JPS6331880Y2 - - Google Patents

Description

[Detailed description of the invention] This invention aims to effectively operate an automated production system (FMS) by selectively and quickly transporting pallets with workpieces placed on them to predetermined positions on multiple machine tools. This invention relates to an aerial conveyance device suitable for.

As shown in Figure 1, with the recent trend towards automated production systems (FMS), multiple machine tools 1
A method has been adopted in which a to 1j are arranged as a group and a central information processing unit 2 (CPU) controls them. In this case, the workpiece is adjusted according to each process,
It is necessary to transport it to the optimal position on the machine tool.
For this purpose, the transport line 3 is used. That is,
Workpieces and pallets are taken out from the workpiece supply area 4 and the pallet storage shelf 5, and transported by the conveyance line 3 to the vicinity of the desired machine tools 1a to 1j, and then transferred to the pallet pull-in conveyors 6a to 6.
The work of transporting the pallet to a predetermined position is carried out using the machine i. These operations are automatically controlled by instructions from the CPU 2.

However, as described above, when the conveyance line 3 is laid around the periphery of a plurality of machine tools 1a to 1j, an extremely large floor area is monopolized by the conveyance line 3, and workers are unable to enter and exit between the machine tools. A problem arises in that the transport line 3 is obstructed by the transport line 3.
Furthermore, since different machine tools are used to process the workpiece depending on the content of the workpiece, selective conveyance is required. In this case, the conveyor line 3 laid on the bed surface
This has the disadvantage that it is difficult to respond flexibly. In addition, as described above, when a worker or the like enters or exits the machine tool, the conveyance line 3 becomes an obstacle and they have to walk over it, which is extremely inconvenient and reduces work efficiency.

As mentioned above, in the case of the conventional conveyance line 3,
This method was insufficient in terms of shortest distance transportation and selective transportation of workpieces, and was considered to be one of the factors hindering efficient operation of FMS.

The present invention has been made in consideration of the above circumstances, and its object is to provide an aerial transport device which enables selective and efficient transport of pallets, improves work efficiency, reduces floor space, and allows workers to enter and exit between machine tools.

In order to achieve this objective, the present invention has a conveyor rail installed near and above a plurality of machine tools, which removably engages and holds a pallet, and also supports a conveyor rail installed near and above a plurality of machine tools. a holding device having a protective shelf surrounding the pallet stand; a guide means provided on the pallet stand for guiding the holding device to a fixed position on the pallet stand; The holding device is configured as a moving device that moves the holding device in the longitudinal direction of the transport rail, in the vertical direction, and in a three-dimensional direction orthogonal to these.

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

As shown in FIG. 2, transport rails 7 are installed near and above the plurality of machine tools 1a to 1f. A moving device 8, which will be explained in detail later, is supported on the transport rail 7, and a holding device 9 is suspended from the moving device 8. The workpieces and pallets are held by a holding device 9, moved on transport rails 7 by a moving device 8, and are selectively and directly transported to predetermined positions of the machine tools 1a to 1f instructed by the CPU 2.

Each device and means constituting this embodiment will be described in detail below.

The holding device 9 is shown in FIGS. 3 to 6.

The arms 10 are formed from U-shaped channel members disposed facing each other with the pallet 11 in between.
A support fitting 12 is fixed to the lower end side. The support fitting 12 includes a flat plate member 12a that supports the lower surface of the pallet 11, and a vertical member 1 fixed to the flat plate member 12a in an L-shape.
2b, and a long groove 12c that opens at the lower end is formed in the vertical direction in the center of the vertical member 12b. Further, a stopper 13 with a roller is provided on the lower end side of the arm 10 so as to come into contact with the edge side of the pallet 11 and for determining the support position of the arm 10. A frame 14 is disposed on the upper end side of the arm 10, and two movable tables 16 are rotatably supported on the frame 14 via rollers 15. Furthermore, female thread members 16a are formed on the movable table 16, one female thread member 16a is formed with a right-hand thread, and the other one is formed with a left-hand thread, both of which are formed at the same pitch. One threaded shaft 17 is screwed into this female threaded member 16a. The upper end side of the arm 10 is pivotally supported by a movable table 16. Further, the screw shaft 17 is connected to and rotated by a motor 18 with a reduction gear mounted on the frame 14.

A wire mesh 19 serving as a protective shelf is attached to the arm 10. The wire mesh 19 is provided to prevent the workpieces placed on the pallet 11 from falling off during transportation, and is formed to surround the edge of the pallet 11 and protrude from the surface of the pallet 11. The opposing sides of the wire mesh 19 are omitted because they interfere with the pallet 11 when the arm 10 moves.

