JPH1190791A - Flexible machining device and pallet therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flexible machining device which has little increase in occupying area and decrease in machining efficiency even if the number of work types is increased. SOLUTION: This flexible machining device includes a plurality of conveyance carriages 3 which loads a universal pallet 2 for retaining a work, a pallet station 6 which changes automatically a jig plate 21 for fixing the work to the universal pallet 2 according to the type of the work, a carrying-in station 4 for fitting the work to the universal pallet 2, a numerically controlled machine tool (machining station) 1, a carrying-out station 5 for carrying out the work, and a moving route 7 for the conveyance carriage 3 running between respective stations 6, 4, 1, 5. Even if the type of the work is changed, it requires only change of the light-weight and small jig plate 21 without requiring change of the heavy- weight and large pallet, therefore, thus it is possible to prevent machining efficiency from lowering so much. Storing the jig plate 21 requires less area than storing the pallet, thus it is possible to prevent an occupying area from increasing so much.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a flexible processing apparatus (FMS: Flexible Manufacturing System) using a pallet for transferring and fixing a plurality of types of works (workpieces).

[0002]

2. Description of the Related Art A conventional flexible processing apparatus has a dedicated pallet corresponding to a type of a workpiece so that a plurality of types of workpieces can be sequentially processed according to a predetermined plan. These dedicated pallets are stored in a pallet pool when not in use, and are taken out of the pallet pool when in use and mounted on a transport trolley.

[0003] The work is fixed to a dedicated pallet mounted on the transport trolley at a loading station where the work is loaded by a conveyor or the like. Thereafter, the transport trolley moves along the moving path to reach the numerically controlled machine tool, and transfers the work together with the dedicated pallet to the numerically controlled machine tool while the work is fixed to the dedicated pallet. Then, the work machined by the numerically controlled machine tool is mounted again on the transport trolley while maintaining the state held by the dedicated pallet,
It is transported by the transport trolley to the unloading station. At the unloading station, the processed work is removed from the dedicated pallet mounted on the transport trolley, and the work is unloaded by a conveyor or the like.

[0004]

In the above-described flexible processing apparatus according to the prior art, a dedicated work mounting pallet is used for each work according to the type of work.
When there are many types of works, a large number of dedicated pallets must be prepared. In addition, it is necessary to prepare a plurality of dedicated pallets for one type of work in case that the same type of work is continuously processed.

[0005] Therefore, in the conventional flexible processing apparatus, when the type of work increases, the storage space (pallet pool) for a dedicated pallet increases, and the entire flexible processing apparatus becomes large. The occupied area increases. In addition, since the dedicated pallet is heavy, it takes a considerable time to put and remove the dedicated pallet in the pallet pool, and the cycle time of the flexible processing apparatus is increased, thereby reducing the processing efficiency.

That is, the conventional flexible processing apparatus has the disadvantage that when the types of workpieces to be processed increase, the occupied area increases, the equipment cost increases, and the processing efficiency decreases. Therefore, the present invention provides a flexible processing apparatus and a pallet for the same, which can minimize an increase in the occupied area and a decrease in the processing efficiency even when the types of workpieces to be processed increase. Is a problem to be solved.

[0007]

Means for Solving the Problems and Their Functions and Effects In order to solve the above problems, the inventors have invented the following means. (First Means) A first means of the present invention is a flexible processing apparatus according to the first aspect. In this means, a general-purpose pallet occupying at least a part (or all) of the plurality of pallets is provided with a plurality of types of jig plates for holding the work, and holding the jig plates and attaching and detaching them to the numerically controlled machine tool and the transport trolley. And a common shared attachment table. Since the jig plates have different shapes depending on the type of the work, jig plates of a type corresponding to the type of the work are prepared in a necessary number in the case of continuously processing the same type of work.

However, at least a part (preferably all)
Is a general-purpose pallet in which a jig plate dedicated to each work is held on a common attachment table. Therefore, only a limited number of common attachment tables having large volume and weight are required. As a result, the storage location (equivalent to the conventional pallet pool) where the common attachment table should be stored is
Limited to a minimum size or size.

On the other hand, since the jig plate is much smaller and lighter than the pallet, the area occupied by the jig plate is naturally limited even if the type and number of jig plates are increased.
As a result, the increase in land costs and equipment costs, which is considered to be almost proportional to the increase in the occupied area, is minimized.
Also, when a dedicated pallet is used for a special work that cannot be held by the shared attachment table, the type and number of the dedicated pallets are limited to a minimum. This is because many kinds of works can be held by a general-purpose pallet combining a common attachment table and a jig plate. Therefore, the occupied area of the pallet pool for storing the dedicated pallets is naturally limited, so that an increase in equipment costs is minimized.

