JPS6048302B2 - Machine tool pallet automatic loading/unloading device - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an automatic pallet loading and unloading device that automatically loads and unloads pallets onto and from the table of a machine tool, particularly a machining center, etc., and is particularly applicable to various types of small-volume to medium-volume production. We provide an automatic pallet loading and unloading device that can be used efficiently in a wide range of processing fields.

There are two types of conventional automatic pallet loading/unloading devices: automatic pallet changer (AWC) and pallet pool line (PPL).

The AWC method usually uses two pallets, and one pallet attaches the material work to the other pallet while processing is completed. When processing is completed, the pallet with the processed work is carried out from the machine, and the material work is removed from the machine. There is a system that allows pallets with a mark to be carried into the machine. In addition, in the PPL method, if a pallet pool line that can store a large number of pallets is installed, and material work is attached to a large number of pallets in advance, from then on, the pallet pool line can be used to store many pallets until the processing of all pallets is completed. There is a system in which the loading and unloading of pallets from the line to the machine is carried out fully automatically.
Considering the advantages and disadvantages of the above two types of automatic pallet loading and unloading devices, the PPL method not only requires high installation costs for pallet pool lines, but also requires as many fixtures and jigs for attaching workpieces to pallets as there are pallets. Therefore, it is limited to medium-volume production with a certain number of items, and is not suitable for rush work or high-mix, low-volume production.

On the other hand, the AWC method has the drawback that it is complicated to attach and remove workpieces to and from the pallet, but it is easy to deal with workpieces that jump in, the cost of fixtures and jigs is low, and it is generally suitable for large-variety, small-quantity production. suitable for production.

The present invention provides an automatic pallet loading/unloading device that solves the problems of the conventional (AWC) method and PPL method described above. The system is equipped with an automatic pallet changer (AWC) that sequentially transports pallets into and out of the machine, and a pallet pool line (PPL) that stores a large number of pallets. An object of the present invention is to provide an automatic pallet loading/unloading device that is capable of performing two types of automatic pallet loading/unloading operations: AWC independent operation and PPL operation by providing a transfer device for delivering and receiving pallets.

That is, the automatic pallet loading/unloading device of the present invention can stop the PPL operation when a work suddenly jumps in during fully automatic unmanned operation using a pallet pool line (PPL). By switching to AWC independent operation, it is possible to select a method of use depending on the number of workpieces and the degree of emergency.

In addition, during the day, we operate AWC to process a wide variety of small quantities of workpieces.
The time during machining in AWC operation is used to attach material workpieces to a large number of pallets on a pallet pool line (PPL), and when the worker leaves, the machine switches to PPL operation and is fully automated at night.

When the workers arrive in the morning, all the pallets on the pallet pool line have been processed, so the workers can only use the AWC operation! During machining, the machine can be operated at a high operating rate without having to take any breaks in the process of removing the machined workpiece on the pallet pool line (PPL) and attaching and performing the workpiece material. In the above-mentioned AWC operation, workpieces are loaded onto and removed from pallets on the AWC, and in PPL operation, workpieces are loaded and unloaded on the pallet on a turntable installed on the pallet pool line. , AWC-S operation and 4 usages.

That is, it is also possible to use the AWC and PPL in combination, and to load and unload workpieces onto and from the pallet by alternately using the turntables on the AWC and on the PPL. That is,
In normal AWC operation, workpieces that are difficult to attach and detach on the AWC (when attaching workpieces to both the front and back sides of the fixture, it is difficult to work in the wa position shown in Figure 1) are placed on the pallet pool. It is possible to operate so that workpieces can be attached and detached alternately from both the turntable at position e on the line (PPL) and at position 1 on the AWC.

Embodiments of the automatic pallet loading/unloading device of the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an overall plan view of a first embodiment in which a horizontal type machining center is equipped with an automatic pallet loading/unloading device of the present invention. A column 2 is placed on the bed 1 so as to be movable in the horizontal plane, and a spindle head 3 is attached to the side surface of the column 2 so as to be movable in the vertical direction. A rotatably indexable tool storage magazine 4 is attached to the upper surface of the spindle head 3, and tools are sequentially supplied from the tool storage magazine 4 to the spindle 5 of the spindle head 3 for machining. A pallet P is attached to and detached from a table (not shown) movable in a horizontal plane parallel to the spindle axis at this position by an automatic pallet changer (AWC) 6. The automatic pallet changer (AWC) 6 reciprocates between the pads and 1 with the table in between, and carries the material workpiece attached to the pad 1 onto the table, and also transfers the workpiece with the processed workpiece onto the table. The pallet P is carried out from the table to position 1 or 1.

A rectangular pallet pool line (PPL) 7 is installed adjacent to the automatic pallet changer 6.

This pallet pool line 7 has a driving roller conveyor 1
, 3, 4, change conveyors 2, 6, and flow roller conveyor 5, a total of six conveyors. The drive roller conveyor 1 conveys the pallet P in the direction from O to Ro, and can stop the pallet at a total of six locations: O-Ro, 〇, 〇, 〇, and Θ.

The position O is on the drive roller conveyor 1 and also on the chain conveyor 6 at the same time. Similarly, the position ○ is on the drive roller conveyor 1, and at the same time the chain conveyor 2
It will also be on top. A turntable 8 is installed at the position e, and as will be described later, the pallet P is slightly floated from the drive roller conveyor 1 at the position e, and while rotating the pallet P, the workpieces can be easily loaded and unloaded. This is a station designed to The driving roller conveyor 3 has a shorter conveyor length than the driving roller conveyor 1, and conveys the pallet P in the direction from 3 to
The pallet can be stopped at a total of five locations: 0, 8, and 8.

The driving roller conveyor 4 is a conveyor that the pallet P passes through temporarily when it is transferred from the pallet 8 to the alley, or when it is transferred from the to the alley, and is driven in both forward and reverse directions.

One chain conveyor 2 is for conveying pallets in the direction from Θ to 3, and by the upward movement, the pallet that has come to the position Θ on the drive roller conveyor 1 is floated from the drive roller conveyor 1, and the pallet is lifted up from the drive roller conveyor 1 to the drive roller conveyor 3. After being conveyed to the position, the pallet P is lowered and lowered onto the driving roller conveyor 3.

The chain conveyor 6 has the same structure as the chain conveyor 2, and conveys the pallet P in the direction from O to O. The pallet that has come to the position of the drive roller conveyor 4 due to the upward movement is transported to the drive roller conveyor 4. The pallet P is floated up from the top and conveyed to the 0 position of the drive roller conveyor 1, and then lowered to lower the pallet P onto the drive roller conveyor 1.

The free roller conveyor 5 is a conveyor that connects the drive roller conveyor 4 and the left standby position of the automatic pallet changer (AWC) 6, and is a conveyor that reciprocates on a horizontal plane in a direction perpendicular to the spindle axis. By means of the device 9, the pallet P is moved on the free roller conveyor 5. Transfer device9. During the pallet P transfer operation, the drive roller conveyor 4 is also driven in the pallet transfer direction.
In the case of AWC operation, workpieces are alternately loaded and unloaded onto the pallet P at two locations: the waiting stand position on the left side of the automatic pallet changer 6 and the standby position 1 on the right side. In the case of PPL operation, the workpiece is attached and detached only at position 3 where the turntable 8 is located.

The pallet P on which workpieces have been attached is transported to the conveyor 1,
2, 3, and 4 to the standby position of the AWC 6.
It is transferred to the table of the machine tool at that position by the AWC6. The pallet that has been processed is moved to the standby position by the AWC 6, then moved to the O position by the transfer device 9, and then transported to the O position by the conveyor 6. In the case of PPL operation, pallets are carried in and out of the table of the machine tool using only the transport claw 10 of the two left and right transport claws 10 and 11 of the AWC 6. Therefore, before starting PPL operation, first check the transport claw 1. and 11 on the pallet at the position of the wafer, move the AWC 6 to the right, move the pallet that was in that position to the standby position 1 on the right side, and place it in the wa position. Move the pallet onto the machine tool table. The pallet P that has come to the standby position in step 1 is moved slightly to the right from its normal position, and when the next time the pallet P that has been processed is moved from the table to the standby position in step 1, the conveyor claw Make sure that 11 does not get caught on the pallet in position 1.

Therefore, during PPL operation, the pallet P at position 1 will be idle, but if a jump-in work suddenly arrives during PPL operation, the jump-in work will not be placed on pallet P at position 1. If you attach it and send it to the table, you have the flexibility to respond to urgent work immediately. In addition, after the processing of all pallets stored in the pallet pool line is completed by PPL operation, the workpiece is attached to the pallet P in position 1 mentioned above, and processing is performed by AWC operation. During machining, the workpiece that has been processed by PPL operation is removed and the raw workpiece is attached to prepare for the next PPL operation, which greatly improves the machine operating rate. can be done. In the case of AWC-S operation, in order to improve the ease of loading and unloading workpieces onto the pallet P, the turntable 8 located at the back of the pallet pool line 7 is used instead of the standby position on the left side of the AWC 6.

Therefore, the pallet is carried out from the waving position to the pallet pool line 7, and from the pallet pool line 7 to the AWC 6.
The operation of carrying a pallet to the next position is carried out in the same way as in PPL operation, while the carrying in and out of pallet P and the attachment and detachment of workpieces at standby position 1 on the right side are carried out in the same way as in AWC operation. It will be done. Next, the pallet pool line (P
PL) 7, transfer device 9 and automatic pallet changer (A
The structure of WC) 6 will be explained in detail.

FIG. 2 is an enlarged plan view showing a connecting portion between the AWC 6 and the pallet pool line 7.

The drive roller conveyor 3 is comprised of a large number of rollers 14 rotatably supported at both ends by bearing boxes 13 on a base 12 . A sprocket wheel 15 is provided at one end of each roller 14, and by driving a chain 16 that engages all the sprocket wheels 15 simultaneously with one motor, all the rollers 1
4 are rotated synchronously, and the pallet P placed on the rollers 14 is conveyed to the driving roller conveyor 4 side. The structure of the drive roller conveyor 1 is also similar to the drive roller conveyor 3. The drive roller conveyor 4 also has a bearing box 1 on the base 17.
Three rollers 1 rotatably supported at both ends by 8
It consists of 9.

A sprocket wheel 20 is provided at one end of each roller 19, and a chain 21 that engages three sprocket wheels 20 at the same time is driven by forward and reverse rotation of one motor, thereby selectively rotating the roller 19 in the forward and reverse directions. Then, the pallet P that has come to position 8 on the drive roller conveyor 3 is transported to position O via position , or the pallet P at position P is transported to position O via position . or The free roller conveyor 5 is also composed of two rollers 24 rotatably supported at both ends by bearing boxes 23 on a base 22, and has no driving force itself.

Therefore, when the pallet P is transported between the aisles by the transfer device 9, the pallet P is bridged between the drive roller conveyor 4 and the AWC 6. The chain conveyor 6 has two frames 25 on both sides that move up and down vertically.
A pair of sprocket wheels 26A, 26B are rotatably supported on both ends of the longitudinal direction of A, 25B (the figure shows only the sprocket wheel on the drive roller conveyor 3 side, and the sprocket wheel on the drive roller conveyor 1 side is not shown). do not.

), chains 27A and 27B are engaged with the pair of sprocket wheels 26A and 26B in an endless manner. Therefore, when the frames 25A, 25B are in the lowering state, the pallet P is placed on the rollers 19 of the driving roller conveyor 4. When the frames 25A, 25B rise, the upper surface of the chains 27A, 27B becomes higher than the upper surface of the roller 19, and the pallet P is moved up by the chains 27A, 27B.
placed on top. If the chains 27A and 21B are driven in the direction O in this state, the pallet P will be moved by the chains 27A and 21B.
It is conveyed in the direction of O while being placed on 27B. After the pallet P reaches the position O, the frames 25A, 2
5B is lowered, the pallet P is moved by the chain 27A,
27B to the rollers of the drive roller conveyor 1. The structure of the chain conveyor 2 is also exactly the same as the chain conveyor 6. Next, the transfer device 9 will be described in detail. As shown in FIG. 2, a screw 29 is rotatably supported on the frames 28A and 28B.

The screw 29 is driven by the gears 31A and 31 by the motor 30.
It is rotationally driven via B and 31C. A nut 33 that engages with the screw 29 is bolted to the housing 32, and the rotation of the screw 29 causes the housing 32 to move on the conveyor 3, 4, ? move back and forth parallel to the A transport claw 34 is rotatably supported on the housing 32 by bearings 35A and 35B, and the tip of the transport claw 34 has a bifurcated shape 3.
4A, 34B.

A shaft 36 is rotatably supported on the frames 28A and 28B, and a transport claw 34 is secured to the shaft 36 by a key 37 so as to be allowed to move in the axial direction. As shown in FIGS. 2 and 3, a clevis-shaped sill 38 is swingably attached to the left side surface of the frame 28A. A lever 39 is located on the left side of the shaft 36.
is locked with a key, and the tip of the piston rod 40 of the cylinder 38 and the tip of the lever 39 are connected by a pin 41. Therefore, by operating the cylinder 38, the conveyance claw 34 is rotated between the conveyance position where it engages with the engagement piece 42 on the side surface of the pallet P and the retracted position where it disengages from the engagement piece 42 and retreats upward. move. FIG. 6 is a sectional view taken along the line CC in FIG. 2, and shows the pallet P positioning mechanism. A block 44 is attached to the upper surface of the frame 43 of the automatic pallet changer 6, and the block 44 has a notch 4.
5 is inserted and fitted so that it can be slid up and down. Notch 45 is always urged upward by spring 46, and pin 4
Rotation is prevented by 7. The upper surface of the notch 45 is
45A is sloped toward the free roller conveyor 5 side, and when the pallet P is carried from the free roller conveyor 5 side to a position on the AWC 6, it comes into contact with the engaging piece 42 and is pushed in, It is designed so as not to obstruct the conveyance of the pallet P. Further, the side surface of the notch 45 is joined to the side surface of the engagement piece 42 to position the pallet P and prevent the pallet P from being carried out to the free roller conveyor 5 side. Therefore, in order to transport the pallet P from the position to the position, the cylinder 38 is actuated to rotate the transport claw 34 to the transport position where it engages with the engaging piece 42, and the pallet P is divided into two parts. One of the conveyance claws 34A is in the notch 4.
5, the notch 45 is pushed in, and the other conveyance claw 34B fits into the engagement groove 42A of the engagement piece 42,
It becomes possible to carry out the pallet P. Next, the detailed structure of the automatic pallet changer (AWC) 6 will be explained.
As shown in FIG. 4, bearing boxes 48A and 48B are attached to the upper surface of the frame 43 of the automatic pallet changer 6 on both left and right sides of the table of the machine tool.

The bearing boxes 48A and 48B have hollow rotating shafts 49A and 48B, respectively.
49B is rotatably supported by a bearing. A piston rod 50 is fixed astride the rotating shafts 49A and 49B and is prevented from moving in the axial direction, and a cylinder 52 is slidable in the axial direction on a piston 51 formed in the middle part of the piston rod 50. Both ends of the cylinder 52 are covered by end covers 53A and 53B. Pressure oil is supplied to the cylinder 52 through pressure oil passages 54A and 54B passing through the axial center of the piston rod 50. As mentioned above, the conveyance claws 10 and 11 are formed at both the left and right ends of the cylinder 52, and the tip of one of the conveyance claws 10 is bifurcated.
I am becoming an OB. As shown in FIGS. 4 and 5-A, two cylinder tabs 55A and 55B are attached to the left upper surface of the frame 43 in close proximity to the bearing box 48A.

A piston 50 is installed in the cylinder blocks 55A, 55Bj.
can be slid in a direction perpendicular to the axis of the
A piston rod 56 is inserted. A connecting piece 59 having a bifurcated tip is attached to the piston rod 56 and is connected to a pin 58 attached to a flange 57A at the right end of the rotating shaft 49A. Therefore, the reciprocating sliding movement of the piston rod 56 rotates the rotating shaft 49A.
In order to transmit the rotational movement of the rotating shaft 49A to the cylinder 52, a rod 60 is attached between the flanges 57A and 57B of the rotating shafts 49A and 49B.

Stop plates 61A and 61B are attached to both left and right ends of the cylinder 52, through which the rod 60 can slide. Therefore, at the left and right movement ends of the cylinder 52,
The rotation of the rotating shaft 49A is transmitted to the cylinder 52, and the conveyance claws 10 and 11 can be rotated between the retracted position and the conveyance position. FIG. 7 is a sectional view taken along line DD in FIG.
It shows the positioning mechanism of pallet P. A block 62 is attached to the upper surface of the frame 43 of the automatic pallet changer 6, and a notch 63 is fitted into the block 62 so as to be able to slide up and down, and is constantly urged upward by a spring 64. It is prevented from rotating by a pin 65. The upper surface of the notch 63 is sloped 63A toward the table side of the machine tool, and when the pallet P is conveyed from the table to a position away from the table, it comes into contact with the engagement piece 66 and is pushed in. The conveyance of the pallet P is not obstructed. Also, when the pallet P is carried from the position to the position by the transfer device 9, the side surface of the notch 63 joins the side surface of the engagement piece 66, and the pallet P is accurately placed in the standby position. In addition to positioning the pallet P, it also prevents the pallet P from being carried into the table side of the machine tool. Therefore, in order to carry the pallet P from the wafer position to the table of the machine tool, the piston rod 56 is actuated to move the conveyance claw 1.
0 to the transport position where it engages with the engagement piece 66, one of the bifurcated transport claws IOA comes into contact with the head of the notch 63 and pushes the notch 63, and the other transport claw IOB
is fitted into the engagement groove 66A of the engagement piece 66, and the pallet P can be carried in. Figures 8 and 9 show AWC6
3 shows a positioning mechanism for pallet P at standby position 1 on the right side of FIG.

On the top surface of the frame 43 of the automatic pallet changer 6,
A block 67 is attached, and a notch 68 is fitted into the block 67 so as to be able to slide up and down, and is constantly urged upward by a spring 69 and prevented from rotating by a pin 70. The upper surface of the notch 68 is sloped 68A toward the table side of the machine tool, and when the pallet P is conveyed from the table to position 1, it is pushed into contact with the engagement piece 66, and the pallet is Does not interfere with the transportation of P. Also, when the pallet P comes to position 1, the notch 68
The tip of the engaging piece 66 fits into the engaging groove 66A of the engaging piece 66, thereby positioning the pallet P at the standby position 1 and preventing the pallet P from being carried into the table side of the machine tool. Therefore, in order to carry the pallet P from position 1 to the table of the machine tool, the piston rod 56 is actuated to engage the conveyance claw 11 with the engagement groove 66A of the engagement piece 66. comes into contact with the head of the notch 68 and the notch 68
Since the pallet P is pushed in, the pallet P can be carried in. A support plate 71 attached to the right side of the block 67 and a support plate 72 attached to the upper right side of the frame 43 include:
A stopper 73 is rotatably supported parallel to the conveyance direction of the pallet P.

The left end of the stopper 73 is shaved off into a semicircular shape by the amount of escape force of the pallet P during PPL operation. Further, a lever 74 is pinned to the right end of the stopper 73. A notch 76 is provided at the tip of the lever 74 and is constantly biased leftward by a spring 75, and the notch 76 selectively fits into notch holes 77A and 77B formed in the support plate 72. , the stopper 73 is prevented from rotating. Attached to the right end of the notch 76. Handle 78
By pulling , the notch 76 comes out of the notch hole 77A, making it possible to turn the stopper 73. The position of the stopper 73 shown in FIG. 8 is for AWC operation or AWC-S operation, and the position of the stopper 73 shown in FIG. Engagement piece 6 of P
6 comes into contact with the leftmost end surface 73A of the stopper 73 and stops at the position indicated by the solid line.

In the case of PPL operation, move the stopper 73 from the state shown in the figure to 1.
Rotate it 80 degrees and insert the notch 76 into the notch hole 77B to prevent rotation. In this state, pull down the tension bar 79 screwed into the lower end of the notch 68, pull out the notch 68 from the engagement groove 66A of the engagement piece 66, push the pallet P to the right side by hand, and press the two-dot chain line. As shown in the engaging piece 66
slide it to the right until it abuts against the cut-off end surface 73B of the stopper 73. In this way, during PPL operation, 1
The let at position 1 is held at position 1 regardless of PPL operation, and the transport claw 11 is held at position 1 when the pallet is carried in and out.
It does not interfere with the engaging piece 66 of the pallet P located at the position. FIG. 5-B is a cross-sectional view showing another embodiment of the right conveyance claw 11, in which in the case of PPL operation, the conveyance claw 11 can move the pallet without shifting the pallet P in position 1 to the right. P
It is designed so as not to interfere with the engaging piece 66 of.

That is, the ring 97 is rotatably fitted onto the outer periphery of the cylinder 52, and the outer periphery of the ring 97 is scraped flat.
The transport claw 11 is bolted. A through hole 98 is bored in the ring 97 in the radial direction, and a steel ball 99 is inserted through a pressing spring 102. On the outer periphery of the cylinder 52,
Conical notch hole 100A for steel ball 99 to enter, 1 opening 0
B is bored, and in the case of AWC operation or AWC-S operation, turn the ring 97 so that the steel ball 99 enters the notch hole 100A, and the piston rod 56 moves to the position shown in FIG. 5-A. In this state, the conveying claw 11 is positioned at the position shown by the two-dot chain line. In this state, the conveying claw 11 comes into contact with the head of the notch 68, and the notch 6
In order to prevent the conveying claw 11 (therefore, the ring 97) from being turned by the reaction force when pushing in the set screw 101, the set screw 101 is screwed in a little more, and the
Strongly press the steel ball 99 into the notch hole 100A. PPL
In operation, after loosening the set screw 101 a little, turn the ring 97 so that the conveying claw 11 is in the position shown by the solid line in FIG.
B and maintains the angular relationship between the ring 97 and the cylinder 52.

Therefore, in the case of PPL operation, pallet P at position 1
Even if it is not shifted to the right side, interference between the conveyance claw 11 and the engagement piece 66 of the pallet P does not occur. As shown in FIGS. 1 and 2, on the automatic pallet changer 6, the pallet P
are guided by a number of rollers 81 and moved along two guide rails 80A and 80B placed on a frame 43 on both sides of the table of the machine tool.

Next, the drive roller conveyor 1 shown in FIGS. 10 and 11
The turntable 8 in the slow position will be described in detail.

A cylinder 82 is attached to the lower surface of the base 12 of the drive roller conveyor 1, and a piston 83 is attached to the cylinder 82.
is inserted so that it can move vertically up and down. piston 83
is prevented from rotating relative to the cylinder 82 by a pin 84. A frame 85 is attached to the upper surface of the piston 83, and a pivot shaft 8 is attached to the center of the upper surface of the frame 85.
6 is installed. A rotation table 87 is rotatably supported on the rotation center shaft 86 by a bearing. Furthermore, roller supports 89 that rotatably support rollers 88 protrude from the four corners of the upper surface of the frame 85, and the four rollers 88 support the periphery of the turning table 87. In the lowering state of the piston 83, the upper surface of the turning table 87 is set lower than the outer circumferential upper surface of the roller 14, so that the pallet P is lower than the roller 14 of the driving roller conveyor 1.
move above.

At this time, two guide rails 90A and 90B formed protruding from the upper surface of the turning table 87 guide the pallet P. When loading and unloading workpieces on the pallet P, if it is necessary to rotate the pallet P to make it easier to attach the workpieces, compressed air is sent to the cylinder 82 and the piston 83
When the rotation table 87 is raised, the upper surface of the rotation table 87 is
The pallet P can be rotated by hand because the pallet P is lifted higher than the pallet height. After indexing to the required angle position, stop the supply of compressed air and the rotation table 8
7 goes down. There is a device that prevents the pallet from rotating when a workpiece is attached to or removed from the pallet P.

A bracket 91 is attached to the upper surface of the base 12 across the bearing box 13, and a shaft 93 formed with two protruding plates 92A and 92B is rotatably supported on the bracket 91. Each of the plates 92A and 92B has a handle 9.
4A and 94B are attached, so after indexing the turning table 87, when attaching or removing a workpiece to the pallet P, hold the handles 94A and 94B with your hands and move them from the two-dot chain line position to the solid line position. The plates 92A and 92B sandwich the engagement piece of the pallet P, and can prevent the pallet P from being rotated during bolt tightening or the like. Next, the loading/unloading operation of the automatic pallet loading/unloading device of the present invention will be explained.

Figure 12 shows the automatic pallet loading/unloading device of the present invention.
It is a flowchart for controlling according to C operation, AWC-S operation, or PPL operation. First, the case of AWC operation will be described. As shown in FIG. 13, there are two conditions for completion of transport preparation by AWC operation.

That is, when the cylinder 52 of the automatic pallet changer (AWC) 6 is at the right end, the pallet P is at the standby position 1 on the right side, and the mounting of the material work on the pallet P at position 1 has been completed, and when the cylinder 52 of the AWC 6 is at the left end, there is a pallet P in the standby position on the left side, and when the mounting of the material work on the pallet P in the standby position is completed, the operation panel 95 (Fig. 1) on the AWC 6 side is ready for transport. When the push button is pressed, operation in AWC mode becomes possible. That is, when you press the tape start button after switching the mode selector switch on the operation panel 96 on the pallet pool line (PPL) 7 side to AWC mode, the transport command (for example, M6O) written at the beginning of the processing tape is executed. Loaded.

As mentioned above, the transport preparation complete button has been pressed, so
Next, it is determined whether a pallet P is present at the wafer position.
Although not shown, this determination is made by a limit switch located in the wa position. When the pallet P is in the position of 1, the right row cycle of AWC6 is performed.

That is, the transport claws 10 and 11 are rotated to the transport position,
The engagement groove 6 of the engagement piece 66 of the pallet P in the middle position
6A, and then the cylinder 52 moves to the right to transport the pallet P at that position to position 1 and transport the pallet P at the wrinkled position to that position. Next, the conveyance claws 10 and 11 are rotated to the retracted position, and the rightward cycle is completed. When the right-hand cycle is completed, processing of the material work transferred to the table begins. During this processing, the processed workpiece is removed from the pallet P that has been moved to the standby position in step 1, and the material workpiece is attached. When this workpiece attachment/detachment work is completed, the AWC
Press the conveyance preparation completion push button on the operation panel 95 on the 6 side. When the above-described processing of the material work on the table is completed and the transport command M6O written at the beginning of the re-rolling tape is read, the pallet P is placed at the position of the wafer because the transport preparation completion push button has been pressed. It is determined whether it exists.

As mentioned above, the right cycle of AWC6 has already been carried out and there is no pallet P at the position of AWC6.
A left-row cycle is performed. That is, the conveyance claws 10 and 11 rotate to the conveyance position and engage with the engagement groove 66A of the engagement piece 66 of the pallet P located at the heel 1 position, and then the cylinder 52 moves to the left and The pallet P at position 1 is conveyed to the next position, and the pallet P at position 1 is conveyed to that position. Next, the conveyance claws 10 and 11 are rotated to the retracted position, and the leftward cycle is completed. When the left-hand cycle is completed, processing of the material workpiece transferred to the table starts, and during this processing, the workpiece is attached to and detached from the pallet P, which has been moved to the standby position of the wafer, and when the attachment and detachment work is completed. , AWC6
Press the conveyance preparation completion push button on the side operation panel 95. In this way, in the case of AWC operation, workpieces are alternately loaded and unloaded at the two standby positions of straw 1, and the right-hand cycle and left-hand cycle of AWC6 are performed alternately, and the pallet is automatically unloaded. The entry will take place. Next, the AWC-S operation will be explained. As shown in FIGS. 1 and 3, there are two conditions for completion of transport preparation in the AWC-S operation.

That is, in the first case, each conveyor of the PPL 7 is in its original position, the cylinder 52 of the AWC 6 is at the right end, the pallet P is at the standby position 1 on the right side, and the pallet P at the position 1 is
This is when the transfer preparation complete push button on the operation panel 95 on the AWC 6 side is pressed when the attachment of the material work is completed and the transfer device 9 is located at the right end. In the second case, each conveyor of the PPL 7 is in its original position, the cylinder 52 of the AWC 6 is at the left end, the mounting of the material work on the pallet P at position e has been completed, and the transfer device 9 is on the left. Sometimes PPL
This is a case where the conveyance preparation completion push button on the operation panel 96 on the 7 side is pressed and the pallet P arrives at the standby position. Mode change switch on the operation panel 96 on the PPL7 side. Tsuchi to AWC-S
After switching to the mode and pressing the conveyance preparation completion push button, when the tape start button is pressed, the conveyance command M6O written at the beginning of the processing tape is read as in the case of the previous WC operation. As described above, since the conveyance preparation completion push button is pressed, it is determined whether or not the pallet P is located at the next position. When the pallet P is in the position of 1, the rightward cycle of AWC6 is performed as in the case of the above-mentioned AWC operation. That is, the pallet P at one position is conveyed to position 1, and the pallet P at the other position is conveyed to that position. When the right-hand cycle is completed, processing of the material work transferred to the table is started, and during this processing, the processed work is removed from the pallet P that has been moved to the standby position in step 1, the material work is attached, and this work is attached/detached. When the work is completed, press the conveyance preparation completion push button on the operation panel 95 on the AWC 6 side. When the above-mentioned processing of the material work on the table is completed and the transport command M6O written at the beginning of the processing tape is read again, the pallet P is placed at the position because the transport preparation completion push button has already been pressed. It is determined whether it exists.

As mentioned above, the right cycle of AWC6 has already been carried out and there is no pallet P at the position of AWC6.
A left-row cycle of . That is, the pallet P at one position is conveyed to the other position, and the pallet P at position 1 is conveyed to that position. The transport operation up to this point is exactly the same as in the case of the AWC operation described above.

Next, it is determined whether the mode is AWC-S mode or not. Since the mode is AWC-S mode, processing of the material work transferred to the table is started, and then the transfer cycle of the transfer device 9 is performed. That is, the conveyance claw 34 rotates to the conveyance position, fits into the engagement groove 42A of the engagement piece 42 of the pallet P in the position, and pushes the notch 45 to move the pallet P.
It becomes possible to carry out the work. Next, the driving roller conveyor 4 rotates in the unloading direction, and the conveying claw 34 moves the pallet P to the left while hooking it to the position. When the left movement is completed, the conveying claw 34 rotates to the retracted position. move.

Next, after frames 25A and 25B of chain conveyor 6 rise, chains 27A and 27B are driven to transport pallet P on which processed workpieces are placed to position O. Next, the frames 25A and 25B descend to transfer the pallet P to the rollers of the drive roller conveyor 1. Next, the drive roller conveyor 1 is operated to convey the pallet P located at the O position onto the turntable 8 located at the O position. On the turntable 8, the processed workpiece is placed on the pallet P.
At the same time, the material work is attached while rotating the turning table 87 to the turning angle position where the work is most convenient. When the installation of the material work is completed, PP
Press the conveyance preparation completion push button on the operation panel 96 on the L7 side. Next, the pallet P on which the material work is attached is conveyed to the position by the drive roller conveyor 1, the chain conveyor 2, and the drive roller conveyors 3 and 4 in this order. Next, a carry-in cycle of the transfer device 9 is performed, and the pallet is transferred to a standby position next to the pallet.

That is, the conveyance claw 34 rotates to the conveyance position and fits into the engagement groove 42A of the engagement piece 42 of the pallet P at the position, and then the drive roller conveyor 4 rotates in the direction toward the position. At the same time, the conveying claw 34 moves to the right to the position where the pallet P is still hooked. The pallet P is accurately positioned at the wafer position by the engaging piece 66 coming into contact with the side surface of the notch 63, and when the rightward movement is completed, the conveying claw 3
4 rotates to the retreat position. In this state, when the machining program for the workpiece that was previously loaded onto the table is completed and the transport command M6O written at the beginning of the machining tape is read, the pallet has been loaded into position 1), so the AW
C6 performs a rightward cycle, transporting one pallet to position 1 and another pallet to that position, thereby exchanging the old and new pallets.

In this way, in the case of AWC-S operation, there is a standby position 1 on the right side of the AWC 6, where it is easy to attach and detach the workpiece, and a PPL
The workpieces are alternately loaded and unloaded on the turntable 8 on the turntable 7, and the right and left cycles of the AWC 6 are alternately performed to automatically carry in and take out pallets. Then P
PL operation will be explained.

In the case of PPL operation, up to nine pallets can be mounted on the PPL7 in this embodiment. Therefore, during machining by AWC operation, workpieces are attached to the pallet P on the turntable 8 located at the filter position, and the pallets P with the workpieces attached are sequentially sent out onto the PPL 7 by pressing the push button, and the PPL operation is started. Make preparations. P
Prior to PL operation, with AWC6 at the right end, the pallet P in position 1 is moved further to the right side, and the pallet on the table of the machine tool is moved during AWC operation and AW.
Machining must be completed by C-S operation or PPL operation. In addition to the conditions mentioned above, the conditions for completion of transport preparation by PPL operation are as shown in Fig. 13: there is no pallet P at the position of 8, there is a processing pallet at the position of 8, and the transfer device 9 is at the right end. At one point, the transfer preparation completion push button on the operation panel 96 on the PPL 7 side was pressed. PPL
Turn the mode changeover switch on the operation panel 96 on the 7 side to PPL.
mode, press the conveyance preparation completion button, and then press the tape start button to switch to AWC operation or AWC mode.
- As in the case of the S operation, the transport command M6O written at the beginning of the processing tape is read.

As mentioned above, the transport preparation complete button has been pressed, so
In the case of PPL mode, it is determined whether or not there is a pallet P at the position of the workpiece, and if there is not, the left cycle of AWC6 is performed to transport the pallet P with the processed workpiece to the position of the workpiece. do. Next, the transfer device 9 and the driving roller conveyor 4 are operated to transport the pallet P located at the wa position to the wa position.

Next, the chain conveyor 6 performs a conveyance cycle, and the O
The pallet P is transported to the position. Next, drive roller conveyor 1, chain conveyor 2, drive roller conveyor 3,
4 operate sequentially to advance the pallet P one by one. Finally, the pallet P located at position 8 is transported to position . After confirming that the pallet P has come to the position of and all the conveyors have returned to their original positions, the transfer device 9 and the drive roller conveyor 4 operate to move the first pallet P that is located at the position of . Carry it into the location. When the pallet P comes to the wa position, a pallet number reading device (shown in the figure) located at the wa position reads the pallet number attached to the pallet P, automatically searches for the processing tape according to the pallet number, The searched tape will start automatically.

Therefore, the transport command M6O written at the beginning of the processing tape
is read, the AWC 6 performs a rightward cycle to transport the pallet P at the wa position onto the table of the machine tool, and the machining program is started. When the machining program is completed, the pallet P with completed machining is carried out again, and the pallet P with the material work is carried in again.
Workpieces on all pallets P stored on the PPL 7 are processed fully automatically. The final pallet has an identification code indicating that it is the final pallet.
The pallet number reader at the machine position reads this identification code, and when the final pallet has been processed, the machine tool and loading/unloading device stop, and the power is automatically turned off, with the final pallet still on the machine tool table. Can be cut to the target. As is clear from the flowchart in Figure 12, this PP
If a workpiece arrives during the L operation, the PPL operation can be stopped, the operation can be switched to the AWC operation, and the pallet P can be loaded and unloaded using the AWC6. Next, the first
A second embodiment of the automatic pallet loading/unloading device of the present invention shown in FIG. 4 will be described.

In this embodiment, the column 2 reciprocates in a horizontal plane parallel to the spindle axis, and the table 103 reciprocates in a horizontal plane perpendicular to the spindle axis. The loading/unloading operation of the pallet P is performed at two positions, at the heel of the table 103. The automatic pallet changer AWClO4 is arranged in front of the table 103, and corresponds to the heel of the table 103.
It has two standby positions. A cylinder 105 that reciprocates parallel to the spindle axis is used to carry the pallet P in and out between the two and one and the other.
and 106. A pallet pool line (PPL) 7 having a structure similar to that of the first embodiment is installed adjacent to the standby position.

The transfer device 107 transfers the pallets P between the pallet pool line 7 and the automatic pallet changer 104. Therefore, in the case of AWC operation, workpieces are alternately loaded onto and removed from the pallet P at two locations in the groove 1 of the automatic pallet changer 104. In the case of PPL operation, the workpieces are loaded and unloaded only at the male position of the turntable 8, and the conveyor is raised in the direction of the arrow as in the first embodiment.

The pallet P is transported to the position of the transfer device 1.
07 to the standby position of the automatic pallet changer 104, and then transferred by the cylinder 105 onto the table 103 at the stop position. In the case of PPL operation, automatic palletizing. The standby position 1 of the machine tool 104 is used. If a sudden work arrives, the PPL operation is interrupted, the work is attached to the pallet P in position 1, and carried to the table. I try to respond to work immediately. AWC-
In the case of S operation, one of the automatic pallet changers 104
Workpieces are alternately loaded and unloaded at two locations: the position , and the position e on the pallet pool line 7. Therefore, the pallet P is carried out from the wa position to the pallet pool line 7, and from the pallet pool line 7 to the automatic pallet changer 1.
The pallet loading operation to the 04 position is performed in the same manner as in the PPL operation, while the loading and unloading of the pallet P and the loading and unloading of the workpieces in the 1 standby position are performed in the same manner as in the AWC operation. As described in detail above, the present invention aims to take full advantage of the waiting functions of an NC machine with an automatic tool changer that can quickly respond to a wide variety of workpieces, depending on the quantity and urgency of the workpieces to be machined, It is possible to provide a work supply system that has a high operating rate and is flexible depending on the processing time per piece and the like. Further, the present invention is not limited to the configurations shown in the embodiments, and modifications are to be expected without departing from the technical idea of the present invention as described in the claims.

Brief Description of the Drawings Figure 1 shows the first horizontal machining center equipped with the automatic pallet loading/unloading device for machine tools of the present invention.
2 is an enlarged plan view showing the connecting part of the AWC 6 with the PPL 7, FIG. 3 is a view taken in the direction of arrow A in FIG. 2, and FIG. side view,
FIG. 5-A is a cross-sectional view taken along line B-B in FIG. 4, FIG. Figure 7 is a sectional view taken along line DD in Figure 2.
FIG. 8 is an enlarged plan view of the right side standby position of the AWC 6, FIG. 9 is a sectional view from above E in FIG. 8, FIG. 10 is an enlarged plan view of the turntable 8, and FIG. 11 is an F-F in FIG. Cross section, 1st
FIG. 2 is a control flowchart of the automatic pallet loading/unloading device for a machine tool of the present invention, FIG. 13 is an explanatory diagram showing the conditions for completion of transfer preparation in each operation mode, and FIG. 14 is a control flowchart of the automatic pallet loading/unloading device of the present invention. 2 is an overall plan view showing the second embodiment.

Claims (1)

[Claims] 1. In an automatic pallet loading and unloading device that sequentially loads and unloads pallets on the table of a numerically controlled machine tool, the pallet delivery standby position and the interrupt standby position, which are placed on the left and right sides of the table of the machine tool, are equipped with material workpieces. an automatic pallet changer for loading and unloading pallets onto and from a table of a machine tool; and a plurality of pallet loading and unloading positions provided near a standby position for pallet delivery of the automatic pallet changer and opposite to the standby position for pallet delivery. a pallet pool line in which pallets can be stored; a transfer device that transfers pallets between the pallet pool line and the standby position for pallet delivery of the automatic pallet changer; a first setup station provided in a direction opposite to the table; a second setup station provided at a specific position on the pallet pool line; a standby position for pallet delivery of the automatic pallet changer and a table position; A machine tool comprising a first control device that selectively controls exchange between the table and the interrupt standby position, and a second control device that controls the loading and unloading of pallets on a pallet pool line. Automatic pallet loading/unloading device.