JPH0214919Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) This invention transfers unprocessed workpieces and processed workpieces to and from manipulators, etc. for loading and unloading workpieces to various machine tools. The present invention relates to a workpiece transfer device including a workpiece transfer conveyor.

(Prior art) In order to automate the loading and unloading of workpieces for various machine tools, there are general-purpose industrial robots that memorize the movement path of a robot arm through teaching, and robots that have a fixed movement path. A dedicated manipulator, etc. has been used in the past, but in any case, the manipulator, etc. supplies the unprocessed workpiece to a position where it receives the unprocessed workpiece, and the manipulator, etc. also receives the processed workpiece. A conveyor is also used to receive and carry out the processed workpiece from the unloading position.

However, if the workpiece receiving position and workpiece unloading position of the manipulator etc. are made constant including the height direction, the movement path of the manipulator etc. becomes simple and drive control becomes easy. Therefore, conventionally, a linear conveyor has been used that sequentially supplies the workpieces one by one to a fixed workpiece receiving position and sequentially carries out the works that are unloaded at the fixed position. As a result, it becomes necessary to use a conveyor with a long workpiece supply path that can simultaneously support a large number of workpieces at regular intervals, or if the workpiece supply path is short, it becomes necessary to frequently feed the workpieces onto the conveyor. It was necessary to do it. Furthermore, since the conveyor itself needs to be driven intermittently in accordance with the machining cycle of the machine tool, the running cost of the conveyor increases and its useful life is shortened.

(Means for solving the problems) The present invention provides a work transfer device that can solve the conventional problems as described above.
Its features include a moving table that moves in series on a horizontal circulation path that includes a workpiece supply position and a lower workpiece pick-up position, and stops sequentially at both positions, and A workpiece delivery conveyor having a workpiece supplying means and a workpiece receiving means; a loading workpiece gripping means for gripping an unprocessed workpiece on a movable stage that is stopped at the above-mentioned workpiece supplying position and supplying the workpiece to the machine tool side; and an unloading workpiece gripping means for gripping the processed workpiece from the machine tool side and releasing the processed workpiece to the movable table that is stopped at the position above the workpiece receiving position. In the work transfer device, each of the moving tables includes a work positioning guide for mounting a plurality of works in a stacked manner, and the work supplying means and the work receiving means move the moving tables stopped at each position. Each of these is equipped with a work support stand that can be raised and lowered to receive and lower the mounted workpieces.

(Function) In such a work transfer device of the present invention, a predetermined number of moving tables are placed on the moving table that is stopped at the work supply position of the work transfer conveyor and on the appropriate number of moving tables located on the upper side. Workpieces to be processed are loaded in a stacked manner using the workpiece positioning guide, and during loading, a loading workpiece gripping means driven by a manipulator or the like is placed at a fixed position directly above the workpiece supply position. By raising the work support stand of the work supply means while the workpieces are on standby facing each other, the workpieces on the moving table are lifted by the work support stand, and the uppermost unprocessed work is transferred to the work gripping means of the manipulator. grip it and feed it to the machine tool. Once the uppermost workpiece is gripped by the workpiece gripping means, the workpiece support is lowered and the remaining workpieces are returned to the original movable table.

At the time of unloading, the workpiece support base of the workpiece receiving means is raised while the unloading workpiece gripping means holding the machined workpiece from the machine tool side is kept facing and waiting at a fixed position directly above the workpiece receiving position. By this,
The processed workpiece gripped by the unloading workpiece gripping means is caused to be received by the workpiece support table or the processed workpiece already placed on this supporter, and in this state, the workpiece is removed from the unloading workpiece gripping means. is released and the workpiece is transferred to the workpiece support table side. After that, by lowering the workpiece support base,
The processed workpiece on the support stand can be transferred onto the movable stand stopped at the workpiece receiving position.

By repeating the above operations, the number of unprocessed workpieces on the movable table that is stopped at the workpiece supply position decreases, and at the same time the number of processed workpieces on the movable table that is stopped at the workpiece receiving position increases. Accordingly, the amount of rise of the workpiece support may be increased or decreased. When there are no more unprocessed workpieces on the movable carriages that are stopped at the work supply position, each movable carriage is rotated by a unit amount on the circulation path, and the empty movable carriages are moved to the lower workpiece receiving position. By moving the unprocessed workpiece mounting table on the upper side to the workpiece supply position, loading and unloading can be performed again as described above.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIGS. 1 to 3, reference numeral 1 denotes a conventionally well-known machine tool, which is equipped with a rotating, horizontally oriented workpiece holder 2. As shown in FIG. 3 is a manipulator installed in parallel with the machine tool 1, and a movable arm 4 has a workpiece gripping means 5 at the tip thereof.
and a workpiece gripping means 6 for unloading are arranged in parallel. 7 is a conveyor for transferring workpieces.

As shown in FIGS. 4 to 6, the manipulator 3 includes a rotary frame 10 rotatably supported on a fixed frame 8 around a horizontal support shaft 9, which is perpendicular to the horizontal support shaft 9. A rod 12 supported by the rotating frame 10 via a slide bearing 11 so as to be able to slide in the axial direction and rotate around the axial center depending on the direction, and a slide drive for sliding the rod 12 in the axial direction. 13, the rod 12 is connected to the horizontal support shaft 9 via the rotating frame 10.
A vertical rotation drive section 14 for rotating the rod 12 around the axis, and a left and right rotation drive section 15 for rotating the rod 12 around the axis.
An arm 4 supporting the rod 12 is attached at right angles to the rod 12.

The slide drive section 13 includes a cylinder unit 17 that pushes and pulls the rod 12 in the axial direction via a support member 16 that is fitted to the rod 12 so that only relative rotation is possible. This cylinder unit 17 is attached to the rotating frame 10. The vertical rotation drive unit 14 includes a pinion gear 18 fixed to the rotating frame 10 concentrically with the horizontal support shaft 9, a rack gear 19 that meshes with the pinion gear 18, and a rack gear 19.
It consists of a cylinder unit 20 that pushes and pulls. This cylinder unit 20 is attached to a fixed frame 8. The left-right rotation drive unit 15 includes a pinion gear 22 that is loosely fitted to the rod 12 and rotatably supported by the rotating frame 10 by a bearing 21, a rack gear 23 that meshes with the pinion gear 22, and pushes and pulls the rack gear 23. A cylinder unit 24, a pair of guides 25a, 25 that are integrally connected from the pinion gear 22 to the rear end of the rod 12 and sandwich the rod 12 from both sides in the diametrical direction.
b. It is pivotally supported by brackets 26 fixed to both sides of the rear end of the rod 12, and the guides 25a, 25
Guide rollers 27 that sandwich b from both left and right sides, respectively.
a, 27b, 28a, 28b, and an intermediate position stopper mechanism 29. This intermediate position stopper mechanism 29 is connected to the pinion gear 22.
A rotary plate 30 that rotates integrally with the rotating plate 30.
A stopper pawl 33 is switched by the cylinder unit 32 between a position where it can come into contact with a stopper contact surface 31 formed around the stopper and a position where it does not come into contact with it.
It is composed of. The cylinder units 24, 32 are attached to the rotating frame 10.

The workpiece gripping means 5 and 6 are shown in FIGS. 9 and 1.
As shown in FIG. 0, each arm 4 is supported by two guide rods 35 on a support member 34 attached in a T-shape at the tip thereof so as to be slidable within a certain range, and is pressed forward by a spring 36. There is. Further, both workpiece gripping means 5 and 6 include a main body 37 supported by the guide rod 35, a rotary body 39 rotatably supported by the main body 37 via a bearing 38, and a rotary body 39 radially attached to the front end of the rotary body 39. It is composed of three movably mounted gripping claws 40 and a drive unit 41 that moves the three gripping claws 40 in conjunction with each other. The drive unit 41 includes a rack gear 42 formed at the inner end of each gripping claw 40 along the direction of movement thereof, a pinion gear 43 pivotally supported within the rotating body 39 so as to mesh with each rack gear 42;
Rack gear portion 44 meshing with each pinion gear 43
It is composed of a slide gear 45 formed at three locations around the main body 37, a slide shaft 46 that rotatably supports the slide gear 45, and a cylinder unit 47 that pushes and pulls this slide shaft 46. is attached to.