Next, the flexible processing apparatus of the present means comprises:
A pallet station is provided at a position along the moving path.
The pallet station is equipped with a jig plate attaching / detaching device that is controlled by a control device according to a processing plan and attaches / detaches a jig plate to / from a common attachment base of a general-purpose pallet according to the type of work. As aforementioned,
At least a part (preferably all) of the pallets is a general-purpose pallet configured by holding a dedicated jig plate for each work on a common attachment table. Then, a jig plate according to the type of work is automatically attached to and detached from the common attachment base of the general-purpose pallet by the jig plate attaching / detaching device. Since the jig plate is much smaller and lighter than the entire pallet, the time required for attaching and detaching the jig plate is short.

Further, if the frequency of use of the general-purpose pallets is higher than that of the dedicated pallets, the time-consuming step of taking in and out the pallets having large weight and volume from the pallet pool can be omitted. As a result, the cycle time of the flexible processing device of the present means is shortened and the processing efficiency is improved as compared with the conventional flexible processing device using only the dedicated pallet. In other words, even if the types of workpieces to be processed increase, the processing efficiency of the flexible processing apparatus of the present means does not decrease so much.

Therefore, according to the flexible processing apparatus of this means, even if the type of work to be processed is increased, the effect of increasing the occupied area and lowering the processing efficiency can be minimized. Be demonstrated. (Second Means) A second means of the present invention is a flexible processing apparatus according to the second aspect.

In this means, the carry-in station is equipped with a work mounting device for automatically mounting and fixing an unprocessed work to a jig plate of a general-purpose pallet. Further, the unloading station is equipped with a work removing device for automatically removing the processed work from the jig plate. Therefore, not only the jig plate is automatically attached to and detached from the common attachment base of the general-purpose pallet by the jig plate attaching / detaching device, but also the loading and unloading of the workpiece is automated by the work attaching device and the work removing device. That is, the work mounting device automatically fixes the unprocessed work carried by the carry-in conveyor or the like to the pallet, and the work removal device removes the worked work from the pallet and transfers the work to the carry-out conveyor or the like.

In this type of flexible processing apparatus, the work is naturally transferred from the transport trolley to the numerically controlled machine tool while being held on the pallet, and processed. From the pallet is automatically transferred to the carrier. Therefore, not only the numerically controlled machine tool itself, but also the attachment and detachment of the workpiece to and from the numerically controlled machine tool are automatically performed. In addition, these automated numerically controlled machine tools and their vicinity (where the carriage stops) are customarily called processing stations.

That is, in the flexible processing apparatus of the present means, all of the pallet station, the loading station, the processing station, the unloading station, and the transporting trolley moving between the stations are automated. Therefore, according to this means, in addition to the effect of the above-mentioned first means, there is an effect that unmanned operation can be performed by fully automation of the flexible processing apparatus, and labor costs can be reduced. As a result, a greater cost reduction effect can be obtained.

In the above-mentioned first means, the carry-in station and the carry-out station are not always required to be provided independently of each other, and both stations may be provided adjacent to each other. Alternatively, a carry-in / carry-out station that also serves as both stations may be provided.
In these cases, in the second means, the work attachment device and the work removal device may be integrated as a work attachment / detachment device that serves as both devices.

(Third Means) A third means of the present invention is a flexible processing apparatus according to the third aspect. In the flexible processing apparatus according to this aspect, the control device includes a current state storage unit, a schedule storage unit, and a determination unit. These three means usually exist in the control device as a part of a memory area inside the control device and a part of a control program stored and executed in the control device.

The current state storage means stores the type of the jig plate attached to the general-purpose pallet to be carried next to the numerically controlled machine tool. On the other hand, the schedule storage means stores the type of jig plate suitable for the type of work to be processed next according to the processing plan. Therefore, it is possible to compare the type of the current jig plate with the type of the jig plate to be used next.

The judging means first compares the type of the jig plate stored in the current state storage means with the type of the jig plate stored in the schedule storage means. Next, as a result of the comparison, if the two are the same, the judging means judges that the general-purpose pallet should be passed through the pallet station and conveyed to the loading station. Conversely, if the comparison result shows that the two are different, the determining means has replaced the jig plate attached to the general-purpose pallet at the pallet station with a jig plate of a type suitable for the type of work to be processed next. Later, it is determined that the general-purpose pallet should be transported to the loading station.

According to the above-described determination operation, if the type of the jig plate currently mounted on the general-purpose pallet matches the type of the work to be processed next, the exchange of the jig plate is omitted. . That is, a general-purpose pallet
Since the sheet is directly conveyed to the loading station through the pallet station, unnecessary replacement of the jig plate is avoided. As a result, the processing cycle of the flexible processing device is further reduced.

