JP7291996B2 - Pallet transport method - Google Patents

Description

The present invention relates to a pallet transport method for loading and transporting works.

2. Description of the Related Art Conventionally, in a manufacturing line, there is a conveying device that conveys a work by a conveyor and causes a machine tool at the conveying destination to perform a predetermined processing on the work. The present applicant proposed a pallet conveying apparatus capable of easily changing the conveying pitch of pallets on which such works are mounted (see, for example, Patent Document 1).

This conveying device comprises a conveying pallet on which a workpiece can be loaded, a guide rail on which the pallet is movably mounted, and an endless belt provided along the guide rail and circulating to become a moving body. , and by engaging the pallets on the circulating belt, the pallets are conveyed along the guide rails, which is expected to increase the work conveying speed and positioning accuracy.

JP 2011-189998 A

In the above-described conventional pallet conveying apparatus, in order to engage the pallet on the belt, which is a moving body, unevenness extending in the width direction is formed alternately and continuously in the longitudinal direction of the belt, and a cover that engages with the unevenness is formed. Concavities and convexities are formed on the pallet. For this reason, when a transport pallet is transferred to a guide rail provided with such a belt, the speed and position of the belt must be synchronized with the pallet so that the unevenness of the pallet engages the unevenness of the belt. I had to get it to work.

Also, when transferring a pallet for transportation from the guide rail on the transportation side to the guide rail on the return side, the pallet for transportation that has escaped from the end of the guide rail on the transportation side should be moved to the end of the guide rail on the return side. , and the speed and position of the belt provided along the guide rail on the return side are synchronized with the pallet so that the unevenness of the pallet engages the unevenness of the belt, and the pallet for transportation is moved. had to be fed into the guide rail on the return side.

However, the operation of synchronizing the movement of the pallet and the rotation speed of the belt to engage the irregularities with the irregularities is relatively difficult. There was a problem that the adjustment work before starting operation was relatively long.

On the other hand, when a plurality of transport pallets are mounted on the same guide rail, the unevenness of the pallets engages with the unevenness of the belt while the pallets are mounted. There was also the inconvenience of not being able to change the pitch.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a pallet conveying method which can easily engage with a belt and easily release the engagement.

Another object of the present invention is to provide a pallet conveying method that allows easy transfer to different guide rails.

Still another object of the present invention is to provide a pallet conveying method capable of easily changing the pitch while being mounted on guide rails.

The present invention has a linear motion block configured to be movable on a guide rail, a pedestal to which the linear motion block is attached, and a locking member provided on the pedestal, and is provided along the guide rail. This is an improvement of a transport pallet that moves on a guide rail by engaging an engaging member with a circulating belt .

Its characteristic structure is that an operation piece extending in the width direction perpendicular to the guide rail is provided on the base so as to be movable in the width direction, and movement of the operation piece causes the locking member to lock the belt. A moving mechanism is provided for reciprocating the locking member between the disengaged position where the member is separated from the belt.

Further, the operating end of the operating piece protrudes from the pedestal in the width direction perpendicular to the guide rail, and the pedestal is provided with clamping pieces that sandwich the operating end of the operating piece from the front and back in the longitudinal direction of the guide rail. More preferred.

On the other hand, a plurality of transport pallets are mounted on guide rails, and the plurality of transport pallets are moved by locking the locking members of the plurality of transport pallets to belts provided along the guide rails and circulating. In the pallet conveying method, the engaging member of one conveying pallet is moved by the operating actuator to disengage the engaging member of the one conveying pallet from the belt, and the one conveying pallet is guided together with the operating actuator. It is characterized by moving along rails to change the interval between one transport pallet and another transport pallet.

In addition, if the pedestal of the transport pallet is provided with a clamping piece, the projecting/retracting rod protruding from the housing of the operation actuator is brought into contact with the operating end of the operating piece of the one transport pallet to move the guide rail in the longitudinal direction. By nipping the nipping pieces from the front and rear, the operation actuator with the protruding/retracting rod nipped between the nipping pieces can be moved together with the one transportation pallet.

Further, in the pallet transport method, the transport pallet is mounted on a plurality of guide rails, and the transport pallet is moved by engaging locking members with circulating belts provided along the plurality of guide rails. In this case, the operation piece of the transportation pallet mounted on one guide rail is moved by the operation actuator to disengage the locking member from the circulating belt provided along the one guide rail, and the transportation pallet is moved together with the operation actuator. The pallet is moved from one guide rail to another guide rail.

Further, if the pedestal of the pallet for transportation is provided with a clamping piece, the protruding and retracting rod projecting from the housing of the operation actuator is brought into contact with the operating end of the operation piece of the pallet for transportation mounted on one guide rail. By nipping the guide rail with the nipping pieces from the front and back in the longitudinal direction, the operation actuator with the projecting/retracting rod nipped between the nipping pieces can be moved together with the transport pallet.

In the present invention, the transport pallet is provided with a moving mechanism for moving the engaging member. Therefore, in the pallet transport method using this transport pallet, the engaging member can be easily engaged with the belt simply by moving the engaging member. And it becomes possible to release the engagement easily. When the transport pallet is engaged with the belt provided along the guide rail, the transport pallet can be conveyed along the guide rail. can be stopped at

Further, when the locking member is separated from the belt , it becomes possible to move independently of the belt . Therefore, by moving the transport pallet separated from the belt by the locking member, it can be easily transferred to a different guide rail. When a plurality of transport pallets are mounted on the guide rail, It is possible to easily change the interval between the transport pallets.

It is a front view which shows the pallet conveying apparatus of this invention embodiment. It is the top view which looked at the pallet for conveyance from the C direction of FIG. FIG. 2 is a cross-sectional view taken along the line AA of FIG. 1; FIG. 4 is a cross-sectional view corresponding to FIG. 3 showing a state in which the locking member is lifted and separated from the belt; 9 is a cross-sectional view taken along the line BB of FIG. 8 showing the moving means; FIG. It is a top view which shows the pallet conveying apparatus. FIG. 4 is a top view showing a state in which a pallet for transportation has reached an end of one guide rail in the pallet transportation device; FIG. 8 is a top view corresponding to FIG. 7 showing a state in which the transport pallet is moved from the end of one guide rail to a short rail and mounted thereon; FIG. 9 is a top view corresponding to FIG. 8 showing a state in which the short rails on which the transport pallet is mounted have moved from a position continuous with one guide rail to a position continuous with another guide rail; FIG. 10 is a top view corresponding to FIG. 9 showing a state in which the transport pallet has moved from the short rail to another guide rail; It is a front view which shows another pallet conveying apparatus of this invention embodiment. 11. It is the top view which looked at the other pallet for conveyance from the D direction of FIG. FIG. 13 is a top view corresponding to FIG. 12 showing a state in which the pallet for transportation has moved from one guide rail to another guide rail continuous with it in the other pallet transport device; FIG. 12 is a cross-sectional view taken along line EE of FIG. 11; FIG. 15 is a cross-sectional view corresponding to FIG. 14 showing a state in which the locking member is lifted and separated from the belt by the operation actuator of another pallet conveying device; FIG. 11 is a top view of still another pallet conveying device in which the pallet moving means is provided in the middle of the guide rail;

BEST MODE FOR CARRYING OUT THE INVENTION Next, the best mode for carrying out the present invention will be described with reference to the drawings.