The work transfer conveyor 7 has a large number of movable tables 48 that rotate on a horizontal circulation path, as shown in FIGS. 12 to 16. Each of these movable tables 48 has an inner end connected to a drive chain 51 suspended between a drive toothed wheel 49 and an idling toothed wheel 50 at equal intervals, and slides on a fixed pedestal 52. It rotates on a horizontal circulation path, and a workpiece positioning guide pin 53 is provided to protrude vertically upward. Reference numeral 54 denotes a work receiving plate that is loosely fitted onto the pin 53 so as to be movable up and down, and has a diameter larger than the width of the moving table 48. Drive section 55 of the drive gear wheel 49
The gear 5 is interlocked with a rotating shaft 56 to which the drive gear 49 is fixed via a one-way rotating clutch 57.
8. A pinion gear 59 that meshes with the gear 58;
Rack gear 6 meshing with the pinion gear 59
0, and a cylinder unit 61 that pushes and pulls the rack gear 60.
Moreover, this conveyor 7 is connected to the locking mechanism 6 of the moving table 48.
It is equipped with 2. This lock mechanism 62 includes a member 63 fixed to the rotating shaft 56, and V-shaped recesses 64 formed at two locations in the diametrical direction of the member 63.
It consists of a lock pawl 65 that can be fitted into and removed from the lock pawls 64a and 64b, and a cylinder unit 66 that moves the lock pawl 65 in and out.

The work transfer conveyor 7 is provided with an unprocessed work supply means 67 and a processed work receiving means 68. Both of these means 67,6
8 are disposed on both sides of the end of the conveyor 7 adjacent to the manipulator 3 and beside the end of the linear path of the horizontal circulation path of the moving platform 48, and are guided by lifting guide rods 69 and 70, respectively. It also includes fork-shaped work support stands (hereinafter abbreviated as forks) 73 and 74 that are driven up and down by cylinder units 71 and 72. The fixed pedestal 52 is formed with a recess into which the forks 73, 74 fit so that the forks 73, 74 can be lowered to a standby position below the movement path of the movable table 48. These forks 73, 74
As shown in FIG.
When it is stopped at the standby position, the workpiece receiving board 54 placed on the movable base 48 at the position A or B by rising from the standby position is moved to the movable base 48.
It can be lifted using the parts that protrude from the left and right.

Next, to explain how to use it, the disk-shaped workpiece W is placed on the workpiece positioning guide pin 53 of each moving table 48 on the workpiece transfer conveyor 7.
As shown in the figure, the workpieces are fitted using the central through hole Wa, and an appropriate number of workpieces are placed in a stacked manner on the workpiece receiving board 54. At this time, no workpiece W is mounted on at least the moving table 48 located at the processed workpiece receiving position B. Next, as shown in FIGS. 1 to 4, from the state in which the arm 4 stands vertically from the horizontal rod 12, the rack gear 19 of the vertical rotation drive unit 14 shown in FIG. the rotating frame 10 via the pinion gear 18.
When the arm 4 is rotated 90 degrees around the horizontal support shaft 9, the arm 4 becomes horizontal as shown by the imaginary line in FIG. state.

As a result, the loading gripping means 5 is placed at the workpiece supply position A on the workpiece delivery conveyor 7.
The unloading workpiece gripping means 6 is located directly above the workpiece receiving position B. Therefore, as shown in FIG. 16, the three gripping claws 40 of the loading workpiece gripping means 5 are concentric with the tip of the workpiece positioning guide pin 53 of the moving table 48 stopped at the workpiece supply position A. The three gripping claws 40 of the unloading workpiece gripping means 6 are concentrically adjacent to the tip of the workpiece positioning guide pin 53 of the movable table 48 stopped at the workpiece receiving position B. Incidentally, after rotating the arm 4 to a horizontal position, the cylinder unit 17 of the slide drive section 13 shown in FIG.
By lowering the arm 4 by a predetermined stroke via the support member 16 and the rod 12, both the workpiece gripping means 5 and 6 are moved to the moving table 48 as described above.
The workpiece transfer position C may be reached close to the upper workpiece positioning guide pin 53.

The workpiece gripping means 5 and 6 are moved to the workpiece transfer position C.
Once the fork 73 has been moved to , the fork 73 is raised by the cylinder unit 71 of the work supply means 67. As a result, the work receiving plate 54 on the movable table 48 stopped at the work supply position A is moved to the fork 7.
3, the workpiece receiving plate 54
The work W stacked on top is pushed up along the work positioning guide pin 53. Therefore, the workpiece W on the uppermost stage comes out of the pin 53 and the central through hole Wa is fitted into the three gripping claws 40 of the loading work gripping means 5. When the workpiece W is further pushed up, the loading workpiece gripping means 5 pushed up by the workpiece W moves backward along the guide rod 35 against the biasing force of the spring 36 shown in FIG. This backward movement is detected by a suitable detector such as a limit switch, and based on the detection signal, the fork lifting drive in the workpiece supplying means 67 is stopped, and at the same time, the cylinder unit 47 in the loading workpiece gripping means 5 is stopped. is operated to move the slide gear 45 forward, and the rack gear section 44, pinion gear 43,
The gripping claws 40 are interlocked and moved in the centrifugal direction via the rack gear 42. As a result, as shown in FIG. 11, the three gripping claws 40 of the loading workpiece gripping means 5 come into pressure contact with the inner surface of the workpiece central through-hole Wa, and grip the workpiece W.

When the loading workpiece gripping means 5 grips the workpiece W, the fork 73 of the workpiece supply means 67 is lowered to the lowering limit position (the standby position below the moving path of the moving table 48), and the workpiece is lifted up via the workpiece receiving plate 54. The workpiece W that has been placed is returned to the moving table 48. Next, the rack gear 19 is lowered to the lowering limit position by the cylinder unit 20 of the vertical rotation drive section 14 shown in FIG. The arm 4 is returned to the position shown in Figures 1 to 3.
Return to the vertical standing position shown in the figure.

When machining of the workpiece W held between the workpiece holding portion 2 of the machine tool 1 is completed, the rack gear 23 is moved to the backward limit position by the cylinder unit of the left-right rotation drive portion 15 shown in FIG. 5, and the pinion gear 22 is moved to a predetermined position. Rotate in a predetermined direction by an angle θ1. The rotation of the pinion gear 22 is transmitted from a pair of guides 25a and 25b rotating together to the rod 12 via guide rollers 27a to 28b and a bracket 26, and the rod 12 rotates around its axis as shown in FIG. As a result, the arm 4 is rotated by a predetermined angle θ1 toward the machine tool 1 from the vertical standing position as shown in FIG.

By rotating this arm, both workpiece gripping means 5,
6 reaches the unloading position D where the unloading work gripping means 6 faces the horizontally oriented work holding part 2 of the machine tool 1 in a concentric state. In this state, when the cylinder unit 17 of the slide drive section 13 shown in FIG.
Of both workpiece gripping means 5 and 6 that move together with the
The empty unloading workpiece gripping means 6 moves toward the processed workpiece W whose outer circumference is held between the workpiece holding parts 2 of the machine tool 1, and the gripping claws 40 of the gripping means 6 move toward the processed workpiece W which has been processed. It fits into the central through hole Wa of the workpiece W. Then, the movement of the arm 4 after the workpiece gripping means 6 comes into contact with the processed workpiece W causes the spring 3 shown in FIG.
Since the support member 34 and the workpiece gripping means 6 move relative to each other along the guide rod 35 against the biasing force of the workpiece 6, this relative movement is detected by an appropriate detector as described above, and the detection signal is detected based on the detection signal. At the same time as stopping the backward movement of the rod 12 by the cylinder unit 17 of the slide drive section 13, the cylinder unit 47 in the unloading work gripping means 6 is actuated to move the slide gear 45.
is moved forward, and each gripping claw 40 is interlocked and moved in the centrifugal direction as described above. As a result, as shown in FIG.
The three gripping claws 40 come into pressure contact with the inner surface of the workpiece central through hole Wa, and grip the machined workpiece W held between the workpiece holder 2 of the machine tool 1.

