JPH0224594Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention is a three-dimensional multi-surface system that directly and automatically transports pallets from the pallet storage position of a three-dimensional and radially arranged pallet stocker to the working position of processing equipment such as machine tools. Regarding pallet chain structure.

[Conventional technology]

A pallet magazine in which pallet storage positions are arranged three-dimensionally and radially is, for example, disclosed in Japanese Patent Laid-Open No. 59-
It is described in Publication No. 1131.

This pallet magazine has storage shelves formed in a multi-stage structure in the vertical direction arranged in an annular shape, a swing lifter in the center that can freely rotate vertically and around the vertical axis, and a pallet grip attached to this lifter. The present invention is characterized in that a plurality of pallet storage cells are configured in the cylindrical space.

Then, the pallets stored in each pallet storage cell are transported by a rotating lifter and a pallet gripping means to a delivery port provided in a part of the pallet storage shelf, and from there, the pallets are further placed around the outer periphery of the pallet storage shelf. The manipulator, specifically,
It is automatically attached to the processing machine by the pallet changer.

[Problem that the invention attempts to solve]

As described above, in the three-dimensional multifaceted pallet changer structure including the above-mentioned pallet magazine, a plurality of machine tools must be arranged radially around the pallet magazine with manipulators interposed therebetween. Therefore, the cost increases due to the intervention of the manipulator, and the required installation space increases cumulatively.

In addition, in this type of three-dimensional multifaceted pallet chain structure, the processing machine is sometimes replaced with a new type or one made by another manufacturer. In this case, the height of the working position of the processing machine also changes each time. Therefore, even in the above-mentioned three-dimensional multifaceted pallet changer structure, the positioning of the manipulator on the machine tool side must be performed again, but such positioning with conventional manipulators is extremely complicated and time-consuming.

[Means for solving problems]

The purpose of this invention is to solve the above-mentioned problems of the conventional technology, to reduce costs by saving space and simplifying the structure, and to provide a three-dimensional multifaceted pallet changer structure that allows for easy positioning on the processing machine side. The goal is to provide the following.

The three-dimensional multifaceted pallet chain structure of this invention is
A rotary table that indexes and rotates; a plurality of pallet stockers installed radially at approximately equal distances from the center of rotation of the rotary table, each of which is capable of storing a plurality of pallets in multiple stages in the vertical direction; A working position of a processing device such as a machine tool set at approximately the same distance as a plurality of pallet stockers from the rotation center of the rotary table, and a support stand erected on the rotary table;
A movable base is supported by a support base so as to be able to reciprocate in the vertical direction and is moved in accordance with the height of each pallet storage position of the pallet stocker and the working position of a processing device such as a machine tool; a first arm pivotally connected to the pallet; a second arm having one end pivotally connected to the other end of the first arm; and a support arm pivotally connected to the other end of the second arm and configured to support the pallet. The pallet support mechanism is characterized in that it has a pallet support mechanism that conveys the pallet directly from the pallet storage position of the pallet stocker to the working position of a processing device such as a machine tool.

In a preferred embodiment of the present invention, the pallet support mechanism has two positions: an extended position when the pallet is removed from the pallet storage position of the pallet stocker, and a retracted position where the pallet can be rotated within a minimum rotation radius about the rotation center of the rotary table while holding the pallet. It has become possible to take the following measures.

[Effect]

The rotary table is indexed and rotated until it faces the pallet stocker containing the desired pallet. The movable table is moved vertically along the support table to the height of the pallet storage position where the desired pallet is stored. The support arms of the pallet support mechanism are extended to the extended position to support the desired pallet. While supporting the desired pallet, the support arms of the pallet support mechanism are retracted to the retracted position. The rotary table is indexed and rotated until it faces the working position of a processing device such as a machine tool. moving platform,
It moves vertically along the support base to the height of the working position of processing equipment such as a machine tool. The support arm of the pallet support mechanism is extended and the pallet is mounted on a processing device such as a machine tool at a working position.

〔Example〕

Hereinafter, embodiments of the present invention will be described based on the drawings.

As shown in FIGS. 1 and 2, a plurality of pallet stockers 1a, 1b, 1c store pallets.
Work tables and stockers 1d for loading and unloading workpieces on the pallet 9 are arranged radially. As shown in Figures 1 and 3, pallet stocker 1
a, 1b, 1c and stocker 1d are formed in a multi-layered manner so as to store pallets in a plurality of pallet storage positions. That is, the pallets 9 and the like are placed on the table 2 and stored therein. Palette stocker 1a, 1
A rotary table 3 is arranged near the stocker 1d and the stocker 1d. A support stand 4 is erected on the rotary table 3, and a movable stand 5 is supported on the support stand 4 so as to be movable in the vertical direction shown in the figure. The support stand 4 is formed at approximately the same height as the pallet stocker 1a, etc., and allows the movable table 5 to be moved to a position almost facing the pallets being stored.

A first arm 6 is attached to the movable table 5, one end of which is linked, and one end of a second arm 7 is linked to the other end of the first arm 6. Further, one end side of a support arm 8 is linked to the other end side of the second arm 7 . The first arm 6, the second arm 7, and the support arm 8 constitute a pallet support mechanism that supports the pallet 9. The support arm 8 has an L-shaped cross section as shown in FIG. 5, and is formed to support and hold the pallet 9.

Note that the pallet stocker 1a and the like and the rotary table 3 are generally arranged near a machine tool 10, a so-called machining center.

As shown in FIGS. 3 and 4, on the moving table 5,
Drive and fixing means 11 are provided within the first and second arms 6, 7, support arm 8, etc. for swinging these arms 6, 7, 8 and holding them fixedly.

Next, the structure of each part will be explained in more detail.

As shown in FIG. 3, the table base 12 of the rotary table 3 is centrally supported by a reducer 13, and indexed and rotated by a drive motor via the reducer 13. A roller 15 pivotally supported by a bracket 14 provided on the immovable side contacts the lower surface of the table base 12, supports the table base 12, and enables smooth rotation. Further, as shown in FIG. 2, the table base 12 is provided with a limit switch 16 for detecting the index position.

The table stand 12 is indexed and positioned by a control means (not shown), and pallet stockers 1a, 1
b, 1c and the stocker 1d and the support arm 8 are rotated to a position where they face each other.

The support stand 4 is formed from a frame-shaped cross section, and is fixed to the table stand 12 of the rotary table 3 and erected as described above. Guide blocks 17 are fixed to both sides thereof. Further, a bracket 19 for pivotally supporting the sprocket 18 and a bracket 21 for mounting the motor 20 are fixedly supported on the upper surface side.

The movable table 5 is formed in an L-shape as shown in FIG. 3, and as shown in FIGS. 3 and 4, the member on the side that rises along the support table 4 has a guide block 17 surrounded and held therein. roller groups 22, 23, 23, 2
4 are provided in pairs on the upper and lower sides, allowing the movable table 5 to slide along the guide block 17. Further, as shown in FIGS. 3 and 4, a female screw block 26 is provided which is screwed into the feed screw 25.

The lower end of the feed screw 25 is pivotally supported by the table base 12, and the upper end is connected to the motor 20.

A motor 2 of a drive fixing means 11, which will be explained later, is attached to a member on the side of the movable table 5 that extends in the lateral direction in FIG.
7 and a reduction gear 28 are mounted. A limit switch 29 for detecting the swinging position of the first arm 6 is also provided.

The moving table 5 moves up and down along the support table 4 as described above, but a balance weight 30 is used for smooth movement.
are connected by a wire 31 via a sprocket 18. Note that the balance weight 30 is housed within the frame of the support base 4.

As shown in FIG. 4, the first arm 6 is formed into a box-shaped arm shape, and one end of the first arm 6 is fixed to a shaft 32 of a drive fixing means 11, which will be described later, via a key called a power lock 33. At the other end of the first arm 6 is a shaft 3.
4 is similarly fixed via a power lock 35.

The second arm 7 is similarly formed into a box-shaped arm shape, and one end thereof is fixedly supported by a bearing bracket 37 which is rotatably supported by the shaft 34 via a bearing 36. Further, a shaft 38 is fixed to the other end.

Note that the first arm 6 and the second arm 7 are each formed of a pair of opposing arms.

The support arms 8 are formed from a pair of opposing arms, and are formed at intervals approximately equal to the width of the pallet 9 in order to support the pallet 9.

One end side of the support arm 8 is fixed by a bolt 40 to a chain wheel 39 rotatably supported on a shaft 38 . Further, the other end side is formed to be open so as to engage with the pallet 9.

Next, the drive fixing means 11 will be explained. As shown in FIGS. 3 and 4, the motor 27 and the belt 41
A gear 42 is fixed to the rotating shaft of the speed reducer 28 connected to the shaft 32, and meshes with a gear 43 fixed to the shaft 32. A bearing bracket 4 is attached to the shaft 32 via a bearing 44.
5 is supported, and a chain wheel 46 is fixed to the bearing bracket 45. Bearing bracket 45
is fixed to the movable table 5. Therefore, the shaft 32
is rotatably supported by a bearing bracket 45. A chain wheel 47 is fixed to the bearing bracket 37.
A chain 48 is installed between the chain wheel 6 and the chain wheel 47. A chain wheel 49 fixed to the shaft 34 and a chain 5 are connected between the chain wheel 39 and the chain wheel 49.
0 is constructed.

Next, the operation of this embodiment will be explained in more detail.
Desired pallet 9 in the pallet stocker 1a etc.
When pulling out the pallet, first, the rotary table 3 is rotated about its rotation center by a command from a numerical control means (not shown), and the open side of the support arm 8 is positioned at a position facing the pallet stocker 1a, etc. Next, when the motor 20 is rotated, the feed screw 25
The movable table 5 moves along the pallet 9 and positions the support arm 8 at a position opposite to the desired pallet 9.

Furthermore, while swinging the first and second arms 6, 7 and the support arm 8, the support arm 8 is extended to the extended position and engaged with the lower surface of the pallet 9 (as indicated by arrow B in FIG. 3). That is, as shown in FIG. 4, by rotating the motor 27, the shaft 32 rotates, and as a result, the first arm 6 fixed to the shaft 32 swings. Since a shaft 34 is fixed to one end of this arm 6, the shaft 34 is
It moves in such a way as to draw an arcuate locus around the axis 32. Since the chain wheel 46 is fixed to the movable table 5, when the shaft 34 moves in a circular arc trajectory around the shaft 32, the chain 48 moves the chain wheel 47 by an angle corresponding to the amount of movement. Rotate. chain wheel 47
When the chain wheel 47 rotates, the second arm 7 fixed to the chain wheel 47 swings about the shaft 34. Chain wheel 49 is fixed to shaft 34, and shaft 38 is fixed to chain wheel 39. Therefore, when the second arm 7 swings about the shaft 34, the chain wheel 39 is moved by the chain 50 by an angle corresponding to the amount of this swing.
Rotate. With this rotation, the support arm 8 swings about the shaft 38.

As described above, by swinging the first arm 6, second arm 7, and support arm 8 as appropriate, the support arm 8 is horizontally inserted below the pallet 9, and the moving table 5 is slightly raised to release the pallet. 9, then swing the first arm 6, second arm 7, and support arm 8 appropriately to pull out the pallet 9 from each pallet stocker 1a, 1b, 1c and retract it to the retracted position (see arrow A in Fig. 3). condition).
In this case, it goes without saying that the support arm 8 is always held horizontally.

Then, the table base 12 of the rotary table 3 is indexed and rotated, the support arm 8 is directed toward the machine tool 10, and in this position, the pallet 9 is moved while swinging the first and second arms 6, 7 and the support arm 8. is moved to the machine tool 10 side.

The above operation is performed for each pallet stocker 1a, 1b, 1.
This can be done for all of c and for pallets 9 in all pallet storage positions. Conversely, the processed pallet 9 on the machine tool 10 side can be returned to all of the above pallet storage positions by similar means.

Furthermore, the pallet 9 in the stocker 1d shown in FIG. 1 can also be transferred to the pallet stocker 1a or the like in the same manner as described above.

Since the pallet stocker 1a etc. are three-dimensionally formed as described above and can store a large number of multi-layered pallets 9, the installation space is extremely small compared to the prior art, and space saving is realized. Further, the movement of the pallet 9 is carried out by the swinging of the first arm 6 and the like and the rotation of the rotary table 3, and is carried out extremely easily and in a short time. Further, since the pallet 9 is reliably supported by the support arm 8 etc., danger during transportation is also avoided.