With the above configuration, when the motor 18 with a speed reducer is rotated, the arm 10 and the support fitting 12 move toward or away from each other by the same amount and engage with the pallet 11. The pallet 11 is held by moving the arm 10 close to the pallet 11 until the roller stopper 13 comes into contact with the pallet 11, and placing it on the flat plate member 12a of the support fitting 12.

Next, the guide means 20 will be explained.

An automatic pallet changing device (hereinafter referred to as "APC") that rotates 180 degrees, which will be explained later, is installed at a predetermined position close to the machine tools 1a to 1f.
As shown in FIGS. 7 and 8, a guide means 20 is provided below the first station on the side away from the machine tools 1a to 1f of the APC. (It may also be provided at the second station near the machine tool.) Guide means 20
is formed from a fixed base 21 and guide members 22 fixed to the upper surfaces of both sides of the fixed base 21. Guide member 22
is a block that extends laterally and outwardly, and is formed in a size that makes sliding contact with the long groove 12c of the support metal fitting 12, and its fixed position is in a direction that coincides with the center line of the pallet 11 positioned and placed on the first station. It is formed.

With the above configuration, the long groove 12c of the support fitting 12
When the guide member 22 is guided and engages the pallet 11 placed on the first station, the pallet 11 is supported at a predetermined position in the center of the holding device 9. In addition, as shown in FIG. 8, there is also a guide part 2 disposed on the side surface of the rotary table 23 of the APC in line with the guide member 22.
3a is screwed on.

Next, the moving device 8 will be explained with reference to FIG.

The horizontal rack 24 is installed astride the transport rail 7, and is
- Supported so as to be movable in the A direction. The moving part 25 is supported by the horizontal rack 24 so as to be movable along the horizontal frame 24 in the direction of the arrow B-B, and the hanging tool 26 is supported so as to be movable in the vertical direction of the arrow C-C. Also, hanging tool 2
A frame 14 of the holding device 9 is suspended from the frame 6 .
Further, the end of the horizontal frame 24 is provided with a drive means 27 for moving the horizontal frame 24, and the moving part 25 includes a drive means for moving the horizontal frame 24 in the longitudinal direction and a hanging tool, although not clearly shown. Driving means for moving the parts 26 in the vertical direction are respectively provided.

Next, the operation of this embodiment will be explained.

Based on a command from the CPU 2, the moving device 8 and the holding device 9 are transported along the transport rail 7 to a position near a predetermined position where a pallet 11 on which a processed workpiece is placed is placed. Next, while moving the holding device 9 up and down and in a direction perpendicular thereto, the screw shaft 17 is rotated to bring the arm 10 and the support fitting 12 close to the pallet 11, and as shown in FIGS. 4, 5, and 8. As shown in FIG. 2, the long groove 12c of the support fitting 12 is engaged with the guide member 22 of the guide means 20, the support fitting 12 is brought into sliding contact with the guide member 22, and the guide portion 23a, and the flat plate member 12a is moved into a pallet. 11 and supports it,
It is clamped by a stopper 13 with a roller. In this state, when the hanging tool 26 is moved upward, the pallet 11
is removed from the rotary table 23 of the APC. As described above, the pallet 11 is held at a predetermined center position of the holding device 9 and pulled up. Next, the same
According to a command from the CPU 2, the pallet 11 is transported to the first station of the APC, which engages the machine tool for the next process. The pallet held by the holding device 9 is lowered at the above position, the long groove 12c of the support fitting 12 is inserted into the guide part 23a provided on the rotary table 23 of the APC, and the pallet 11 is placed in a fixed position on the rotary table 23. Place it. Next, the support fitting 12 moves away from the pallet 11 along the guide member 22 of the guide means 20 and releases the engagement. Hereafter, the same process is repeated.

As described above, the holding device 9 can easily and quickly approach a predetermined position of any machine tool through the shortest distance by each drive means such as the drive means 27, and can hold the pallet 11 in a predetermined position. Since it can be held accurately in position, the efficiency of conveyance work can be greatly improved. Furthermore, as described above, since the transport rail 7 is installed in the air, it does not take up any floor space, and workers can freely go in and out under the rail. This results in
Effective operation of FMS will be achieved.

Further, since the transport rail 7 is not installed at the same height above the ground and is not limited to a straight path, it can be installed to correspond to all machine tools. Therefore, it is not limited to just cutting machine tools.
By installing a series of painting plants, such as dip coating machines, on the way, it becomes possible to perform painting and cleaning operations simultaneously during transportation.

Next, pallet 1 transported according to this embodiment
A device for transferring 1 to the machine tools 1a to 1f will be explained with reference to FIGS. 9, 10, 11, etc. What is shown in FIG. 9 is an automatic pallet changing device 28 (APC) having a rotary table 23 on which pallets 11 are placed.