Note that when the rod 12 is moved in the axial direction by the slide drive section 13, the rod 1
A guide roller 27 is pivotally supported at the rear end of 2.
~28b is a pair of guides 2 on the pinion gear 22 side
The pinion gear 22 merely rolls with the pinion gears 5a and 25b sandwiched therebetween, and no axial moving force is applied to the pinion gear 22 side.

When the unloading workpiece gripping means 6 grips the processed workpiece W, the workpiece gripping action by the workpiece holding part 2 on the machine tool 1 side is released, and then the cylinder in the slide drive part 13 shown in FIG. The rod 12 is moved forward to the stroke limit by the unit 17, and the unloading work gripping means 6 for gripping the processed work W is separated from the work holding part 2 on the machine tool 1 side.

Next, as shown by the imaginary line in FIG. When the rack gear 23 is moved forward from the backward limit position, as shown in FIG. The rotation is transmitted to the rod 12 via the pair of guides 25a, 25b, guide rollers 27a to 28b, and bracket 26 as described above, and the rod 12 is rotated at a constant angle around its axis as shown in FIG. As a result, the arm 4 rotates upward by a certain angle θ2 from the unloading position D as shown in FIG.
reaches the loading position E.

Both workpiece gripping means 5 and 6 are at loading position E.
When this point is reached, the loading workpiece gripping means 5 that grips the unprocessed workpiece W comes to coaxially face the workpiece holding section 2 on the machine tool 1 side. In this state, the rod 12 is again moved backward from the forward limit position as described above by the slide drive section 13 shown in FIG. 2
When the unprocessed workpiece W, which is gripped as described above by the loading workpiece gripping means 5, is moved toward the workpiece holding section 2 which is in the open state, the workpiece W to be processed is pressed into the workpiece holding section 2 which is in the open state. When the arm 4 further moves, the work holding means 5 and the support member 34 move relative to each other against the biasing force of the spring 36 as shown in FIG. At the same time as the drive is stopped, the outer periphery of the unprocessed workpiece W held by the loading workpiece gripping means 5 is held by the workpiece holding part 2 on the machine tool 1 side, and then the workpiece is slid by the cylinder unit 47 shown in FIG. gear 45
By moving backward and moving the gripping claws 40 of the workpiece gripping means 5 toward the centripetal direction, the gripping action of the gripping claws 40 on the unprocessed workpiece W is released.

After this, the rod 1 is moved again by the slide drive unit 13.
2 is moved forward to the stroke limit position, both workpiece gripping means 5 and 6 are moved together with the arm 4 away from the workpiece holding part 2 on the machine tool 1 side, and then the stopper claw of the intermediate position stopper mechanism 29 shown in FIG. 3
3 is moved out of the rotation path of the rotary plate 30 by the cylinder unit 32, the left and right rotation drive unit 15
The rack gear 23 starts moving forward again due to the working pressure acting on the cylinder unit 24.
The pinion gear 22 is driven to rotate. The rotation of this pinion gear 22 is caused by the rotation of the rod 1 as described above.
2, and the arm 4 rotates by a predetermined angle θ3 to the vertical standing position shown in FIG. Therefore, both workpiece gripping means 5, 6 which were at the loading position E reach the standby position F away from the machine tool 1, as shown by solid lines in FIGS. 1 to 3.

After this, as explained at the beginning, both the workpiece gripping means 5 and 6 are moved to the workpiece transfer position C,
The workpiece supplying means 6 transfers the unprocessed workpiece W waiting at the workpiece supplying position A of the workpiece transfer conveyor 7 to the empty loading workpiece gripping means 5.
At the same time as the work supply means 67 is activated, the fork 7 is supplied by the cylinder unit 72 of the work receiving means 68 shown in FIG.
Move 4 upward. As a result, the work receiving plate 54 on the moving table 48 stopped at the work receiving position B is lifted by the fork 74 along the work positioning guide pin 53, and the unloading work gripping means 6 waiting above is lifted. will push up the machined work W held by the machine.

