JPH0639034B2 - Pallet transfer device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a pallet transfer device that allows a pallet to be rotatably transferred to be loaded and unloaded, and has improved operability associated with pallet swivel transfer and loading / unloading. The present invention relates to a transfer device.

[Prior art]

In numerically controlled machine tools such as machining centers,
A work mounting pallet is used to improve the efficiency of mounting and dismounting the work on the work table, and when transferring and transferring this pallet between the work table and the pallet stocker, use a pallet transfer device. You can This pallet transfer device has, for example, a pallet mounting table that can be swung between a work table of a machine tool and a pallet stocker such as a carrier, and an unprocessed work is attached from one of the loading / unloading ports of the pallet mounting table. After loading the pallet from the pallet stocker and waiting for the transfer to the work table, and after finishing the machining, place the pallet on which the machined work is attached from the other loading / unloading port of the pallet mounting table on the work table of the machine tool. From the pallet loading table, and then the pallet mounting table is swiveled.On the one hand, the pallet with the machined work is mounted on the pallet stocker, and on the other hand, the pallet with the unmachined work is mounted on the machine tool work. It is designed to be carried out to the table.

By the way, in the pallet transfer device of the type in which the pallet mounting table is rotated to transfer the pallet as described above, when transferring the pallet to / from an external device such as a work table or a pallet stocker, the loading / unloading port of the pallet mounting table is It is necessary to position the pallet mounting table at a position facing the work table or the loading / unloading port of the pallet stocker while suppressing the turning motion of the pallet mounting table. for that reason,
An indexing mechanism is provided in which a knock pin is provided so as to be retractable on a base that pivotally supports a pallet mounting table, and a positioning hole that can be fitted into the knock pin is provided at a predetermined position of the pallet mounting table.

Conventionally, the engagement and disengagement of the insertion hole and the knock pin in the indexing mechanism is performed by the controller receiving the detection signal output from the detection means such as a limit switch that electrically detects the loading and unloading operation of the pallet so that the knock pin is dedicated to the engagement and disengagement. It was supposed to be moved up and down with the actuator.

[Problems to be solved by the invention]

However, in the structure in which the detection means for detecting the loading / unloading of the pallet and the actuator for raising / lowering the knock pin are mechanically separated from each other by the electrical control means, the loading / unloading of the pallet is prevented. It took a considerable amount of time for the electrical response of the actuator until the start of operation and also for the mechanical response of the actuator, which inevitably reduced the transfer efficiency of the pallet.

The present invention solves such a problem, and provides a pallet transfer device that positions and releases the pallet mounting table by mechanically directly interlocking with the rotating operation of the pallet mounting table and the pallet loading / unloading operation. It is what

[Means for solving problems]

As a means for solving the above-mentioned problems, the present invention is provided with a plurality of pallet loading / unloading openings at an outer edge portion at predetermined intervals, and a pallet loading table on which a pallet loaded from the opening is placed, and the pallet loading table. A base that supports the
A plurality of positioning members that can be moved back and forth from the pallet mounting table toward the base and are provided on the pallet mounting table in a one-to-one correspondence with the pallet loading / unloading port, and in a one-to-one correspondence with the respective positioning members. A plurality of reciprocating mechanisms that are provided to move the positioning member forward and backward in conjunction with the reciprocating motion between the pallet loading table swivel center and the pallet loading / unloading port, and the plurality of advancing states in the course of swiveling of the pallet loading table. A plurality of stoppers provided on the base so that they can be locked simultaneously in a one-to-one correspondence with each other, and a positioning member in the advanced state is arranged on the base in a one-to-one correspondence with the stopper. In the locked state, the pallet is brought into contact with the pallet to be loaded onto the pallet mounting table and rotationally displaced from the initial position to lock the pallet, and the rotation of the pallet is performed. A plurality of hook levers for reciprocating the reciprocating mechanism to disengage the positioning member from the stopper, and to each reciprocating mechanism in the course of turning of the pallet mounting table after all the positioning members have been disengaged from the stopper. A plurality of guide members which are provided on the base so as to reciprocate the reciprocating mechanism by engaging in one-to-one correspondence, and which move all the positioning members forward by the forward movement and return the hook lever to the initial position. , Is adopted.

[Work]

The pallet transfer device of the present invention locks the positioning member with the stopper while the pallet mounting table is being rotated, positions the pallet mounting table on the base, and allows the pallet loading / unloading to / from the pallet mounting table. When the pallet unloading operation and the subsequent unloading operation are performed from the pallet loading / unloading port of the pallet mounting table in that state, the pallet to be carried in at that time abuts the pallet by the hook lever which is rotationally displaced by contacting the pallet. A reciprocating mechanism that receives a pressing force by the turning force of the lever displaces the positioning member from the stopper and allows the pallet mounting table to swivel. Next, when a part of the reciprocating mechanism contacts the guide member in accordance with the turning movement of the pallet placing table, the reciprocating mechanism and the hook lever forcibly receiving the reaction from the guide member based on the turning force of the pallet placing table are forced. And returns the positioning member to a position where it can be locked to the next stopper and the hook lever to a position where it can be separated from the pallet at the next pallet loading / unloading position. In this way, the positioning and release of the pallet mounting table with respect to the base are directly linked to the mechanical force such as the pallet loading input and the pallet mounting table pivoting force, and the pallet loading table operation from the pallet loading / unloading operation is performed. Sequential control is performed according to the order of pallet transfer operations up to the turning operation.

