direction on the guide member 30.

  In the present embodiment, the guide member 30 is a rail-like member extending in the X direction, and is a member having the same length as the length of the support member 21 in the X direction. The guide member 30 supports the pallet 1 via the slider 112 and defines movement in the Y direction to guide the movement of the pallet 1 in the X direction.

  The support member 31 is a plate-like body on the XZ plane extending in the X direction, and a stepped portion 31a formed continuously in the X direction is formed at the upper end portion. The guide member 30 is brought into contact with the stepped portion 31 a so that the guide member 30 can be disposed at a predetermined position on the upper end portion of the support member 31. Further, the upper end portion is formed shorter than the respective end portions of the plate body in the X direction so that the X direction end portions of the guide member 30 protrude from the X direction upper end portions of the support member 31. Support is possible. The guide member 30 and the third drive mechanism 32 are supported by the support member 31.

  The third drive mechanism 32 engages with the engagement member 12 of the pallet 1 and continuously moves the pallet 1 along the guide member 30. In the present embodiment, the engaging member 12 is used not for stopping the pallet 1 but for moving in the transport device 3.

  In the present embodiment, the third drive mechanism 32 includes a drive unit 321, a drive roller 322, a plurality of driven rollers 323, a tension roller 324, a plurality of support rollers 325, and a travel member 326.

  The drive unit 321 includes, for example, a motor and a speed reducer, and rotationally drives the drive roller 322.

  The traveling member 326 is an endless belt wound around the driving roller 322, the plurality of driven rollers 323, and the tension roller 324. That is, in the present embodiment, the third drive mechanism 32 is a belt transmission mechanism. The tension roller 324 is attached to the support member 31 so that its position can be adjusted in the X direction, and the tension of the traveling member 326 can be adjusted.

  The traveling member 326 is supported by a plurality of support rollers 325 in addition to these rollers 322, 323, and 324. The support rollers 325 are arranged in the X direction together with a part of the driven rollers 323 and the tension roller 324, and these are arranged at an equal pitch P2.

  In the case of the present embodiment, the traveling member 326 engages with the engaging member 12 of the pallet 1 in sliding contact with the upper traveling portion. The engaging member 12 is frictionally engaged with the traveling member 326 by being urged downward (in the direction d22 in FIG. 17) by an unillustrated urging member attached to the guide shaft 1133. However, the frictional engagement force between the engagement member 12 and the traveling member 326 may be insufficient. Therefore, in the present embodiment, the supporting roller 325 is provided to support the traveling member 326 from below, and the urging member 12 (not shown) mounted on the guide shaft 1133 urges the engaging member 12 downward. It is made to oppose with the support roller 325. FIG. As a result, the vertical position of the traveling member 326 can be defined at a predetermined position so as to maintain the biasing force of the engaging member 12.

  The engaging member 12 has a predetermined length L in the movement direction (X direction) of the pallet 1, and the pitch P <b> 2 is set to be shorter than the length L. As a result, one of the rollers 323 to 325 always exists below the engaging member 12, and the traveling member 326 is sandwiched between the engaging member 12 and the roller (the traveling member 326 is positioned in the predetermined Z direction by the roller). The frictional engagement force can be improved by the travel member 326 being pressed against the roller by the pressing force of the engagement member 12. Preferably, length L> 2 × P2. In this case, since the two rollers 322 to 325 always exist below the engagement member 12, the frictional engagement force can be stabilized.

  When the traveling member 326 is driven by driving the drive unit 321, the moving force is transmitted to the pallet 1 through the engaging member 12, and the pallet 1 can be moved. Since the traveling member 326 is an endless member, the pallet 1 can be moved continuously.

  As described above, the transfer device 3 constitutes a work loading / unloading station. The loading / unloading of the workpiece W with respect to the pallet 1 may be performed while the pallet 1 is moved, or may be stopped. When stopping the pallet 1, it is not always necessary to stop the conveying device 3 itself. That is, if the carry-out device or the carry-in device operates the operated portion 123 of the pallet 1 to displace the engagement member 12 to the non-engagement position, the moving force is not transmitted from the traveling member 326 to the pallet 1 and the stop is stopped. Is possible.

  The sensor 33 is a sensor for detecting the loading and unloading of the pallet 1 to and from the conveying device 3, and is disposed at one end and the other end of the guide member 30. The sensor 33 is, for example, an optical sensor or a push switch.

