JPH0369653B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a pallet changer for exchanging pallets with a machine tool, which improves the operability associated with exchanging pallets. It is related to.

[Prior art]

In numerically controlled machine tools such as machining centers, workpiece mounting pallets are used to improve the efficiency of mounting and removing workpieces from the worktable. A pallet changer can be used for transferring.
This pallet changer has, for example, a pallet mounting table that can be rotated between a workpiece mounting position on a machine tool and a setup position for attaching and removing a workpiece to and from the pallet, and a pallet loading/unloading port on one side of the pallet mounting table. Unprocessed workpieces are attached to the pallet supported facing the pallet and are placed on standby for transfer to the machine tool, and after processing is completed, the processed workpiece is attached from the other pallet loading/unloading port of the pallet mounting table. The pallet is carried in and placed on the machine tool, and then the pallet mounting table is rotated 180 degrees to carry out the pallet with the unprocessed workpiece attached to the machine tool on one side, and the machined workpiece is attached on the other side. The machined workpiece is removed from the pallet and a new unprocessed workpiece is installed and set up.

By the way, as mentioned above, in a pallet changer that exchanges pallets with the machine tool by rotating the pallet mounting table between the machine tool and the work setup position for the pallet, pallets are transferred between the machine tool and the pallet. When you do,
It is necessary to position the pallet mounting table at a position where the pallet loading/unloading exits of the pallet mounting table alternately face the machine tool while suppressing the rotational movement of the pallet mounting table. Therefore, an indexing mechanism is provided in which a retractable knock pin is provided on a base that rotatably supports the pallet mounting table, and a positioning hole into which the knock pin can be inserted is provided at a predetermined position on the pallet mounting table. There is.

Conventionally, the engagement and disengagement between the insertion hole and the knock pin in the indexing mechanism is performed by a controller receiving a detection signal outputted from a detection means such as a limit switch that electrically detects the loading/unloading operation of the pallet. It was designed to be raised and lowered using a special actuator.

[Problem that the invention seeks to solve]

However, in a structure in which the detection means for detecting the loading and unloading of pallets and the actuator for raising and lowering the knock pins are connected by electrical control means and are mechanically separated from each other,
The electrical response time from loading and unloading of pallets to the start of operation of the actuator, and furthermore, the activation of the actuator takes considerable time, which inevitably reduces the pallet exchange efficiency.

Furthermore, in some systems that use a pallet changer, in addition to exchanging processed workpieces at the setup position on the pallet mounting table, the pallet carrying the processed workpieces is carried from the setup position to an external pallet stocker, and the pallet stocker is then moved to the pallet stocker. It is also necessary to be able to receive a new pallet containing raw workpieces from the machine. In order to satisfy such requirements for the pallet changer mentioned above, a new detection means for detecting the loading and unloading of pallets to be exchanged at the workpiece setup position of the pallet changer is newly installed, and furthermore, it is necessary to The electrical control sequence that allows the rotating movement of the pallet mounting table based on the loading and unloading of pallets exchanged between the pallets must be changed to a control operation including the detection state by the newly installed detection means described above. Therefore, it is necessary to modify or replace the electrical control sequence that allows the pallet mounting table to rotate based on the loading and unloading of pallets, and to modify or replace the control circuit for this purpose. Versatility that allows you to select between a function to exchange processed workpieces at the setup position on the pallet mounting table without carrying in and out, and a function to exchange the pallet with processed workpieces between the setup position and an external pallet stocker. There was a problem that it was not possible to obtain it easily.

The present invention solves these problems, and a first object of the present invention is to provide a pallet changer that can improve the efficiency of pallet exchange with a machine tool. Moreover, the second invention is
It is possible to select between the function of exchanging machined workpieces at the setup position on the pallet mounting table without carrying in and out of pallets, and the function of exchanging the pallet with machined workpieces between the setup position and an external pallet stocker. It is an object of the present invention to provide a pallet changer that can easily provide versatility and improve pallet exchange efficiency similarly to the first invention.

[Means for solving problems]

The pallet changer according to the first invention performs the work of changing the workpieces to be mounted on the pallet on a pallet mounting table, and has a plurality of pallet loading/unloading ports at equal intervals on the outer edge, and the pallet loading/unloading port is installed from the same opening. a pallet mounting table on which a pallet is placed; a base that rotatably supports the pallet mounting table; and a base that urges the pallet loading table or the base to advance toward the other. a plurality of positioning members arranged at equal intervals on the one table in correspondence with each of the pallet loading and unloading ports; and a plurality of positioning members that are in an advanced state while the pallet loading table is in the middle of turning. a single or plural first stoppers disposed on the other base, which simultaneously lock a part of the positioning member in a one-to-one correspondence, and in a state where the first stopper locks the positioning member, a detachment mechanism that is arranged in one-to-one correspondence with a positioning member and is moved backwardly to separate the positioning member corresponding to the pallet carry-in/out port from the first stopper by contacting and displacing the pallet carried in from the pallet carrying-in/out port; a holding mechanism that maintains the state of the detachment mechanism in which the positioning member is detached from the first stopper by establishing a one-to-one correspondence between the first stopper and the positioning member; In the middle of turning the pallet mounting table after the pallet is released, release the holding mechanism of the holding mechanism with respect to the detachment mechanism,
A structure is adopted that includes a release mechanism that allows the positioning member to move forward by a biasing force.

The pallet changer according to the second aspect of the invention has a structure that enables the workpiece to be replaced after carrying out the part to be replaced from the pallet mounting table to the pallet stocker. One or more second stoppers are provided for selectively locking the positioning members other than the part of the positioning members in a one-to-one correspondence during the rotation of the second stopper.

Regarding the second stopper, when the positioning member is arranged on the pallet mounting table and the first and second stoppers are arranged on a base located below the pallet mounting table, the second stopper has a positioning member. Provided with a recess into which the lower end of the member can be inserted, and a function selection member that is retractable from the recess;
A recessed state of the function selection member into the recess that allows the positioning member to be inserted into the recess, and a position where the upper end of the positioning member that protrudes from the recess and engages with the function selection member can be locked on the pallet. It is possible to provide a selection mechanism for selecting the state in which the vehicle is raised.

[Effect]

When the pallet changer according to the first aspect of the present invention is used to transfer pallets to and from a machine tool, the pallet loading/unloading port faces the machine tool when the positioning member is locked with the first stopper. This allows pallets to be carried in and out. When a pallet carrying a processed workpiece is carried from the machine tool to the pallet mounting table in this state, the detachment mechanism comes into contact with the pallet and detaches the positioning member on the loading/unloading exit side from which the pallet is carried in from the first stopper. let This detached state is maintained by a holding mechanism. This detachment operation and holding operation are performed by placing the first stopper and the positioning member in one-to-one correspondence. Therefore, the pallet mounting table becomes capable of rotating with respect to the base only after the pallet is carried in from all the pallet carrying-in/out ports corresponding to the positioning members locked by the first stopper. For example, when two pallet loading/unloading ports are provided, when a pallet with unprocessed workpieces and a pallet with processed workpieces are placed on the pallet mounting table, the pallet with unprocessed workpieces is placed on the machine tool. After the workpiece is processed by the machine tool, it is transported to the pallet changer. The processed workpiece mounting pallet is remounted onto a new unprocessed workpiece on the pallet mounting table. After the pallet is loaded into the pallet loading/unloading port facing the machine tool, when the pallet mounting table is rotated, the release mechanism allows the positioning member to advance due to its biasing force during the rotation. . As a result, when the positioning member reaches an adjacent stopper in the rotation direction, the positioning member is locked to the adjacent stopper, and the opposing position of the pallet loading/unloading port with respect to the machine tool is switched.
In this way, when exchanging pallets with a machine tool, the positioning, stopping, and turning movements of the pallet mounting table for successive exchange of the pallet loading/unloading/exit to the machine tool are performed from the rotating operation of the pallet loading table to the rotation of the pallet loading/unloading table. It is sequentially controlled in direct mechanical relation to a series of operations leading up to the pallet loading operation.

In the pallet changer according to the second invention, when the function of locking the positioning member by the second stopper is not selected, the pallet changer operates in the same manner as the pallet changer according to the first invention. When the locking function of the second stopper is selected, the pallet changer is used to transfer pallets between the machine tool and the pallet stocker. When the positioning member is locked by the first and second stoppers, the pallet loading/unloading port faces the machine tool and the pallet stocker, allowing pallets to be loaded/unloaded. When a pallet carrying a workpiece machined by a machine tool is carried into the pallet mounting table in this state, the detachment mechanism comes into contact with the pallet, and the positioning member on the loading/unloading exit side where the pallet is carried is moved to the first stopper or the first stopper. Remove from the 2nd stopper. Similarly, when a pallet with unprocessed workpieces is loaded from the pallet stocker through the corresponding pallet loading/unloading port, the detachment mechanism contacts the pallet and moves the positioning member on the loading/unloading side side where the pallet is loaded from the first stopper or the second stopper. make them leave. Each detached state is maintained by a holding mechanism. This detachment action and holding action are the first
This is done by placing the stopper and second stopper in one-to-one correspondence with the positioning member. Therefore, the pallet mounting table cannot be rotated with respect to the base until pallets are carried in from all the pallet carry-in/out ports. When the pallet mounting table is rotated after the pallet loading operation has been performed at all the pallet loading/unloading ports, the release mechanism allows all the positioning members to advance due to their biasing force during the rotation. As a result, when the positioning members reach the stopper next to them in the rotation direction, all the positioning members are locked to the stopper at the same time, and the opposing positions of the pallet loading/unloading port relative to the machine tool and the pallet stocker are switched. In this way, when exchanging pallets between the machine tool and the pallet stocker, positioning, stopping and turning of the pallet mounting table for sequential exchange of the pallet loading/unloading/exit for the pallet stocker and the machine tool are performed by the rotating operation of the pallet mounting table. It is directly mechanically linked and sequentially controlled to a series of operations from 1 to 2, to the operation of carrying the pallet onto the mounting table.

〔Example〕

The pallet changer of this embodiment corresponds to the second invention, and as shown in FIG. The pallet stocker 2 is placed between the base 3 and the pallet stocker 2.
The pallet mounting table 4 rotatably supported on the pallet mounting table 4 is rotated to exchange pallets between the clamp device 1A and the pallet stocker 2, and the pallet carrying the processed workpiece is transferred to the pallet mounting table 4.
It can be replaced at the setup location without having to be carried out.

Although the details of the clamping device 1A are not shown in the drawings, the clamping device 1A is configured to temporarily position the pallet 11 carried in from the pallet changer, and also to position and fix the temporarily positioned pallet 11 at a processing position by a machine tool. After the machining is completed, the fixed state of the pallet 11 is released and the pallet 11 can be carried out to the pallet changer.

First, the entire pallet changer will be schematically explained based on FIG. 8 is fixed, and the base 3 is fixedly arranged on the upper surface of the elevating table 8,
A pallet mounting table 4 is pivotally supported on the base 3 so as to be pivotable in the horizontal direction. The lifting table 8 is used to adjust and set the heights of the pallet mounting table 4 and the clamping device 1A fixed on the work table 1 to be approximately equal when installing the pallet changer. The lift table 8 is fixed to the base 7 by finely adjusting the front, rear, left, and right positions, horizontal state, and height position set by the lift platform 8 of the changer when the change gear is installed.

Both ends in the longitudinal direction of the pallet mounting table 4 are connected to the first loading/unloading port (pallet loading/unloading port) 1 for the pallet 11.
2 and a second loading/unloading port (pallet loading/unloading port) 13, and between the first loading/unloading port 12 and the turning center, there are an appropriate number of pallets 11 to guide and support the pallets 11 carried in/out via the first loading/unloading port 12. Two pairs of first rails 16 comprising guide rollers 15 are laid, and similarly, between the second carry-in/out port 13 and the turning center, pallets 11 carried in and out through the second carry-in/out port 13 are guided. Two pairs of second rails 18 each having an appropriate number of supported guide rollers 17 are laid. On the other hand, the base 3 facing the clamp device 1A
A pair of bridges 21 having guide rollers 20 for supporting and guiding the pallets 11 to be transferred between the clamping device 1A and the pallet mounting table 4 are fixedly disposed at one end, and a base facing the pallet stocker 2 is fixedly disposed at one end. At the other end of the table 3, a pair of bridges 23 having guide rollers 22 that support and guide the pallets 11 to be transferred between the pallet stocker 2 and the pallet mounting table 4 are selectively installed in a generally horizontal or vertical state. It is provided so that it can be positioned.

For example, as shown in FIG. 1, when the first loading/unloading port 12 and the second loading/unloading port 13 of the pallet mounting table 4 are respectively opposed to the clamp device 1A and the pallet stocker 2, and the pallet 11 is exchanged between them, The pallet (not shown) with the unprocessed workpiece attached thereto is transferred to the pallet stocker 2 through the second loading/unloading port 13.
The pallet is carried in and placed on the second rail 18 of the pallet mounting table 4 to wait for transfer to the clamping device 1A.
The pallet 11 on which the machined workpiece is attached is carried in and placed on the first rail 16 from the clamping device 1A of the machine tool through the carry-in/out port 12, and then the pallet placement table 4 is rotated through 180 degrees, and on the one hand A pallet 11 with processed workpieces attached thereto is carried out to the pallet stocker 2, and on the other hand, a pallet (not shown) with unprocessed workpieces attached thereto is carried out to a clamp device 1A fixed to the work table 1 of the machine tool.

In FIG. 1, guard rings 25 having a curvature approximately equal to the radius of rotation from the center of rotation to the corner of the pallet mounting table 4 are provided on both longitudinal edges of the pallet mounting table 4 for protection. The guard ring 25 is also used as a grip for rotating the pallet mounting table 4.

Next, each part of the pallet changer will be explained in detail.

First, details of the elevating table 8 will be explained with reference to FIGS. 2 and 3.

The lifting platform 8 includes a lower body 32 consisting of a first drum 31 fixed on a base plate 30 that can be fixed to the base 7 via an installation device 9, and a lower body 32 with the first drum 31 fixed to the base 3 under the base 3. It has a double drum structure mainly consisting of an upper body 34 fixed with a second drum 33 that can be accommodated with a gap, and a trapezoidal screw 36 is carved on the outer periphery of the first drum 31. Screw the stop ring nut 37 onto the same screw 36, and then tighten the support ring nut 38 from above.
Fit the screws together.

The lower end of the second drum 33 forms a flange 39, which is placed on a support ring nut 38 to support the upper body 34 on the support ring nut 38. The upper body 34 moves up and down as the support ring nut 38 is rotated.
In order to prevent the upper body 34 from rotating together with the support ring nut 38 at this time, a long round key 40 is fixed to the inner surface of the second drum 33 in the axial direction, and a pair of the same keys 40 are fixed to the inner surface of the second drum 33 in the axial direction. A pair of guide screws 41 are fixed to the outer circumferential portion of the upper end of the first drum 31 so that the head portions of the first drum 31 can be pinched and slid into sliding contact with each other.

The flange 39 of the second drum 33 has, for example, 12 attachment holes 42 formed concentrically with respect to its axis and at equal intervals on the front and back surfaces.
For example, four female mounting screws 43 that can communicate with the
are formed through the front and back surfaces of the support ring nut 38 at equal intervals.

The lifting platform 8 is a clamping device 1 fixed to the work table 1 when installing the pallet changer.
The height position is adjusted and set according to the height of A, and the height of the pallet mounting table 4 is set by the clamping device 1.
The support ring nut 38 is adjusted so that the height of the pallet 11 is equal to the height of A, or more precisely, the guide support surface of the pallet 11 by the guide rollers 15, 17, 20 and 22 corresponds to the support surface of the pallet 11 on the clamping device 1A. Turn the upper body 34
to raise and lower. After setting the height position of the upper body 34, the four female mounting threads 43 formed in the support ring nut 38 are inserted into four of the twelve mounting holes 42 formed in the flange 39 of the upper body 34. Turn support ring nut 38 slightly to establish communication. Set screws 45 are respectively fitted into the communicating mounting holes 42 and female mounting threads 43 via lock nuts 44, and the stop ring nuts 37 are rotated to press the bottom surface of the support ring nut 38 with the stop ring nuts 37. , in that state, tighten set screw 4
The set screw 45 is tightened until the tip of the stop ring nut 37 presses the stop ring nut 37, and the screw 45 is stopped from rotating by the lock nut 44 to completely fix the upper body 34 to the lower body 32.

In this way, the upper body 3 with a relatively large outer diameter
4 and a lower body 32, it is possible to stably support the upper structure that it supports, and also to reduce the pitch diameter of the trapezoidal screw 35 carved in the lower body 32. Since it can be made larger, the lower body 3
The height of the upper body 34 relative to the upper body 2 can be adjusted with extremely high precision.

The maximum amount of rotation of the support ring nut 38 required when aligning the mounting hole 42 and the female mounting thread 43 is half the circumferential pitch between adjacent mounting holes 42, that is, in this embodiment, for example, the rotation angle It only takes 15 degrees. Therefore, the amount of change in the height position of the upper body 34 caused by the operation,
In other words, the maximum amount of error in setting the height position is 1/24 of the pitch of the trapezoidal screw 36, which is extremely small.
This can be offset by fine adjustment of the horizontal form, height position, and front/rear/left/right position, so there is virtually no problem.

Next, details of the installation device 9 will be explained in detail based on FIGS. 4 and 5.

Stud bolts 50 are fixed upright at approximately four corners of the base 7, and a flange-shaped height adjuster 51 is screwed into the bolts 50 with its flange portion 51A facing down. The base plate 30 located at the bottom of the lifting platform 8 has height adjusters 5 arranged approximately in the same manner as the stud bolts 50.
Through hole 5 smaller than the outer diameter of flange portion 51A of No. 1
3 are formed, and the through holes 53 are inserted into the boss portions 51B of the height adjuster 51, and the substrate 30
is placed on the upper surface of the flange portion 51A of the height adjuster 51. In this state, when the height adjuster 51 is turned via its head 51C, the height adjuster 51 moves up and down according to the amount of rotation, and the amount of rotation of the four height adjusters 51 is mutually adjusted. Therefore, the horizontal state and height position of the lifting table 8 and furthermore the pallet mounting table 4 can be finely adjusted.

Two blocks 55 are fixed to each outer edge of the base 7 at a predetermined interval, and push screws 56 capable of pressing the end surface of the substrate 30 are fitted into the blocks 55, respectively. While turning the set screw 56 and gradually protruding its tip, insert the board 30.
When the substrate 30 is pressed from the side, the height adjuster 51 is pushed to the extent permitted by the gap between the inner circumference of the through hole 53 formed therein and the outer circumference of the boss portion 51B of the height adjuster 51. The upper surface of the flange portion 51A is slidably displaced, and the set screws 5
6. By adjusting the mutual protrusion amount, the push screw 56 finely adjusts the front, rear, left, and right positions of the lifting platform 4 with respect to the base 7.

A lock nut 58 having an outer diameter approximately equal to the outer diameter of the flange portion 51A of the height adjuster 51 is screwed into the outer circumferential portion of the boss portion 51B of the height adjuster 51, and the area around the through hole 53 of the substrate 30 is tightened. A set screw 59 which can be clamped and fixed by the flange part 51A of the height adjuster 51 and its lock nut 58 and which can press the head of the stud bolt 50 is screwed into the height adjuster 51.

After the height is set by the lifting table 8, the installation device 9 finely adjusts the front, rear, left and right positions and horizontal state of the pallet mounting table 4, as well as the height position set by the lifting table 8, and lifts the lifting table 8. Install and fix on base 7. Each height adjuster 51 and set screw 5
After finely adjusting the horizontal state, height position, front, back, left, and right positions of the pallet mounting table 4 by the rotation operation in step 6, press the head of the stud bolt 50 with the set screw 59 to adjust the height adjustment for the stud bolt 50. After locking the star 51, turn the lock nut 58 in the tightening direction to tighten the board 30.
By clamping and fixing the height adjuster 31 with the flange portion 51A of the height adjuster 31 and the lock nut 58, the elevating platform 8 can firmly maintain the state in which the height position and the longitudinal and horizontal positions are finely adjusted with respect to the base 7. It is completely fixed to the base 7. Therefore, the pallet changer has 6 anchor bolts on the floor.
It is installed firmly and integrally with the base 7 which is fixed to the base 7, and its installation position will not easily shift even if shock or vibration is applied.

Next, when replacing the pallet 11 between the pallet stocker 2 and the clamping device 1A fixed on the work table 1 by rotating the pallet mounting table 4, the pallet stocker 2 and the clamping device 1A
An indexing mechanism that positions the pallet mounting table 4 against the pallet table 4, and a mechanical system that performs the positioning and release operation thereof in conjunction with a series of operations from the rotation operation of the pallet table 4 to the loading operation of the pallet 11 to the pallet table 4. The engagement/disengagement control mechanism 10 for sequential control will be explained.

FIG. 6 is a plan view showing approximately half of the first loading/unloading port 12 side in FIG. 1, and FIG. 7 is a longitudinal sectional view thereof;
FIG. 8 is a longitudinal sectional view showing approximately half of the second loading/unloading port 13 side.

At the center of the base 3, a base block 62 consisting of a stud ring 62A and a disk 62B with a bearing 61 fitted and fixed on its outer circumference is fixed, and a generally annular center block 63 is mounted on top of the stud ring 62A with a bearing 61 fitted and fixed thereon. Fix concentrically. A pallet mounting base 4 is rotatably fitted into the center block 63, and the pallet mounting base 4 is
It is rotatably supported by the bearing 61 via a bearing holder 64 attached to the lower surface of the.

A pair of center plates 66 and 67 are fixedly arranged on the pallet mounting table 4 symmetrically with respect to the center of rotation and parallel to the pair of first rails 16. A partition plate 6 is located between both center plates 66 and 67 near the first loading/unloading port 12.
8 and 69 are fixed. As shown in FIGS. 6 and 7, one of the partition plates 6 near the center block 63
A pipe 70 is fitted into the center of the first rail 16 so as to be slidable in the longitudinal direction of the first rail 16, and the other partition plate 69
A rod 72 is slidable concentrically with the pipe 70.
A push rod 73 having a thread in the middle is screwed into the rod 72 and pipe 70 to engage them. Lock nuts 74 and 75 are screwed into the middle part of the push rod 73 to prevent the push rod 73 from loosening so that the amount of screwing of the push rod 73 into the rod 72 and the pipe 70 can be adjusted.
Make the tip of No. 3 stick out. On the extension of the axis of the push rod 73, a positioning pin 7 is attached to a bush 77 that is fixed through the front and back of the pallet mounting table 4.
8 and slide the head of the pin 78 and the right end of the rod 72 into the center plates 66 and 6.
It is connected to an L-shaped link 80 pivotally supported by 7. By inserting a compression coil spring 81 into the rod 72 with both ends in contact with the partition plate 69 and the lock nut 75, the push rod 73 is elastically biased toward the center block 63, thereby positioning it. The pin 78 is always urged in the downward direction.

As shown in FIG. 8, partition plates 88 and 89 are similarly fixed between the center plates 66 and 67 near the second loading/unloading port 13 with respect to the center of rotation of the pallet mounting table 4. A pipe 90 is fitted into the center of one partition plate 88 so as to be slidable in the longitudinal direction of the second rail 18, and a rod 92 which is slidable concentrically with the pipe 90 is fitted into the other partition plate 89. A push rod 93 is screwed into the rod 92 and pipe 90 to couple them together. A lock nut 94 is provided in the middle of the push rod 93 to prevent loosening so that the amount of screwing of the push rod 93 into the rod 92 and the pipe 90 can be adjusted.
and 95 are screwed together, and the tip of the push rod 93 is made to protrude from the left end surface of the pipe 90. On the extension of the axis of the push rod 93, there is a push rod 97 fixedly extending through the front and back sides of the pallet mounting table 4.
An L-shaped link 10 has a positioning pin 98 slidably fitted therein, and the head of the pin 98 and the right end of the rod 92 are pivotally supported on the center plates 66 and 67.
Connect to 0. In addition, from the center of rotation to the positioning pin 9
8 is the distance from the center of rotation to the above positioning pin 7.
It is set equal to the distance up to 8. Rod 9 above
2, by inserting the compression coil spring 101 with both ends in contact with the partition plate 89 and the lock nut 95, the push rod 93 is resiliently biased toward the center block 63, thereby,
The positioning pin 98 is always urged in the downward direction.

The first loading/unloading port 12 and the second loading/unloading port 13 face the bridges 21 and 23, and when the pallet 11 can be transferred between the bridges 21 and 23 and the pallet mounting table 4, the pallet 11 is placed directly under the positioning pin 78. is the same pin 78 as shown in FIG.
A stopper 82 as a first stopper into which the positioning pin 98 (and the other positioning pin 98) can be inserted is fixed to the base 3, and directly below the positioning pin 98,
As shown in FIG. 8, a stopper 102 as a second stopper into which the pin 98 (and positioning pin 78) can be selectively inserted is fixed to the base 3, and the rotation of the pallet mounting table 4 is suppressed and the base It is now possible to position it in position 3. Furthermore, when the pallet mounting table 4 is turned 90 degrees from that state, the pair of stoppers 103 and 104 into which the positioning pins 78 and 98 can be inserted are symmetrically moved with respect to the center of rotation, as shown in FIG. Fix it on the base 3. That is, the stoppers 8 are moved in directions P1, P2, P3, and P4, which are spaced 90 degrees from the center of the center block 63, respectively.
2, 103, 102, and 104 are placed.

The stopper 82, 102, 103, and 10
4 has basically the same configuration, and FIG. 9 shows its longitudinal section and FIG. 6 shows its planar state.
As shown in the figure, when rotating the pallet mounting table 4, the positioning pin 78 protruding downward
The same pin 78 (98) slides into contact with the lower end of (98).
A stopper holder 111 is fixed to the base 3 as a guide member, which has upward slopes 110A and 110B on both sides of the passage path of the positioning pin 78 (98), which can be moved upwardly against the biasing force of the compression coil spring 81 (101). However, compression coil springs 112A and 1 with a smaller load than the compression coil spring 81 (101) are installed in the central opening.
A pair of slide stoppers 113A and 113B, which are resiliently biased upward by the slide guide 112 with a predetermined distance from each other, are supported and inserted so as to be movable up and down, and are resiliently biased upward by the slide guide 112. A stop plate 114 that comes into contact with the upper ends of the slide stoppers 113A and 113B is fixed on the stopper holder 111 on the side of the passage of the positioning pin 78 (98). Curved surfaces 115A and 115B whose curvatures are approximately equal to the curvatures of the slide stoppers 113A and 113B are formed in the central portions of the opposing surfaces of the slide stoppers 113A and 113B, so that the positioning pins 78 and 98 can be inserted into the recessed portions. The positioning hole 116 is configured as a.

In the above indexing mechanism, the positioning pin 78
(98) is compression coil spring 81 (101)
In the state of being lowered by the urging force of
When the positioning pin 78 (98) comes into sliding contact with the upward slope 110A while the pallet mounting table 4 is rotating, the pin 78 (98) gradually moves the compression coil spring 81 as the pallet mounting table 4 rotates. (101) is upwardly displaced against the urging force of the positioning pin 78 (98), and when the lower end surface of the positioning pin 78 (98) reaches the top of the slide stopper 113A, the positioning pin 78 (98)
Descend while displacing A downward. Furthermore, the pallet mounting table 4 is rotated and the positioning pin 78 is
The outer periphery of (98) is the other slide stopper 11
3B, the lower end surface of the positioning pin 78 (98) moves to the slide stopper 113 in response.
By separating from the upper end surface of A, the stopper 113A is elastically displaced upward, thereby causing the pair of slide stoppers 113A and 113
B shows the positioning pin 78 (98) on the curved surface 11.
Positioning hole 1 consisting of 5A and 115B
16 and restrain it. Therefore, it is not necessary to actively stop the rotation movement of the pallet mounting table 4 at a position where the positioning pin 78 (98) can be concentric with the positioning hole 116, but simply when the positioning pin 78 (98) Slide stopper 113
By simply rotating the pallet mounting table 4 until it comes into contact with B, the positioning pins 78 (98) are automatically fitted and restrained, and the pallet mounting table 4 can be positioned on the base 3. Each stopper 82, 102,
Since 103 and 104 have a bilaterally symmetrical structure, they act similarly even when the pallet mounting table 4 is turned in the opposite direction to the above.

The engagement/disengagement control mechanism 10 is constructed around the center block 63. That is, at the centers of the center plates 66 and 67 located inside the center block 63, there are pivot levers 120 and 121 that are swingable in opposition to the push rods 73 and 93, respectively.
are concentrically supported, and the foot levers 120 and 121
A friction member such as a disc spring (not shown) is interposed between the opposing end surfaces of the center plates 66 and 67, and the respective foot levers 120 and 121 are
is configured to be able to maintain its rotational position unless a predetermined external force is applied. Foot lever 12
0 and 121, a cushion 122 that can come into contact with the end surface of the pallet 11, a ball 123 that faces the push rods 73 and 93 are fixed, and a hook 124 that can lock the groove 11A formed on the lower end surface of the pallet 11. erected. The lower ends of the hook levers 120 and 121 can slide along the circumferential surface of the center block 63, and the stoppers 82, 103, 102,
Inverted trapezoidal recesses 1 are spaced at 90° intervals toward 104.
Form 26. Therefore, the pair of positioning pins 78 and 98 sandwich the center block 63 and the pair of stoppers 82 and 102 (103 and 10
4) In the state where the hook 12 is inserted and restrained,
When the lower end of the hook 124 fits into the recess 126 and the hook levers 120 and 121 are rotated downward, the hook 124 is inserted into the groove 11 of the pallet 11.
It separates from A and allows the pallet 11 to be carried in and out. In other parts of the circumferential surface of the center block 63, the hook 124 is connected to the groove 11A of the pallet 11.
A guide plane 1 that is kept at a constant height that can be kept locked to the
It is said to be 27.

The outer circumferential surface of the center block 63 facing the push rod 73 (93) has a circumferential surface 12 that can slide on the protruding end of the push rod 73 (93).
8, and in its circumferential surface 128, through holes 129 are formed radially at 90° intervals toward the stoppers 82, 103, 102, and 104, and an idle pin 130 is inserted into and retracted from these through holes 129. Insert it freely and push both ends of it with the push rod 73.
(93) and the ball 123. The outer circumferential surface of the center block 63 located above each idle pin 130 is rotated to a generally horizontal state by the urging force of the torsion coil spring 125 and comes into contact with the end surface of the pipe 70 (90). The stop lever 131 to be obtained is pivoted.

When the stop lever 131 is in a generally horizontal state, its lower end surface is located above the axis of the pipe 70 (90).
0) When the stop lever 131 is brought into contact with the outer peripheral surface, the lever 131 is pushed up by the outer peripheral surface of the pipe 70 (90) and
0) and can take the state shown in FIG. 7, for example.

For example, in FIG. 7, when the first loading/unloading port 12 of the pallet mounting table 4 faces the clamp device 1A, the stop lever 131 rests on the outer periphery of the pipe 70,
The displacement of the push rod 73 which is integrated with the pipe 70 is not restricted. Therefore, the downward movement of the positioning pin 78 connected thereto via the link 80 by the compression coil spring 81 is not inhibited, and the positioning pin 78 is thereby fitted into the stopper 82 and the pallet mounting table 4 is moved from its base. It is positioned on the platform 3. In this state, the push rod 73, which is elastically biased by the compression coil spring 81, is pressed against the idle pin 130 opposite to it.
Then, the hook lever 120 is forcibly rotated in a downward direction via the ball 123, and the hook 124 is
is forcibly removed from the groove 11A of the pallet 11, and the pallet 11 can be carried out from the pallet mounting table 4. If an unprocessed workpiece is attached to such a pallet 11, the pallet 11 is carried out to a clamping device 1A fixed on the work table 1 of the machine tool, and then carried in again after finishing machining.

When the pallet 11 containing processed workpieces is carried into the pallet mounting table 4 through the first carry-in/out port 12, the leading end of the pallet 11 is moved by the lever 120 based on the carrying force of the pallet 11, as shown in FIG.
When pressed against the cushion 122 of the foot lever 120, the force causes the foot lever 120 to rotate in the counterclockwise direction, and the push rod 73 is compressed by the compression coil spring 8 via the ball 123 and the idle pin 130.
Displace it to the right in the figure against the impetus force of 1,
In conjunction with this, the positioning pin 78 is displaced upward and removed from the stopper 82, and the stop lever 131 falls from the outer periphery of the pipe 70 to the outer periphery of the push rod 73. Therefore, as shown in FIG. 11, even when the pallet 11 is carried in and the pressing action of the pallet 11 on the foot lever 120 is released, the stop lever 131 locks the tip of the pipe 70 to prevent the stop lever 120 from being pressed. 8
The positioning pin 78 is maintained in a detached state with respect to 2. At this time, the hook lever 120, which has been rotationally displaced in the direction of the half-hour hand, maintains its rotational position due to the frictional braking action of a disc spring (not shown), whereby the hook 124 is maintained in the groove 11A of the pallet 11. .

When the positioning pin 98 on the opposite side is similarly maintained detached from the stopper 102, the pallet mounting table 4 is allowed to pivot around the center block 63. From the state shown in Figure 11, pallet mounting table 4
When the pipe 70 is rotated, the pipe 70
(90) slides sideways on the end surface of the stop lever 131, and the positioning pin 78 (98)
2 (102), the stop lever 131 separates from the end surface of the pipe 70 (90). Then, as shown in FIG. 12, the tip of the push rod 73 (93) is pushed against the circumferential surface 12 of the center block 63 by the urging force of the compression coil spring 81 (101).
8, and the positioning pin 78 (98) is displaced downward following this displacement. Therefore, if the pallet mounting table 4 is turned at least 90 degrees from the positioning state shown in FIG. 7, the positioning state shown in FIG. 7 will be automatically achieved again just by the turning operation.

In the engagement/disengagement control mechanism 10, the lever levers 120, 121 formed on the center block 63
When the stopper locks the positioning member, the idle pin 130 comes into contact with the pallet carried in from the pallet carrying-in/outlet and is displaced, thereby moving the positioning member corresponding to the pallet carrying-in/outlet backward and away from the stopper. This constitutes an example of a detachment mechanism for detachment. The stop lever 131, which is biased by the torsion coil spring 125 and disposed on the center block 63 so as to be able to engage with the end face of the pipe 70, is a holding mechanism that maintains the state of the detachment mechanism in which the positioning member is detached from the stopper. This constitutes an example. When the pallet mounting table 4 is rotated around the center block 63, the stop lever 131 provided on the center block 63 separates from the end face of the pipe 70, allowing the push rods 73 and 93 to retreat. This constitutes an example of a release mechanism that releases the holding mechanism of the holding mechanism relative to the detachment mechanism while the pallet mounting table is turning after being detached, and allows the positioning members to move forward by their respective biasing forces.

In this way, the engagement/disengagement control mechanism 10
2 and 102 (103 and 104), the pallet mounting table 4 is moved from the pallet loading/unloading ports 12 and 13.
The positioning pins 78 and 98 are individually lifted and removed from the stopper based on the conveyance force of the pallet 11 carried into the pallet 11, and the raised state of both the positioning pins 78 and 98 is thereby adjusted to a permissible pallet mounting table. Since it is automatically released by the turning movement of 4, the pallet mounting table 4 relative to the base 3
The positioning and release operations are performed sequentially by only a series of operations from the turning operation of the pallet mounting table 4 to the carrying-in operation of the pallet 11 to the pallet mounting table 4, directly mechanically interlocked therewith.

As shown in FIG. 12, while the pallet mounting table 4 is turning, the hook 1 of the hook lever 120
24 lower end is the center block 63 upper surface recess 1
26 and slides on the guide surface 127. At this time, the hook 124 engages with the groove 11A of the pallet 11, thereby causing the pallet 11 to slide on the guide surface 127.
is prevented from moving outward or falling off due to the centrifugal force caused by the rotation of the pallet mounting table 4.

The engagement/disengagement control mechanism 10 automatically and sequentially moves the positioning pins 78 and 98 to the stoppers 82 and 10 by simply rotating the pallet mounting table 4.
2 (103 and 104) to check the positioning of the pallet mounting table 4 with respect to the base 3.
There are four different angles at 90° intervals, but when the work table 1 and the pallet stocker 2 are arranged facing the bridges 21 and 23, respectively, as shown in FIG. 1, the stoppers 103 and 104 are substantially unnecessary, In this case, those stoppers 103 and 1
Plug 117 that closes the positioning hole 116 of 04
(See Figure 9). This plug body 117
The upper end forms a mountain-shaped gentle slope and the positioning hole 1
16, and the minimum width dimension W of the slide stoppers 113A and 113B is set smaller than the diameter of the positioning pins 78 and 98. It passes over the stopper 117 without being pushed down, thereby rendering the stops 103 and 104 substantially inoperative. Stopper 103 or 104
When the pallet stocker 2 cannot be opposed to the bridge 23 from the viewpoint of space factor, the pallet stocker 2 is moved to the stopper 103 or 1.
This is an auxiliary item that is essentially required when arranging it opposite to 04. Also, unnecessary stopper 1
03 and 104, it may be removed instead of the stopper 117. In addition, unnecessary stopper 10
When inserting the stopper 117 into the stopper 3 or 10 or removing the stopper itself, insert the recess 126 on the center block 63 corresponding to the stopper into the removable stopper as shown in FIG. 13
It is desirable to fill it with 3. In this way, the hook 124 can pass over the stopper 133 while being engaged with the groove 11A of the pallet 11, so that the pallet 11 is moved by the centrifugal force caused by the rotation of the pallet mounting table 4 while passing over the stopper 133. It is prevented from moving outward or falling off.

As mentioned above, the pallet changer of this embodiment is basically for exchanging pallets 11 between the clamp device 1A fixed on the work table 1 of a machine tool and the pallet stocker 2. However, the pallet on which the processed workpiece is attached cannot be removed from the pallet mounting table 4, and setup work such as replacing the workpiece can be performed at that location.

That is, as shown in FIGS. 8, 13, and 14, the stopper 102 has an L-shaped swing lever 140 (function selection A push rod 142 having a pusher 141 at its tip that presses a swing lever 140 to rotationally displace the swing lever 140 is fixed on the base 3 on the side of the stopper holder 111. 1
It is slidably supported by a pair of guide pieces 143 and 144. A bracket 146 and a
A shaft 148 is pivotally supported via a shaft 147, and the push rod 14 is located at the center of the shaft 148.
A face cam 149 that comes into contact with the rear end of 2 and slides it is fixed. A compression coil spring 145 is interposed between the guide piece 143 and the push rod 142, and the push rod 142 is always pressed against the face cam 149 by its spring biasing force.
It is designed to press into contact with the

The pair of bridges 23 are fixed to the shaft 148 so as to be integrally rotatable, and when the bridges 23 are placed in a horizontal state as shown in FIG. The chevron-shaped tip 140A of the swing lever 140 is housed in the inner part of the positioning hole 116, thereby allowing the stopper 102 to function to lock the positioning pins 78 and 98.
On the other hand, when the bridge 23 is placed in a substantially vertical state as shown in FIG.
Contacting the maximum radius point of the face cam 149 causes the chevron-shaped tip 140A of the swing lever 140 to protrude upward from the positioning hole 116, thereby suppressing the substantial function of the stopper 102 in the same way as the stopper 117 described above. and positioning pin 78
(98) is displaced upwardly.

The mechanism for displacing the pusher 141 using the face cam 149 has two functions: a recessed state of the function selection member into the recess that allows the positioning member to fit into the recess of the second stopper, and a recessed state of the function selection member that allows the function selection member to protrude from the recess. This constitutes an example of a selection mechanism for selecting a state in which the upper end of the positioning member that engages with the positioning member is raised to a position where the pallet can be locked.

When a pallet on which a processed workpiece is attached cannot be carried out from the pallet mounting table 4 and setup work is performed to replace the workpiece at that location, the stopper 102 does not substantially function as described above. At that time, the stopper 82 facing the stopper 102 always functions, so even if one positioning pin 98 (78) is not inserted into the stopper 102, the other positioning pin 98 (78) is always connected to the stopper 82. As a result, the pallet mounting table 4 becomes
The first loading/unloading port 12 and the second loading/unloading port 13 are alternately positioned to face the work table 1 of the machine tool. In that case, the positioning pin 98 (78) located directly above the stopper 102 whose locking function is suppressed is connected to the swing lever 104 protruding from the positioning hole 116 of the stopper 102.
0, the engagement/disengagement control mechanism 10 is activated by the operation of carrying in the pallet 11 from the clamping device A1, in other words, the pallet holder located on the stopper 102 side. The pallet mounting table 4 is controlled to be able to turn even if the pallet is not carried in or taken out at the exit.

In this way, the engagement/disengagement control mechanism 10 has the function of maintaining the positioning pin detached from the stopper by mechanically interlocking with the loading force of the pallets carried in through the individual pallet loading/unloading ports 12 and 13. By simply adopting a simple configuration in which the swing lever 140 is selectively moved in and out of the positioning hole 116, the machined workpiece can be moved onto the pallet mounting table 4 without changing the engagement/disengagement control mechanism 10 and without carrying in/out the pallet. It is possible to make it possible to select between a function of exchanging the pallet at the setup position and a function of exchanging the pallet carrying the processed workpiece between the setup position and the pallet stocker 2.

Further, when the positioning pin 78 (98) is moved upwardly by the action of the swing lever 140 protruding from the positioning hole 116 of the stopper 102, the head of the positioning pin is moved upwardly from the pallet 1.
The pallet 11 on the pallet mounting table 4 is thereby positioned and fixed on the pallet mounting table 4. Therefore, it is possible to stabilize the setup work in which a processed workpiece on the pallet 11 is replaced with an unprocessed workpiece while the pallet 11 is placed on the pallet mounting table 4.

The pair of bridges 23 can be set to horizontal and vertical positions with a single touch.

That is, as shown in FIG. 13, in the vertical state of the bridge 23, it faces the short edge of the base 3, and
As shown in FIG. 8, the locking groove 150 facing downward when the bridge 23 is in a horizontal state is
a stop lever 15 which is formed in the shape of 3 and can be engaged with the locking groove 150 when the bridge 23 is in a horizontal state;
1 is rotatably supported on each of the brackets 147 by set screws 152. The stop lever 151 has a set screw 1 as shown in FIG.
By forming a circumferential groove 170 in a range of 90 degrees around the axis of the stop lever 152, and by fixing a pin 171 that fits into the groove 170 in a protruding manner to the bracket 147, the rotation range of the stop lever 151 can be changed from approximately horizontal to vertical. It has come to be regulated within the range of Each set screw 152 has one end attached to the stop lever 151.
Torsion coil spring 153 (15
4), and also insert the end cam 155 (156) fixed to the other end of the same torsion coil spring 153 (154).
(156) is elastically rotatable together with the stop lever 151. End cams 155 and 156
have a mirror-symmetrical structure with each other, and as shown in FIG.
and H2.

When the stop lever 151 (151) and the bridge 23, which are elastically connected via the torsion coil spring 153 (154), assume a substantially vertical state, the end cam 155 (156) adjusts the cam rise H1 in response to this. Set the stop lever 151 down so that it can take the initial state.
The relative position with respect to is regulated. Each bridge 23
An end cam 155 (1
A pin 158 (159) is provided upright to rotate the end cam 155 (156) in the direction of arrow A in FIG. When the end cam 155 (156) is rotated in the direction of arrow A while the pin 158 (159) is engaged with the cam surface 157 and the bridge 23 is displaced to a horizontal state, the end cam 155 (15
6), the cam rise H1 part is pin 158
(159) is rotated to a position where it engages.
Since the position of the pin 158 (159) at that time is relatively above the axis of the set screw 152,
End face cam 15 that is rotationally displaced from the initial state
The maximum rotation angle of 5 (156) is 90° or more,
Thereby, the torsion coil spring 153
The stop lever 151, which is rotatably connected integrally with the end cam 155 (156) by (154), is rotated by 90 degrees, and the engagement groove 15
Insert into 0.

Therefore, by simply rotating the bridge 23 to a horizontal position, the stop lever 151 can be fitted into the engagement groove 150 to maintain the horizontal state of the bridge 23. In that case, even if the rotation angle of the end cam 155 (156) exceeds 90 degrees, the end cam 155 (156) will not move relative to the stop lever 151 due to the elasticity of the torsion coil spring 153 (154). Since it can rotate, no unreasonable force is applied to the stop lever 15 or the end cams 155 and 156.

Therefore, by simply rotating the bridge 23 to a horizontal position, the stop lever 151 can be fitted into the engagement groove 150 to maintain the horizontal state of the bridge 23. In this case, even if the rotation angle of the end cam 155 (156) exceeds 90 degrees, the end cam 155 (156) will not move relative to the stop lever 151 due to the elasticity of the torsion coil spring 153 (154). Since the stop lever 15 and the end cams 155 and 156 can be rotated, no unreasonable force is applied to the stop lever 15 or the end cams 155 and 156.

When the stop lever 151 is fitted into the engagement groove 150, the end cam 155 (156)
, the cam rise H1 part is pin 158 (1
59), the bridge 23 is rotated further upward from the horizontal position and the pin 158 is engaged with the pin 158.
When (159) exceeds the part of cam rise H1,
The pin 158 (159) is connected to the end cam 155 (15
6), thereby causing the end cam 155
(156) is released from the restraint state by the pins 158 (159), and the torsion coil spring 15
3 (154) rotationally displaces at least the end surface of the cam rise H2 portion to a position generally facing upward. In this state, due to the above-mentioned operation of slightly rotationally displacing the bridge 23 further upward from the horizontal state, the stop lever 151 and the engagement groove 15
As the insertion gap of 0 increases, the stop lever 1
51 naturally rotates downward due to its own weight, the stop lever 151 and the end cam 155
(156) naturally returns to the initial state shown in FIG. At this time, the stop lever 15
Even if the end face cam 155 (1
When the pin 158 (159) is released from the restraint state and then rotated downward, the pin 158 (159) follows.
At that time, it comes into contact with the end surface of the portion of the cam rise H2 that faces generally upward, and forcibly displaces the end surface cam 155 (156) downward, thereby causing the end surface cam 155 (156) to be integrally disposed. The stop lever 151 connected to the end cam 155
(156) and returns to the initial state.

Therefore, by simply lifting the horizontal bridge 23 slightly and then rotating it back to the approximately vertical position, the stop lever 151 can be moved into the engagement groove 1.
50, the bridge 23 can be returned to the vertical state with a single touch.

Next, the structure for collecting cutting oil in the pallet changer will be explained with reference to FIG. 15.

When replacing the pallet 11 with the work table 1 of a machine tool, when the pallet 11 carrying the machined workpiece is carried in, the cutting oil accumulated on the pallet 11 and the workpiece is transferred to the pallet mounting table 4.
It drips onto the top and collects, but in order to collect it,
On the surface of the pallet mounting table 4, there is a center block 6.
A plurality of oil conduction grooves 160 are formed radially toward the vicinity of groove 1 and guide the cutting oil with a gentle slope toward the vicinity of groove 1.
Oil conduction holes 161 are formed through the pallet plates 60 to communicate with each other and reach the back surface of the pallet mounting table 4. Note that the oil conduction groove 160 connects the surface of the pallet mounting table 4 to the oil conduction hole 1.
It may be replaced with a structure that gently slopes toward 61. On the surface of the base 3 located outside the base block 62, a circumferential groove 162 is formed to receive the cutting oil dripping from the oil passage hole 161 and is gently inclined toward the base block 62. From the lowest part of the circumferential groove 162 to the base 3
An oil conduit 1 is provided with an oil conduit 164 fixedly disposed on the base 3 to guide cutting oil thereunder, and the lower end of the oil conduit 164 is freely drawn out into the cylinder of the lower body 32.
It is located above the oil conduit 165 so that the cutting oil introduced into the oil conduit pipe 164 is collected into the oil reservoir 165. Note that an indicator (not shown) is provided on the front surface of the oil reservoir 165 to indicate the amount of cutting oil recovered. Therefore, the cutting oil does not overflow from the pallet mounting table 4 onto the floor, and as a result, when the pallet mounting table 4 is rotated and the pallet 11 is replaced, the worker is protected from the overflowing cutting oil. The danger of slipping and falling can be completely prevented.

Next, the overall pallet exchange operation by the pallet changer of this embodiment will be explained.

FIG. 16 is an explanatory view of the operation when the clamping device 1A fixed on the work table 1 and the pallet stocker 2 are arranged opposite to the bridges 21 and 23, respectively, as shown in FIG. At this time, since the stoppers 103 and 104 are substantially unnecessary, the stoppers 117 are fitted into their positioning holes 116, so that the stoppers 103 and 104 do not substantially function. Note that both stoppers 103 and 104 may be removed from the base 3. Also,
The bridge 23 is set in a horizontal state as shown in FIG. 8, and in conjunction with this, the swing lever 140 is inserted into the positioning hole 116 of the stopper 102.
The stopper 102 has positioning pins 78, 98.
select the locking function.

For example, as shown in FIG. 16, with the first loading/unloading port 12 of the pallet mounting table 4 facing the clamp device 1A and the second loading/unloading port 13 facing the pallet stocker 2, one of the positioning pins 78 When the pallet mounting table 4 is fitted into the stopper 82 and the other positioning pin 98 is fitted into the stopper 102 so that the engagement/disengagement control mechanism 10 takes the state shown in FIGS. is positioned. At this time, the pallet mounting table 4 is placed on the pallet 1 on which the unprocessed work is placed.
1a is supported by a pair of first rails 16. In this state, the pallet 11a is first carried out to the clamping device 1A and subjected to machining by a machine tool. Next, the pallet 11b carrying the unprocessed workpiece is carried from the pallet stocker 2 to the pair of second rails 18, and is placed on standby for transfer to the clamping device 1A.
At this time, the tip of the pallet 11b carried into the pallet mounting table 4 comes into contact with the cushion 122 and rotates the foot lever 120 with that force, so the positioning pin 98 is moved as shown in FIG.
is lifted up and removed from the stopper 102, and this state is maintained by the stop lever 131.
At this time, since the positioning pin 78 is still fitted into the stopper 82, rotation of the pallet mounting table 4 is not permitted. Next, after machining is completed, when the pallet 11a carrying the machined workpiece is carried onto the pair of first rails 16, the tip of the pallet 11a that has been carried in comes into contact with the cushion 122, and the foot lever 120 is rotated by the force. In order to displace the positioning pin 78, as shown in FIG.
lifts up and leaves the stopper 82, and this state is maintained by the stop lever 131. In this way, the rotation operation of the pallet mounting table 4 is permitted only after the pallet 11b carrying the unprocessed workpiece to be subjected to the next processing and the pallet 11a carrying the processed workpiece are carried onto the pallet mounting table 4. Ru.

Then, when the pallet mounting table 4 is rotated,
When the mounting table 4 is rotated 180 degrees, the positioning pin 78 (98) is automatically moved to the stopper 102 (8).
2) and is positioned. In this state, the pallet 11b carrying the unprocessed workpiece is carried out to the clamping device 1A, and the pallet 11a carrying the previously machined workpiece is carried out to the pallet stocker 2, and the pallet is replaced for the next processing. and repeat the same operations as necessary.

In this way, when pallets are exchanged between the clamping device 1A and the pallet stocker 2 by rotating the pallet mounting table 4, the positioning of the pallet mounting table 4 with respect to the clamping device 1A and the pallet stocker 2 and its release operation are performed by the engagement and disengagement. Control mechanism 10
This operation is performed sequentially in conjunction with a series of operations from the rotation operation of the pallet mounting table 4 to the operation of carrying the pallet onto the pallet mounting table 4. That is, when the pallet mounting table 4 is rotated,
At the position where the first carry-in/out port 12 and the second carry-in/out port 13 face the work table 1 and the pallet stocker 2, respectively, the positioning pins 78 and 98 automatically fit into the stoppers 82 and 102, and the pallet mounting table 4 is moved to the base. 3, and in that state, the pallet carrying the processed workpiece is carried out to the pallet stocker 2, the pallet carrying the unprocessed workpiece is carried from the pallet stocker 2 to the pallet changer, and the unprocessed workpiece is placed. A series of predetermined pallet loading and unloading operations necessary for pallet exchange are carried out: unloading the pallet to the clamping device 1A, and loading the pallet loaded with processed workpieces from the clamping device 1A to the pallet changer. Only after this is done, the pallet mounting table 4 can be rotated for the next pallet exchange. Therefore, the pallet changer controls the rotation operation of the pallet mounting table 4 and the loading/unloading operation of the pallets so as to allow only mechanical sequential operations according to a predetermined order of operations, and For positioning and releasing the pallet mounting table 4 relative to the base 3, no special operations are required other than the rotation operation of the pallet mounting table 4 and the operation of loading and unloading pallets.

FIG. 17 is an explanatory view of the operation in the case where setup work is performed without using the pallet stocker 2, in which the pallet on which the processed workpiece is attached is replaced at that location without being carried out from the pallet mounting table 4. In this case, as above, the stopper 10
Since stoppers 3 and 104 are substantially unnecessary, the stoppers 117 are fitted into their positioning holes 116, so that the stoppers 103 and 104 do not substantially function. Furthermore, the bridge 23 is set to the vertical position shown in FIG. 13, and in conjunction with this, the swing lever 1 is
40 protrudes from the positioning hole 116 of the stopper 102, thereby suppressing the locking function of the positioning pins 78 and 98 by the stopper 102.

For example, as shown in FIG. 17, with the first loading/unloading port 12 of the pallet mounting table 4 facing the clamping device 1A, one of the positioning pins 78
is fitted into the stopper 82 and the engagement/disengagement control mechanism 10 assumes the state shown in FIG.
It is positioned on the base 3 by the action of. The other positioning pin 98 rests on the chevron-shaped tip 140A of the swing lever 140 that protrudes from the positioning hole 116 of the stopper 102, as shown in FIG. At this time, the pallet mounting table 4 supports the pallet 11c on which the unprocessed workpiece is placed on the pair of first rails 16, and also supports the pallet 11d on which the processed workpiece processed in the previous process is placed.
is supported on a pair of second rails 18. In this state, the pallet 11c is first carried out to the clamp device 1A fixed to the work table 1 and subjected to machining by a machine tool. During the machining, the pallet 11d on which the machined workpiece is placed is moved to the second rail 18.
The machined workpiece is replaced with an unprocessed workpiece while being supported by the pallet 11d.
At this time, the head of the positioning pin 98, which is displaced upward by the swing lever 140, fits into the positioning hole 11B of the pallet 11d and restrains the pallet 11d to the pallet mounting table 4. Workpieces can be replaced stably without the pallet 11d moving above.

Next, after the machining is completed, when the pallet 11c carrying the machined workpiece is carried onto the pair of first rails 16, the tip of the pallet 11c that has been carried in comes into contact with the cushion 122 and the foot lever 12
As shown in FIG.
maintained by. In this way, palette 11
When the pallet 11c carrying the machined workpiece is loaded onto the pallet mounting table 4 after completing the preparation work for replacing the workpieces shown in FIG. Since it is maintained separated from the hole 116, the pallet mounting table 4 is allowed to rotate.

Then, when the pallet mounting table 4 is rotated,
When the mounting table 4 is rotated 180 degrees, the positioning pin 98 is automatically inserted into the stopper 82.
Positioned. In this state, the pallet 11d carrying the unprocessed workpieces is carried out to the clamping device 1A, and the pallet is replaced for the next processing, and the same operation is repeated as necessary.

In this way, the pallet changer of this embodiment allows the tip of the swing lever 140 to be moved to the stopper 1.
By selecting the operation of protruding from the positioning hole 116 of No. 02, it is possible to carry out the preparation work for replacing the workpieces without removing the pallet with the processed workpieces from the pallet mounting table 4. In this case, the positioning of the pallet mounting table 4 with respect to the clamping device 1A and its release operation are performed by the engaging/disengaging control mechanism 10, which remains unchanged without any special configuration changes, from the rotation operation of the pallet mounting table 4 as described above. It is mechanically linked to a series of operations leading to the loading operation of the pallet onto the mounting table 4 and is executed sequentially. However, in that case, after completing the preparation work for replacing the workpieces on the pallet mounting table 4, the pallet carrying the processed workpieces must be carried in from the worktable of the machine tool. If the pallet carrying the processed workpiece is brought in first, the pallet mounting table 4 will be allowed to rotate in conjunction with this.
This is because after that, it becomes impossible to stably perform workpiece exchange setup work on the pallet mounting table 4.

Figure 18 shows pallet stocker 2 and stopper 1.
FIG. 3 is an explanatory diagram of the operation when placed at a position facing 03. In this case, the stoppers 102 and 10
4 is substantially unnecessary, the stopper 104
The plug body 117 is fitted into the positioning hole 116 of the 13th hole, and the bridge 23 is set vertically.
The state shown in the figure is maintained, and the stoppers 102 and 104 do not substantially function. At this time, instead of using the stopper 117, the stopper 104 itself may be removed from the base 3.

For example, as shown by the solid line in FIG. 18, one of the positioning pins 78 is inserted into the stopper 82 with the first loading/unloading port 12 of the pallet mounting table 4 facing the clamp device 1A fixed to the work table 1 of the machine tool. Then, the engagement/disengagement control mechanism 10 assumes the state shown in FIG. 7, and the pallet mounting table 4 is positioned on the base 3 by the action of the positioning pin 78 and stopper 82. At this time, the pallet mounting table 4 is placed on the pallet 11 on which the unprocessed work is placed.
e is supported on a pair of first rails 16. In this state, the pallet 11e is first carried out to the clamping device 1A and subjected to machining by a machine tool. After the machining is completed, the pallet 11 on which the machined workpieces are placed
When the pallet 11e is carried into the pair of first rails 16, the leading end of the pallet 11e that has been carried in is placed on the cushion 1.
22 and rotationally displaces the foot lever 120 by the force, the positioning pin 78 moves up and away from the stopper 82, as shown in FIG. Rotating operation of the mounting base 4 is permitted.

Then, when the pallet mounting table 4 is rotated,
When the mounting table 4 is rotated by 90 degrees, the positioning pin 78 is automatically inserted into the stopper 103.
As shown by the two-dot chain line, the first loading/unloading port 12 of the pallet mounting table 4 is positioned opposite to the pallet stocker 2. In this state, the pallet 11e on which the processed workpieces are placed is carried out to the pallet stocker 2, and another pallet 11e on which the unprocessed workpieces are placed is transferred.
f is carried from the pallet stocker 2 to the pallet mounting table 4. At this time, the leading end of the new pallet 11f carried into the pallet mounting table 4 is placed on the cushion 1.
22 and rotationally displace the foot lever 120 by the force, the positioning pin 9
8 is maintained raised and separated from the stopper 103, and the pallet mounting table 4 is allowed to rotate. Next, when the pallet mounting table 4 is turned 90 degrees in the opposite direction, the positioning pin 78 is automatically moved back to the stopper 8.
2 and positioned, and in that state, the pallet 11f with the unprocessed workpiece placed thereon is clamped by the clamping device 1.
The pallet is carried out to A, and the pallet is exchanged for the next processing, and the same operation is repeated as necessary.

As described above, the pallet changer of this embodiment allows the pallet stocker 2 to be moved to the stopper 103 or
Even when placed opposite to 04, the clamp device 1A
It has the versatility of being able to exchange pallets between the pallet stocker 2 and the pallet stocker 2. In that case, as described above, the positioning and release of the pallet mounting table 4 relative to the clamp device 1A and the pallet stocker 2 is controlled by the action of the engagement/disengagement control mechanism 10. It can be executed sequentially by directly mechanically interlocking with the series of operations leading up to the loading operation.

In the pallet changer corresponding to the second invention described above, the stoppers 102, 103, 1
04, and the pusher 141, push rod 142, face cam 149, bridge 23, etc. for selectively protruding and retracting the swing lever 140 from the positioning hole 116 of the stopper 102, the pallet switch corresponding to the first invention can be obtained. The engineer, that is, the exchange function for machined workpieces, uses a dedicated pallet chute that has the single function of exchanging pallets loaded with machined workpieces on the pallet loading table 4 without transporting them to the external pallet stocker 2. In that case, the engagement/disengagement control mechanism 10 described above can be applied as is.

The pallet changer configured in this manner has the above-described swing lever 140 connected to the stopper 10.
The operation is basically the same as in the case of protruding from the positioning hole 116 of No. 2. That is, the engagement/disengagement control mechanism 10
adopts a structure in which the positioning pin is kept separated from the stopper by mechanically interlocking with the loading force of the pallet 11 carried in through the individual pallet loading/unloading ports 12 and 13. Therefore, if the stopper 102 is not present,
The rotation movement of the pallet mounting table 4 is determined only by the engagement and disengagement state of the positioning pin 78 (98) with the stopper 82, and the pair of pallet loading/unloading ports 12 and 13 are alternately connected to the clamping device of the machine tool 1. When the workpiece is positioned facing 1A, the workpiece is replaced at the setup position on the opposite side without the pallet being carried out, and after the workpiece replacement work, the machined workpiece is transferred from the pallet loading/unloading port on the machine tool side. When the pallet carrying the pallet is carried in, the positioning pin is disengaged from the stopper 82 due to the carrying force, and the pallet mounting table 4 is allowed to rotate. Therefore, the clamping device 1 of the machine tool 1
The positioning of the pallet mounting table 4 with respect to A and its release operation are mechanically linked to a series of operations from the rotation operation of the pallet mounting table 4 to the carrying-in operation of the pallet to the mounting table 4 by the engagement/disengagement control mechanism 10, as described above. and are executed sequentially.

Although the present invention has been described above in detail based on examples, the present invention is not limited to the above-mentioned examples, and can be modified in various ways without departing from the gist thereof.

For example, in the above embodiment, a maximum of two pallets can be placed on the pallet mounting table and the pallets can be rotated and positioned; however, the present invention is not limited to this.
The pallet mounting table is configured to have three or more pallet loading/unloading ports at equal intervals on the outer edge, through which pallets can be loaded and unloaded by reciprocating the pallets, and the associated positioning members, stoppers, and engagement/disengagement control mechanisms are provided. By adapting the pallet to the configuration of the pallet mounting table, pallets can be sequentially exchanged between the work tables of multiple machine tools with different processing contents, reducing door-to-door time for machining with a large number of man-hours. It can also be a pallet changer that can contribute to this.

In the above embodiment, the case where the positioning member is provided on the pallet mounting table and the stopper is provided on the base is explained, but the reverse may also be used. The engagement/disengagement control mechanism may be constructed by reversing the relationship between the pallet mounting table and the base. Further, when the direction of rotation of the pallet mounting table relative to the base is restricted to one direction by a one-way clutch or the like, it is sufficient to use only one slide stopper in each of the stoppers of the above-described embodiments, which is elastically movable up and down.

Also, a second part that can selectively lock the positioning member is provided.
The stopper is not limited to a structure in which a foot lever as a function selection member is pivotably supported in a recess into which the positioning member is inserted, and the foot lever may be replaced with a stopper that is detachable from the recess.

In the above explanation, we have explained a pallet changer that exchanges pallets with a clamp device fixed to the work table of a machine tool, but it is also possible to use a pallet changer that exchanges pallets directly with the work table of a machine tool. The present invention can be applied.

〔Effect of the invention〕

The pallet changer according to the first invention, when exchanging pallets with a machine tool, controls the positioning, stopping and turning movement of a pallet mounting table for sequential exchange of pallet loading/unloading ports for the machine tool.
It is possible to directly mechanically interlock and control a series of operations from the rotation operation of the pallet mounting table to the operation of carrying the pallet to the mounting table.

Further, the pallet changer according to the second invention obtains the same effect as the first invention when the function of locking the positioning member by the second stopper is not selected. Furthermore, when the locking function of the second stopper is selected, the pallet changer can be used to transfer pallets between the machine tool and the pallet stocker; When exchanging pallets, the pallet loading/unloading/exit for the pallet stocker and the machine tool must be positioned, stopped, and rotated in order to sequentially exchange pallet loading/unloading ports. It can be controlled by directly mechanically interlocking with the operation of the

Therefore, in both inventions, without using a special electrical control circuit or actuator,
With a relatively simple configuration, pallets can be exchanged with a machine tool, etc., and the pallets can be reliably exchanged with just a simple operation. In particular, the second invention provides a function for exchanging processed workpieces on a pallet mounting table by simply selecting the function of the second stopper without carrying in/out the pallet, and a function for exchanging the processed workpiece mounted pallet with an external pallet stocker. This has the effect that it is possible to easily select the functions to be exchanged between the two.

Furthermore, in the second invention, the upper end of the positioning member that engages with the function selection member when the function selection member is projected from the recess of the second stopper is raised to a position where the pallet can be locked. When exchanging workpieces, the pallet can be reliably positioned and fixed on the pallet mounting table, and workability can be improved when replacing and mounting a processed workpiece with an unprocessed workpiece on the pallet. .

[Brief explanation of drawings]

The drawings show one embodiment of the pallet changer according to the present invention, in which Fig. 1 is an external perspective view of the pallet changer, Fig. 2 is a partial vertical side view of the elevating table, and Fig. 3 is the elevating table. 4 is a partial vertical sectional side view of the installation device, FIG. 5 is a partial plan sectional view of the installation device, and FIG. 6 is a plane showing approximately the left half of the area around the pallet mounting table in FIG. 1. 7 is a sectional view taken along the line a-a in FIG. 6, FIG. 8 is a vertical sectional view showing approximately the right half of the area around the pallet mounting table in FIG. 1, and FIG. 9 is a vertical sectional view of the stopper. , Figure 10,
Figures 11 and 12 are longitudinal sectional views corresponding to Figure 7 for explaining the operation of the engagement/disengagement control mechanism, and Figure 13 shows the surroundings of the cam mechanism for setting the bridge in the horizontal and vertical states with a single touch. Longitudinal sectional view, 14th
The figure is a plan view of Fig. 13, Fig. 15 is a longitudinal cross-sectional view showing the configuration for collecting cutting oil in a pallet changer, and Fig. 16 shows the work table and pallet stocker of the machine tool as shown in Fig. 1. Fig. 17 is an explanatory diagram of the operation when exchanging pallets by rotating the pallet mounting table 180 degrees at a time while facing the bridge. Fig. 18 is an explanatory view of the operation when the pallet is exchanged while rotating the pallet mounting table reciprocatingly by 90 degrees. 1... Work table of machine tool, 2... Pallet stocker, 3... Base, 4... Pallet mounting stand, 6... Anchor bolt, 7... Base, 8...
Lifting platform, 9... Installation device, 10... Engagement/disengagement control mechanism, 11... Pallet, 11A... Groove, 11B...
...Positioning hole, 12...First loading/unloading exit (pallet loading/unloading exit), 13...Second loading/unloading exit (pallet loading/unloading exit), 16...first rail, 18...second rail, 21 and 23...bridge , 25... Guard ring, 30... Board, 32... Lower body, 34... Upper body, 36... Trapezoidal screw,
37...stop spring nut, 38...support ring nut, 50...stud bolt, 51...
Height adjuster, 53...through hole, 56...push screw, 58...lock nut, 62...base block, 63...center block, 66 and 6
7... Center plate, 73 and 93... Push rod, 79 and 98... Positioning pin, 81
and 101... compression coil spring, 82...
Stopper (first stopper), 102... Stopper (second stopper), 103 and 104... Stopper, 110A and 110B... Upward slope, 11
1... Stopper holder (guide member), 113A and 113B... Slide stopper, 115A and 115B... Compression coil spring, 116...
Positioning hole (recess), 117... Plug body, 120 and 121... Foot lever, 126... Recess, 1
27...Guide plane, 130...Idle pin, 1
31... Stop lever, 140... Swing lever (function selection member), 141... Pusher, 1
43... Push rod, 149... Face cam, 150... Locking groove, 151... Stop lever, 153 and 154... Torsion coil spring, 155 and 156... End face cam, 158 and 159... Pin, 160... Oil Conduction groove, 164...
...Oil conduit pipe, 165...Oil sump.

Claims (1)

[Scope of Claims] 1. A pallet mounting table having a plurality of pallet loading/unloading ports at equal intervals on the outer edge and on which pallets carried through the openings are placed, and a base that rotatably supports the pallet loading table. and, the pallet loading table or the base is biased to move forward and backward from one of the pallet loading tables or the base, and is capable of moving backward and forward from either the pallet loading table or the base; A plurality of positioning members arranged at equal intervals, and a single or plurality of positioning members arranged on the other platform, which simultaneously locks a part of the positioning members in the extended state in a one-to-one correspondence while the pallet mounting table is turning. a first stopper, and in a state in which the first stopper locks the positioning member, the first stopper and the positioning member are placed in one-to-one correspondence, and the pallet is brought into contact with and displaced from the pallet loading/unloading port. a detachment mechanism that moves the positioning member corresponding to the pallet loading/unloading port backward and separates it from the first stopper; and a detachment mechanism that causes the first stopper and the positioning member to correspond one-to-one, and removes the positioning member from the first stopper. a holding mechanism that maintains the state of the detachment mechanism that has been detached; and a holding mechanism that releases the state retention of the retaining mechanism with respect to the detachment mechanism while the pallet mounting table is rotating after the positioning member has been detached from all the first stoppers. A pallet changer comprising: a release mechanism that allows the positioning member to move forward by a biasing force; 2. A pallet mounting table having a plurality of pallet loading/unloading ports at equal intervals on its outer edge and on which pallets loaded from the same port are placed; a base that rotatably supports the pallet loading table; and the pallet loading table. or a plurality of bases that are biased to advance from one of the bases toward the other base and capable of moving backward, and are arranged at equal intervals on the one base in correspondence with each of the pallet loading/unloading ports. and one or more first stoppers disposed on the other platform, each of which simultaneously locks a portion of the positioning member in the extended state in a one-to-one correspondence while the pallet mounting platform is rotating. and one or more second stoppers disposed on the other platform, which selectively lock the other positioning members in a one-to-one correspondence while the pallet mounting table is rotating. , in a state where the stopper selected from the first stopper and the second stopper locks the positioning member, the stopper and the positioning member are brought into one-to-one correspondence, and the stopper is placed in a one-to-one correspondence with the pallet carried in from the pallet carry-in/outlet. a detachment mechanism that moves the positioning member corresponding to the pallet loading/unloading port backward to separate it from the stopper by contacting and displacing it; and a stopper selected from the first stopper and the second stopper and the positioning member. a holding mechanism that maintains the state of the detachment mechanism in which the positioning member has been detached from the stopper in one-to-one correspondence; and after the positioning member has been detached from the stopper selected from the first stopper and the second stopper. A pallet changer comprising: a release mechanism that releases the holding mechanism of the holding mechanism relative to the detachment mechanism during rotation of the pallet mounting table, and allows the positioning member to move forward by a biasing force. 3. The positioning member is arranged on the pallet mounting table, the first and second stoppers are arranged on a base located below the pallet mounting table, and the second stopper is capable of fitting the lower end of the positioning member. a recess and a function selection member retractable from the recess, the function selection member being retracted into the recess so that a positioning member can be inserted into the recess, and the function selection member being protruded from the recess. The pallet changer according to claim 2, further comprising a selection function for selecting a state in which the upper end of the positioning member to be engaged is raised to a position where the pallet can be locked.