As shown in FIGS. 1 to 3, the transport pallet 11 in the present invention includes a linear motion block 12 straddling a linear motion guide rail 23 and movable on the linear motion guide rail 23, and It has a base 13 to which a block 12 is screwed, and a locking member 14 provided on the base 13 via a moving mechanism 15 .

The linear motion block 12 is a commercially available block that is sold in a pair with the linear motion guide rail 23, and preferably has a roller retainer (not shown). By using the linear motion block 12 equipped with this roller retainer, movement of the linear motion guide rail 23 in the width direction and tilting of the linear motion guide rail 23 on which the linear motion block 12 is mounted are prohibited, and the linear motion block 12 is can remarkably reduce the resistance to movement of the transport pallet 11 on the linear motion guide rail 23.

The locking member 14 overlaps and engages with the moving body, and as will be described later, the moving body in this embodiment is the belt 32 . Therefore, the locking member 14 overlaps with the moving belt 32 to engage and lock with the moving belt 32 , and the movement of the belt 32 linearly moves the transport pallet 11 . It is moved while being mounted on the guide rails 23 .

As shown in the enlarged view of FIG. 1, the belt 32 in this embodiment has irregularities 32a and 32b extending in the width direction that are alternately continuous in the longitudinal direction. For locking, the locking member 14 is formed with recesses and protrusions 14a and 14b that can be engaged with the recesses and protrusions 32a and 32b.

As shown in FIGS. 2 and 3, in this embodiment, the linear motion block 12 is attached to the lower portion of the pedestal 13, and the locking member 14 is a guide rail under the pedestal 13 with the linear motion block 12 therebetween. 23 are provided on both sides in the width direction (Y-axis direction) perpendicular to 23 .

The moving mechanism 15 has a locking position where the locking members 14 provided on both sides of the lower part of the pedestal 13 overlap the moving belts 32 provided on both sides of the guide rail 23 as shown in FIG. , and a detachment position separated from the belt 32, which is a moving body, as shown in FIG.

Specifically, as shown in FIG. 3, the moving mechanism 15 in this embodiment penetrates both sides of the horizontal pedestal 13 so as to sandwich the linear motion block 12 provided at the center of the lower portion of the horizontal pedestal 13. A pair of support rods 16, 16 are provided so as to be movable up and down in the vertical direction. Locking members 14 are provided at the lower ends of a pair of support rods 16, 16 respectively provided on both sides of the pedestal 13, and connecting members 17 are provided at the upper ends of the pair of support rods 16, 16, respectively. be.

As shown in FIGS. 1 to 3, a cam plate 18 is provided on the upper surface of the pedestal 13 so as to be reciprocatable in the horizontal direction (Y-axis direction) orthogonal to the linear motion guide rail 23 over which the linear motion block 12 straddles. Specifically, a rail 19 extending in a horizontal direction (Y-axis direction) perpendicular to the linear motion guide rail 23 is provided on the upper surface of the pedestal 13 , and a linear motion block 20 movable on the rail 19 is attached to the cam plate 18 . Mounted. Smooth movement of the cam plate 18 is ensured by the rail 19 and the linear motion block 20 .

The cam plate 18 is provided between the pedestal 13 and the connecting member 17 , and the connecting member 17 positioned above the cam plate 18 is provided with a roller 17 a that rolls on the upper surface of the cam plate 18 . As shown in FIG. 3, the upper surface of the cam plate 18 is formed with a V-shaped lower portion 18a for lowering the connecting member 17 together with the roller 17a. A V-shaped inclined surface 18b that smoothly connects the portion 18a to the upper surface of the cam plate 18 is formed.

As shown in FIG. 1, a coil spring 21 is interposed between the pedestal 13 and the locking member 14 , and the urging force of the coil spring 21 separates the locking member 14 from the pedestal 13 . . Therefore, the biasing force of the coil spring 21 causes the roller 17a of the connecting member 17, which is connected to the locking member 14 via the pair of support rods 16, 16, to come into contact with the lower portion 18a, thereby moving the connecting member 17 to the lower position. , so that the locking member 14 is positioned at the locking position where it overlaps the belt 32 .

Conversely, as shown in FIG. 4, when the cam plate 18 is moved in the longitudinal direction against the biasing force of the coil spring 21, the roller 17a rolls on the inclined surface 18b from the lower portion 18a. The connecting member 17 rises together with the rising roller 17a, and the locking member 14 connected to the connecting member 17 via a pair of support rods 16, 16 is lifted from the locking position where it overlaps the belt 32. and is configured to be lifted to the disengaged position.

Thus, the cam plate 18 provided on the upper surface of the pedestal 13 extends in the direction perpendicular to the guide rail 23 (Y-axis direction), and moves in the longitudinal direction to move the locking member 14 up and down. A cam plate 18, which serves as an operating piece for raising and lowering the locking member 14, is mounted on the pedestal 13 so that the end projecting from the pedestal 13 is attached to the longitudinal direction of the linear motion guide rail 23, which is the advancing direction. Sandwiching pieces 26 are provided in front and rear thereof.

A cover member 22 is provided on the base 13 to cover the cam plate 18 from above, and a mounting tool 24 for mounting a workpiece is further provided on the upper surface of the cover member 22 . This mounting tool 24 is for mounting a work (not shown), and the structure of this mounting tool 24 is appropriately changed according to the type of work to be mounted on the pallet 11 and processed.

Next, a pallet conveying apparatus having the above pallet for conveyance will be described.

1 to 6 show a pallet conveying device 28 according to the present invention. In each figure, three axes of X, Y, and Z are set at right angles to each other. The configuration will be explained.