〔Example〕

The pallet transfer device PC of this embodiment is basically a clamping device 1A fixed on a work table 1 of a numerically controlled machine tool such as a machining center as shown in FIG.
And a pallet stocker 2 such as a carrier, and the base 3 is fixedly arranged on a height-adjustable installation device 5 fixed to the floor via anchor bolts (not shown). The pallet mounting base 4 is rotatably supported on the base 3 to form a frame. The pallet mounting base 4 is rotatably operated to exchange a pallet between the clamp device 1A and the pallet stocker 2. It is used for work. The clamp device 1A is not particularly required when using a machine tool of a type in which the pallet is directly detachably attached to the work table 1, but the pallet 11 (symbols 11a to 11f are also pallets to be carried in from the pallet transfer device. The function of temporarily positioning the pallet 11 and fixing the pallet 11 that has been temporarily positioned to the machining position of the machine tool and releasing the pallet 11 from the fixed state after completion of the machining to the pallet transfer device can be carried out. And so on.

As shown in FIG. 8, both longitudinal ends of the pallet mounting table 4 are a first loading / unloading port 6 and a second loading / unloading port 7 of the pallet 11, and the loading / unloading port 6 is provided on the first loading / unloading port 6 side. Two pairs of first rails 9 each having an appropriate number of guide rollers 8 for guiding and supporting the pallet 11 loaded and unloaded via the pallet 11 are laid, and similarly, the pallet 11 is similarly loaded to the second loading / unloading port 7 side. Two pairs of second rails 12 are provided, which are provided with an appropriate number of guide rollers 10 that guide and support the pallets 11 that are loaded and unloaded through the outlets 7 from below and sideways. On the other hand, at one end of the base 3 facing the clamp device 1A,
A pair of bridges 14 each having a guide roller 13 for supporting and guiding the pallet 11 transferred between the clamp device 1A and the pallet mounting table 4 from below and laterally are fixedly arranged, and a base facing the pallet stocker 2 is provided. Stand 3
At the other end, a pair of bridges 16 each having a guide roller 15 for supporting and guiding the pallet 11 transferred between the pallet stocker 2 and the pallet mounting table 4 from below and to the side are provided in a substantially horizontal or vertical state. Selectable by switching to and provided so that positioning and fixing are possible.

The structure in which the pallet mounting table 4 is rotatably supported on the base 3 is the first structure in which the central portion of the pallet transfer device PC is shown in a plane.
As shown in FIG. 2, FIG. 2 which shows a generally right half of FIG. 1 in a vertical cross section, and FIG. 3 which shows a first generally left half of it in a vertical cross section, in the central portion of the base 3 and at the outer peripheral portion thereof. Stud ring 21A and disc 21B with bearing 20 fitted and fixed
Is fixed to the base block 21, and a substantially annular center block 22 is fixed to the base block 21 concentrically with the bearing 20, and the pallet mounting table 4 is rotatably fitted into the center block 22. The pallet mounting table 4 is rotatably supported by the bearing 20 via a bearing holder 23 attached to the lower surface of the mounting table 4.

Bushings 24, 24 are fixed to the left and right of the pallet mounting table 4 on the same circle with respect to the center of rotation of the pallet mounting table 4, and positioning pins 2 as positioning members are provided on the respective bushes 24.
5 and 26 are slidably fitted. On the base 3,
As shown in FIG. 8, four stoppers 27, 28, 29, 30 capable of locking the pair of positioning pins 25, 26 to position the pallet mounting table 4 at the loading / unloading position of the pallet are mounted on the pallet mounting table. It is fixedly arranged at 90 ° intervals with respect to the turning center of 4.

The stoppers 27, 28, 29 and 30 have basically the same structure, and as shown in FIG.
A pair of claw members 31 and 32 are elastically urged toward the center of the pallet mounting table 4 by a compression spring 33 with an interval that allows the positioning pin 25 (26) to be sandwiched from both sides. It is housed in a case 34 so as to be retractable. The claw member 3 located on the turning trajectory of the positioning pin 25 (26)
The side surfaces of 1, 32 form slopes 31A, 32A that face outward, and the positioning pins 25 (26) are formed together with the pallet mounting table 4.
When it turns from the direction of arrow A in Fig. 5, its slope 3
1A is pressed by the positioning pin 25 (26), the claw member 31 retracts, and when the positioning pin 25 (26) enters between the claw members 31 and 32, the claw member 3
1 elastically returns to lock the positioning pin 25 (26) from both sides. The same applies when the positioning pin 25 (26) turns from the opposite direction.

As shown in FIGS. 1 to 3, the mechanism for separating the positioning pins 25, 26 from the stoppers 27, 28, 29, 30 is arranged on the pallet mounting table 4 in a state where the positioning pins are locked by the stoppers. The center block 22 is provided with a first operating mechanism 40 including hook levers 36, 37, 38, 39 that come into contact with the pallet 11 to be carried in and pivotally displace the pallet 11 to a lockable position. The first as a reciprocating mechanism that displaces the positioning pins 25, 26 from the stoppers 27, 28, 29, 30 by receiving the pressing force of the first operating mechanism 40 based on the rotational force of the levers 36, 37, 38, 39. The two-actuating mechanism 50 is provided on the pallet mounting table 4 and configured.

That is, the first operating mechanism 40 includes the hook levers 36, 3
7, 38, 39 stoppers at intervals of 90 ° 27, 2 respectively
Pins 41 are pivotally supported on the center block 22 so as to face the hook levers 36, 37, 3 respectively.
The pallet 11 is located above the pins 41 in the numbers 8 and 39.
A cushion 42 that can come into contact with the leading-in end of the pallet is provided, a hook 43 for locking the pallet 11 is erected at a front position of the pin 41, and a pressing ball 44 is provided at a position below the pin 41. The idle pins 45, which are fixed and can come and go in the horizontal direction from the center block 22 by contacting the pressing balls 44, are provided with stoppers 27 and 2 at 90 ° intervals, respectively.
It is provided so as to face 8, 29, 30. As shown in FIG. 1, the hook levers 36, 37, 38 and 39 receive friction braking force on their respective side surfaces via disc springs 46, etc.
The rotating position itself is maintained unless a predetermined external force is applied.

The second operating mechanism 50 includes positioning pins 25 and 26, respectively.
Are individually and identically configured to each other.
That is, as shown in FIG. 1 to FIG. 3, a pressing piece having an arc surface (equal to the outer diameter pole ratio of the center block 22) 51 that can contact the idle pin 45 within the angle 2θ at the tip. 52 is screwed and fixed to the horizontal rod 53, the rod 53 is slidably fitted and supported in a holder 54 fixedly arranged on the pallet mounting table 4, and further, the horizontal rod 53 and the positioning pin 25 (26). ) Is rotatably attached to both ends of an L-shaped link 55 pivotally supported by the holder 54. The sliding portion between the horizontal rod 53 and the holder 54 is provided with a slip ring 56 to increase the sliding resistance to some extent.

Therefore, when the pallet 11 is loaded from the first loading / unloading port 6 and the loading leading end of the pallet 11 is brought into contact with the cushion 42 with the stopper 27 locked to the positioning pin 25 as shown in FIG. It rotates counterclockwise to take the position shown in FIG. 4, and in response thereto, the idle pin 45 is pressed by the ball 44 to project in the direction of arrow B (the centrifugal direction with respect to the turning center of the pallet mounting table 4), The positioning pin 25 is lifted and separated from the stopper 27. At this time, the positioning pin 25 maintains the detached state from the stopper 27 through various sliding resistances unless an external force is positively applied.

When the pallet mounting table 4 is pivotally moved after the positioning pins 25, 26 are disengaged from the stopper pins 27, 28, 29, 30, the positioning pins 25, 26 are forced to a descending state in which they can be locked to the next stopper. Therefore, the vertical rod 57 is vertically suspended and fixed to the horizontal rod 53 of the second operation mechanism 50, and the vertical rod 57 is brought into contact with the tip end portion of the vertical rod 57 projecting from the penetrating elongated hole 58 to the pallet mounting fourth bottom surface side. Second actuation mechanism 50 and first actuation mechanism 40 in contact with the same mechanism 50
The swash plate cams 60 to 67 as guide members for giving a restoring force in the direction of arrow C directed to the turning center to each stopper 2
It fixes to the base 3 so that one may be located on each side of 7,28,29,30.

As shown in FIG. 1, each of the swash plate cams 60 to 67 contacts the vertical rod 57 when the pallet mounting table 4 is rotated by an angle δ with respect to the orthogonal coordinate axes X and Y with respect to the center of rotation of the pallet mounting table 4. It has a first cam surface 68A for forcibly displacing the vertical rod 57 by a distance S in the direction of arrow C pointing to the center of rotation while being started and rotated to the angle θ. Therefore, when the pallet loading table 4 is pivotally moved from the pallet loading / unloading position by an angle θ, the horizontal rod 53 integrated with the vertical rod 57 is displaced in the direction of arrow C, so that the positioning pin 25 moves to the pallet loading / unloading position shown in FIG. From the position shown in FIG. 2, the idle pin 45 is returned to the state in which it can be locked by the next stopper, and the arc surface 51 of the pressing piece 52 is in sliding contact with the outer peripheral surface of the center block 22. By pressing, the hook lever 36 returns from the state of FIG. 4 to the position where it can be disengaged from the pallet at the next pallet loading / unloading position as shown in FIG. In particular, the second cam surface 68B of each of the swash plate cams 60 to 67 is provided with a positioning pin 25 when the vertical rod 57 is temporarily displaced in the centrifugal direction due to vibration or other causes while the pallet mounting table 4 is being rotated. , 26 has a function of forcibly correcting the positional deviation immediately before reaching the next stopper.

When the pallet mounting table 4 is swung by an angle θ or more from the pallet loading / unloading position, the locking action of the pallet 11 by the hook levers 36, 37, 38, 39 is released.
The pallet 11 is engaged and supported while slidingly contacting the center block 22 while the pallet 11 is being rotated and transferred until it reaches the next loading / unloading position. That is, as shown in FIG. 1, the hook levers 36,
A convex annular guide 71 having four notches 70 corresponding to 37, 38, 39 is formed, and as shown in FIG. 4, a downward concave portion 72 that can be fitted into the annular guide 71 from above is formed. The engaging member 73 is fixedly arranged on the bottom surface side of the pallet 11. The engaging member 73 has a width dimension that allows the engaging member 73 to move in and out of the notch portion 70, and as shown in FIG. The annular guide 71 is formed to have the same curvature as the inner peripheral surface. As shown in FIG. 1, the stopper 2
When the pallet is carried into the pallet mounting table 4 with the positioning pin 25 locked by the pallet 7, the pallet engaging member 73
Enters the notch 70 and is locked by the hook 43.
Then, when the pallet mounting table 4 is swung, the engaging member 73 that swivels following the pallet 4 disengages from the hook 43 and fits into the annular guide 71 to prevent the pallet 11 from moving in the centrifugal direction.

As described above, in the pallet transfer device PC of this embodiment, the four stoppers 27, 28, 29, 30 are arranged on the base 3 at 90 ° intervals, and the pallet mounting table 4 is pivotally moved by 90 ° at the maximum. Each of them can be positioned on the base 3 and can take four kinds of pallet loading / unloading positions (positions toward the orthogonal coordinate axes X and Y). As shown in FIG. When the pallet stocker 2 is arranged opposite to the bridges 14 and 16, respectively, the two stoppers 28 and 30 are substantially unnecessary, and at least the stoppers 28 and 30 can be dealt with in order to cope with such a case.
Is removable.