Also, pallet stocker 1a etc. to pallet 9
When pulling out, it can be done relatively casually and the work can be done quickly. In addition, when inserting into the machine tool 10 side, it is only necessary to accurately position it by a movement that can be finely adjusted by numerical control, and the overall operation becomes easier than in the prior art. In addition, 1
0a is a pallet clamp device, and 51 is a control panel.

[Effect of idea]

As is clear from the above description, according to the present invention, it is possible to save space, reduce the time required to transport pallets, etc., and carry them into a machine tool easily and quickly. Moreover, in the present invention, positioning between a pallet conveying device such as a manipulator and the working position of a machine tool, which was difficult in the past, is achieved by controlling the movement of the moving table in the vertical direction along the support table. The three-dimensional multifaceted pallet changer structure of the present invention allows processing equipment such as a machine tool to be easily replaced with a different model or a different manufacturer.

Further, according to a preferred embodiment of the present invention, the pallet support mechanism can assume a retracted position in which it can rotate within the minimum rotation radius around the rotation center of the rotary table while holding the pallet, so that the pallet support mechanism can be used for a plurality of pallet stockers and processing devices. The working positions of the rotary table can be arranged radially as close as possible to the rotation center of the rotary table. Therefore, the area necessary for installing the three-dimensional multifaceted pallet chain structure including the processing equipment can be reduced by several tens of percent.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an embodiment of a three-dimensional multifaceted pallet chain structure according to the present invention. 2 is a plan view of the three-dimensional multifaceted pallet chain structure shown in FIG. 1; FIG. FIG. 3 is a side view of essential parts of the three-dimensional multifaceted pallet chain structure shown in FIG. 1. FIG. 4 is a plan view of essential parts of the three-dimensional multifaceted pallet chain structure shown in FIG. 1. FIG. 5 is a sectional view taken along the - line in FIG. 4. 1a, 1b, 1c...palette stock, 1d
...Stotsuka, 2...stand, 3...rotary table,
4...Support stand, 5...Movement stand, 6...First arm, 7...Second arm, 8...Support arm, 9
... Pallet, 10 ... Machine tool, 10a ... Pallet clamping device, 11 ... Drive fixing means, 1
2...Table stand, 13...Drive reducer, 14...
...Bracket, 15...Roller, 16,29...
Limit switch, 17... Guide block, 18
... Laura, 19... Bracket, 20, 27...
...Motor, 21...Bracket, 22, 23, 2
4...Roller group, 25...Feed screw, 26...Femally threaded block, 28...Reducer, 30...Balance weight, 31...Wire, 32, 34, 38
... Axis, 33, 35 ... Power lock, 36, 4
4... Bearing, 37, 45... Bearing bracket, 3
9, 46, 47, 49...Chain wheel, 4
0...Bolt, 41...Belt, 42,43...
Gear, 48, 50...Chain, 51...Control panel, A...Retracted position, B...Extended position.

Claims (1)

[Claims for Utility Model Registration] (1) A rotary table that indexes and rotates, and a plurality of pallet stockers installed radially at approximately equal distances from the center of rotation of the rotary table, each of which moves a plurality of pallets up and down. a pallet stocker capable of storing pallets in multiple stages in the direction; a working position of a processing device such as a machine tool set at approximately the same distance as the plurality of pallet stockers from the center of rotation of the rotary table; a support stand; a movable stand supported by the support stand so as to be able to reciprocate in the vertical direction and moved in accordance with the height of each pallet storage position of the pallet stocker and the working position of a processing device such as a machine tool; , a first arm having one end pivotally connected to the moving table, a second arm having one end pivotally connected to the other end of the first arm, and a second arm pivotally connected to the other end of the second arm to support the pallet. A pallet supporting mechanism comprising a support arm formed to support a pallet, the pallet supporting mechanism being configured to directly transport a pallet from a pallet storage position of the pallet stocker to a working position of a processing device such as a machine tool. A 3D multi-sided pallet chain structure. (2) Utility Model Registration Claim In the three-dimensional multi-sided pallet changer structure according to claim 1, the pallet support mechanism maintains the pallet in an extended position and when taking the pallet out of the pallet storage position of the pallet stocker. A three-dimensional multifaceted pallet changer structure, characterized in that it can take a retracted position where it can rotate within a minimum rotation radius around the rotation center of the rotary table.