The pallet conveying device 28 circulates and conveys the conveying pallet 11 on which a work (not shown) is mounted, and conveys the conveying pallet 11 in front of the machine tools 1 to 4 (FIG. 6) provided along the conveying route. is stopped and the machine tools 1 to 4 are used to machine a workpiece (not shown) mounted on the pallet 11 for transportation.

Although FIG. 6 shows a case where four machine tools 1 to 4 are provided on both sides of the pallet conveying device 28 of the present invention, this is an example, and the number of machine tools 1 to 4 is Depending on the work required, the number of transport pallets 11 is appropriately increased or decreased according to the number of machine tools 1-4.

In order to circulate the transport pallet 11, the pallet transport device 28 in this embodiment includes the transport pallet 11 described above and a plurality of linear motion guide rails 23 on which the transport pallet 11 is movably mounted. The linear motion guide rails 23 extend in the longitudinal direction (X-axis direction) and are provided parallel to each other with a predetermined interval in the horizontal direction (Y-axis direction).

As shown in detail in FIG. 3, a support plate 29 is directly fixed on the base 9 along the transport path (X-axis direction), and a linear motion guide rail 23 is screwed to the upper edge of the support plate 29 . It is fixed by a stop. As shown in FIG. 6, the support plate 29 and the linear motion guide rail 23 attached to the upper edge of the support plate 29 form first and second pallet rails 30 and 40 parallel to each other. The rails 30 and 40 mount the transport pallet 11 horizontally and movably.

The linear motion guide rails 23 provided on the first and second pallet rails 30 and 40 are capable of mounting the linear motion blocks 12 provided on the transport pallet 11. By movably supporting the fixed linear motion block 12 across the linear motion guide rails 23 of the first and second pallet rails 30 and 40, the transport pallet 11 can be moved horizontally in the first and second positions. It is movably mounted on two pallet rails 30 and 40. - 特許庁

As shown in FIG. 6, the pallet conveying device 28 in this embodiment includes first pallet feeding means 31 for conveying the conveying pallet 11 mounted on the first pallet rails 30 along the first pallet rails 30. , a second pallet feeding means 41 for transporting the transport pallet 11 mounted on the second pallet rail 40 along the second pallet rail 40. - 特許庁

Since the first pallet feeding means 31 and the second pallet feeding means 41 have the same structure, the first pallet feeding means 31 will be described below as a representative.

As shown in FIGS. 1 to 3, the first pallet feeding means 31 is configured to engage with the transport pallet 11, and is provided on both sides of the first pallet rail 30 along the first pallet rail 30. A circulating belt 32 that circulates and becomes a moving body, and a moving means 33 (FIG. 1) that moves the circulating belt 32 so as to circulate are provided.

That is, as shown in FIG. 1, driven pulleys 34 are provided at the four corners on both sides of the support plate 29 of the first pallet rail 30, and the circulation belt 32 surrounds these four driven pulleys 34. , on both sides of the support plate 29, respectively.

A drive shaft 35a is pivotally supported on the support plate 29, and drive pulleys 35 of the same shape and size are attached to both sides of the drive shaft 35a passing through the support plate 29, respectively.

On the other hand, the pedestal 9 is provided with a servomotor 33, which is a moving means for circulating and moving the circulation belt 32, and a drive shaft 35a is connected to a rotating shaft 33a thereof (FIG. 3). The drive pulley 35 is provided on both sides of the support plate 29 on the same plane as the four driven pulleys 34 . A pair of diverting pulleys 36 for diverting are pivotally supported on opposite sides of the support plate 29, respectively.

When the servomotor 33 is driven by a command from a controller (not shown), the drive pulleys 35 on both sides of the support plate 29 rotate simultaneously, and the circulation belts 32 on both sides of the support plate 29 are looped around the drive pulleys 35 . surrounds the four driven pulleys 34 and circulates at the same speed.

The circulation belts 32 on both sides of the support plate 29 are so-called toothed belts 32 . As shown in the enlarged view of FIG. 1, the circulation belt 32 is a belt 32 in which irregularities 32a and 32b extending in the width direction are alternately continuous in the longitudinal direction. 14a and 14b are formed on a locking member 14 provided on the pedestal 13 of the transport pallet 11 via a moving mechanism 15. As shown in FIG.

The unevennesses 14 a and 14 b of the locking member 14 are configured to engage with the unevennesses 32 a and 32 b of the circulation belt 32 . That is, when the engaging member 14 overlaps the circulation belt 32 at the engaging position, the irregularities 14a and 14b formed on the engaging member 14 engage with the irregularities 32a and 32b formed on the circulation belt 32. The transportation pallet 11 independent of the circulation belt 32 is prohibited from moving in the X-axis direction. As a result, when the servo motor 33 is driven to circulate the circulation belt 32 with which the transportation pallet 11 is engaged, the transportation pallet 11 moves together with the circulation belt 32, and the first and second belts along which the circulation belt 32 runs. The transport pallet 11 is transported along the two pallet rails 30,40.

Here, reference numeral 37 in FIG. 1 denotes a support member 37 that prevents the circulation belt 32 from loosening between the driven pulleys 34 and prevents the circulation belt 32 from separating from the engaging member 14. Reference numeral 38 denotes: A fixture 38 for attaching the support 37 to the support plate 29 is shown.

As shown in FIGS. 1 and 6, pallet moving means 61 are provided at both ends of the first and second pallet rails 30 and 40, respectively. The pallet moving means 61 provided at both ends have a symmetrical structure with the first and second pallet rails 30 and 40 interposed therebetween, and are mounted on either the first or second pallet rails 30 or 40. The conveying pallet 11 is moved to the other pallet rail.

In this embodiment in which the first and second pallet rails 30 and 40 are provided parallel to each other, when the transportation pallet 11 mounted on the first pallet rail 30 is moved to the second pallet rail 40, and the case of moving the transport pallet 11 mounted on the second pallet rail 40 to the first pallet rail 30.

For this reason, the pallet moving means 61 has a short rail 62 on which the transport pallet 11 can be mounted, a first position where the short rail 62 is continuous with the first pallet rail 30 and a second position where the short rail 62 is continuous with the second pallet rail 40. and a width direction actuator 63 for moving between

The short rails 62 are the same as the linear motion guide rails 23 in the first and second pallet rails 30 and 40, and the length W (FIG. 6) of the short rails 62 is the X axis of the transport pallet 11. It is formed to be equal to or longer than the directional length L (FIG. 6).