As shown in FIG. 9, a rotating table 31 is fixed to a rotating shaft 30 that is pivotally mounted at the center of the base 29. As shown in FIG. A first station and a second station having the same configuration are formed on both end sides of the turning table 31, and the side closer to the machine tool will be referred to as the second station for convenience of explanation. Since the turning table 31 turns 180 degrees, the first station and the second station are positioned at opposite positions.
A gear 36 is fitted onto the rotating shaft 30, and a pinion 37 is meshed with the gear 36. Further, a support roller 57 which is pivotally connected to a bracket 56 fixed on the base 29 is in contact with the lower surface of the turning table 31. Further, a stopper 40 is attached to the turning table 31, and the stopper 40 comes into contact with a stop fitting 41 fixed on the base table 29 to determine the turning position by 180 degrees. The presence or absence of a 180° turn is detected by the proximity switch 35. As described above, by rotating the pinion 37 with a power source (not shown), the pivot shaft 30 rotates, and the pivot table 31 pivots.

A pallet 11 is placed at each station.
A rotary table 23 is disposed on which the rotary table 23 is placed, and the rotary table 23 is fixed to a shaft 32 that is pivotally supported by a revolving table 31. Further, a guide pin 33 for positioning and placing the pallet 11 is provided on the upper surface of the rotary table 23, and positioning holes 34 are formed on the lower surface side at four equal positions on the same circumference.
In addition, a rotating table 3 is provided on the bottom surface of the rotating table 23.
A supporting roller 59, which is pivotally supported by a bracket 58 fixed to the roller 1, is in contact with the bracket 58.

As shown in FIG. 10, a groove 42 is formed at the lower end of the shaft 32, and a protrusion 43a formed at the upper end of the sliding shaft 43 engages in the groove 42 so as to be able to move in and out.

A frame body 44 is formed on the base stand 29.
4, a sleeve 45 is pivotally supported. The sliding shaft 43 is slidably supported by the sleeve 45. Further, a disk 46 is attached to the upper end of the sliding shaft 43, as shown in FIG. Furthermore, four equally divided Geneva gears 47 are fitted onto the outer periphery of the sleeve 45, and mesh with a Geneva pinion (not shown). Further, a motor 60 is connected to the Geneva pinion.

A push rod 48 is engaged with the lower end of the sliding shaft 43,
The push rod 48 is the cylinder 4 fixed to the base 29.
It is moved up and down by 9.

As shown in FIGS. 9 and 10, the lever 50 is
A bracket 5 whose intermediate portion is fixed to the frame body 44
1, and one end thereof engages with the peripheral edge of the disc 46 by sandwiching it therebetween. The other end of the lever 50 is fitted into the groove of the piece 39. One end of a guide rod 52 is connected to the piece 39. The other end of the guide rod 52 is slidably supported within a bush 53 that is fitted into the turning table 31, and is disposed with its tip protruding to a position facing the positioning hole 34.
Further, the guide rod 52 is fixed to the positioning hole 34 by a spring 54 provided in the bush 53.
It is biased in the direction of insertion. Further, a pin 55 is attached to the piece 39, and the pin 55 is attached to the guide rod 5.
2 is inserted into the positioning hole 34. When the dog is raised, it faces the proximity switch 38.

Next, the operation of the APC 28 will be explained.

Pallet 11 on which unprocessed workpieces are placed is the first pallet.
When placed on the rotary table 23 of the station, the guide rod 52 is inserted into the positioning hole 34 of the rotary table 23, as shown on the right side of FIG. Therefore, the rotary table 23 cannot rotate. Next, the rotating table 31 is rotated, and the pallet 11 in the above state is rotated to the second station position. This positioning is performed by the stopper 40 and the stopper fitting 41, and is confirmed by the proximity switch 35. If it becomes necessary to rotate the rotary table 23 by 90 degrees after processing,
As shown on the left side of the figure, first, when the cylinder 49 is operated and the push rod 48 is raised, the sliding shaft 43 is raised and its protrusion 43a is fitted into the groove 42. As the sliding shaft 43 rises, the disc 46 also rises. Therefore, the lever 50 engaged with the peripheral edge of the disc 46 rotates counterclockwise, lowering the piece 39, and lowering the piece 39.
Push down the guide rod 52 against the spring 54. Therefore, the rotary table 23 becomes rotatable. On the other hand, the protrusion 43a of the sliding shaft 43 and the groove 42
In synchronization with the fitting, the motor 60 rotates the Geneva gear 47 by 90 degrees. The rotation of the Geneva gear 47 causes the shaft 32 to rotate via the sleeve 45 and the sliding shaft 43, thereby performing 90° indexing. In this state, when the cylinder 49 stops operating, the guide rod 52 moves into the positioning hole 3 due to the reaction force of the spring 54, etc.
4, the lever 50 rotates clockwise as shown by the two-dot chain line in the figure, and the disk 46 and sliding shaft 43 descend. The same process is repeated, and when the machining of the workpiece is completed, the turning table 31 turns 180 degrees and the workpiece is transferred to the first station. Here, as mentioned above, since the support device 9 is on standby, the pallet 1
1 is pulled out from the rotary table 23 and conveyed in the air to the next process side.