Therefore, according to this means, in addition to the effect of the first means described above, there is an effect that the processing cycle of the flexible processing apparatus is further shortened, and the cost-effectiveness of the flexible processing apparatus is further improved. (Fourth Means) A fourth means of the present invention is a pallet for a flexible processing apparatus according to the fourth aspect.

The pallet for a flexible processing apparatus of the present invention is a general-purpose pallet capable of holding a plurality of types of works, and has an attachment table and a jig plate. The attachment pedestal includes a pedestal fitted to the mating member and fixed to the mating member, and a jig plate support member fixed to the pedestal. On the other hand, the jig plate is a member that is fixed to a jig plate support member of the common attachment table and fixes and holds the work to the common attachment table. A plurality of types of jig plates are prepared according to the type of work to be processed, and are fixed to a jig plate support member of a common shared attachment table.

In this means, a general-purpose pallet is formed by using a common shared attachment table simply by changing the jig plate according to the type of work to be processed. Therefore, a large number of dedicated pallets are prepared. No need. That is, instead of preparing a large number of dedicated pallets according to various kinds of works, it is only necessary to prepare other kinds of jig plates and exchange jig plates according to kinds of works.

Therefore, in the flexible processing apparatus of the first means using pallets, instead of preparing a large number of dedicated pallets of other types, a large number of jig plates of other types are prepared and shared. All you have to do is replace it with the common attachment table. In other words, instead of preparing a large number of dedicated pallets of other types, only a limited number of common attachment tables and various jig plates are prepared to transfer and process many types of workpieces. It is possible to do.

Here, since the jig plate is much smaller than the entire pallet, a large number of jig plates are pooled when processing other types of works, rather than pooling a large number of dedicated pallets. This saves storage space. As a result, the occupied area occupied by the production equipment is reduced, so that land costs and equipment costs, which are proportional to the occupied area, are reduced, resulting in cost reduction.

Further, if only a small and light jig plate is replaced instead of replacing a heavy and large dedicated pallet, the time required for the replacement work accompanying the change of the type of work can be greatly reduced. The processing cycle of the flexible processing device is shortened. As a result, the processing efficiency of the flexible processing device is improved. Therefore, according to the general-purpose pallet of this means, by adopting the flexible processing apparatus of the first means, the effects of reducing the equipment cost and improving the processing efficiency of the flexible processing apparatus can be obtained. As a result, the cost-effectiveness (cost performance) of the flexible processing apparatus is improved.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a flexible working apparatus and a pallet for the same according to the present invention will be clearly and fully described in the following examples so that those skilled in the art can understand the present invention. I do. Example 1 (Flexible processing apparatus of Example 1) Example 1 of the present invention
As shown in FIG. 1, the flexible processing device
It has two numerically controlled machine tools (machining stations) 1, a plurality of general-purpose pallets 2, a plurality of transport vehicles 3, a loading station 4, an unloading station 5, and a pallet station 6. This flexible processing equipment also
A moving path wire 7 as a moving path on which the carrier 3 carrying the general-purpose pallet 2 should move between the stations 1, 4, 5, 6; various jig plates 21 (see FIG. 2); 'Pool 9. The flexible processing apparatus further includes a control device 8 that controls various devices provided in the stations 1, 4, 5, 6 and the pool 9 and the transport trolley 3.

The numerically controlled machine tool 1 forming the machining station automatically unloads and unloads the machine tool main body MT and the pallets 2 and 2 ′ holding the work W (see FIG. 2) from the carrier 3. And a work table P for fixing the work W together with the pallets 2 and 2 '. Further, the numerically controlled machine tool 1 has a numerically controlled device NC for controlling the entire numerically controlled machine tool 1 including these components for each numerically controlled machine tool 1. Since the type of the work W to be processed next is input from the control device 8 to the numerical control device NC of the numerically controlled machine tool 1, the machine tool main body MT may perform different processing in accordance with the type of the work W. it can.

The unprocessed work W is carried into the processing station 1 by the transport trolley 3 while being held on the pallets 2 and 2 ', and is automatically transferred to the pallet table PC and further to the work table P. And machined by the machine tool body MT. The processed work W is placed on the pallet 2
While being held at 2 ′, it is detached from the worktable P, transferred from the pallet table PC, mounted on the transport vehicle 3 again, and transferred to the unloading station 5.

The plurality of pallets 2 and 2 'for holding the work W processed by the numerically controlled machine tool 1 include a common general-purpose pallet 2 and various dedicated pallets 2'. The general-purpose pallet 2 will be described in detail later. The point is that the pallet 2 can hold various works W by exchanging the jig plate 21. On the other hand, dedicated pallet 2 '
Is a pallet for holding a work W having a special shape that cannot be held by the general-purpose pallet 2.

The carrier 3 can be mounted on either the general-purpose pallet 2 or the dedicated pallet 2 ′, and is a wire guided vehicle (AGV) that moves by itself along the moving path wire 7. The transport vehicle 3 circulates along a moving path wire 7 forming a moving path closing between the stations 1, 4, 5, and 6 described above. The control of the movement and stop of the transport vehicles 3 is performed independently for each transport vehicle 3 by a command signal input from the control device 8 via the travel path wire 7.

The loading station 4 is equipped with a workpiece mounting robot 41 as a workpiece mounting device between the loading conveyor 43 and the moving path wire 7, and the workpiece mounting robot 41 has a dedicated numerical controller 41 '. It is attached. An unprocessed work W is carried into the carry-in station 4 by a carry-in conveyor 43 from outside the flexible processing apparatus. Unprocessed workpiece W carried in
Are automatically mounted on the pallets 2 and 2 ′ mounted on the transporting cart 3 by the work mounting robot 41. The transport cart 3 remains at the position of the station marker 42 until the mounting of the work W on the pallets 2, 2 'is completed.

The unloading station 5 is equipped with a work removal robot 51 as a work removal device between the moving path wire 7 and the unloading conveyor 53. The work removal robot 51 is provided with a dedicated numerical controller 51 '. It is attached. The processed work W held on the pallets 2 and 2 ′ is carried into the carry-out station 5 by the carrier 3 at the position of the station marker 52. The work removal robot 51 removes the processed work W from the pallets 2 and 2 ′ mounted on the carriage 3 while the carriage 3 is stopped. Subsequently, the workpiece removal robot 51 transfers the processed workpiece W to the unloading conveyor 53, and unloads the workpiece W from the flexible processing apparatus.

The pallet station 6 is controlled by the control device 8 according to a predetermined machining plan, and the jig plate 21
A jig plate attaching / detaching device for attaching / detaching to / from the common attachment table 22 (see FIG. 2) of the pallet 2 according to the type of the work W is provided. That is, the pallet station 6 is equipped with a jig plate attaching / detaching robot 61 as a jig plate attaching / detaching device between the moving path wire 7 and the pool 9. A device 61 'is provided.

The pallet station 6 is supplied with a jig plate 21 of a type suitable for the work W to be processed from the pool 9. That is, the station marker 62
The jig plate attaching / detaching robot 61 removes the used jig plate 21 from the pallet 2 mounted on the transport cart 3 stopped at the position, and returns it to the cart 93 of the pool 9. At this time, since the proper jig plate 21 has already been automatically placed on the exchange table 94 of the pool 9, the jig plate attaching / detaching robot 61 picks up the proper jig plate 21 and then moves the pallet 2. Attached to the common attachment table 22. The carriage 3 carrying the pallet 2 continues to stop at the position of the station marker 62 during the automatic operation described above, and moves to the adjacent loading station 4 when the operation is completed.

When the special pallet 2 'is required to hold the work W having a special shape, the following operation is automatically performed. That is, first, the pallet station 6 is moved by the jig plate attaching / detaching robot 61.
, The used pallets 2 and 2 ′ are removed from the carrier 3 and returned to the pool 9. Thereafter, the exclusive pallet 2 ′ suitable for the special work W is taken out of the pool 9 by the jig plate attaching / detaching robot 61 and is mounted on the carrier 3. Then, the carrier 3 carrying the dedicated pallet 2 ′ moves to the next loading station 4.

Conversely, when the dedicated pallet 2 'is mounted on the transporting carriage 3 and a normal type of work W is to be processed next, the dedicated pallet 2' is transported by the jig plate attaching / detaching robot 61. Pool 9 removed from cart 3
Will be returned to Then, the jig plate attaching / detaching robot 61
After attaching the general-purpose pallet 2 provided with the jig plate 21 provided from the pool 9 to the carrier 3, the appropriate jig plate 21 is attached to the general-purpose pallet 2 mounted on the carrier 3. After a while, general-purpose pallet 2
Is mounted on an adjacent loading station 4
Go to

Here, the pool 9 has a large number of jig plates 2
One and a small number of dedicated pallets 2 'are arranged in a line and stored at a predetermined position, a storage table 91, a linear rail 92 horizontally arranged in parallel with the storage table 91, a trolley 93 and an exchange table. 94. The exchange table 94 is disposed adjacent to one end of the linear rail 92 near the jig plate attaching / detaching robot 61, and is a table for temporarily placing the jig plate 21 or the like to be mounted on the general-purpose pallet 2 next. It is.

The carriage 93 travels on the linear rail 92, and on the outward path, the jig plate 21 and the like to be used next are taken out of the storage table 91, transferred, and placed on the exchange table 94. When the transport trolley 3 arrives at the pallet station 6, the used jig plate 21 and the like are removed by the jig plate attaching / detaching robot 61 and placed on the trolley 93 stopped at the end of the linear rail 92. Then
The carriage 93 returns the used jig plate 21 and the like used in the return trip to a predetermined position on the storage table 91. Thus the trolley 9
3 is a jig plate attaching / detaching robot 61 and an exchange table 94.
The operation of exchanging the jig plate 21 and the like between the storage table 91 and the storage table 91 is automatically performed.

The above-mentioned pool 9 is provided with the moving path wire 7
Is disposed in a moving path that is formed so as to be rotatable and closed. Each station 1 described above
The pallet station 6, the loading station 4, the two processing stations 1, and the unloading station 5 are arranged in the order of the pallet station 4, 5, and 6 along the route of the moving path wire 7. Therefore, one work W is processed and carried out from the flexible processing apparatus while one transporting trolley 3 makes a round of the moving path wire 7.

(Control Device of First Embodiment) The numerical control machine tool 1 of each of the stations 1, 4, 5, and 6, the robots 41, 51, 61, and the pool 9 are controlled by the control device 8 in a predetermined manner. According to the processing plan, the whole is controlled so as to operate efficiently. As a result, even though there are a plurality of types of works W held on the pallets 2 and 2 ', each work W is automatically and efficiently processed by the numerically controlled machine tool 1.

The control unit 8 includes an arithmetic unit 81 that outputs control commands to the above-described various units, and a storage unit 8 that stores machining plans and various tables shown in FIGS. 3 (a) to 3 (c).
2 and an interface 83 for connecting the above devices to the arithmetic unit 81. Although not shown, the control device 8 is also provided with a console (operating console) operated by an operator, a monitor display device, and an alarm device for notifying the operator when a problem occurs.

In the flexible processing apparatus of this embodiment, the control device 8 is provided with a means for improving the processing efficiency by eliminating unnecessary replacement of the jig plate 21. That is, although not shown, the control device 8 includes a current state storage unit, a schedule storage unit, and a determination unit. Usually, these three means exist inside the control device 8 as a part of the memory area of the storage device 82 of the control device 8 and a part of the control program executed by the arithmetic device 81 of the control device 8.

The current state storage means is a plurality of general-purpose pallets 2
Among them, the type Z of the jig plate 21 mounted on the transport trolley 3 at the position indicated by A in FIG. 1 and then mounted on the general-purpose pallet 2 carried into the numerically controlled machine tool 1
1 is stored. On the other hand, the schedule storage means is as shown in FIG.
The type Z2 of the jig plate 21 suitable for the type of the workpiece W to be processed next is stored along the processing plan table shown in FIG. Therefore, it is possible to compare the current type Z1 of the jig plate 21 with the type Z2 of the jig plate 21 to be used next.

First, the determination means compares the type Z1 of the jig plate 21 stored in the current state storage means with the type Z2 of the jig plate 21 stored in the schedule storage means. Next, as a result of the comparison, if both Z1 and Z2 are the same, the judging means judges that the general-purpose pallet 2 should pass through the pallet station 6 and be conveyed to the carry-in station 4. Conversely, as a result of the comparison, both Z
If Z1 and Z2 are different, the judging means sets the jig plate 21 attached to the general-purpose pallet 2 at the pallet station 6 to the type Z2 of the work to be processed next.
After the jig plate 21 is replaced with a jig plate 21 of a type suitable for the pallet 2, it is determined that the general-purpose pallet 2 should be transported to the loading station 4.

According to the above determination operation, when the type Z1 of the jig plate currently mounted on the general-purpose pallet 2 matches the type of the work W to be processed next,
The replacement of the jig plate 21 is omitted. That is, the general-purpose pallet 2 passes through the pallet station 6,
Since the jig plate 21 is directly conveyed to the loading station 4, unnecessary replacement of the jig plate 21 is avoided. As a result, the processing cycle of the flexible processing device is further reduced. As a result, the processing cycle of the present flexible processing apparatus can be further shortened, and the cost-effectiveness of the present flexible processing apparatus can be further improved.

(General-purpose pallet of the first embodiment) Most of the pallets 2 and 2 'used in the present flexible processing apparatus are general-purpose pallets 2, and the dedicated pallet 2' is provided with a necessary minimum number. It's just As shown in FIG. 2, the general-purpose pallet 2 has a plurality of types of jig plates 21 having different shapes depending on the type of the work W and holding the work W.
And a common shared attachment table 22 that holds the jig plate 21 and is attached to and detached from the numerically controlled machine tool 1 and the transport trolley 3. The common attachment base 22 further includes a rectangular parallelepiped pedestal 221 that is easily positioned and is fixed to the counterpart member by the T-shaped groove 220, and a jig plate support member 222 that is fixed upright on the pedestal 221. .

The jig plate support member 222 has a jig plate 21 for holding a workpiece W of a type to be processed.
Is attached. From the jig plate 21, two positioning pins 211 arranged at diagonal positions and two mounting bolts 212 arranged at other diagonal positions protrude. On the other hand, the jig plate support member has two guide holes and two screw holes at corresponding positions. Therefore, the positioning pins 2 are respectively provided in the guide holes.
The jig plate 21 is accurately positioned and fixed to the side surface of the jig plate support member 222 by inserting and fitting the jig 11 and screwing the mounting bolts into the screw holes and fastening them.

That is, the general-purpose pallet 2 which is a pallet for a flexible processing device is a shared attachment comprising a pedestal 221 fitted to a mating member and fixed to the mating member, and a jig plate supporting member 222 fixed to the pedestal 221. It is composed of a table 22 and one of a plurality of jig plates 21 fixed to the jig plate support member 222 and fixedly holding the work W.

At the pallet station 6, the jig plate 2
By exchanging 1, the general-purpose pallet 2 can hold a large number of types of works W, and can keep up with the minimum number. Therefore, even if the type of the work W increases, it is not necessary to prepare a large number of dedicated pallets 2 ', and the occupied area of the pool 9, which is a storage space, can be reduced. Further, even if the type of the work W increases, the frequency of replacing the pallets 2 and 2 'having both large volume and weight does not increase so much, the time required for replacement is reduced, and the processing efficiency of the flexible processing apparatus is not so high. Do not drop.

(Operation of Embodiment 1) Since the flexible processing apparatus of this embodiment and the general-purpose pallet thereof are configured as described above, the following operations are performed. The operation of the present embodiment will be systematically described with reference to the flowchart shown in FIG. First, a machining program (see FIG. 4) is loaded from the storage device 82 of the control device 8 to the arithmetic device 81. At the same time, the number (W1) of the work W prepared in each station 1, 4, 5, 6
3 is detected, and a part of the storage area of the storage device 82 is allocated to the state table (FIG. 3).
(See (a)). The contents of the state table are stored in each of the stations 1, 4, and 4 as the machining program progresses.
It is updated every time the number of the work W in 5, 6 changes.

A jig table (see FIG. 3B) in which the numbers of the jig plate 21 or the dedicated pallets 2 'corresponding to the numbers of the respective works W are stored in advance in the storage device 82. I have. Further, an input plan table (see FIG. 3C) corresponding to the order of the workpieces W in the lot to be processed is also stored in the storage device 82 before and after the loading of the processing program. The contents of the loading plan table are determined by detecting the number (type) of the work W carried in by the carry-in conveyor 43 by a detecting means such as a sensor, and are sequentially added as the processing program proceeds. Is also good.

When the machining program starts, in processing step S11, the number of the work W to be machined next (any one of W1 to W3) is read from the input plan table (see FIG. 3C) in the storage device 82. Is read. The number of the read work W is determined in the determination block of step S12, and if there is no work W to be processed next, the processing program ends, and the control device 8 notifies the operator to that effect. To stop the flexible processing apparatus of this embodiment.

Conversely, in the decision block of step S12,
If it is determined that the work W to be processed next is planned, the process proceeds to processing step S13, where the contents of the jig table and the contents of the state table are read.
Thereafter, in determination step S14, it is determined whether or not the number of the work W to be carried in next by the carry-in conveyor 43 is the same as the number of the work W at or immediately before the pallet station 6. Judgment step S1
4, if it is determined that they are the same, the next processing step S1
At 5, a transfer command is issued from the control device 8 to the transfer trolley 3, and the transfer trolley 3 passes through the pallet station 6 and moves to the processing station 1. In addition, processing step S1
After the contents of the state table are updated in step 6, the machining program is repeated from processing step S11 again.

On the other hand, in the judgment step S14, the number of the work W to be carried in next by the carry-in conveyor 43 and
Pallet station 6 or work W immediately before it
Are determined to be different from each other, the processing program proceeds to the determination step S21. In the determination step S21, it is determined whether or not the work W to be carried in requires the dedicated pallet 2 '. If it is determined that the work W is necessary, the process proceeds to the processing step S22. In the processing step S22, the jig plate attaching / detaching robot 61 stores the general-purpose pallet 2 mounted on the transport trolley 3 in the pool 9 with the transport trolley 3 stopped at the pallet station 6. Then, the exclusive pallet 2 ′ prepared on the exchange table 94 of the pool 9 is mounted on the empty carriage 3 stopped at the pallet station 6 by the jig plate attaching / detaching robot 61. Thereafter, the machining program returns to the processing step S1 described above.
Then, the same processing as described above is performed.

By the way, if it is determined in the judgment step S21 that the dedicated pallet 2 'is not necessary, the machining program proceeds to the judgment step S31. Then, in the determination step S31, it is determined whether or not the pallet mounted on the carrier 3 stopped at the pallet station 6 is the dedicated pallet 2 '. If it is determined that the pallet is the dedicated pallet 2 ′, the dedicated pallet 2 ′ is moved from the carrier 3 stopped at the pallet station 6 by the jig plate attaching / detaching robot 61 to the trolley 93 of the pool 9.
And is stored in the storage table 91 of the pool 9.
Next, the jig plate attaching / detaching robot 61 mounts the general-purpose pallet 2 prepared on the exchange table 94 of the pool 9 (to which the jig plate 21 has not yet arrived) on the carrier 3 stopped at the pallet station 6. I do.

Thereafter, in processing step S34, the jig plate 21 adapted to the work W to be carried in from the pool 9 is set.
Is supplied. Subsequently, in processing step S35, the jig plate 21 is attached to the general-purpose pallet 2 by the jig plate attaching / detaching robot 61. Jig plate 21
When the mounting of is completed, the machining program proceeds to the above-described processing step S15 again, and thereafter, the same processing as the above-described processing is performed.

However, if it is determined that the pallet mounted on the carriage 3 stopped at the pallet station 6 is the general-purpose pallet 2 in the above-mentioned determination step S31, the processing program is changed to the processing steps S32 and S3.
Step 3 is skipped and the process proceeds to step S34. That is, although omitted in the flow chart of FIG.
Is removed by the jig plate attaching / detaching robot 61 and returned to the pool 9. In parallel with this, in the processing steps S34 and S35, the jig plate 21 suitable for the next work W is provided from the pool 9 and attached to the general-purpose pallet 2 by the jig plate attaching / detaching robot 61.
After the jig plate 21 is exchanged in this manner, the processing program proceeds to the above-described processing step S15 again, and thereafter, the same processing as the above-described processing is performed.

The machining program repeats each of the above processes until the lot of the work W is completed. When all the works W have been machined, the machining program is automatically stopped as described above. (Effects of Embodiment 1) As described in detail above, the flexible machining apparatus of this embodiment employs the general-purpose pallet 2 and the jig plate attaching / detaching robot 61, and is operated according to a rational machining program. The following effects can be exhibited.

The first effect is that, even if the types of the work W increase, it is not necessary to store a large number of dedicated pallets 2 ', so that the occupied area of the flexible processing apparatus is reduced, and the cost of land and equipment is reduced. Is Rukoto. This effect is particularly remarkable in an area where the rent of a factory site is expensive. The second effect is that the adoption of the general-purpose pallet 2 reduces the frequency of replacing the dedicated pallet 2 ′, which takes time, so that the processing cycle of the flexible processing apparatus is shortened and the processing efficiency is improved. That is, the cost performance of the flexible processing apparatus is improved, so that the equipment investment can be recovered early.

The third effect is that each of the stations 1, 4,
Since the control units 5 and 6 and the transport trolley 3 are completely automatically controlled, a dedicated operator is not required for each flexible processing apparatus, and labor costs are reduced. This effect is particularly pronounced when operating in countries where labor costs are soaring. Since each of the above effects has the effect of reducing the cost of the product, finally, according to the flexible processing apparatus of the present embodiment, the product to be manufactured can be provided at lower cost and in large quantities. The effect is obtained.

(Modification 1 of Embodiment 1) As Modification 1 of the present embodiment, it is possible to eliminate the use of the dedicated pallet 2 'and implement a flexible processing apparatus employing only the general-purpose pallet 2. In other words, in the flexible processing apparatus of the present modification, is the general-purpose pallet 2 designed to fit all the works W, or is all the works W limited to those that fit the dedicated pallet 2 '? Is one of

In the flexible processing apparatus according to this modification,
Since there is no need to exchange a pallet having a large volume and weight at the pallet station 6, the processing cycle is shortened and the processing efficiency is maximized. For the same reason, the jig plate attaching / detaching robot 61 of the pallet station 6 is provided with a small and lightweight jig plate 21.
Since it is sufficient to have the ability to replace the jig, a jig plate attaching / detaching robot 61 which is weak but inexpensive can be used. As a result, the flexible processing apparatus according to the present modification also has the effect of being somewhat less expensive than the first embodiment.

(Modification 2 of Embodiment 1) As a modification 2 of the present embodiment, a flexible processing apparatus in which the work W is attached to and detached from the pallets 2 and 2 'manually at the loading station 4 and the unloading station 5 is implemented. It is possible. Since the work W is much lighter and smaller than the pallets 2 and 2 ', it can be usually handled manually, and the control device 8 recognizes the type of the work W to be carried in. Don't worry about making mistakes.

According to this modification, since there is no work mounting robot 41 and no work removing robot 51, there is an effect that capital investment can be reduced. Conversely, in the present modified embodiment, the labor cost is higher than that in the first embodiment, so that the present embodiment is suitable for implementation in a country where the labor cost is low.

[Brief description of the drawings]

FIG. 1 is a plan view showing a configuration of a flexible processing apparatus as a first embodiment.

FIG. 2 is a perspective view of a pallet for a flexible processing apparatus as a first embodiment.

FIG. 3 is a set diagram showing various control tables according to the first embodiment. (A) State table (b) Jig table (c) Loading plan table

FIG. 4 is a flowchart illustrating the operation of the flexible processing apparatus according to the first embodiment.

[Explanation of symbols]

1: Numerically controlled machine tool (machining station) PC: Pallet table P: Work table MT: Machine tool NC: Numerical control device 2: General-purpose pallet 21: Jig plate 211: Positioning pin 212: Mounting bolt 22: Shared attachment table 221 : Pedestal 222: jig plate support member 2 ': dedicated pallet 3: transport trolley 4: loading station 41: work mounting robot (as a work mounting device) 42: station marker 43: loading conveyor 5: unloading station 51: work removal robot 52: Station marker 53: Unloading conveyor 6: Pallet station 61: Jig plate attaching / detaching robot (as jig plate attaching / detaching device) 62: Station marker 7: Moving path wire (as moving path guide) : Controller 81: computing unit 82: storage unit 83: interface 9: Pool 91: storage mount 92: linear rail 93: dolly
94: Exchange stand W: Work (workpiece)

Claims (4)

[Claims] At least one numerically controlled machine tool, a plurality of pallets for holding a work to be machined by the machine tool, a carriage for mounting and conveying the pallet, and the unworked work are carried in. A loading station in which the work is mounted on the pallet mounted on the carrier, and the work processed by the numerical control machine tool is removed from the pallet mounted on the carrier and carried out. A transfer station for moving the transport vehicle between each of the numerically controlled machine tools, the loading station and the unloading station, and control for controlling the numerically controlled machine tool and the transport vehicle according to a predetermined machining plan. A plurality of types of the work held on the pallet, and each of the works is controlled by the numerical control machine tool. In an automatic processing apparatus that is automatically processed, at least a part of the plurality of pallets has a plurality of types of jig plates that have different shapes depending on the type of the work and holds the work, and holds the jig plate. This is a general-purpose pallet including a common shared attachment table that is attached to and detached from the numerically controlled machine tool and the transfer trolley. A flexible processing apparatus, comprising: a pallet station provided with a jig plate attaching / detaching apparatus for attaching / detaching to / from an attachment table, at a position along the moving path. 2. The carrying-in station is equipped with a work attaching device that automatically attaches and fixes the unworked work to the jig plate of the general-purpose pallet. The flexible processing apparatus according to claim 1, further comprising a work removal device that automatically removes the work from the jig plate. 3. The current condition storage means for storing the type of the jig plate attached to the general-purpose pallet to be carried into the numerically controlled machine tool. Schedule storage means for storing the type of the jig plate suitable for the type of the work to be machined, the type of the jig plate stored in the current state storage means, and the type stored in the schedule storage means The type of the jig plate is compared, and if both are the same, it is determined that the general-purpose pallet is to be conveyed to the loading station by passing through the pallet station, and if the two are different, At the pallet station, the jig plate attached to the general-purpose pallet was replaced with a jig plate of a type suitable for the type of the workpiece to be processed next. To, a judging means for judging that to be conveyed to the general-purpose pallet 該搬 entry station, a flexible machining apparatus according to claim 1 or claim 2. 4. A shared attachment table comprising a pedestal fitted to the mating member and fixed to the mating member, and a jig plate supporting member fixed to the pedestal, and detachably attached to the jig plate supporting member. A pallet for a flexible processing apparatus, comprising: a general-purpose pallet having one of a plurality of types of jig plates fixedly holding a work.