As shown in FIG. 5, the short rails 62 in this embodiment are attached to the upper edges of short support plates 64 which stand upright on a base 65 and are provided in parallel with the first and second pallet rails 30 and 40 . indicates when

The width direction actuator 63 reciprocates the short rail 62 together with its base 65 between a first position and a second position. and a follower 63c that is screwed into the ball screw 63b and moves in parallel. It is installed extending in the Y-axis direction.

The width direction actuator 63 is provided with a mover 63c that moves in the longitudinal direction of the housing 63d on the upper surface of the housing 63d. A base 65 is attached to the follower 63c.

As a result, the follower 63c moves together with the base 65, and the short rails 62 provided on the top surface of the base 65 move between the first and second pallet rails 30 and 40, as shown in FIGS. When connected to the linear motion guide rail 23, the short rail 62 mounts the transport pallet 11 moved from the linear motion guide rail 23 on the first and second pallet rails 30, 40, or the short rail 62 The loaded transport pallet 11 is configured to be movable along the linear motion guide rails 23 .

A base 65 provided with the short rail 62 is provided with a longitudinal actuator 66 and an operation actuator 67 . The longitudinal actuator 66 has the same structure as the Y-axis actuator 63, and is attached to the base 65 via a support 66e with its housing 66d parallel to the short rail 62. As shown in FIG.

The operating actuator 67 is a fluid pressure cylinder for retracting a protruding rod 67a from a housing 67b by fluid pressure. 66c via a fixture 67c.

7 and 10, the longitudinal actuator 66 moves toward the end of the first or second pallet rail 30 or 40 when the follower 66c moves toward the first or second pallet rail 30 or 40. The retractable rod 67a of the operation actuator 67 is connected to the cam plate 18 of the transport pallet 11 mounted on the pallet 11, and the follower 66c of the operating actuator 67 extends from the first or second pallet rail 30 or 40 as shown in FIGS. When moving away from the short rail 62, the cam plate 18 of the transport pallet 11 mounted on the short rail 62 is configured so that the retractable rod 67a of the operation actuator 67 is connected.

Therefore, in a state where the transportation pallet 11 mounted on the first or second pallet rail 30 or 40 and moving reaches the end of the first or second pallet rail 30 or 40, the longitudinal actuator 66 When the follower 66c is moved to the first or second pallet rail 30 or 40 side, the projecting/retracting rod 67a of the operation actuator 67 continues to the cam plate 18 of the transporting pallet 11, and as shown in FIG. When the rod 67a protrudes from the housing 67b, it is configured to move the cam plate 18 in the longitudinal direction after coming into contact with the end of the cam plate 18, which is the operation piece.

When the cam plate 18 moves in its longitudinal direction, the roller 17a at the lower portion 18a of the cam plate 18 rises from the lower portion 18a to the inclined surface 18b, and the connecting member 17 also rises together with the rising roller 17a. Against the urging force, the locking member 14 connected to the connecting member 17 via the support rod 16 is raised to the disengaged position higher than the locking position.

In this way, the locking member 14 raised to the disengaged position is separated from the belt 32 and the engagement is canceled, and the transport pallet 11 can be moved independently of the belt 32 to the first or second pallet rail. It becomes possible to move along 30 or 40 .

However, the conveying pallet 11 is provided with clamping pieces 26 that clamp the cam plate 18 as an operation piece, and the protruding/retracting rod 67a of the operating actuator 67 pushing the cam plate 18 is clamped by the clamping pieces 26. become. Therefore, even if the locking member 14 is separated from the belt 32, free movement independent of the operation actuator 67 of the transport pallet 11 is prohibited.

Therefore, as shown in FIGS. 7 and 10, the protruding/retracting shaft 67a of the operation actuator 67 facing the end of the cam plate 18 is protruded to move the cam plate 18, thereby separating the locking member 14 from the belt 32. When the operating actuator 67 is moved away from the first or second pallet rail 30 or 40 as shown in FIGS. 8 and 9, the transport pallet 11 is moved to the first From the end of the first or second pallet rails 30 or 40 will be moved to the short rail 62 .

On the other hand, the longitudinal actuator 66 has moved the operating actuator 67 away from the first or second pallet rails 30 or 40, so that the transport pallet 11 is positioned on the short rails, as shown in FIGS. 62 and connected to the first or second pallet rail 30 or 40, when the operation actuator 67 is moved toward the first or second pallet rail 30 or 40, the projecting rod 67a of the operation actuator 67 moves. 7 and 10, the transport pallet 11 which is clamped by the clamping pieces 26 moves from the short rail 62 to the first or second pallet rail 30 or 40. As shown in FIGS.

After the transportation pallet 11 has moved to the first or second pallet rails 30 or 40 in this manner, when the projecting/retracting rod 67a of the operation actuator 67 is retracted into the housing 67b, the coil spring 21 is moved as shown in FIG. The biasing force causes the locking member 14 to move away from the pedestal 13 and overlap and engage the belts 32 provided along the first or second pallet rails 30 or 40 . Therefore, by circulating the belt 32 thereafter, it becomes possible to transport the transport pallet 11 along the first or second pallet rails 30 or 40 .

Next, a pallet conveying method according to the present invention using the above-described conveying pallet will be described.

The pallet conveying method according to the present invention is a pallet conveying method in which the conveying pallet 11 is mounted on a plurality of linear motion guide rails 23 and moved. A moving body provided along the motion guide rail 23, in this embodiment, an endless circulating belt 32 is engaged with the locking member 14 to move the conveying pallet 11. The locking member 14 is disengaged from one belt 32 and moved from one linear motion guide rail 23 to another linear motion guide rail 23 .

In the pallet conveying device 28, the first and second pallet rails 30, 40 having the linear motion guide rail 23 are provided in parallel with each other with a predetermined interval in the horizontal direction. The pallet transporting method includes a first pallet transporting step of transporting the transporting pallet 11 mounted on the first pallet rails 30 along the first pallet rails 30 and a transporting pallet reaching the end of the first pallet rails 30. a first pallet moving step of moving the pallet 11 to the second pallet rail 40; a second pallet transporting step of transporting the transporting pallet 11 mounted on the second pallet rail 40 along the second pallet rail 40; and a second pallet moving step of moving the transport pallet 11 that has reached the end of the second pallet rail 40 to the first pallet rail 30, whereby the transport pallet 11 is circulated.