The pallet transfer device PC of the present embodiment is basically for exchanging the pallet 11 between the clamp device 1A fixed on the work table 1 of the machine tool and the pallet stocker 2, but it is a processed work. It is also possible to carry out setup work such as exchanging the work at the place without carrying out the pallet to which is attached from the pallet mounting table 4.
That is, as shown in FIGS. 3 and 7, the stopper 2
A detour guide 80 having a substantially chevron shape is provided on the shaft 9 so as to freely move in and out of the turning loci of the positioning pins 25 and 26. When the detour guide 80 is put inside the turning locus and covers the pair of claw members 31 and 32, one positioning pin 26 is formed.
(25) is displaced upward along the detour guide 80 without being locked by the stopper 29. At this time, the head of the positioning pin 26 (25) which is displaced upward is fitted into the positioning groove 90 formed downward on the pallet 11 to completely fix the pallet to the pallet mounting table 4 and then to the pallet mounting table 4. With the pallet 11 still loaded, the pallet 11
Stabilize the work of replacing the above processed work with the unprocessed work. In this way, when one of the positioning pins 26 (25) locks the pallet 11 without receiving the locking action of the stopper 29, the other positioning pin 2
5 (26) is locked to the stopper 27 on the opposite side, whereby the pallet mounting table 4 itself is positioned and fixed to the base 3.

Here, the positioning pins 25, 2 by the detour guide 80
The ascending guide range of 6 is the range of the angle 2θ in FIG. When the positioning pins 25 and 26 are displaced upward by the detour guide 80, the vertical rod 5 is interlocked with the displacement.
This is because 7 is also displaced in the centrifugal direction, so that the swash plate cams 60 to 67 do not interfere with the displacement of the vertical rod 57. The function selection of the stopper 29 by the detour guide 80 is performed by moving the rod 81 connected to the detour guide 80 to the left and right positions in FIG.
In this case, the rod 81 can be moved by interlocking with the rotating operation of the bridge 16 which can be selected and switched between the substantially horizontal and vertical states and can be positioned and fixed.
Corresponding to the vertical state of 6, the detour guide 80 is positioned immediately above the claw members 31 and 32 as shown in FIG.

When it is not necessary to make the stoppers 28 and 30 substantially function like the stoppers 28 and 30, the stoppers 28 and 30 are
A member similar to the detour guide 80 may be selectively arranged directly above the pair of claw members 31 and 32 without removing 30.

Next, the operation of exchanging pallets by the pallet transfer device PC of this embodiment will be described in general.

First, the operation of rotating the pallet mounting table 4 by 180 ° and exchanging pallets between the work table 1 and the pallet stocker 2 will be described with reference to FIG.

At this time, since the stoppers 28 and 30 shown in FIG. 8 are substantially unnecessary, they are removed from the base 3. Also,
The bridge 16 is set horizontally, and in response to this, the detour guide 80 is retracted to the outside of the turning locus of the positioning pins 25 and 26, so that the stopper 29 can be engaged.

For example, as shown in FIG.
In a state where the loading / unloading port 6 faces the clamp device 1A and the second loading / unloading port 7 faces the pallet stocker 2, one positioning pin 25 is locked by the stopper 27 and the other positioning pin 26 is stopped. 29
When the first operating mechanism 40 and the second operating mechanisms 50 on both sides of the first operating mechanism 40 are locked in the state shown in FIG. 2, the pallet mounting table 4 is positioned on the base 3. At this time, the pallet mounting table 4 supports the pallet 11a on which the unprocessed work is mounted at a position facing the cook lever 36. In this state, first, the pallet 11a is unloaded from the first loading / unloading port 6 to the clamp device 1A and subjected to machining of the machine tool. Next, the pallet 11b on which the unprocessed work stored in the pallet stocker 2 is placed is carried into the pallet mounting table 4 from the second loading / unloading port 7, and the transfer to the clamp device 1A is waited.

At this time, the pallet 11b is loaded into the pallet mounting table 4.
The tip of the hook contacts the cushion 42 and the hook lever 38
Is rotated by the force in the counterclockwise direction, and the hook 4
The pallet 11b is locked at 3. At the same time, since the idle pin 45 is projected from the outer peripheral surface of the center block 22, the positioning pin 26 ascends and disengages from the stopper 29 in association with it, as shown in FIG. Hook 43
The locking state of the pallet 11b and the disengagement state of the positioning pin 26 from the stopper 29 are caused by the friction braking force by the disc spring 46 and the external force unless an external force is applied.
It is maintained by the sliding resistance of each part. At this time, since the positioning pin 25 on the opposite side is still locked by the stopper 27, the pallet mounting table 4 is not allowed to rotate at that time.

Next, when the pallet 11a on which the processed work is placed is carried into the pallet placement fourth from the first loading / unloading port 6 after the completion of processing, the leading end of the loaded pallet 11a abuts the cushion and the hook lever 36 is moved. It is pivotally displaced counterclockwise by force and its hook 43 is used to pallet 11a.
Lock. At the same time, the idle pin 45 projects from the outer peripheral surface of the center block 22, and as shown in FIG. 4, the positioning pin 25 ascends and disengages from the stopper 27 in conjunction therewith. The locked state of the pallet 11a by the hook 43 and the disengaged state of the positioning pin 25 with respect to the stopper 27 are maintained unless a special external force is applied as in the above. Thus, the turning operation of the pallet mounting table 4 is allowed only after the pallet 11b on which the unprocessed work for the next processing is placed and the pallet 11a on which the processed work is placed are carried into the pallet mounting table 4. It

Next, as shown in FIG. 1, when the pallet mounting table 4 is pivoted counterclockwise, for example, and pivoted by an angle δ, the vertical rod 57 abuts the swash plate cams 61, 65 and the angle θ is reached. The vertical rod 5 during the pivotal movement
7 is forcibly displaced by a distance S in the direction of arrow C directed to the center of turning. As a result, the horizontal rod 53 is slidably displaced together with the vertical rod 57 toward the turning center by the distance S, whereby the positioning pins 25 and 26 are displaced downward and returned to the state where they can be locked by the next stopper. In addition, the circular arc surface 51 of the pressing piece 52 follows the sliding displacement of the horizontal rod 53.
Pushes the idle pin 45, and the hook lever 3
6 and 38 are lowered and rotated to return to the position where they are disengaged from the engaging member 73 of the pallet.

Hook lever 3 according to the turning movement of pallet platform 4
The pallets 11a and 11b which are separated from the pallets 6 and 38 are prevented from moving in the centrifugal direction by the engagement members 73 being fitted into the annular guides 71 of the center block 22 this time, so that the pallets 11a and 11b are fixed to the fixed positions on the pallet mounting table 4. It is transferred by turning.

When the pallet mounting table 4 is rotated 180 ° from the state shown in FIG. 8, the positioning pin 25 moves along the way to the stopper 29.
Then, the positioning pin 26 on the opposite side is locked by the stopper 27, and the pallet mounting table 4 is automatically positioned on the base 3 when the pallet mounting table 4 is rotated 180 ° from the state shown in FIG. In this state, the pallet 11 on which the unprocessed work is placed
b is carried out to the clamp device 1A from the second loading / unloading port 7, and the pallet 11a on which the previously processed processed work is placed is carried out from the first loading / unloading port 6 to the pallet stocker 2 for the next processing. Replace the pallet and repeat the same operation as necessary.

In this way, when the pallets 11a and 11b are carried into the pallet mounting table 4 with the pallet mounting table 4 positioned on the base 3, the pallets 11a and 11b to be carried in.
The pallet is locked by the hook levers 36 and 38 that are rotated and displaced by abutting against each other, and the pressing force of the first operating mechanism 40 is applied to the pallet via the idle pin 45 based on the turning force of the hook levers 36 and 38. The second actuating mechanism 50, which is transmitted to the second actuating mechanism 50 and receives the force thereof, moves the positioning pins 25, 26.
Is removed from the stoppers 27 and 29 to allow the pallet mounting table 4 to pivot. The vertical rod 57 included in the second operating mechanism 50 follows the pivotal movement of the pallet mounting table 4 allowed thereby, and the swash plate cams 61, 65 (60,
64), the second actuating mechanism 50 receives the reaction force based on the turning force of the pallet mounting table 4 from the swash plate cam.
And the first actuating mechanism 40 is forcibly returned so that the positioning pin can be locked to the next stopper, and the hook levers 36 and 38 can be disengaged from the pallet at the next pallet loading / unloading position. Return to the correct position.

Therefore, when the pallet mounting table 4 is pivoted to exchange the pallets between the clamp device 1A and the pallet stocker 2, the pallet mounting table 4 is positioned and released with respect to the clamp device 1A and the pallet stocker 2. Directly interlocking with mechanical force such as pallet loading input to the table 4 and turning force of the pallet table 4,
Moreover, the pallets are sequentially controlled in accordance with the sequence of a series of pallet transfer operations from the pallet loading / unloading operation to the pallet mounting table 4 turning operation.

Moreover, the positioning pins 25 and 26 are attached to the stoppers 27 and 29.
The force for engaging and disengaging from the swash plate and the force for rotationally displacing the hook lever are based on the forward force in the locking direction that mechanically directly interlocks with the loading input of the pallet and the turning force of the pallet mounting table 4 based on the swash plate cam. Is obtained by the returning force in the disengagement direction that is mechanically directly interlocked with the reaction force acting on the second actuating mechanism 50, the engaging member 73 of the pallet causes the hook 43 to move in the centrifugal direction due to the deviation of the work on the pallet. When an excessive force is applied to the hook 43 by pulling it to the upper side, further, the frictional resistance of the sliding contact portions of the respective members of the first operating mechanism 40 and the second operating mechanism 50 causes deformation or undesired deformation of the respective members. The stoppers 27, 2 are also used in the case where the size becomes locally large due to inclusions and further misalignment due to assembly error.
9, the engagement and disengagement of the positioning pins 25 and 26, and
The engagement / disengagement operation of the hook lever with respect to the pallet can be reliably achieved.

Next, the operation in the case of carrying out the work of exchanging the work at that location without using the pallet stocker 2 without unloading the pallet on which the processed work is attached from the pallet mounting table 4 will be explained mainly with reference to FIG. To do.

In this case as well, since the stoppers 28 and 30 are substantially unnecessary as described above, they are removed from the base 3. Also, bridge 1
6 is set in the vertical state, and in response thereto, the detour guide 80 is moved to the inside of the turning locus of the positioning pins 25 and 26, so that the locking movement by the stopper 29 is substantially impossible. .

For example, as shown in FIG.
With the loading / unloading port 6 facing the clamp device 1A, one positioning pin 25 is fitted into the stopper 27, and the pallet mounting table 4 is positioned on the base 3. The other positioning pin 26 is used for the stopper 2 as shown in FIG.
It is mounted on the detour guide 80 covering the claw members 31 and 32 of 9 and is not locked by the stopper 29. At this time, the pallet mounting table 4 supports the pallet 11c on which the unprocessed work is placed at a position facing the hook lever 36, and the pallet 11d on which the processed work processed in the previous process is placed on the opposite side. It is supported at a position facing the hook lever 38.

In this state, first, the pallet 11c is unloaded from the first loading / unloading port 6 to the clamp device 1A and subjected to machining of the machine tool. During the machining, the machined work is exchanged for an unmachined work while leaving the pallet 11d on which the machined work is placed on the pallet mounting table 4. At the time of this work replacement work, the head of the positioning pin 26 is fitted into the positioning groove 90 of the pallet as shown in FIG.
The pallet used for exchanging the work is completely fixed to the pallet mounting table 4 without any play, and the work of exchanging the work is stabilized.