<Transfer device>
Next, the transfer apparatuses 4A and 4B will be described with reference to FIGS. As described above, the transfer device 4A and the transfer device 4B have the same configuration. Therefore, only the transfer device 4A will be described. 18 is an exploded perspective view of the transfer device 4A, and FIG. 19 is an exploded perspective view of the fixed unit 40A of the transfer device 4A.

  The transfer device 4A includes fixed units 40A and 40B, a movable unit 41, a moving device 42, and a plurality of sensors 43. The plurality of sensors 43 are arranged to detect the movement of the pallet 1 from the fixed unit 40A to the movable unit 41 and the movement of the pallet 1 from the movable unit 41 to the fixed unit 40B, respectively. The sensor 43 is, for example, an optical sensor or a push switch.

<Fixed unit>
The fixed unit 40 </ b> A is disposed continuously with the transport device 2, and the fixed unit 40 </ b> B is disposed continuously with the transport device 3. The fixed units 40A and 40B have the same configuration, and only the fixed unit 40A will be described.

  The fixed unit 40A includes a guide member 400, a drive mechanism 410, a fixed member 420, and a sensor 430. The fixing member 420 is a member for fixing the fixing unit 40A on the floor. The sensor 430 is a sensor for detecting the carry-in and carry-out of the pallet 1 to and from the fixed unit 40A, and is, for example, an optical sensor or a push switch.

  In the present embodiment, the guide member 400 is a rail-like member extending in the X direction, and is a member having the same length as the length of the support member 411 in the X direction. The guide member 400 supports the pallet 1 via the slider 112 and defines movement in the Y direction to guide movement of the pallet 1 in the X direction.

  The guide member 400 is placed and supported on the upper end portion of the support member 411, and is supported so that each X-direction end portion of the guide member 400 protrudes from each X-direction upper end portion of the support member 411. The guide member 400 is arranged continuously with the guide member 20 of the transport device 2, and each end portion thereof is connected and positioned by the connecting member 401.

  The connecting member 401 is configured by combining a component 401a and a component 401b, and a recess is formed at the upper end. In the present embodiment, one of the recesses is formed as one stepped portion at the upper end portion of the component 401a, and the other of the recesses is formed as the other stepped portion at the upper end portion of the component 401b. Then, one side portion of each of the guide members 20 and 400 is brought into contact with one step portion formed in the component 401a in a state including each end portion, and the guide member 20 and the component 401a are brought into contact with the guide member 400 and the component 401a. Are connected to each other. After that, while the other stepped portion formed on the part 401b is brought into contact with the other part of each of the guide members 20 and 400, the parts 401a and 401b are connected to position the guide members 20 and 400 with each other. Connected. And it accommodates in the space part formed in the one end part of the supporting member 21 and the supporting member 411. FIG. By such a connecting member 401, the guide members 20 and 400 can be easily positioned and aligned, and the pallet 1 can be smoothly moved along the respective guide members.

  Note that the guide member 400 of the fixed unit 40B is disposed continuously with the guide member 30 of the transport device 3, and is connected to each other by the connecting member 401 in the same manner as the guide members 20 and 400.

  The drive mechanism 410 includes a support member 411, a drive unit 412, a drive roller 413, a driven roller 414, a support roller 415a, a tension roller 415b, and a travel member 416.

  The support member 411 is a plate-like body on the XZ plane extending in the X direction, and a step 411a formed continuously in the X direction is formed at the upper end. The guide member 400 is brought into contact with the stepped portion 411a so that the guide member 400 can be disposed at a predetermined position on the upper end portion of the support member 411. Moreover, the X direction upper end part of the support member 411 is formed shorter than each end part of the full length of the X direction of a plate-shaped body, and each X direction end part of the guide member 20 protrudes from each X direction upper end part. So that it can be supported. Other configurations of the guide member 400 and the drive mechanism 410 are supported by the support member 411.

  The drive mechanism 411 engages with the engagement member 12 of the pallet 1 and moves the pallet 1 along the guide member 400. Similar to the transfer device 3, in the transfer device 4 </ b> A, the engaging member 12 is used not for stopping the pallet 1 but for moving.

  The drive unit 412 includes, for example, a motor and a speed reducer, and rotationally drives the drive roller 413.

  The traveling member 416 is an endless belt wound around the driving roller 413, the driven roller 414, and the tension roller 415b. That is, in this embodiment, the drive mechanism 410 is a belt transmission mechanism. The tension roller 415b is attached to the support member 411 so that its position can be adjusted in the Z direction, and the tension of the traveling member 416 can be adjusted.

  The traveling member 416 is supported by a support roller 415 in addition to these rollers 413, 414, and 415b. The role of the support roller 415 is the same as that of the support roller 325 of the conveying device 3, supports the traveling member 416 from below, and cooperates with the rollers 413 and 414 to engage the engagement member 12 with a biasing member (not shown). The support roller 415 can counter the downward urging force.

  In the case of the present embodiment, the fixed unit 4A has such a size that about one pallet 1 can be mounted. For this reason, the number of support rollers 415 is also set to a number necessary for defining the downward movement of the engagement member 12 of one pallet 1 (here, one).

  When the travel member 416 travels by driving the drive unit 412, the moving force is transmitted to the pallet 1 via the engagement member 12, and the pallet 1 can be moved. The fixed unit 40A transports the pallet 1 from the transport device 2 to the movable unit 41, and the fixed unit 40B transports the pallet 1 from the movable unit 41 to the transport device 3, respectively.

<Movable unit and moving device>
The movable unit 41 has the same configuration as that of the fixed units 40A and 40B. In FIG. 18, the same components are denoted by the same reference numerals, description thereof is omitted, and only different configurations are described. The movable unit 41 does not have the fixed members 420 of the fixed units 40A and 40B.

  The moving device 42 reciprocates the movable unit 41 in the Y direction between a first transfer position (position in FIG. 18) continuous with the fixed unit 40A and a second transfer position continuous with the fixed unit 40B. It is a device for doing.

  In the first transfer position where the movable unit 41 and the fixed unit 40A are continuous, the fixed unit 40A is positioned between the movable unit 41 and one end of the guide member 20 of the transport device 2 in the X direction. The guide member 400 of the fixed unit 40A and the guide member 400 of the movable unit 41 are arranged continuously in the X direction.

  In the second transfer position where the movable unit 41 and the fixed unit 40B are continuous, the fixed unit 40B is positioned between the movable unit 41 and one end of the guide member 20 of the transport device 3 in the X direction. The guide member 400 of the fixed unit 40B and the guide member 400 of the movable unit 41 are continuously arranged in the X direction.

  The conveying devices 2 and 3 move the pallet 1 in the X direction. By the moving device 42 and the movable unit 41, the pallet 1 can be moved in a direction different from the X direction (Y direction in this embodiment).

  The moving device 42 includes a pair of guide members 421, a slide member 422, a drive unit 423, a ball screw 424, and a ball nut 425. In the present embodiment, the ball screw mechanism is employed, but other mechanisms such as a rack and pinion mechanism may be employed.

  The pair of guide members 421 are spaced apart from each other in the X direction and extend in parallel to the Y direction. The slide member 422 is disposed across the pair of guide members 421, engages with the pair of guide members 421, and guides the movement in the Y direction. The movable unit 41 is mounted on the slide member 422.

  The drive unit 423 includes, for example, a motor and a speed reducer, and rotationally drives the ball screw 424. The axial direction of the ball screw 424 is the Y direction, and is supported rotatably on the spot. The ball nut 425 is fixed to the slide member 422, engages with the ball screw 424, and reciprocates in the Y direction by the rotation of the ball screw 425.

  With such a configuration, the moving device 42 can move the movable unit 41 by moving the slide member 422 by driving the drive unit 423.

  In the transfer device 4A having such a configuration, first, the fixed unit 40A receives the pallet 1 from the transfer device 2 at the first transfer position, and transfers the pallet 1 to the movable unit 41. Next, the moving device 42 moves the movable unit 41 to the second transfer position on the conveying device 3 side, and conveys the pallet 1 to the fixed unit 40B. Further, the fixed unit 40 </ b> B transports the pallet 1 to the transport device 3.

  In the present embodiment, the fixed units 40A and 40B are provided. However, a configuration in which the pallet 1 is directly transferred between the transfer devices 2 and 3 and the movable unit 41 without providing them may be employed. However, the movable unit 41 takes time to move. By providing the fixed units 40A and 40B, even when the movable unit 41 is moving, the pallet 1 is transported from the transport device 2 to the fixed unit 40A, and the pallet 1 is transported from the fixed unit 40B to the transport device 3. Can be transported. That is, the fixed units 40A and 40B function as a buffer for the pallet 1, thereby improving the conveyance efficiency of the pallet 1 in the entire system.

<Other embodiments>
<Displacement mechanism of engagement member 12>
In the above embodiment, the engagement member 12 is displaced to the engagement position by the urging member (not shown) attached to the guide shaft 1133, and is displaced to the non-engagement position by the operation of the operation unit 2212. Further, the operation unit 2212 may be operated to be displaced between the engaged position and the non-engaged position.

  FIG. 20 shows an example. In the example of the figure, the operated portion 123 includes projecting portions 123a and 123b that are separated from each other in the Z direction. Then, when the operating portion 2212 pushes up the engaging member 12 via the protruding portion 123a, the engaging member 12 is displaced to the non-engaging position, and when the engaging member 12 is pushed down via the protruding portion 123b, the engaging member 12 is displaced to the engaged position. In the case of this configuration, as a configuration for maintaining the engagement member 12 at the engagement position, for example, a toggle mechanism is provided instead of the biasing member, and the engagement member 12 is positioned at two positions of the engagement position and the non-engagement position. It can be fixed.

<Another configuration example of the transport device 3>
In the above embodiment, the transport device 3 is one unit that constitutes one belt transmission mechanism, but may be constituted by a plurality of units that constitute one belt transmission mechanism. FIG. 21 shows an example. In the transfer device 3 'in the figure, a plurality of fixed units 40A used for the transfer devices 4A and 4B are arranged side by side in the X direction. In addition, each guide member 400 configured in each fixed unit 40A is arranged in a state in which the end surfaces of the respective end portions face each other, and is positioned and aligned by the connecting member 401, and is configured to be connected. Yes. Even if it is such a structure, the function similar to the conveying apparatus 3 can be acquired. Further, by using the fixed unit 40A, it is possible to make the unit common to the transfer apparatuses 4A and 4B, and it is easy to change the total length of the transport apparatus 3 ′ in the Y direction.

  Moreover, in the said embodiment, although the 3rd drive mechanism 32 of the conveying apparatus 3 was comprised by the belt transmission mechanism, it is not restricted to this. For example, a chain transmission mechanism may be used. Moreover, it is good also as a roller conveyor. FIG. 22 is an explanatory diagram of a roller conveyor. In the third drive mechanism 32 ′ in the same figure, a plurality of travel rollers RL are arranged in the conveying direction of the pallet 1. A rotating member PL for power transmission is fixed to each traveling roller RL on the same axis. A traveling member VL is wound around each rotating member PL, the driving wheel DP, and the driven wheel AP. When the traveling member VL is driven by driving the driving wheel DP, the rotating member PL rotates and the traveling roller RL. In this configuration, a rotational driving force is applied.

  The engagement member 12 is in sliding contact with the travel roller RL, and the engagement member 12 is moved by the rotation of the travel roller RL, thereby moving the pallet 1. The travel rollers RL are preferably arranged at an equal pitch. In this case, the pitch is shorter than the length L of the engagement member 12 as in the pitch P2 of the support roller 325, and in particular, the length L> 2 ×. A pitch is preferable.

  Moreover, although the conveyance system CS in the said work system A forms the circulation conveyance path | route provided with the one conveyance apparatuses 2 and 3, and transfer equipment 4A, 4B, it is not restricted to this. For example, a plurality of conveying devices 2 may be arranged in a row in the conveying direction, or a conveying path may be formed by arranging the conveying devices 3 between the plurality of conveying devices 2. Further, the transfer devices 4A and 4B may be lifting devices that perform a lifting operation in the vertical direction in addition to the movement in the horizontal direction.

<Application example of transfer device 3>
In the above embodiment, the transport device 3 is used as a work W loading / unloading station. However, the transport device 2 can be used as a work station for the work W instead of the transport device 2. FIG. 23 is an explanatory diagram thereof.

  The transport device 3 ″ instead of the transport device 3 is different from the transport device 3 in that it includes a plurality of operation mechanisms 34, and the other configuration is the same as that of the transport device 3. It is provided for each position. In the example shown in the figure, three operation mechanisms 34 are provided, and therefore there are three stop positions of the pallet 1 ″. Work units such as the work unit U1 described above are arranged at each stop position. (Not shown).