In this embodiment, each process will be described below assuming that the transport pallet 11 circulates in a counterclockwise orbit when viewed from above in FIG.

<First Pallet Conveying Process>
In this step, the transport pallet 11 mounted on the first pallet rails 30 is transported.

As shown in FIGS. 1 and 6, the transport pallet 11 in this embodiment carries a work to be processed in a predetermined manner. , and since the carrier pallet 11 is provided with a mounting tool 24 for mounting a work, the work is mounted on the carrier pallet 11 via this mounting tool 24 .

The transportation pallet 11 is mounted on the first guide rail 21 by loading the linear motion block 12 of the transportation pallet 11 from the end of the linear motion guide rail 23 on the first guide rail 21 .

Specifically, in mounting the transport pallet 11, the end of the cam plate 18, which is the operating piece, is pushed toward the pedestal 13 to raise the locking member 14, and in this state, the linear motion block 12 is mounted from the end of the linear motion guide rail 23 on the first guide rail 21 . After that, the pressing force of the cam plate 18 is released, and the coupling member 17 is positioned at a lower position by the biasing force of the coil spring 21 , thereby overlapping the locking member 14 with the belt 32 .

When the transport pallet 11 is mounted on the first guide rails 21 in this manner, the irregularities 14a and 14b provided on the transport pallet 11 are provided along the first guide rails 21 as shown in the enlarged view of FIG. 32a and 32b of the circulating belt 32 are engaged with each other. For this reason, after that, by driving the servomotor 33 which is the drive mechanism to circulate the circulation belt 32, it becomes possible to transport the transport pallets 11 along the first guide rails 21. FIG.

As shown in FIG. 6, this transfer is performed until the transfer pallet 11 faces each of the machine tools 1 and 2 provided along the first pallet rail 30, and the transfer pallet 11 moves toward each of the machine tools 1 and 2. , the servomotor 33 is stopped, and the workpieces mounted on the transport pallet 11 are machined by the respective machine tools 1 and 2 . At this time, by transporting a plurality of transport pallets 11 at the same pitch as the pitch P of each of the machine tools 1 and 2, it is possible to carry out machining by the plurality of machine tools 1 and 2 at the same time.

<First pallet transfer process>
In this step, the transport pallet 11 that has reached the end of the first pallet rail 30 is moved to the second pallet rail 40 . This movement is performed by a pallet moving means 61 provided at one end of the first and second pallet rails 30,40.

That is, in the first pallet feeding means 31 , the servomotor 33 is stopped when the transport pallet 11 reaches the end of the first pallet rail 30 . On the other hand, in the pallet moving means 61, as shown in FIG. 7, the servomotor 63a in the width direction actuator 63 is driven to move the short rail 62 together with the follower 63c. It is made continuous with the linear motion guide rail 23 of the pallet rail 30. - 特許庁

In this state, the longitudinal actuator 66 in the pallet moving means 61 moves the follower 66c toward the first pallet rail 30, and connects the retractable rod 67a of the operating actuator 67 to the cam plate 18 of the transport pallet 11.

Then, as shown in FIG. 4, in the operation actuator 67, the protruding/retracting rod 67a is protruded and brought into contact with the end of the cam plate 18, which is the operation piece of the transport pallet 11, and the cam plate 18 is moved longitudinally. As a result, the locking member 14 on the transport pallet 11 is lifted and separated from the belt 32 .

As described above, the transport pallet 11 of the present invention is provided with the moving mechanism 15 for moving the locking member 14 . is moved to separate the locking member 14 from the belt 32, which is a movable body provided along the guide rail 23, so that the engagement can be easily released.

In the transport pallet 11 of the present invention, the pedestal 13 is provided with the clamping pieces 26 for clamping the operating ends of the cam plates 18, which are the operating pieces, from the front and rear in the longitudinal direction of the guide rails 23. Therefore, such locking members are provided. 14 rises, the projecting/retracting rod 67a of the operation actuator 67 pushing the cam plate 18 can be clamped by the clamping piece 26 of the conveying pallet 11, and the conveying pallet 11 with the locking member 14 separated from the belt 32 is moved. Free movement can be prohibited.

For this reason, after that, as shown in FIG. 8, the longitudinal actuator 66 moves the operation actuator 67 facing the end of the cam plate 18 in the direction away from the first pallet rail 30, thereby moving the actuator. It becomes possible to move the transport pallet 11 with the clamping pieces 26 clamping the retractable rod 67 a of the actuator 67 from the end of the first pallet rail 30 to the short rail 62 .

After the transport pallet 11 is mounted on the short rails 62, the servomotor 63a of the width direction actuator 63 in the pallet moving means 61 is driven again, and the short rails 62 on which the transport pallet 11 is mounted are moved together with its follower 63c. from the first position contiguous to the first pallet rail 30, and its short rail 62 is moved to a second position contiguous to the linear motion guide rail 23 of the second pallet rail 40, as shown in FIG.

After the short rail 62 on which the transport pallet 11 is mounted continues to the linear motion guide rail 23 of the second pallet rail 40, as shown in FIG. When the transport pallet 11 is moved to the second pallet rail 40 side together with the transport pallet 11, the transport pallet 11, in which the retractable rod 67a of the operation actuator 67 is clamped by the clamping piece 26, moves from the short rail 62 to the second pallet rail 40 in a straight line. It will move to the motion guide rail 23 .

After the transportation pallet 11 is moved to the second pallet rail 40, the projecting/retracting rod 67a of the operating actuator 67 is retracted into the housing 67b as shown in FIG. is spaced apart from the pedestal 13, overlapped with the belt 32 provided along the second pallet rail 40, and engaged with the belt 32. - 特許庁

As described above, in the transport pallet 11 of the present invention, since the moving mechanism 15 for moving the locking member 14 is provided, the locking member 14 is moved to form a movable body provided along the guide rail 23. The locking member 14 can be easily engaged with the belt by simply overlapping the locking member 14 with the belt 32 .

As a result, the transport pallet 11 moves from the end of the first pallet rail 30 to the end of the second pallet rail 40. In the present invention, the locking member 14 is moved by the belt 32, which is a moving body. Since the transport pallet 11 is moved by separating from the pallet rail 40, it is different from the conventional one in which the speed and position of the belt need to be synchronized with the pallet during the movement. can be easily transferred.

<Second Pallet Conveying Process>
In this step, the transport pallet 11 mounted on the second pallet rails 40 is transported. In the first pallet moving process in the previous process, as shown in FIG. 10, the transport pallet 11 moved from the short rail 62 to the second pallet rail 40 moves to the end of the second pallet rail 40 and moves along it. It will engage a belt 32 provided.

In this second pallet conveying step, the conveying pallet 11 mounted on the second pallet rail 40 is conveyed. can start moving in the opposite direction from the end of the second pallet rail 40 to transport the transport pallet 11 along the second pallet rail 40 .

As shown in FIG. 6, the transportation along the second pallet rail 40 is continued until the transportation pallet 11 faces the machine tools 3 and 4 provided along the second pallet rail 40. The servomotor 33 is stopped while the pallet 11 faces the machine tools 3 and 4, and the workpieces mounted on the conveying pallet 11 are machined by the machine tools 3 and 4, respectively.

<Second pallet movement process>
In this step, the transport pallet 11 that has reached the end of the second pallet rail 40 is moved to the first pallet rail 30 . This movement is performed by a pallet moving means 61 provided at the other end of the first and second pallet rails 30,40. Since the specific moving procedure is the same as the first pallet moving step, repeated description is omitted.

In this way, by performing each of the above-described steps once, each transport pallet 11 can be transported counterclockwise on a track-shaped track one by one.

Each time such steps are performed, the machine tools 1 to 4 are operated while the pallet conveying device 28 is stopped, and each workpiece (not shown) placed on each conveying pallet 11 is moved. Predetermined various processes are performed in parallel. When each of the machine tools 1 to 4 is operated, the work is carried in and out of one of the transport pallets 11 .

When a plurality of transport pallets 11 are mounted on the guide rails 23, it is possible to easily change the interval between the transport pallets 11 by shifting the transfer time of the transport pallets 11. becomes.

Next, another pallet conveying device having the above pallet for conveyance will be described.

As shown in FIG. 11, this another pallet conveying device 80 is a case where a plurality of pallet rails 30, 40 provided with linear motion guide rails 23 are continuously provided in the longitudinal direction. The pallet rails 30, 40 and the pallet feeding means 31, 41 have the same structure as that of the pallet conveying device 28 described above, so the repeated explanation will be omitted.

FIG. 11 shows a case where the first and second pallet rails 30, 40 are continuously provided in the longitudinal direction, and the transport pallet 11 mounted on either one of the first and second pallet rails 30, 40 are provided at the ends of the first and second pallet rails 30, 40, i.e., their connecting points.

As shown in FIGS. 11 to 15, the pallet moving means 81 provided at the joints of the first and second pallet rails 30 and 40 protrude from the main body portion 82b and is a cam plate which is an operation piece of the transportation pallet 11. 18 and the operation actuator 82 having the projecting/retracting rod 82a sandwiched between the clamping pieces 26 of the transportation pallet 11 are attached to the first and second pallet rails 30 and 40. a longitudinal actuator 83 for longitudinally moving the carrier pallet 11 (FIG. 15) in which the locking member 14 is in the disengaged position from one pallet rail 30 or 40 to the other pallet rail 40 or 30;

The operation actuator 82 is a fluid pressure cylinder that moves a retractable rod 82a from a housing 82b by fluid pressure. It is attached to 83c via a fixture 82c.

The longitudinal actuator 83 reciprocates the operating actuator 82 in the longitudinal direction of the first and second pallet rails 30 and 40. The longitudinal actuator 83 includes a ball screw 83b rotated by a servomotor 83a and a ball screw 83b screwed into the ball screw 83b. The follower 83c is provided with a follower 83c that moves in parallel with the first and second pallet rails 30, 40. The housing 83d of the follower 83c is attached to the pedestal 9 by a support post 83e (FIGS. 14 and 15). mounted through the

Then, as shown in FIG. 12, when the follower 83c moves to one end of the housing 83d, the end of either one of the first and second pallet rails 30, 40, 30 or 40, The protruding/retracting rod 82a of the operating actuator 82 is connected to the cam plate 18 of the loaded transport pallet 11, and as shown in FIG. The cam plate 18 of the transport pallet 11 mounted on the end of the rail 40 or 30 is configured so that the protruding/retracting rod 82a of the operation actuator 82 is continuous.

Therefore, in a state in which the transportation pallet 11 that is mounted on the first or second pallet rail 30 or 40 and moves reaches the end of the first or second pallet rail 30 or 40, the longitudinal actuator 83 When the follower 83c is moved to the first or second pallet rail 30 or 40 side, the projecting/retracting rod 82a of the operation actuator 82 is connected to the cam plate 18 of the transporting pallet 11, and as shown in FIG. When the rod 82a is protruded from the housing 82b, as shown in FIG. 15, after contacting the end of the cam plate 18, which serves as the operation piece, the cam plate 18 is moved in the longitudinal direction to move the pallet 11 for transportation. , the locking member 14 is raised to the disengaged position higher than the locking position.

In this way, the locking member 14 raised to the disengaged position is separated from the belt 32 and the engagement is canceled, and the transport pallet 11 can be moved independently of the belt 32 to the first or second pallet rail. 30 or 40, the conveying pallet 11 is provided with clamping pieces 26 that sandwich the cam plate 18, which serves as an operation piece. is also clamped by the clamping piece 26. Therefore, even if the locking member 14 is separated from the belt 32, free movement independent of the operation actuator 82 of the transport pallet 11 is prohibited.

Therefore, the retractable shaft 82a of the operation actuator 82 facing the end of the cam plate 18 is protruded to move the cam plate 18, and the operation actuator 82 is moved in the longitudinal direction while the locking member 14 is separated from the belt 32. When the actuator 83 moves the first or second pallet rail 30 or 40 in the longitudinal direction, the transport pallet 11 is separated from the end of the first or second pallet rail 30 or 40 as shown in FIG. , to the second or first pallet rail 40 or 30.

In this way, after the transport pallet 11 has moved to the other second or first pallet rail 40 or 30, when the projecting/retracting rod 82a of the operation actuator 82 is retracted into the housing 82b, as shown in FIG. The biasing force of 21 causes the locking member 14 to move away from the pedestal 13 and overlap and engage the belts 32 provided along the first or second pallet rails 30 or 40. . Therefore, by circulating the belt 32 thereafter, it becomes possible to transport the transport pallet 11 along the first or second pallet rails 30 or 40 .

A pallet conveying method in another pallet conveying apparatus configured in this way will be described.