Next, after the machining of the work on the pallet 11c is completed, when the pallet 11c on which the processed work is placed is carried into the pallet mounting table 4 from the first loading / unloading port 6, the leading end of the pallet 11c carried into contact with the cushion 42. The hook lever 36 is pivotally displaced counterclockwise by the force, and the hook 43 locks the pallet 11c. At the same time, since the idle pin 45 is projected from the outer peripheral surface of the center block 22, the positioning pin 25 ascends and disengages from the stopper 27 in conjunction with it, as shown in FIG. The locked state of the pallet 11c by the hook 43 and the disengaged state of the positioning pin 25 with respect to the stopper 27 are maintained by the frictional braking force by the disc spring 46 and the sliding resistance of each part unless an external force is specially applied. In this way, after the setup work for exchanging the work on the pallet 11d is completed, the pallet 11c on which the processed work is placed is carried into the pallet mounting table 4, so that the pallet mounting table 4 can be rotated. To be done.

Next, as shown in FIG. 1, when the pallet mounting table 4 is pivoted counterclockwise, for example, and pivoted by an angle δ, the vertical rod 57 abuts the swash plate cams 61, 65 and the angle θ is reached. The vertical rod 5 during the pivotal movement
7 is forcibly displaced by a distance S in the direction of arrow C directed to the center of turning. As a result, the horizontal rod 53 is slidably displaced together with the vertical rod 57 toward the turning center by the distance S, whereby the positioning pins 25 and 26 are displaced downward and returned to the state where they can be locked by the next stopper. In addition, the circular arc surface 51 of the pressing piece 52 follows the sliding displacement of the horizontal rod 53.
Pushes the idle pin 45, and the hook lever 3
6 and 38 are lowered and rotated to return to the position where they are disengaged from the engaging member 73 of the pallet.

Hook lever 3 according to the turning movement of pallet platform 4
The pallets 11c and 11d which are to be separated from the Nos. 6 and 38 are prevented from moving in the centrifugal direction by the engagement members thereof being fitted into the annular guide 71 of the center block 22 at this time, so that the pallets 11c and 11d are fixed at the fixed positions on the pallet mounting table 4. It is transferred by turning.

When the pallet table 4 is rotated 180 ° from the state shown in FIG. 9, the positioning pin 25 moves along the way and the detour guide 80 moves.
The pallet 11c is placed on the table and the pallet 11c is locked, and the positioning pin 26 on the opposite side is locked by the stopper 27, and the pallet mounting table 4 is automatically rotated 180 ° from the state shown in FIG. Positioned on the base 3. In this state, the pallet 11d on which the unprocessed work is placed is moved to the second loading / unloading port 7
From the clamping device 1A to the clamping device 1A, and for the pallet 11c on which the previously processed processed work is placed, the pallet for the next processing is exchanged at that location,
Thereafter, the same operation is repeated as necessary.

In this way, the pallet transfer device PC of the present embodiment selects the operation of causing the detour guide 80 to project above the stopper 29, so that the pallet on which the processed work is placed is not carried out from the pallet mounting table 4 and is kept as it is. Work replacement work can be performed in this state. Also in that case, similarly to the above, the positioning of the pallet mounting table 4 with respect to the clamp device 1A and the releasing operation thereof are directly linked to the mechanical force such as the pallet carrying input to the pallet mounting table 4 and the turning force of the pallet mounting table 4. And is sequentially controlled in accordance with the sequence of a series of pallet transfer operations from the pallet loading / unloading operation to the pallet mounting table 4 turning operation, and further, the engagement / disengagement operation of the positioning pins 25, 26 with respect to the stopper 27, and The engagement / disengagement operation of the hook lever with respect to the pallet can be reliably achieved.

Next, the work table 1 and pallet stocker 2 of the machine tool
With reference to FIG. 10, the pallet exchanging operation when and are arranged at 90 ° intervals with respect to the turning center of the pallet mounting table 4 will be described.

At this time, since the stoppers 29 and 30 are substantially unnecessary, one stopper 30 is removed from the base 3 and
In response to setting the bridge 16 in the vertical state, the detour guide 80 is moved to the inner side of the turning locus of the positioning pins 25 and 26 so that the locking operation by the stopper 29 is substantially impossible. .

For example, as shown by the solid line in FIG. 10, one positioning pin 2 with the first loading / unloading port 6 of the pallet mounting table 4 facing the clamp device 1A fixed to the work table 1
5 is fitted into the stopper 27, and the pallet mounting table 4 is positioned on the base 3. As shown in FIG. 3, the other positioning pin 26 is placed on the detour guide 80 that covers the claw members 31 and 32 of the stopper 29 and is not locked by the stopper 29. At this time, the pallet mounting table 4 supports the pallet 11e on which the unworked work is mounted at a position facing the hook lever 36. In this state, first, the pallet 11e is unloaded from the first loading / unloading port 6 to the clamp device 1A and subjected to machining of the machine tool. Pallet 1 on which finished work is placed after finishing
When 1e is loaded from the first loading / unloading port 6 to the pallet mounting table 4, the leading end of the loaded pallet 11e abuts the cushion 42, and the hook lever 36 is rotationally displaced counterclockwise by the force thereof. Hook 43 for pallet 11e
Lock. At the same time, since the idle pin 45 is projected from the outer peripheral surface of the center block 22, the positioning pin 25 is interlocked with the stopper pin 2 as shown in FIG.
Ascend and leave from 7. Pallet 11e with hook 43
Pin 2 to the stopper 27 and the stopper 27
The disengaged state of 5 is maintained by the frictional braking force of the disc spring 46 and the sliding resistance of each part unless an external force is specially applied. In this way, the pallet 11e on which the processed work is placed is carried into the pallet mounting table 4, whereby the pallet mounting table 4 is allowed to rotate.

Next, as shown in FIG. 1, the pallet mounting table 4 is pivotally operated, for example, in the counterclockwise direction and pivotally moved by an angle δ, and the vertical rod 57 contacts the swash plate cam 61,
During the turning movement to the angle θ, the vertical rod 57 is forcibly displaced by the distance S in the arrow C direction toward the turning center.
As a result, the horizontal rod 53 is integrated with the vertical rod 57.
Is slidably displaced toward the center of turning by a distance S, the positioning pin 25 is displaced downward and is returned to a state in which it can be locked by the next stopper, and further follows the sliding displacement of the horizontal rod 53. When the arc surface 51 of the pressing piece 52 presses the idle pin 45, the hook lever 36 is displaced downward and pivotally returned to the position where it is disengaged from the engaging member 73 of the pallet.

The hook lever 36 is moved in accordance with the turning movement of the pallet placing table 4.
The engaging member of the pallet 11e which is removed from the pallet 11e is fitted into the annular guide 71 of the center block 22 to prevent the pallet 11e from moving in the centrifugal direction, and the pallet 11e is pivotally transferred at a fixed position on the pallet mounting table 4.

When the pallet table 4 is swiveled 90 ° from the state shown in FIG. 10, the positioning pin 25 moves the stopper 28 adjacent to the swivel direction.
Then, the pallet mounting table 4 is automatically positioned on the base 3 by taking the state shown by the chain double-dashed line which is rotated by 90 ° from the state shown by the solid line in FIG. In this state, the pallet 11e on which the processed work is placed is carried out from the first loading / unloading port 6 to the pallet stocker 2, and another pallet 11f on which the unworked work is placed is placed in the pallet stocker 2
From the pallet to the pallet table 4. At this time, the tip of the new pallet 11f carried into the pallet mounting table 4 comes into contact with the cushion 42 to pivotally displace the hook lever 37, so that the positioning pin 25 rises and disengages from the stopper 28 as described above. Maintained, pallet rest 4
Turning operation is allowed. Then, when the pallet placing table 4 is turned 90 ° in the opposite direction, the positioning pin 25 is automatically locked again by the stopper 27 and positioned, and in that state, the pallet 11f on which the unworked work is placed is carried out to the clamp device 1A. Then, the pallet is exchanged for the next processing, and the same operation is repeated if necessary.

As described above, the pallet transfer device PC of the present embodiment can be used even when the pallet stocker 2 cannot be opposed to the bridge 16 when the stocker 2 is opposed to the stopper 28 or 30 from the viewpoint of the space factor. The pallet can be exchanged between the clamp device 1A and the pallet stocker 2. In that case as well,
Positioning of the pallet mounting table 4 with respect to the clamp device 1A and its releasing operation are directly linked to a mechanical force such as a pallet carrying input to the pallet mounting table 4 and a rotative force of the pallet mounting table 4, and the pallet carrying in. Sequential control is performed in accordance with the sequence of a series of pallet transfer operations from the ejecting operation to the turning operation of the pallet mounting table 4, and further, the engaging / disengaging operation of the positioning pin 25 with respect to the stoppers 27 and 28 and the engaging / disengaging operation of the hook lever with respect to the pallet. Can be reliably achieved.

The present invention has been described above in detail based on the embodiments, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention.

For example, in the above embodiment, the swash plate cams 60 to 67 as guide members capable of contacting a part of the reciprocating mechanism are positioned on the bottom surface side of the pallet mounting table 4 and fixedly arranged on the base 3.
The pallet 11 may be fixedly arranged on the center block 22 from the upper surface side of the pallet mounting table 4 at a position where it does not interfere with the loading and unloading of the pallet 11. Further, in the above-described embodiment, due to the inclination angle of the detour guide 80, the swash plate cams are forced to return to the reciprocating mechanism 50 within the range from the angle δ to the angle θ with respect to the orthogonal coordinate axes X and Y, respectively. However, in the case where the detour guide 80 is not required, the interval between the pair of swash plate cams and the formation angle 2θ of the arc surface 51 formed at the tip of the pressing piece 52 are set. Can be made smaller. Moreover, the guide member does not have to be arranged separately as in the above-described embodiment, and if a part of the reciprocating mechanism that can come into contact with the guide member is not close to the turning center, it can be configured by an integral groove cam. It can be arranged in the center block 22 as described above.

The first operating mechanism 40 including the hook lever is not limited to the configuration including the idle pin 45, and the second operating mechanism 50 includes the positioning pin L slidably supported in the vertical direction.
The present invention is not limited to the link mechanism that is driven via the one-sided link 55 or the horizontal rod 53, and can also be applied to a mechanism that uses the horizontal rod itself as a positioning member according to the fixed position of the stopper.

Further, in the above-described embodiment, the case where the stopper is arranged on the base and the positioning member is arranged on the pallet mounting base has been described, but it is also possible to reverse them, and accordingly, the first
The installation positions of the second operating mechanism and the guide member are also reversed.

Further, the present invention is not limited to a device for exchanging and transferring a pallet on which a work (workpiece) for a machine tool is placed between a machine tool and a pallet stocker, and is not limited to a distribution line or a production line using a pallet. It can also be applied to pallet transport path switching technology.