  In the example of FIG. 23, the travel member 326 of the transport device 3 ″ travels in the direction of the arrow, and the transport direction of the plurality of pallets 1 ″ is the direction indicated by d41, which is the direction opposite to the transport direction of the transport device 3 described above. It is.

  The pallet 1 ″ is obtained by adding a cam CM to the pallet 1, and the configuration other than the cam CM is the same as that of the pallet 1. In the present embodiment, the cam CM is a cam plate fixed to the support portion 113. The lower surface of the operation mechanism 34 forms a contact portion that contacts the movable member 341. The contact portion has a cam surface that is inclined downward from the front side to the rear side in the conveying direction of the pallet 1 ″. It is composed.

  The operation mechanism 34 will be described with reference to FIG. The figure is a front view, a side view, and a rear view of the operation mechanism 34.

  The operation mechanism 34 includes a movable member 341, an actuator 342, and a support member 343. The support member 343 is a member that fixes the operation mechanism 34 to the support member 31. In the present embodiment, the support member 343 connects the actuator 342 and the support member 31.

  In the present embodiment, the actuator 342 includes a main body 3421, a movable shaft 3422, and an elastic member 3423, and is, for example, an air cylinder, an electric cylinder, or a pull solenoid. The movable shaft 3422 can move forward and backward with respect to the main body portion 3421. In the present embodiment, the movable shaft 3422 is pulled into the main body 3421 when the actuator 342 is driven. The elastic member 3423 is, for example, a coil spring, and functions as a return spring that exerts an urging force in a direction in which the movable shaft 3422 is pulled out from the main body 3421.

  The movable member 341 is supported on the side of the main body 3421 of the actuator 342 so as to be movable in the vertical direction. The movable member 341 is connected to the movable shaft 3422 of the actuator 342, and when the actuator 342 is driven, the movable member 341 descends in the direction indicated by the arrow d42 (downward) and is positioned at the lowered position. When the actuator 342 is not driven, the movable member 341 rises in the direction indicated by the arrow d43 (upward) by the urging of the elastic member 3423 and is located at the raised position. 23 and 24 both show a state in which the movable member 341 is located at the raised position.

  The movable member 341 includes a positioning portion 3411 at its upper end. In the case of the present embodiment, the positioning portion 3411 is a V-shaped notch, and engages with the engaged portion 13 of the pallet 1 ″ to position the pallet 1 ″. In the case of this embodiment, the positioning portion 3411 engages with the engaged portion 13 when the movable member 341 is located at the raised position. Further, when the movable member 341 is positioned at the lowered position, the positioning portion 3411 is separated from the pallet 1 ″ and the engagement with the engaged portion 13 is released.

  The movable member 341 also includes a contacted part 3412 and an operation part 3413. The abutted portion 3412 abuts on the cam CM of the pallet 1 ″. In the present embodiment, the abutted portion 3412 is a roller that is rotatable about a horizontal axis. The engaging member 12 is operated by coming into contact with the operation unit 123. In the case of this embodiment, the operation unit 3413 is a roller that is rotatable about a horizontal axis, and in the case of this embodiment, the movable member 341 moves to the raised position. As a result, the operation unit 3413 can come into contact with the operated unit 123 to displace the movable member 341 to the non-engagement position, and when the movable member 341 is in the lowered position, the operation unit 3413 is separated from the operated unit 123. The movable member 341 is displaced to the engagement position.

  The relative positional relationship between the cam surface of the cam CM, the positioning portion 3411, the abutted portion 3412, and the operation portion 3413 is designed to realize the functions described below. FIGS. 25 to 27 are explanatory views of the operation of the operation mechanism 34, and illustrate the case where the pallet 1 ″ is stopped.

  State ST1 shows a state in which the pallet 1 ″ has been conveyed to the operation mechanism 34. The engagement member 12 of the pallet 1 ″ is in the engagement position and is frictionally engaged with the traveling member 326. As the traveling member 326 travels, the pallet 1 ″ is conveyed in the direction of the arrow. In the operation mechanism 34, the actuator 342 is in the non-driven state, and the movable member 341 is positioned at the raised position by the urging of the elastic member 3423.