When the processed workpiece W held by the workpiece gripping means 6 is pushed up in this manner, the workpiece gripping means 6 moves to the support member 34 as shown in FIG.
However, this movement is detected and the upward drive of the fork 74 is stopped, and at the same time, the gripping claws 40 of the unloading workpiece gripping means 6 are moved in the centripetal direction as described above. After moving to release the work gripping action, the fork 74 is lowered to the lower limit position. As a result, the processed workpiece W leaves the unloading workpiece gripping means 6 and moves onto the workpiece receiving board 54, and as the workpiece receiving board 54 descends, it fits into the workpiece positioning guide pin 53, and together with the workpiece receiving board 54. The work is lowered onto the moving table 48 which is stopped at the work receiving position B.

By repeating the above operations, the unprocessed work W on the movable table 48 stopped at the work supply position A of the work transfer conveyor 7 is sequentially supplied to the work holding part 2 of the machine tool 1 and processed, and after processing, The workpieces are sequentially stacked on the moving table 48 that is stopped at the workpiece receiving position B. As a result, the number of unprocessed workpieces on the movable table 48 that is stopped at the workpiece supply position A decreases, and at the same time, the number of processed workpieces on the movable table 48 that is stopped at the workpiece receiving position B increases. Accompanied by the fork 73
The amount of rise of the fork 74 increases, and the amount of rise of the fork 74 decreases.

When the unprocessed workpiece W on the moving stage 48 at the workpiece supply position A is gone, the lock pawl 65 of the locking mechanism 62 is moved backward by the cylinder unit 66 to lock the member 63 on the rotating shaft 56 side, as shown in FIG. After releasing the rotation shaft 56 from the V-shaped recess 64a, the rack gear 60 of the drive section 55 shown in FIG. This reciprocating movement of the rack gear 60 causes the pinion gear 5 to
9, the gear 58 rotates forward and reverse within a range of 90 degrees, but only the forward rotation when the rack gear 60 moves forward is transmitted to the rotating shaft 56 via the one-way rotating clutch 57, and the drive gear 49 rotates 90 degrees in the right direction. As a result, all the movable bases 48 on the horizontal circulation path are rotated in one direction via the drive chain 51, and the movable base 48 that is at the workpiece supply position A and becomes empty moves to the next workpiece receiving position. At the same time as reaching position B, the movable table 48 on which the unprocessed workpiece W one position before the workpiece supply position A is mounted moves to the workpiece supply position A.

When the moving table 48 is moved by a unit amount in this way, the member 6 of the locking mechanism 62 shown in FIG.
3 rotates 90 degrees together with the rotating shaft 56, and the V-shaped recess 64b on the opposite side faces the lock pawl 65. In this state, the cylinder unit 66 advances the lock pawl 65 into the recess 64b. By fitting them together, the rotating shaft 56 is fixed again, and each movable platform 48 on the circulation path can be prevented from moving unexpectedly. The moving table 48 on which the processed workpiece W is mounted is fed out from the workpiece receiving position B in the moving table moving direction, so the processed workpiece W is taken out from the moving table 48 at an appropriate time, and the unprocessed workpiece W is mounted on it. Just leave it there.

In the above embodiment, the gripping claws 40 of the workpiece gripping means 5 and 6 are rotatable with respect to the main body 37.
9, it is possible to transfer the workpiece W even when the workpiece holder 2 on the machine tool 1 side is rotating, which is convenient for blowing air to the workpiece W. In addition, although a disk-shaped workpiece with a central through-hole Wa is shown as the workpiece W,
In the case of a workpiece W that does not have a central through hole Wa,
A guide for positioning the workpiece close to the periphery of the workpiece W is provided protrudingly on each moving table 48 of the workpiece transfer conveyor 7, and gripping claws for gripping the periphery of the workpiece W are provided on the workpiece gripping means 5 and 6. Just leave it there.

Furthermore, when the workpiece receiving board 54 is used in combination as in the embodiment, it is possible to handle small workpieces that do not protrude left and right from the moving table 48, but if the workpiece is large, this workpiece receiving board 54 may be omitted. .

(Effect of the invention) According to the workpiece delivery device of the invention, the unprocessed workpiece receiving position and the processed workpiece unloading position between the workpiece holding means for loading and unloading and the workpiece delivery conveyor are respectively in the height direction. Since the movement path of the manipulator etc. can be kept constant, the movement path of the manipulator etc. can be simplified, and its drive control can be easily performed.

Further, the workpiece transfer device of the present invention is configured such that the unprocessed workpiece on the movable table, which has moved on the horizontal circulation route and stopped after reaching the workpiece supply position, is gripped by the loading gripping means above the workpiece supply position. At the same time, the movable table, which is stopped at the work receiving position of the means below the work supplying position, is made to receive the processed work held by the unloading gripping means above the work receiving position. Therefore, until all the unprocessed workpieces on the moving table stopped at the workpiece supply position are removed, the conveyor itself can be kept stopped by simply raising and lowering the workpiece support table. The number of drives is also significantly reduced, and the effect of reducing running costs and service life can be expected.

In addition, since multiple workpieces are placed in a stacked manner on each moving table of the workpiece transfer conveyor using a workpiece positioning guide, the conveyor as a whole can carry a very large number of workpieces. The number of times workpieces are replenished onto the conveyor can be significantly reduced.

[Brief explanation of the drawing]

Fig. 1 is a schematic plan view of the entire manipulator, Fig. 2 is a side view thereof, Fig. 3 is a longitudinal sectional front view thereof, Fig. 4 is a partial longitudinal sectional side view of the manipulator, and Fig. 5 is a longitudinal sectional rear view thereof. Fig. 6 is a rear view showing the rotation transmitting part to the rod, Figs. 7 and 8 are longitudinal sectional rear views showing the same operating state, Fig. 9 is a longitudinal sectional side view of the work gripping means, and Fig. 10 is the same. A front view, FIG. 11 is a longitudinal side view showing the operating state, FIG. 12 is a cross-sectional plan view of the workpiece delivery conveyor, FIG. 13 is a longitudinal side view showing the drive section of the conveyor, and FIG. 14 is the drive section. FIG. 15 is a cross-sectional plan view showing the locking mechanism of the conveyor, and FIG. 16 is a vertical cross-sectional front view of the conveyor. 1... Machine tool, 2... Work holding section, 3...
Manipulator, 4...Arm, 5...Work gripping means for loading, 6...Work gripping means for unloading, 7...Conveyor for work delivery, 10...Rotating frame, 12...Rotating and sliding possible Rod, 13...Slide drive unit, 14...Vertical rotation drive unit, 15...Right and left rotation drive unit, 17, 20, 24, 32, 47, 61,
66, 71, 72...Cylinder unit, 1
8, 22, 43, 59...pinion gear, 19,
23, 42, 44, 60...Rack gear, 29...
...Intermediate position stopper mechanism, 30...Rotary plate, 3
1... Stopper contact surface, 33... Stopper claw, 34... Support member, 35... Guide rod,
36...Spring, 37...Main body, 39...Rotating body, 40...Gripping claw, 41...Gripping claw drive unit,
48...Moving table, 49...Drive gear wheel, 51...Drive chain, 53...Work positioning guide pin, 54...Work receiving plate, 55...Drive gear drive section, 57...One direction rotation Clutch, 62...Lock mechanism, 64a, 64b...V-shaped recess, 65...
...Lock claw, 67...Work supply means, 68...
Work receiving means, 69, 70... Lifting guide rod, 73, 74... Fork (work support stand).

Claims (1)

[Scope of utility model registration request] A moving table that moves in series on a horizontal circulation path including a work supply position and a lower work reception position and sequentially stops at both of the positions, and a work supply means and a work reception that are attached to each of the two positions. a workpiece transfer conveyor having means, a loading workpiece gripping means for gripping an unprocessed workpiece on a movable table stopped at the position above the workpiece supply position and supplying the workpiece to the machine tool side, and a machine tool side A workpiece transfer device comprising an unloading workpiece gripping means for grasping a processed workpiece from the workpiece and releasing the processed workpiece to a movable table that is stopped at the above-mentioned workpiece receiving position. , each of the moving tables is provided with a work positioning guide for mounting a plurality of works in a stacked manner, and the work supplying means and the work receiving means are configured to move the workpieces mounted on the moving table stopped at each position. A workpiece transfer device that is equipped with a workpiece support platform that can be raised and lowered to lift and lower the workpieces.