〔The invention's effect〕

According to the pallet transfer device of the present invention, when a pallet is loaded on the pallet mounting table with the pallet mounting table positioned on the base, the pallet to be loaded comes into contact with the pallet by a hook lever that is rotationally displaced. While being locked, the reciprocating mechanism that receives the turning force of the hook lever disengages the positioning member from the stopper to allow the pallet mounting table to swivel and follow the pallet mounting table swivel movement allowed thereby. When a part of the reciprocating mechanism comes into contact with the guide member, the reciprocating mechanism and the hook lever that receive the reaction force based on the turning force of the pallet mounting table from the guide member are forcibly returned to move the positioning member. The hook lever is returned to a position where it can be engaged with the next stopper and to a position where it can be separated from the pallet at the next pallet loading / unloading position. Therefore, when the pallet mounting table is rotated to transfer the pallet, the positioning and releasing operations of the pallet mounting table with respect to the base are performed by a machine called a pallet carrying input to the pallet mounting table and a pallet mounting table turning force. Of the pallet transfer device can be sequentially controlled in accordance with the order of a series of pallet transfer operations from the pallet loading / unloading operation to the pallet mounting table swivel operation, directly linked to the physical force. Can improve the transfer efficiency of pallets.

Moreover, the force for engaging and disengaging the positioning member from the stopper and the force for rotationally displacing the hook lever are based on the forward force in the locking direction that mechanically directly interlocks with the pallet carrying input and the turning force of the pallet mounting table. It is obtained by the returning force in the disengagement direction that mechanically directly interlocks with the reaction force acting on the reciprocating mechanism from the guide member, so that the pallet pulls the hook lever in the centrifugal direction due to the deviation of the work on the pallet, etc. When an extra force is applied to the hook lever, or the frictional resistance of the sliding contact part of each member of the hook lever and reciprocating mechanism is misaligned due to deformation of each member, unwanted inclusions, or assembly error. Even if the size becomes locally large due to factors such as the above, the engagement / disengagement operation of the positioning member with respect to the stopper and the engagement / disengagement operation of the hook lever with respect to the pallet should be confirmed. It can be achieved. If the structure is such that the restoring force for the positioning member and the hook lever is obtained by the force of the spring, the hook lever and the positioning member will not work when an undesired force in the opposite direction exceeding the elastic force of the spring is applied. Normal reciprocal motion cannot be performed smoothly.

[Brief description of drawings]

The drawings show one embodiment of the pallet transfer device according to the present invention. FIG. 1 is a plan view showing the central portion of the pallet transfer device, FIG. 2 is a vertical sectional view showing the right half of the pallet transfer device, 3 is a vertical cross-sectional view showing the left half of the pallet transfer device, FIG. 4 is a vertical cross-sectional view showing the pallet locked with a hook lever in the right half of the pallet transfer device, and FIG. 6 and 6 are bottom views showing an engaging member of a pallet that can be engaged with a hook lever, FIG. 7 is a side view showing a bypass guide, and FIG. 8 is a view showing an entire pallet transfer device. 180 pallets
FIG. 9 is a plan view for explaining the operation when the pallet is rotated by rotating the pallets by degrees, and FIG. 9 is a plan view for explaining the operation when the pallet is replaced without using the pallet stocker in FIG. FIG. 10 is a plan view for explaining the operation when the pallet is replaced while reciprocally rotating the pallet mounting table by 90 °. PC: Pallet transfer device, 1 ... Machine tool work table, 2 ... Pallet stocker, 3 ... Base, 4 ...
Pallet mount, 6 ... First loading / unloading port, 7 ... Second loading / unloading port, 11 (11a to 11f) ... Pallet, 20 ...
… Bearings, 22… Center blocks, 25, 26…
... Positioning pin (positioning member), 27 to 30 ... Stopper, 31, 32 ... Claw member, 36 to 39 ... Hook lever, 40 ... First operating mechanism, 42 ... Cushion, 43 ... Hook, 44 ...... Pressing ball, 45 ...... Idle pin, 46 ...... Disc spring, 50 ...... Second operating mechanism,
51 ... Arc surface, 52 ... Pressing piece, 53 ... Horizontal rod, 57 ... Vertical rod, 60 to 67 ... Swash plate cam (guide member), 70 ... Notch portion, 71 ... Annular guide, 73 ... Engaging member, 80 ... Detour guide, 90 ...
Positioning groove

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasumasa Oki 2-9-4 Nakaikeue, Ota-ku, Tokyo Nitto Koki Co., Ltd. (72) Naoya Kurihara 2-9-4 Nakaike, Ota-ku, Tokyo Nitto Koki Co., Ltd.

Claims (1)

[Claims] 1. A pallet mounting table having a plurality of pallet loading / unloading openings at predetermined intervals on an outer edge thereof, on which a pallet loaded from the opening is mounted, and a base rotatably supporting the pallet mounting table. A plurality of positioning members that can be moved back and forth from the pallet mounting table toward the base and are provided on the pallet mounting table in a one-to-one correspondence with the pallet loading / unloading port, and in a one-to-one correspondence with the respective positioning members. Is provided,
A plurality of reciprocating mechanisms for moving the positioning member forward and backward in conjunction with the reciprocating movement between the pallet loading table swivel center and the pallet loading / unloading port, and the plurality of positioning members in the advanced state while the pallet loading table is swiveling. A plurality of stoppers provided on the base so that they can be locked simultaneously in a one-to-one correspondence, and a plurality of stoppers are arranged on the base in a one-to-one correspondence with the stopper, and the positioning member in the advanced state is locked to the stopper. In this state, the pallet is brought into contact with the pallet to be loaded onto the pallet mounting table and rotationally displaced from the initial position to lock the pallet,
A plurality of hook levers that reciprocate the reciprocating mechanism by the turning force to disengage the positioning member from the stopper, and each reciprocating motion of the pallet mounting table after all the positioning members have been disengaged from the stopper. A plurality of units which are provided on the base with an arrangement for engaging the moving mechanism in a one-to-one correspondence to move the reciprocating mechanism forward, and for moving all the positioning members forward and returning the hook lever to the initial position by the forward movement. And a pallet transfer device comprising: