JPH01140939A - Pallet exchange device - Google Patents

Abstract

PURPOSE:To eliminate the necessity of a large size hydraulic cylinder and motor by moving a pallet in the same direction as a table with the use of a force by a table drive means through a moving mechanism composed of a chain, sprockets and the like. CONSTITUTION:When a drive means 3 moves a table 2 along a saddle 8 in the direction X2 of a pallet magazine 30, a moving mechanism 12 composed of a chain, sprockets and the like moves a workpiece conveying pallet 4 to which a workpiece 5 is secured, further in the direction X so that the pallet 4 is loaded on the pallet magazine 30 and accordingly is replaced with new one. Then, the moving mechanism 12 in a pallet exchange device PC receives a new pallet 4, and when the drive means 3 moves the table 2 in the direction X1, the moving mechanism 12 moves the pallet 4 in the direction X so as to position the workpiece 5 below a tool 23. Thus, no special hydraulic cylinder and motor are required, and accordingly, it is possible to aim at miniaturizing the pallet exchange device and at enhancing the working efficiency since pallets may be successively fed.

Description

DETAILED DESCRIPTION OF THE INVENTION Product 1 This invention relates to a pallet exchange device equipped with a pallet magazine.

11 rows 11 The FMS (Flexible Manufacturing System) has a machine tool body and a pallet exchange device. The pallet exchange device is used to exchange a pallet set on the table of a machine tool with another pallet.

Conventional pallet changing devices include hydraulic cylinder type and chain drive type.

For example, in a hydraulic cylinder type, one pallet is set on the table of a machine tool by extending the rod of the hydraulic cylinder. After processing the workpiece on the pallet, the rod is retracted and the pallet is removed from the table.

Furthermore, in the case of a chain-driven type, a plurality of pallets are attached to the chain at predetermined intervals. By driving the chain with a motor, any pallet can be positioned on the table of the machine tool.

Let's do it.

However, the pallet and workpiece are quite heavy. Therefore, a hydraulic cylinder type pallet exchange device requires a large hydraulic cylinder. Furthermore, a chain-driven pallet exchange device requires a large drive motor and a thick chain. Therefore, in either case, the device becomes large-scale and has a complicated structure.

In addition, large hydraulic cylinders and large drive motors are
It is difficult to eliminate the shock when starting and stopping. This is because, as mentioned above, the pallet and its workpieces are heavy, so the inertial force when moving them is large. Therefore, the shock from these shocks cannot be removed unless the large hydraulic cylinder and large drive motor operate slowly. Therefore, the speed of pallet exchange cannot be increased.

On the other hand, since the number of pallets on which workpieces are placed is limited to a small number, work efficiency cannot be improved.

11 This invention does not require special large hydraulic cylinders or large motors, is compact and has a simple structure, can significantly reduce costs, and can transport a large number of workpiece conveying pallets at least in one direction. To provide a pallet exchange device that is equipped with a pallet magazine capable of exchanging pallets quickly, can freely lay out a changing system, and can improve work efficiency.

11 circle 1 [The gist of the present invention is the pallet changing device set forth in claim 1.

Refer to Figure 1 for opening the mouth. Pallet exchange device PC is on table 2
Although the pallet magazine 30 is located near 0, the first
Not shown in the diagram.

A large number of workpiece conveyance pallets 4 which are attachable to and detachable from a table 2 and movable on the table 2 are installed in a pallet magazine 30. A table 2 is set on a support part 1 of the pallet changing device PC (in the embodiment, a support part of a machine tool). This table 2 moves in at least one axis direction (in the embodiment, the X-axis direction). this table 2
can be reciprocated along the one axis direction by the driving means 3.

The workpiece conveyance pallet 4 is configured to be removable from the table 2 and movable on the table 2.

The moving mechanism 12 moves the workpiece conveyance pallet 4 on the table 2 in one direction x 1 or the other direction x 2 in the uniaxial direction. This movement of the pallet 4 is carried out by the driving force of the driving means 3 corresponding to when the table 2 moves in one direction x 1 or the other x 2 in the uniaxial direction.

The pallet magazine 30 is configured to send a series of a large number of pallets in at least one direction by means of a magazine drive means 123.

The pallet 4 is transferred and exchanged using only the drive means 3 and the magazine drive means 123, and no drive means other than the drive means 3 and the magazine drive means 123 are required.

9l Refer to Figure 12. When the table 2 moves in the other direction x 2, the movement mechanism 12 moves the workpiece transport pallet 4
similarly moves in the other direction×2 relative to table 2. This allows the workpiece that has been processed to be
The workpiece conveyance pallet 4, which is ffi, is placed on the table 2.
From there, it can be transferred to the pallet magazine 30. (
(See FIG. 11) The workpiece transport let 4 transferred to the pallet magazine 30 is sent a predetermined distance by the magazine drive means 123. In this way, the workpiece conveyance pallet 4 on which another workpiece to be placed next on the table is placed is sent to the pallet exchange position (corresponding to the position shown in FIG. 11).

Please refer to FIG. When the table 2 moves in one direction x1, the workpiece conveyance pallet 4 moves in one direction x1 relative to the table 2. As a result, the pallet 4 is set on the table 2. (See FIG. 12) As described above, the pallets 4 are transferred and replaced one after another in a continuous manner.

Support 11 Please refer to FIG.

The replacement device @PC of this invention includes a pallet magazine 301, a support part 1 of a machine tool, a table 2, a drive means 3, and a transfer 117.
It has 111 structures and 12 structures. A large number of series of workpiece conveyance pallets 4 are installed in the pallet magazine 30.

The support part 1 is set on the floor. Table 2 is support part 1
is set above. A workpiece conveyance pallet (hereinafter referred to as pallet) 4 fixes a workpiece 5. This pallet 4 is set to be removable from the table 2 and movable in the X-axis direction.

The driving means 3 moves the table 2 in the X-axis direction with respect to the support part 1;
That is, it is movable in one direction x 1 and the other direction x 2. Further, the moving mechanism 12 is configured such that the table 2 is moved in one direction
When the pallet 4 is moved in one direction or the other direction x 2, the pallet 4 is moved on the table 2 in one direction x 1 or the other direction x 2.

See Figure 2.

FIG. 2 shows a vertical machining center 6 equipped with a pallet changing device @PC according to the present invention. The support part 1 has a bed 7 and a saddle 8. The bed 7 is equipped with a servo motor 9 (for the Y axis).

The drive means 3 has a servo motor 10 (for the X axis) and a ball screw section 11. Table 2 is on side 8
is set.

Pallet 4 is removable on table 2,
It is set to be movable in the axial direction.

The moving mechanism 12 is provided near the table 2.

The column 20 of the machining center 6 has a spindle head 21. A tool 23 is attached to the spindle 22 of this spindle head 21. motor 2
4 is for rotating the spindle 22.

The spindle head 21 has an automatic tool changer 25. Furthermore, the column 20 includes an operation panel 26, a CN
A C device 27 and a control panel 28 are provided.

The table 2 is moved in one direction by a servo motor 10.
It is possible to move in one direction or the other direction x 2. A pallet magazine 30 is provided next to the table 2.

Another pallet 4 is placed on this pallet magazine 30.

See Figure 3. In FIG. 3, the pallet magazine 30 is omitted.

The servo motor 9 has a feed screw 3 of a ball screw portion 33.
4 is installed. The feed screw 34 is engaged with a nut 35. A nut 35 is attached to the lower part of the saddle 8.

Therefore, by operating the servo motor 9, the saddle 8 can be moved in the Y-axis direction.

Further, by operating the servo motor 31, the spindle head 21 can be moved up and down in the Z-axis direction.

See Figure 4a. The frame 121 of the pallet magazine 30 is provided with a conveying means 122. This conveying means 122 can be driven in the feeding direction W by a driving means 123. A series of a large number of pallets 4 are removably set on the conveyance means 122. A workpiece 5 is attached to each pallet 4. The conveying means 22 can move along an endless guide rail 24.

The conveying means 122 includes a large number of mounting members 134, two chains 130, 131, a support 133, a shaft 126,
127. It has four sprockets 128.129 and a number of rollers 135.

Further, the driving means 123 includes a servo motor 137 and gears 136 and 139.

The guide rails 124 and 124 are fixed to the inner side of the side walls 125 and 125 of the frame 121, respectively.

A shaft 126.127 is mounted between the side walls 125.125. There are two sprockets 128 on the shaft 126.
is installed. On the other hand, a second sprocket 129 is attached to the shaft 127. Sprocket 1
A chain 130 is attached between 28 and 129. A chain 131 is also attached between further sprockets 128,129. Chains 130 and 131 are the same. chain 130 or 13
The first links 132 are connected by a bin 132a. One end of a support 133 is fixed to each pin 132a. Two adjacent supports 1 of chain 130
33 is fixed to the back surface of the mounting member 134. Two adjacent supports 133 of the chain 131 are also fixed to the back surface of the mounting member 134. This attachment member 134 has a cross section that fits into the pallet 4. Palette 4
is slidable relative to the mounting member 134. A large number of attachment members 134 are fixed to chains 130, 131 via supports 133. Each mounting member 134
Two rollers 135 are attached to each end of the roller. This roller 135 is connected to the guide rail 124,
124, respectively.

See Figure 4b. FIG. 4b is an end view taken along line M--M in FIG. 4a. A gear 136 is provided on the shaft 126. Servo motor 137 is fixed to frame 121. The servo motor 137 is the servo control device 13
7a. This servo control device 1
37a is connected to the CNC device 27. The servo motor 137 is controlled based on the program of the CNC device 27. The gear 13 is attached to the output shaft 138 of the servo motor 137.
9 is attached. This gear 139 and gear 136
They fit together. A pallet 4 is removably attached to each attachment member 134. In this figure, roller 1
35 is guided on the guide rail 124.

See Figure 4a. The cleaning device 150 includes a large number of nozzles 151, a cutting oil reservoir 152, and an air supply means 1.
It is equipped with 53.

Cutting oil 154 is stored in the reservoir 152 . The reservoir 152 and each nozzle 151 are connected by piping 155. On the other hand, the air supply means 153 and each nozzle 151 are connected through piping 156. The nozzle 151 faces one mounting member 134.

This attachment member 134 is located at a cleaning position CP corresponding to the side of the conveying means 2. This side mounting member 134 is located apart from the two adjacent mounting members 134.

Note that the reservoir 152 is equipped with a pump 152a. By operating this pump, cutting oil 154 can be injected from each nozzle 151. Further, the air supply means 153 can be used to supply either cold air or hot air to the nozzle 15.
It has the ability to inject from 1. Pump 152a and air supply means 153 are controlled by CNC device 27.

A pallet hook 63 is provided on the front side of the pallet 4 along the longitudinal direction.

In FIG. 5, a saddle 8, a table 2, a pallet 4, also called a pallet table, and a moving mechanism 12 are shown. 6th
The figure mainly shows the moving mechanism 12. FIG. 7 is a perspective view of the moving mechanism 12.

First, refer to FIG. 5. The moving mechanism 12 includes a guide body 62, a slide body 69, an engaging means 67, a chain 66, first and second sprockets 64, 65, and a mechanism section 100.

A guide body 62 is fixed to a base bracket 61 fixed to the table 2. A rod-shaped slide body 69 is slidably supported on this guide body 62. This slide body 69 is slidable in the X-axis direction.

A first sprocket 64 and a second sprocket 65 are provided at one end and the other end of the slide body 69, respectively. A chain 66 is attached to these sprockets 64,65.

This chain 66 is provided with a chain footer 90 of the engaging means 67 and a chain hook 68 of the mechanism section 100. The engaging means 67 is connected to the pallet hook 6.
3 and a chain hook 90. chain hook 90
is fixed to a chain 66. The convex chain hook 90 is fitted into the concave pallet hook 63.

However, compared to the chain hook 90, the pallet hook 63
The two can be separated by moving in a direction perpendicular to the X-axis, that is, in the Y-axis direction (see FIG. 3).

On the other hand, the concave chain hook 68 is connected to the stopper cylinder 92.
It is located at the top of the. This stopper cylinder 92 is fixed to the saddle 8 side facing upward. The bottle 93 of this stopper cylinder 92 can be inserted into the chain hook 68.

A rack 94 is fixed on the base bracket 61 in the X-axis direction. A pinion 95 is engaged with this rack 94. Binion 95 and the sprocket 64
and are attached to one shaft 96.

The binion 95, rack 94, chain hook 68, and stopper cylinder 92 constitute the mechanism section 100. A proximity sensor 101 is provided on the stopper cylinder 92 . This proximity switch 101 detects the position of the chain footer 68, and when detected, the CNC device [
27 (see Figure 2), the stopper cylinder 92
The bottle 93 can be extended.

Note that the above-mentioned moving mechanism 12 is covered with a cover 102. In addition, the pallet hook 63 is also attached to the pallet cover 1.
Covered by 03. These covers are to prevent cutting waste and cutting oil from entering 3).

Please refer to FIGS. 6 and 7. 6 and 7, the aforementioned chain 66, slide body 69, guide body 62, rack 94, pinion 95, sprocket 64, 65, etc. are shown.

Further, the shaft 96 is rotatably attached to the connecting portion 105.

This connecting portion 105 is fixed to one end of the slide body 69. Further, the shaft 106 of the sprocket 65 is attached to the other end of the slide body 69. By adjusting the screws 104.104, the shaft 106 can be moved to adjust the tension of the chain 66.

Please refer to FIG. FIG. 8 is a sectional view taken along line A--A in FIG. 5.

The table 2 in FIG. 8 includes a slide portion 50, two clamp cylinders 51, a clamp unit 52. It has a clamp plate 53. A clamp unit 52 is fixed on the slide portion 50. One clamp cylinder 51 is located on the rear side of the other clamp cylinder 51, so it is not shown in FIG. A clamp plate 53 is fixed to the O-rad 51a of the clamp cylinder 51. Further, a nut 54 is fixed to the lower surface of the slide portion 5o. The feed screw 55 of the ball screw portion 11 is engaged with this nut 54. This feed screw 55 is connected to the servo motor 10.

In FIG. 8, the rod 51a of the clamp cylinder 51 is retracted and the clamp plate 53 clamps the pallet 4 against the bins 54a, 54a.

FIG. 8 shows the chain 66, sprocket 64, slide body 69, guide body 62, chain hook 90, and pallet hook 63 of the moving mechanism 12. The clamp cylinder 92 is attached to the bracket 57 fixed to Sadono (8).
It is fixed to . The bottle 93 is guided by a pin guide 58. In addition, chain hook 68
is located within the long groove 59 of the base bracket 61.

In FIG. 9, the rod 51a of the clamp cylinder 51 is extended, and the clamp plate 53 is unclamping the pallet 4.

Note that in this state, the table 2 is operated by the servo motor 10.
It is movable along the saddle 8 by driving.

FIG. 10 is a sectional view taken along the line BB in FIG. 5.

Binion 95, rack 94, and connecting portion 10 of moving mechanism 12
5, a chain 66, a sprocket 64, etc. are shown.

In FIG. 11, pallet 4 is placed on pallet magazine 30. In FIG. The table 2 is located at the right end of the saddle 8. The servo motor 10 is operated to move the table 2 in one direction. In this case, the pin 93 of the clamp cylinder 92 is fitted into the chain hook 68 of the chain 66. Therefore, the chain 66 moves counterclockwise, and the pinion 95 meshes with each other in one direction x 1 on the rack 94 and moves. The slide body 69 moves in one direction x 1 relative to the guide body 62 or the table 2. That is, since the chain hook 90 and the pallet hook 63 are engaged, the pallet 4 moves in one direction x 1 relative to the table 2 which is moving in the negative direction x 1.

In this manner, the pallet 4 is transferred to the table 2 from the pallet magazine 30 to a fixed position on the table 2, as shown in FIG.

After this, the pallet 4 is clamped to the table 2 as shown in FIG. Furthermore, the pin 93 of the clamp cylinder 92 shown in FIG. 11 is removed from the chain hook 68.

That is, even if the table 2 moves in the X-axis direction during processing of the workpiece 5, the chain 66 is prevented from rotating, and the pallet 4 is prevented from moving relative to the table 2.

After this, the workpiece 5 is processed using a predetermined tool.

After processing, the table 2 is moved from the state shown in FIG. 12 to the state shown in FIG. 11. That is, the bin 9 of the clamp cylinder 92
3 into the chain hook 68 of the chain 66. The pallet 4 is brought into an unclamped state as shown in FIG. Even in this state, the chain hook 90 and pallet hook 63 are engaged with each other. Then, the servo motor 10 is operated to move the table 2 in the other direction x2. in this case,
The pin 93 of the clamp cylinder 92 is fitted into the chain footer 68 of the chain 66. Therefore, the chain 66 moves clockwise and the binion 95 moves to the rack 9.
4 and move in the other direction x 2. Slide body 6
9 is the other direction with respect to the guide body 62 or the table 2
Move to 2. In other words, since the chain hook 90 and the pallet hook 63 are engaged, the pallet 4 is moved in the other direction x2 with respect to the table 2 which is moving in the other direction x2.
move relative to.

In this manner, the pallet 4 is transferred from the table 2 to the pallet magazine 30 as shown in FIG.

By the above-mentioned procedure, it is possible to set the pallet 4 on the table 2, process the workpiece 5, and transfer the pallet 4 to the pallet magazine 30.Next, the movement of the pallet magazine 30 and the transfer of the pallet 4 to the table 2 can be performed. This section explains the transfer and exchange of

The pallet 4 is installed in a pallet magazine 30,
The table 2 is located below the spindle head 21 and the pallet 4 is not installed. At this time, the chain hook 90 is at the left end of the chain 66.

First, the table 2 moves in the other direction x2, thereby moving the chain hook 90 to the right end of the chain 66.

Next, the servo motor 137 of the pallet magazine 30 is driven to send the pallet 4 in the direction Yl, and the pallet hook 63 and chain hook 90 are engaged (see FIG. 11).

Next, the table 2 is moved in one direction×1. At this time, the pallet 4 moves relative to the table 2 in one direction×1.

As a result, palette 4 is set on table 2 (see FIG. 12).

The spindle head 21 is lowered and the workpiece 5 is processed in a predetermined manner using the tool 23.

When the machining is completed, the table 2 is moved in the other direction x2. The pallet 4 also moves in the same direction and is installed in a predetermined mounting member 134 of the pallet magazine 30.

Next, the servo motor 137 of the pallet magazine 30 is driven to send the pallet 4 in the W direction. The pallet hook 63 of the pallet 4 on which the processed workpiece 5 is placed moves in the W direction together with the pallet 4, so that it is disengaged from the chain hook 90. Furthermore, a pallet hook 6 of another pallet 4 located behind this pallet 4
Servo motor 1 until 3 engages with chain hook 90.
37 is driven. At this point, the state shown in FIG. 11 occurs again. However, the pallet 4 and workpiece 5 have been replaced and are different from before.

By repeating the above steps, a large number of workpieces 5 are processed one after another. The operation of the pallet changing device is controlled by a CNC device 27.

However, the present invention is not limited to the embodiments described above. In the embodiment, the pallet orbital surface of the pallet magazine is perpendicular to the table surface, but may be parallel to the table surface. When this pallet track surface is perpendicular to the table surface, it is advantageous because the site area of the pallet magazine can be reduced.

In the above-described vertical machining center, a plurality of pallets are installed in a pallet magazine next to the machining center. In this case, by moving the table in the X-axis direction, a plurality of pallets can be exchanged.

On the other hand, a plurality of pallets may be placed in a pallet magazine at the front side of the vertical machining center.

In this case, a plurality of pallets are exchanged by moving the table in the Y-axis direction.

Furthermore, a pallet magazine may be placed next to the horizontal machining center, and a plurality of pallets may be installed in this pallet magazine. In this case, a plurality of pallets can be exchanged by moving the table in the X-axis direction.

Furthermore, a pallet magazine may be placed in front of the horizontal machining center, and a plurality of pallets may be installed in this pallet magazine. In this case, a plurality of pallets can be exchanged by moving the table in the Z-axis direction.

Furthermore, as in the embodiment shown in FIG. 13, a plurality of machining centers 206 having pallet exchange devices may be arranged on both sides of the pallet magazine 230. In this case,
Pallet hooks 263 are provided on both sides of the pallet 204. This embodiment is suitable for processing workpieces that require many processing steps, and processing that requires various steps can be performed extremely quickly. As the machining center 206 having a pallet exchange device, various types of machining centers other than the above-mentioned machining center can be used. Further, a plurality of machining centers each having a pallet exchange device may be arranged on one side of the pallet magazine 23O.

In this case, the pallet hook 263 is attached to the pallet 204.
It only needs to be provided on one side.

In this way, by using the pallet changing device of the present invention, the cannibalization system can be freely laid out.

As is clear from the above explanation, the pallet can be moved in the same direction as the table using the driving force of the table driving means and using a simple moving mechanism consisting of a chain or sprocket. Since it is moved, there is no need for a separate large hydraulic cylinder or large motor. Therefore, it can be made smaller and its structure can be simplified. And significant cost reductions can be achieved.

Furthermore, since a large number of pallets can be rapidly supplied one after another, work efficiency is dramatically improved.

Furthermore, the machining center with the pallet changing device can be freely arranged in various configurations on both sides or only on one side of the pallet magazine.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing a pallet changing device of the present invention, Fig. 2 is a front view showing a machining center equipped with the pallet changing device of the present invention, Fig. 3 is a side view of the machining center, and Fig. 4a is a diagram of a pallet magazine. FIG. 4b is a partially omitted perspective view showing the internal structure; FIG. 4b is a cross-sectional view taken along the line M-M in FIG. 4a; FIG. Figure 7 is a perspective view of the moving mechanism;
The figure shows the state in which the pallet is clamped.
9 is a sectional view taken along line A, FIG. 9 is a sectional view showing the pallet in an unclamped state, FIG. 10 is a sectional view taken along line B-B in FIG. 5, and FIG. 11 is a state in which the pallet is placed on a pallet magazine. FIG. 12 is a diagram showing a pallet placed on a table, and FIG. 13 is a schematic diagram showing another embodiment of the present invention. PC...Pallet exchange device 1...Support part 2...Table 3...Driving means 4...Workpiece conveyance pallet 5...Workpiece 6...Machining center 7...Bed 8...・Saddle 9.10... Servo motor 12... Moving mechanism 20... Column 21... Spindle head 23... Tool 30... Pallet magazine 50... Slide part 51... Clamp cylinder 53... Clamp plate 61... Base bracket 62... Guide body 63... Pallet hook 64... First sprocket 65... Second 66... Chain 67... Engaging means 69 ... Slide body 90 ... Chain hook 92 ... Clamp cylinder 93 ... Bin 94 ... Rack 95 ... Binion 100 ... Mechanism section x 1 ... One direction x 2 ...・Other direction ...Sprocket 130.131...Chain 132...Link 132a...Bin 133...Support 134...Mounting member 135...Roller 136...Gear 137...Servo motor 138... - Output shaft 139... Gear 150... Cleaning device 151... Nozzle 152... Cutting oil reservoir 153... Air supply means 154... Cutting oil 155, 156... Piping Fig. 10 Mu

Claims (1)

[Claims] 1. A support part (1), which is set on the support part (1) and moves in at least one axis (for example, the X-axis), so that a pallet for transporting a workpiece can be attached, detached, and moved. A table (2) to be installed, a driving means (3) for moving the table (2) along one axis (for example, the X axis), and a driving means (3) for moving the table (2) along one axis (for example, the X axis); a moving mechanism for moving the workpiece conveying pallet (4) onto the table (2) in one direction or the other direction by the driving force of the driving means (3) when moving in one direction or the other direction; 12); and a pallet magazine (30) disposed near the table (2),
A series of a large number of workpiece conveyance pallets (4) that are removable and movable are provided in the pallet magazine (30), and the workpiece conveyance pallets ( 4) in at least one direction, and the driving means (3)
and the magazine drive means (123) are used to transfer and exchange the workpiece conveying pallet (4), so that no drive means is required other than the drive means (3) and the magazine drive means (123). pallet changing device. 2. The driving means (3) includes a ball screw section operated by a servo motor, a nut of the ball screw section is fixed to a table, and a feed screw of the ball screw section is connected to the servo motor. The pallet changing device according to item 1. 3. The pallet changing device according to claim 1, wherein the table (2) is movable in another axial direction orthogonal to the one axial direction.