  As shown in state ST2, when the pallet 1 ″ reaches the side of the movable member 341, the cam CM comes into contact with the contacted portion 3412. As the pallet 1 ″ moves, the cam CM moves to the contacted portion 34712. A pressing force is generated. The movable member 341 is pushed down against the urging force of the elastic member 3423. Thereby, it is avoided that the upper end part of the movable member 341 interferes with the engaged part 13. Further, the operation unit 3413 is prevented from interfering with the operated unit 123.

  As shown in the state ST3, when the abutted portion 3412 reaches the vicinity of the rear end portion of the cam CM by the movement of the pallet 1 ″, the movable member 341 reaches the lowered position.

  As shown in the state ST4, when the movement of the pallet 1 ″ further proceeds, the abutted portion 3412 starts to pass through the rear end portion of the cam CM. The amount by which the movable member 341 is pushed down by the cam CM is reduced, and the elastic member The movable member 341 starts to rise due to the bias of 3423. At this time, the engaged portion 13 is located above the end portion of the positioning portion 3411. Also, the protruding portion of the operated portion 123 is above the operating portion 3413. Is located.

  In the state ST4, it is preferable to reduce the moving speed of the traveling member 326 and decelerate the pallet 1 ″. For example, a sensor for detecting the position of the pallet 1 ″ is provided for the decelerating timing. It can be determined based on the results.

  As shown in state ST5, when the movement of the pallet 1 ″ further proceeds, the abutted portion 3412 passes through the rear end portion of the cam CM, and the movable member 341 is not pushed down by the cam CM or becomes a minute amount. 341 rises to a substantially raised position by the urging of the elastic member 3423. At this time, the positioning portion 3411 and the engaged portion 13 are engaged to position the pallet 1 ″. Further, the operation portion 3413 contacts the operated portion 123, and the engagement member 12 is displaced to the non-engagement position. As a result, the pallet 1 ″ is stopped. Thus, the positioning of the pallet 1 ″ is stopped (state ST6). In the state ST6, it is preferable to stop the traveling member 326. The stop timing can be determined based on the detection result of the sensor provided with a sensor for detecting the position of the pallet 1 ″, for example.

  Work is performed on the workpiece on the pallet 1 ″ in the state ST6. When the work is completed, the conveyance of the pallet 1 ″ is resumed.

  First, as shown in state ST7, the actuator 342 is driven to lower the movable member 341 to the lowered position. As a result, the engagement between the positioning portion 3411 and the engaged portion 13 is released. Further, the operating portion 3413 is separated from the operated portion 123, and the engaging member 12 is displaced to the engaging position to be in a frictional engagement state with the traveling member 326. Therefore, as the traveling member 326 travels, the pallet 1 ″ moves in the arrow direction as shown in the state ST8.

  Thereafter, when the driving of the actuator 342 is stopped, the movable member 341 is displaced to the raised position by the urging of the elastic member 3423 as shown in the state ST9. This completes preparation for receiving the next pallet 1 ″.

  In this way, the operation mechanism 34 can stop and resume the positioning of the pallet 1 ″. The plurality of pallets 1 ″ can be controlled by synchronously controlling the plurality of operation mechanisms 34 arranged at the respective stop positions. Can be moved and positioned at a time. If the arrangement pitch between adjacent operation mechanisms 34 (that is, the pitch between stop positions) is set to an equal pitch, the plurality of pallets 1 "can be moved and positioned and stopped at the same pitch.

Claims (16)

A plurality of pallets each having a placement portion on which a workpiece is placed;
A guide member that supports the pallet and guides movement of the pallet in a predetermined conveyance direction;
A moving mechanism for moving the plurality of pallets in the predetermined transport direction;
Engagement members provided on each of the pallets;
An operation mechanism ,
The moving mechanism is
A traveling member that moves in the predetermined conveying direction;
The engaging member is
The pallet is provided on the pallet so as to be displaceable between an engagement position that is engaged with the traveling member and is capable of moving the pallet by the movement of the traveling member, and a non-engaging position that is separated from the traveling member. ,
The operating mechanism is
A mechanism that is provided at least at a plurality of stop positions of the pallet along the guide member and displaces the engaging member to the non-engaging position;
When the pallet is stopped, the engagement member is operated to the non-engagement position by the operation mechanism .
A conveyance system characterized by that. An elastic member provided on the pallet and biasing the engagement member toward the engagement position;
The transport system according to claim 1. The operating mechanism is
A positioning unit that engages with the pallet to position the pallet; and a movable member that includes an operation unit that operates the engaging member;
An actuator for moving the movable member,
The conveyance system according to claim 1 or 2 , characterized by things. The movable member is
A raised position where the positioning portion engages with the pallet;
The positioning part is movable between a lowered position separated from the pallet;
The pallet is
Abutting portions that abut against the movable member and press the movable member to the lowered position as the pallet moves;
The conveyance system according to claim 3 characterized by things. A plurality of pallets on which workpieces are placed;
A guide member that supports the pallet and guides movement of the pallet in a predetermined conveyance direction;
A moving mechanism for collectively moving a plurality of the pallets in the predetermined transport direction;
An engaged member provided at least at a plurality of stop positions of the pallet along the guide member;
A braking member provided on each of the pallets,
The braking member is
A non-braking position in which the braking member is separated from the engaged member and the pallet can move; and a braking position in which the braking member is engaged with the engaged member and the movement of the pallet is stopped. Is provided on the pallet so as to be freely displaceable between
The moving mechanism is
An engaging portion that is collectively engaged / disengaged with respect to the plurality of pallets;
An operation unit for displacing the braking member at the non-braking position / braking position in conjunction with engagement / disengagement of the engagement portion with the pallet;
Moving the engagement portion and the operation portion in the predetermined transport direction;
A conveyance system characterized by that. The moving mechanism is
A plurality of engagement units including the engagement portion and the operation portion;
The moving mechanism is
A first drive mechanism for displacing the engagement unit between an engagement position where the engagement portion engages with the pallet and an engagement release position;
A second drive mechanism for moving the plurality of engagement units and the first drive mechanism along the guide member;
The operation unit is
When the engagement unit is in the disengagement position, the engagement unit is separated from the brake member, while the engagement unit is displaced from the disengagement position to the engagement position to contact the brake member and Including a portion for displacing a braking member to the non-braking position;
The conveyance system according to claim 5 . An elastic member provided on the pallet and biasing the braking member toward the braking position;
The conveyance system according to claim 5 . Further comprising a continuous movement mechanism for continuously conveying the pallet;
The continuous movement mechanism is
A second guide member that supports the pallet and guides movement of the pallet;
A third drive mechanism that engages with the braking member and continuously moves the pallet along the second guide member;
The conveyance system according to claim 5 . Another guide member arranged continuously with the guide member;
A connecting member for connecting and positioning each end of the guide member and the other guide member;
The conveyance system according to claim 5 . The third drive mechanism is
An endless travel member provided along the second guide member and in sliding contact with the braking member of the pallet;
A plurality of rollers provided along the second guide member and supporting the traveling member;
The conveying system according to claim 8 . The third drive mechanism is
A plurality of rollers provided along the second guide member and in sliding contact with the braking member of the pallet;
An endless running member that applies driving force to the plurality of rollers, and
The conveying system according to claim 8 . The braking member has a predetermined length in the moving direction of the pallet;
The plurality of rollers are disposed at intervals shorter than the predetermined length of the braking member,
The conveyance system according to claim 10 or 11 , characterized in that. The endless traveling member is an endless belt;
The conveyance system according to claim 10 or 11 , characterized in that. A transfer device for transporting the pallet moved to one end of the guide member in a direction different from the predetermined transport direction;
The transfer device includes:
A movable unit;
A moving device for moving the movable unit;
The movable unit is
A second guide member for guiding the movement of the pallet;
A drive mechanism that engages with the braking member and moves the pallet along the second guide member;
The mobile device is
The movable unit;
A first transfer position on the guide member side;
A second transfer position spaced from the first transfer position in the different direction;
Move between,
The conveyance system according to claim 5 . The transfer device further includes a fixing unit,
The fixing unit is
Arranged to be located between the one end of the guide member and the movable unit at the first transfer position;
The fixing unit is
A third guide member for guiding the movement of the pallet;
A second drive mechanism that engages with the brake member and moves the pallet along the third guide member;
When the movable unit is in the first transfer position,
The guide member, the third guide member of the fixed unit, and the second guide member of the movable unit are continuously arranged.
The transport system according to claim 14 . The transport system according to claim 1 or 5 ,
A work unit that is provided for each stop position and that performs a predetermined work on the workpiece on the pallet stopped at the stop position;
A working system characterized by that.

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