The pallet conveying method in the other pallet conveying device 80 is also a pallet conveying method in which the conveying pallet 11 is mounted on a plurality of linear motion guide rails 23 and moved. The conveying pallet 11 is moved by locking the locking member 14 to a movable body mounted on the rail 23 and provided along the linear motion guide rail 23, which in this embodiment is an endless belt 32 that circulates. , the locking member 14 is separated from the moving belt 32 and moved from one linear motion guide rail 23 to another linear motion guide rail 23 .

However, in this other pallet conveying device 80, a plurality of pallet rails 30, 40 are continuously provided in the longitudinal direction. a first pallet conveying step of conveying the conveying pallet 11 mounted on the first pallet rail 30 along the first pallet rail 30; to another second pallet rail 40 that is continuous with the first pallet rail 30; It includes a second pallet conveying step of conveying by

Each step will be described in detail below.

<First Pallet Conveying Process>
In this step, the transport pallet 11 mounted on the first pallet rails 30 is transported along the first pallet rails 30 . That is, as shown in FIG. 14, the transport pallet 11 is mounted on the first pallet rail 30, and the locking member 14 on the transport pallet 11 is overlapped with the belt 32 provided along the first pallet rail 30. , the irregularities 14a and 14b formed on the engaging member 14 are engaged with the irregularities 32a and 32b of the belt 32. As shown in FIG.

Then, by driving the servo motor 33 (FIG. 11) in the first pallet feeding means 31 to circulate the belt 32, the conveying pallet 11 having the locking member 14 locked to the belt 32 is transferred to the first pallet feeding means 31. It is transported along one pallet rail 30. - 特許庁

<Pallet moving process>
In this step, the transport pallet 11 that has reached the end of the first pallet rail 30 is moved from the first pallet rail 30 to another second pallet rail 40 that is continuous with the first pallet rail 30 . This movement is performed by a pallet moving means 81 provided between the first and second pallet rails 30,40.

That is, in the first pallet feeding means 31 , the servomotor 33 is stopped when the transport pallet 11 reaches the end of the first pallet rail 30 . On the other hand, in the pallet moving means 81, the longitudinal actuator 83 moves the follower 83c to the first pallet rail 30 side, and the cam plate 18 of the transport pallet 11 moves the protruding rod 82a of the operating actuator 82. make it continuous.

Then, as shown in FIG. 12, the retractable rod 82a is protruded from the housing 82b, and the cam plate 18, which is the operation piece, is moved in the longitudinal direction, and as shown in FIG. The member 14 is lifted from the locking position to the release position, and the locking member 14 is separated from the belt 32 to disengage them. At the same time, the projection/retraction rod 82 a of the operation actuator 82 that has pushed the cam plate 18 is clamped by the clamping pieces 26 of the transportation pallet 11 .

In this way, with the protruding/retracting shaft 82a of the operation actuator 82 facing the end of the cam plate 18 projected and the locking member 14 separated from the belt 32, as shown in FIG. However, the operation actuator 82 is moved in the longitudinal direction of the first and second pallet rails 30 and 40, and the transport pallet 11 sandwiching the retractable rod 82a of the operation actuator 82 is moved from the end of the first pallet rail 30 to another Move to the second pallet rail 40 .

After the transportation pallet 11 is moved to another second pallet rail 40 in this way, as shown in FIG. , the locking member 14 is separated from the pedestal 13 and overlapped with the belt 32 provided along the second pallet rail 40 to be locked to the belt 32 .

<Second Pallet Conveying Process>
In this step, the transport pallet 11 moved to the other second pallet rail 40 is transported along the second pallet rail 40 . That is, in a state where the conveying pallet 11 is mounted on the second pallet rail 40 and the locking member 14 is overlapped with the belt 32 provided along the second pallet rail 40 and locked, the second pallet By driving the servo motor 33 (FIG. 11) in the feeding means 41 to circulate the belt 32, the conveying pallet 11 having the locking member 14 locked to the belt 32 is moved to the second pallet rail 40. transport along.

As described above, in the pallet transport method using the other pallet transport device 80, since a plurality of pallet rails 30 and 40 are continuously provided in the longitudinal direction, the transport pallet 11 can be transported (not shown). , from a waiting table (not shown) to a machine tool, between each machine tool, or from a machine tool to a waiting table. It is also possible to vary the conveying speed for each of the pallet rails 30 and 40 .

Thus, in another pallet conveying apparatus 80 and pallet conveying method using this conveying pallet 11, the locking member 14 is moved to engage from the belt 32, which is a moving body provided along the guide rail 23. By separating the locking member 14 and moving it from the first pallet rail 30 to the second pallet rail 40, and then again overlapping the locking member 14 with the belt 32 which is a moving body, the locking member 14 can be attached to the belt. 32 can be easily engaged.

As a result, the transport pallet 11 moves from the end of the first pallet rail 30 to the end of the second pallet rail 40. In the present invention, the locking member 14 is moved by the belt 32, which is a moving body. Since the transport pallet 11 is moved by separating from the pallet 11, it is necessary to move the belt speed and position synchronously with the pallet. It becomes possible to easily perform loading.

In the other pallet conveying device 80 , the longitudinal actuator 83 moves the conveying pallet 11 from one guide rail 23 to another guide rail 23 , so that the plurality of conveying pallets 11 are placed on the guide rail 23 . When loaded, the locking member 14 of one of the transport pallets 11 is released from the moving body 32, and the one transport pallet 11 or the other transport pallet 11 is moved along the guide rails 23. By doing so, the interval between one transport pallet 11 and another transport pallet 11 is changed, so the interval (pitch) between the plurality of transport pallets 11 can be easily changed.

In this other pallet conveying device 80, the operating actuator 82 and the longitudinal actuator 83 are provided at the joints of the guide rails 23. However, in view of the fact that the pitch of the plurality of conveying pallets 11 can be changed, as shown in FIG. , the operating actuator 82 and the longitudinal actuator 83 may be provided in the middle of the guide rail 23. As shown in FIG.

Thus, even if the pallet conveying device 90 in which the operating actuator 82 and the longitudinal actuator 83 are provided in the middle of the guide rail 23 is used, the pallet conveying method of mounting a plurality of conveying pallets 11 on the guide rail 23 and moving them is as follows. A plurality of transport pallets 11 are mounted on guide rails 23, and a plurality of transport pallets 11 are moved by engaging locking members 14 with moving bodies 32 provided along the guide rails 23 and moving. become a thing.

In this pallet conveying device 90 as well, by removing the locking member 14 of one conveying pallet 11 from the moving body 32, the plurality of conveying pallets 11 mounted on the guide rails 23 can be moved to the moving body. It is possible to move while being mounted on the guide rail 23 irrespective of the movement of the belt 32 . For this reason, in a state in which a plurality of transport pallets 11 are mounted on the guide rails 23, one transport pallet 11 or another transport pallet 11 is moved along the guide rails 23 so that one transport pallet can be moved. By changing the interval between the pallet 11 and another pallet 11 for transportation, it is possible to easily change the pitch G of the plurality of pallets 11 for transportation.

Further, in the transport pallet 11 of the present invention, the moving mechanism 15 is provided with the operating piece 18 extending in the width direction, and the clamping piece 26 that sandwiches the operating end portion of the operating piece 18 from the front and rear in the longitudinal direction of the guide rail 23 is provided. , 80 and 90 have projecting/retracting rods 67a and 82a sandwiched between the clamping pieces 26, so that the longitudinal direction actuators 66 and 83 have projecting/retracting rods 67a and 82a held by the clamping pieces 26. Only by moving the sandwiched operation actuators 67 and 82, it is possible to move the transport pallet 11 in the longitudinal direction of the guide rail 23, and the longitudinal actuators 66 and 83 directly lock the transport pallet 11. It is possible to eliminate the need for a structure for moving by pressing.

Further, the transport pallet 11 of the present invention is provided with locking members 14 having unevennesses 14a and 14b on both sides of the linear motion block 12 at the bottom of the pedestal 13, respectively. Belts 32 are provided on both sides of the support plate 29 to which the guide rails 23 are attached and serve as moving bodies that circulate. Only by overlapping them, the transport pallet 11 and the belt 32 can be locked relatively firmly, and the transport pallet 11 can reliably follow the movement of the belt 32 . As a result, even if the belt 32 is moved or stopped at a relatively high acceleration, the transport pallet 11 can reliably follow the movement, and the transport speed of the transport pallet can be reliably increased.

In the above-described embodiment, the locking members 14 are provided on both sides of the lower portion of the pedestal 13 to lock the moving body 32 relatively firmly. As long as the movement can be followed, the locking member 14 may be provided only on one side. Further, the moving body is not limited to the belt 32 as long as the locking member 14 can be locked, and other members may be used.

In the above-described embodiment, fluid pressure cylinders are used as the operation actuators 67 and 82, and servo motors 63a, 66a and 83a are used as the longitudinal actuators 66 and 83 and the width direction actuator 63 to drive the followers 63c, 83c and 63c. 66c and 83c were described, but these are only examples. As the operation actuator, the one that drives the servo motor to move the follower is used, and as the longitudinal actuator and the width actuator, A fluid pressure cylinder may be used.

REFERENCE SIGNS LIST 11 transportation pallet 12 linear motion block 13 pedestal 14 locking member 14a, 14b unevenness 15 moving mechanism 18 operating piece 23 guide rail 26 clamping piece 28, 80, 90 pallet conveying device 32 belt (moving body)
32a, 32b unevenness 33 servo motor (moving means)
62 short rail 63 lateral actuator 67, 82 operating actuator 66, 83 longitudinal actuator

Claims (2)

A linear motion block (12) movable on a guide rail (23), a pedestal (13) to which the linear motion block (12) is attached, and a locking member provided on the pedestal (13). (14), an operation piece (18) provided on the pedestal (13) extending in the width direction perpendicular to the guide rail (23) and movable in the width direction, and movement of the operation piece (18). between the locking position where the locking member (14) locks onto the belt (32) and the disengaged position where the locking member (14) separates from the belt (32). and a moving mechanism (15) provided on the base (13) and protruding from the base (13) of the operating piece (18) in the width direction perpendicular to the guide rail (23). A plurality of pallets for transportation, each having clamping pieces (26) that sandwich the operation end portion from the front and back in the longitudinal direction of the guide rail (23), are mounted on the guide rail (23), and are transported along the guide rail (23). A pallet transport method for moving a plurality of transport pallets (11) by respectively locking the locking members (14) of the transport pallets (11) on the circulating belt (32) provided. and
The operation actuator (67, 82) moves the operating piece (18) of the one transport pallet (11) to disengage the locking member (14) of the one transport pallet (11) from the belt (32). let
The retractable rods (67a, 82a) projecting from the housings (67b, 82b) of the operating actuators (67, 82) are brought into contact with the operating ends of the operating pieces (18) of the one transport pallet (11). sandwiched by the sandwiching pieces (26) from the front and rear in the longitudinal direction of the guide rail (23);
Together with the operating actuators (67, 82) in which retractable rods (67a, 82a) are sandwiched between the clamping pieces (26), the one transport pallet (11) is moved along the guide rails (23) to A pallet conveying method characterized by changing the interval between one conveying pallet (11) and another conveying pallet (11). A linear motion block (12) movable on a guide rail (23), a pedestal (13) to which the linear motion block (12) is attached, and a locking member provided on the pedestal (13). (14), an operation piece (18) provided on the pedestal (13) extending in the width direction perpendicular to the guide rail (23) and movable in the width direction, and movement of the operation piece (18). between the locking position where the locking member (14) locks onto the belt (32) and the disengaged position where the locking member (14) separates from the belt (32). and a moving mechanism (15) provided on the base (13) and protruding from the base (13) of the operating piece (18) in the width direction perpendicular to the guide rail (23). A transport pallet (11) having clamping pieces (26) that sandwich the operating end portion from the front and back in the longitudinal direction of the guide rail (23) is mounted on a plurality of guide rails (23). 23), a pallet conveying method for moving the conveying pallet (11) by engaging the locking member (14) with the circulating belt (32) provided along each of the belts (32),
The operation piece (18) of the transportation pallet (11) mounted on the one guide rail (23) is moved by the operation actuators (67, 82) to move along the one guide rail (23). disengaging the locking member (14) from the circulating belt (32);
An operating piece (18) of the transportation pallet (11) is mounted on the one guide rail (23), and protruding rods (67a, 82a) protruding from the housings (67b, 82b) of the operating actuators (67, 82) are mounted on the one guide rail (23). ) and sandwiched between the clamping pieces (26) from the front and rear in the longitudinal direction of the one guide rail (23),
Together with the operation actuators (67, 82) in which the retractable rods (67a, 82a) are sandwiched between the clamping pieces (26), the transport pallet (11) is moved from the one guide rail (23) to the other guide rail (23). ), a pallet conveying method characterized by moving to.

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