FIG. 12 shows an example of this embodiment and a means for delivering the workpiece 61 transported by the APC 28 to the machine tool 1a or the like. The illustrated machine tool 1a
is a numerically controlled lathe (NC lathe). One of the workpieces 61 transferred to the second station by the turning table 31 is gripped by an arm 63 of a robot 62 provided on the NC lathe, and is rotated by the main shaft 64.
handed over to the other side. The workpiece 61 is machined and returned to its original position by the arm 63, and the rotary table 23 rotates 90 degrees, and the next workpiece 61 is delivered by the arm 63. Thereafter, the same process is repeated.

If the machine tool 1a is a machining center, another means for transferring the pallet 11 to the table on the machine tool 1a side is required, but the transfer operation can be performed automatically using almost the same method as described above. be exposed.

The APC28 mentioned above was set at 40%, but
The invention is not limited to this, and other indexing numbers can be performed using a similar mechanism.

As is clear from the above explanation, according to the present invention, pallets on which workpieces are placed can be selectively and efficiently transported, improving transport efficiency and reducing floor space. be. Furthermore, since the conveyance path is not on the floor surface, it is possible to obtain the effect that the accessibility to the machine is extremely improved for the operator to carry out machining setup and maintenance.

[Brief explanation of drawings]

Fig. 1 is a plan view showing an outline of a conventional conveying device;
FIG. 2 is a plan view showing an overview of an embodiment of the present invention, FIG. 3 is a perspective view showing the structure around the holding device and moving device of the embodiment, and FIG. 4 is a front view of the holding device of the embodiment. Fig. 5 is a side view of Fig. 4, Fig. 6 is a partial plan view of Fig. 4, Fig. 7 is a front view showing the guide means of the embodiment, and Fig. 8 explains the operation of this embodiment. FIG. 9 is a partially sectional view showing the configuration of the automatic pallet exchange device related to this embodiment, and FIG.
Figure 0 is a sectional view taken along the line X-X of Figure 9, and Figure 11 is a cross-sectional view of Figure 9.
FIG. 12 is a cross-sectional view taken along the line XI-XI in the figure, and an explanatory plan view showing the delivery of workpieces on a pallet to a machine tool. 1a, 1b, 1c, 1d, 1e, 1f...Machine tool, 2...Central information processing unit, 7...Transportation rail, 8...Moving device, 9...Holding device, 10...
...Arm, 11...Pallet, 12...Supporting metal fittings, 12a...Flat plate member, 12b...Vertical member, 1
2c... Long groove, 13... Stopper with roller, 14
...Frame stand, 15...Roller, 16...Movement stand, 1
6a...Female screw member, 17...Screw shaft, 18...
Motor with reducer, 19... Wire mesh, 20... Guide means, 21... Fixed base, 22... Guide member, 23
... Rotating table, 24 ... Horizontal rack, 25 ... Moving part, 26 ... Hanging tool, 27 ... Drive means, 28 ...
Automatic pallet exchange device, 29...Base stand, 30
...Swivel axis, 31...Swivel table, 32...
Shaft, 33... Guide pin, 34... Positioning hole, 3
5... Proximity switch, 36... Gear, 37... Pinion, 38... Proximity switch, 39... Piece, 4
0...stopper, 41...stop metal fitting, 42...
...Concave groove, 43...Sliding shaft, 43a...Protrusion, 4
4... Frame body, 45... Sleeve, 46... Disc,
47...Geneva gear, 48...Push rod, 49...
Cylinder, 50... Lever, 51... Bracket, 52... Guide rod, 53... Bush, 54...
Spring, 55... Pin, 56... Bracket, 57... Support roller, 58... Bracket,
59...Support roller, 60...Motor, 61...
Workpiece, 62... Robot, 63... Arm, 6
4...Main axis.

Claims (1)

[Scope of utility model registration request] In a conveyance device that conveys pallets to pallet stands located at predetermined positions of a plurality of machine tools, a conveyance rail constructed near and above the machine tools;
a holding device having a protective shelf that removably engages and holds the pallet and surrounds an edge of the pallet; a moving device that is supported by the conveyance rail, suspends the holding device, and moves the holding device in the longitudinal direction of the conveyance rail, the vertical direction, and the direction orthogonal thereto; An aerial conveyance device comprising: