JPS6354506B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention has a plurality of processing stations, and works are placed on pallets and transported to each processing station via the pallets while being processed. This invention relates to an automatic loading/unloading device that takes out workpieces from a loading conveyor and carries them into a pallet at a loading/unloading station, and also takes out processed workpieces from the pallet and carries them out to a loading conveyor in a transfer machine.

Conventional technology A transfer machine has a plurality of processing stations, and each processing station has a dedicated processing machine that performs a predetermined processing, arranged in the processing order, and the workpiece is sequentially transported to each processing station using a transfer bar or the like. Each processing machine processes the workpiece and molds the product.

By the way, when the transfer machine transfers a workpiece to each processing station, there are two methods: one is to directly transfer the workpiece, the other is to place the workpiece on a pallet and transfer it via the pallet. Although small parts such as connecting rods are transported directly, small parts such as connecting rods are transported via pallets.

When transporting workpieces using conventional pallets,
It is necessary to clamp the workpiece on the pallet,
Nut tightening is often used as a clamping means, and when carrying in the work, the worker manually supplies the work to the pallet, and then tightens the nut with a nut runner or the like to clamp the work. In addition, the workpieces were also taken out manually.

Problems to be Solved by the Invention Conventionally, workpieces were manually fed to pallets and finished products were also taken out manually, resulting in extremely poor work efficiency. In addition, in order to automatically carry the workpieces onto the pallet and to carry out the finished products, a dedicated carrying-in machine and a carrying-out machine are required, respectively, resulting in a large transfer machine. Furthermore, in order to automatically carry the workpiece onto the pallet, the workpiece must be accurately carried onto the pallet, and a loading/unloading device with high positioning accuracy is required, making the structure complex and expensive.

Means for Solving the Problems This invention provides a portal-shaped moving frame, carrying-in holding means and carrying-out holding means that are attached to both ends of the moving frame to hold a workpiece, and supports that support the moving frame. , a movable body that supports the column movably up and down, a support frame that supports the movable body so as to be movable horizontally, and a piston rod that is attached to the ends of the movable body and the support frame in the horizontal direction, respectively, and connects the piston rods of both. a pair of horizontally moving cylinders,
It consists of a pair of vertically movable cylinders that are attached to the lower end of the moving body and the upper end of the column in the vertical direction, and in which the piston rods of both cylinders are connected. , and a first position where the carrying-out holding means faces the carrying-out conveyor, a second position where the carrying-in holding means faces the carrying-in/carrying-out station, and a third position where the carrying-out holding means faces the carrying-in/carrying-out station. The column is moved horizontally to three positions, and at each horizontal position, the column is moved up and down to three positions.

Function: When loading a workpiece, the automatic loading/unloading device moves the movable body horizontally to the first position, moves the column up and down, takes out the workpiece from the loading conveyor using the loading holding means, and then The movable body is horizontally moved to the second position, and the support is moved up and down to carry the workpiece to the pallet of the loading/unloading station. When carrying out the workpiece, the movable body is moved horizontally to the third position, where the column is moved up and down to take out the processed workpiece from the pallet of the loading/unloading station using the holding means for carrying out, and then the moving body is moved to the first position. The workpiece is moved horizontally to the position shown in FIG. Further, at the first position, the workpiece can be taken out by the carrying-in holding means and the processed workpiece can be carried out by the carrying-out holding means at the same time.

Embodiment Figures 4 to 6 are drawings showing an example of a processing device that performs processing using the loading/unloading device according to the present invention. This figure shows a processing device for forming assembly holes.

As shown in FIG. 7 A and B, the articulating rod 1 has assembly holes 2, 2 formed through both ends of the large end 1a, and counterbores 3, 3 at one end of the assembly holes 2, 2. A locking groove 5 is formed on the inner surface of the opening 4 of the large end 1a. In addition, as shown in FIG. 8 A and B, the cap 6 has mounting holes 7, 7 formed on both sides facing the mounting holes 2, 2 of the articulating rod 1. Counters 8, 8 are formed at one end, and a locking groove 9 is formed on the inner surface of the opening 6a.

The connecting rod 1 and the cap 6 are placed and fixed on a pallet 10 as a pair and processed.

The processing equipment includes, for example, a plurality of work stations a~
The first reversing station a is a reversing station in which a pallet 10 to which a pair of connecting rods 1 and a cap 6 are fixed is reversed and the connecting rods 1 and cap 6 are placed on the lower side of the pallet 10. A mechanism 11 is provided. At the first processing station b, on the right side with the pallet 10 in between, there are drills 12, 12, . A first processing machine 13 having ... is disposed, and a second processing machine 15 having counterbore cutters 14, 14, . are arranged. The second processing station c has chamfering drills 16, 16, . The third processing machine 17 is arranged, and the assembly holes 2, 2, 7 are opened from the counterbore 3, 3, 8, 8 side of the connecting rod 1 and cap 6 on the left side.
7 having drills 18, 18...
A processing machine 19 is arranged. The third processing station d has an articulated rod 1 on the right side across the pallet 10.
A fifth processing machine 21 having plain cutters 20, 20 for forming the locking grooves 5, 9 of the cap 6 is arranged on the left side, and a fifth processing machine 21 is arranged on the left side to form the connecting holes 2, 2, 7, 7 of the connecting rod 1 and the cap 6. A sixth processing machine 2 having chamfering drills 22, 22, . . . for chamfering a counterbore side end face.
3 is placed. In the fourth processing station e, a seventh processing machine 25 having plane cutters 24, 24 for chamfering the lock grooves 5, 9 of the articulated rod 1 and the cap 6 is arranged on the right side with the pallet 10 in between, and the seventh processing machine 25 is arranged on the left side. No. 8 equipped with counterbore cutters 26, 26, etc. for finishing the counterbores 3, 3, 8, 8.
A processing machine 27 is arranged. In the fifth processing station f, a ninth processing machine 29 is arranged on the right side of the pallet 10, and has core drills 28, 28, . There is. The sixth processing station g has a reamer 3 that finishes the assembly holes 2, 2, 7, and 7 with high precision.
A tenth processing machine 31 having 0, 30, . . . is arranged. Pallet 1 is placed on the second reversing station h.
A reversing mechanism 32 is provided for reversing the connecting rod 1 and the cap 6, which were arranged on the lower side, to the upper side of the pallet 10. The cleaning station i is provided with a transfer mechanism 35 for transferring the pallet 10 on which the processed connecting rods 1 and caps 6 are fixed onto the return conveyor 34, and the pallets 10 are returned to the alignment station j by the return conveyor 34. A take-out mechanism 36 is provided to take out the pallet 10 from the return conveyor 34 and send it to the next process. At the loading/unloading station k, there is a loading/unloading station for carrying out the processed connecting rods 1 and caps 6 from the pallet 10 and carrying in the unprocessed connecting rods 1 and caps 6 to the empty pallet 10.
A carry-out device 37 is provided.

Further, a box-shaped jig 38 for holding the pallet 10 is provided in the first processing station b to the sixth processing station g, and a top plate 38 of the jig 38 is provided.
A is provided with a hydraulic cylinder 39 and a positioning mechanism 40 for lifting and positioning the pallet 10 to an upper processing position.

Further, a ladder-like transfer bar 41 is provided to support and transport the pallet 10 from the first reversing station a to the second reversing station h, and is movable back and forth. The piston rod 42a is connected to the piston rod 42a. Therefore, the pallet conveying cylinder 42
The transfer bar 41 is moved and conveys the pallet 10 by the expansion and contraction operation. The transfer bar 41 passes through the jigs 38 provided at the first processing station b to the sixth processing station g, and the telescopic stroke of the pallet conveying cylinder 42 moves the pallet 10 from one processing station to the other. The length is set to reach the next processing station, and the pallet 10 is transported one station with one expansion/contraction operation.

Further, in the vicinity of the carry-in and carry-out station k, there are provided a carry-in conveyor 43 for carrying in unprocessed connecting rods 1 and caps 6, and a carrying-out conveyor 44 for carrying out processed connecting rods 1 and caps 6.

Therefore, the processing equipment mentioned above is a loading/unloading station k.
Unprocessed articulated rod 1 and cap 6 brought in
is taken out from the carry-in conveyor 43 by the carry-in/take-out device 37, placed on the empty pallet 10, and fixed.
When the connecting rod 1 and the cap 6 are mounted on the pallet 10, the pallet 10 is sent to the first reversing station a, where the pallet 10 is reversed by the reversing mechanism 11, and the connecting rod 1 and the cap 6 are is placed on the lower surface side of the pallet 10, and the pallet 10 is placed on the transfer bar 41. Next, the pallet conveying cylinder 42 performs a shortening operation to advance the transfer bar 41 and convey the pallet 10 into the jig 38 of the first processing station b. After that, the pallet 10 is lifted and positioned using the hydraulic cylinder 39 and positioning mechanism 40 provided on the jig 38, and then the first processing machine 13 and the second processing machine 1
5 operates, drill 12 and counterbore cutter 14
Attachment holes 2, 2, 2 to the connecting rod 1 and cap 6 at
Approximately half of 7, 7 and counterbore 3, 3, 8, 8 are formed. During this processing, the pallet conveying cylinder 42 is extended and the transfer bar 41 is moved backward. After finishing the processing, the pallet 10 is lowered and placed on the transfer bar 41. Thereafter, the pallet 10 is transported by the pallet transport cylinder 42 and transfer bar 41 into the jig 38 of the second processing station c. Then, at the second processing station c, the chamfering drill 1 of the third processing machine 17 is
6, 16... and the drill 1 of the fourth processing machine 19
8, 18..., chamfer the joining side end faces of the assembly holes 2, 2, 7, 7, and drill the remaining half.
Next, the pallet 10 is transported from the second processing station c to the third processing station d by the transfer bar 41, where the plane cutters 20, 20 of the fifth processing machine 21 and the chamfering of the sixth processing machine 23 are carried out. The lock grooves 5, 9 are formed using drills 22, 22, . . . and the remaining end faces of the assembly holes 2, 2, 7, 7 are chamfered. Next, the pallet 10 is transferred from the third processing station d to the fourth processing station e.
The lock grooves 5 and 9 are chamfered and counterbore by the plane cutters 24, 24 of the seventh processing machine 25 and the counterbore cutters 26, 26 of the eighth processing machine 27. 3, 3, 8,
Perform the finishing steps in step 8. Next, the pallet 10 is transferred from the fourth processing station e to the fifth processing station f.
The core drills 28, 28, . . . of the ninth processing machine 29 form the assembly holes 2, 2, 7, 7 in a desired shape. Next, the pallet 10 is transported from the fifth processing station f to the sixth processing station g using the transfer bar 41, where the assembly holes 2, 2, Finish steps 7, 7, 7. When the processing of the connecting rod 1 and the cap 6 is completed in this way, the pallet 10
is transported from the sixth processing station g to the second reversing station h by the transfer bar 41, where the pallet 10 is reversed by the reversing mechanism 32 and the connecting rod 1 and cap 6 are returned to the upper surface side of the pallet 10. Then, the pallet 10 is transported to the cleaning station i. At the cleaning station i, after cleaning the connecting rod 1 and the cap 6 to completely remove chips and the like, the pallet 10 is lowered by the take-out mechanism 35 and transferred onto the return conveyor 34. is conveyed to the alignment station j, where the pallet 10 is taken out from the return conveyor 34 by the take-out mechanism 36,
It is lifted up and transported to loading/unloading station k.
Then, the connecting rods 1 and caps 6 on the pallet 10 are released at the loading/unloading station k, and the processed connecting rods 1 and caps 6 are taken out from the pallet 10 by the loading/unloading device 37 and placed on the loading conveyor 44. At the same time, unprocessed connecting rods 1 and caps 6 are taken out from the carry-in conveyor 43 and placed on an empty pallet 10. Thereafter, the above-described operations are repeated to perform processing.

As mentioned above, the pallet 10 holding the connecting rod 1 and the cap 6 has the structure shown in FIGS. 9 to 13. In the figure, reference numeral 45 denotes a board, which is formed of a flat plate large enough to place a set of the connecting rod 1 and cap 6, and a holding metal fitting 46 on the upper surface of which accommodates and holds the connecting rod 1 and cap 6. ,47,4
8 is provided. Also, the board 45 has a holding metal fitting 46.
Window holes 49, 50, 51, and 52 are opened before and after 48. 53 and 54 are reference holes for positioning.

The holding fitting 46 is formed with a recess 55 for accommodating and holding the large end 1a of the connecting rod 1 and restraining one side and both sides of the large end 1a. Further, the holding fitting 47 is formed with a recess 56 for accommodating and holding the small end 1b of the connecting rod 1. Further, the other holding fitting 48 is formed with a recess 57 for accommodating and holding the cap 6 and restraining one side and both sides of the cap 6.

Reference numeral 58 denotes a press pin slidably provided in the holding fitting 46, which is normally pressed by a spring 59 toward the recess 55 and presses the side surface of the large end 1a of the articulating rod 1.
Reference numeral 60 denotes a press pin slidably provided in the holding fitting 48, and is constantly pressed by a spring 61 toward the recess 57 to press the side surface of the cap 6.

62 is a first clamp mechanism provided between two holding metal fittings 46 and 48, and a support rod 63 and a presser metal 64.
It is made up of. The support rod 63 has an upper end 63
A is formed flat, an engagement groove 65 is formed on the lower end surface, and a cam hole 66 is formed in the middle part perpendicular to the axis.
has been formed. This support rod 63 penetrates the substrate 45 and supports it so as to be rotatable and movable up and down, and a spring 68 is inserted between a sleeve 67 attached to the substrate 45 and a flange 63b formed on the support rod 63.
are interspersed with compression. The presser foot 64 has pressing surfaces 64a and 64b formed on the lower surfaces of both ends, and a through hole 69 longer than the flat portion 63a of the support rod 63 in the middle portion. The presser foot 64 has a through hole 69 inserted into the flat portion 63a of the support rod 63, and is pivotably mounted on a pivot shaft 70. 71 is a cam that lowers the support rod 63, and has an engagement flange 72 integrally formed at its rear end, and a flat pressing portion 74 formed at its tip with a tapered surface 73 whose lower surface slopes upward toward the tip. There is. The tip of this cam 71 is slidably inserted into a housing 75 attached to the lower surface of the base plate 45, and the pressing portion 74 is inserted into a housing 75 attached to the lower surface of the base plate 45.
The cam 71 is opposed to the cam hole 66 formed in the
A spring 76 is compressed and interposed between the housing 75 and the housing 75. Therefore, the cam 71 is connected to the spring 7
6, the pressing part 74 enters the cam hole 66, and the tapered surface 73 pushes down the support rod 63, thereby lowering the presser foot 64, and the presser foot 64 is connected. Press the large end 1a of the rod 1 and the side of the cap 6.

77 is a second clamp mechanism provided on the outside of the holding metal fitting 46 of the board 45;
It consists of 9. The support rod 78 has an upper end 7
8a is formed flat, an engagement groove 80 is formed on the lower end surface, and a cam hole 81 is formed in the middle part perpendicular to the axis.
has been formed. This support rod 78 penetrates the substrate 45 and supports it so as to be rotatable and movable up and down, and a spring 83 is inserted between a sleeve 82 attached to the substrate 45 and a flange 78b formed on the support rod 78.
are interspersed with compression. The presser foot 79 has pressing surfaces 79a and 79b formed on the lower surfaces of both ends, and a through hole 84, which is longer than the flat portion 78a of the support rod 78, is formed in the middle portion. The presser foot 79 has a through hole 84 inserted through the flat portion 78a of the support rod 78, and is pivotally attached to the pivot shaft 85 so as to be freely swingable. 86 is a cam that lowers the support rod 78, and has an engaging flange 87 integrally formed at its rear end, and a flat pressing portion 89 formed at its tip with a tapered surface 88 whose lower surface slopes upward toward the tip. There is. The tip of this cam 86 is slidably inserted into a housing 90 attached to the lower surface of the base plate 45, and the pressing portion 89 is inserted into a housing 90 attached to the lower surface of the base plate 45.
The cam 86 is opposed to the cam hole 81 formed in the
A spring (not shown) is compressed and interposed between the housing 90 and the housing 90. Therefore, the cam 88 is constantly pressed by the spring, and the pressing part 88 enters the cam hole 81, and the tapered surface 88 pushes down the support rod 78, thereby lowering the presser foot 79, and the presser foot 79 is pressed down. The large end 1a of the articulating rod 1 and the auxiliary stand 91 attached to the base plate 45 are pressed together.

Reference numeral 92 denotes a third clamp mechanism provided on the outside of the holding fitting 48 of the board 45, which includes a support rod 93 and a presser metal 9
It consists of 4. The support rod 93 has an upper end 9
3a is formed flat, an engagement groove 95 is formed on the lower end surface, and a cam hole 96 is formed in the middle part perpendicular to the axis.
has been formed. This support rod 93 penetrates the board 45 and supports it so that it can rotate and move up and down, and a spring 98 is inserted between a sleeve 97 attached to the board 45 and a flange 93b formed on the support rod 93.
are interspersed with compression. The presser foot 94 has pressing surfaces 94a and 94b formed on both lower surfaces, and a through hole 99 longer than the flat upper end portion 93a of the support rod 93 in the middle portion. This presser 94 has a through hole 99 inserted into the flat part 93a of the support rod 93,
It is pivotally mounted on a pivot 100 so as to be swingable. 101
is a cam that lowers the support rod 93, has an engagement flange 102 integrally formed at the rear end, and has a cam at the tip end.
A flat pressing portion 104 is formed with a tapered surface 103 having an upward slope from the lower surface toward the tip. The cam 101 has its tip slidably inserted into a housing 105 attached to the lower surface of the substrate 45, and a pressing portion 104 is inserted into a cam hole 9 formed in a support rod 93.
6, and a spring (not shown) is compressed and interposed between the cam 101 and the housing 105. Therefore, the cam 101 is constantly pressed by the spring, and the pressing part 104 enters the cam hole 96, and the tapered surface 103 pushes down the support rod 93, thereby lowering the presser foot 94, and the presser foot 94 presses the cap. 6 and the auxiliary stand 106 attached to the board 45
and press.

107 is a fourth clamp mechanism provided between the holding metal fittings 47 and 48, and a support rod 108 and a presser metal 109
It is made up of. The support rod 108 has an upper end 1
08a is formed flat, an engagement groove 110 is formed in the lower end surface, and a cam hole 111 is formed in the middle part perpendicular to the axis. This support rod 108 penetrates the base plate 45 and supports it so as to be rotatable and movable up and down, and a spring 113 is compressed and interposed between a sleeve 112 attached to the base plate 45 and a flange 108b formed on the support rod 108. . The presser foot 109 has pressing surfaces formed on the lower surfaces of both ends, and a through hole 114 longer in length than the upper end flat part 108a of the support rod 108 is formed in the middle part. This presser foot 1
09 connects the through hole 114 to the flat part 10 of the support rod 108.
8a, and is pivotally mounted on a pivot 115 so as to be swingable. 116 is a cam that lowers the support rod 108, and has an engaging flange 117 integrally formed at its rear end, and a pressing portion 119 formed at its tip into a tapered surface 118 whose lower surface slopes upward toward the tip. . The tip of the cam 116 is slidably inserted into the housing 75 attached to the lower surface of the base plate 45.
In addition, the pressing portion 119 is opposed to a cam hole 111 formed in the support rod 108, and a spring 116a is compressed and interposed between the cam 116 and the housing 75. Therefore, the cam 116 is connected to the spring 116a.
The pressing part 119 is constantly pressed by the cam hole 111.
The support rod 108 is pushed down by the tapered surface 118, thereby lowering the presser foot 109, and the presser foot 109 presses the small end 1b of the connecting rod 1 and the center portion of the cap 6.

Reference numeral 120 designates a fifth clamp mechanism provided in front of the holding fitting 47, in which the lower end of a fixed arm 122 is pivotably pivoted to the lower end of a support bracket 121 coupled to the lower surface of the board 45 with a pivot 121a, and the fixed arm The upper end of the connecting rod 122 is made to protrude above the window hole 50 formed in the base plate 45 and is opposed to the small end 1b of the connecting rod 1. Reference numeral 123 denotes a pressing rod slidably provided within the substrate 45, which has a cam hole 124 formed in its middle portion, and presses against the back surface of the fixed arm 122. 125
The cam is a cam that moves the pressing rod 123 back and forth, and has a flat pressing portion 127 having a tapered surface 126 at its upper end and an engaging flange 128 at its lower end. This cam 125 is slidably inserted into a housing 129 attached to the lower surface of the board 45, and the upper end pressing portion 127 is inserted into the cam hole 129 of the pressing rod 123.
the housing 129 and the cam 12.
5, a spring 130 is compressed and interposed between the two. Therefore, the cam 125 pushes out the pressing rod 123 with the tapered surface 126 raised by the elasticity of the spring 130, and thereby the fixed arm 12
2 to press the small end 1b of the connecting rod 1.

Reference numeral 131 denotes a sixth clamp mechanism provided in front of the holding fitting 48, in which the lower end of a fixed arm 133 is pivotally pivoted to the lower end of a support bracket 132 connected to the lower surface of the board 45 by a pivot 134, and The upper end of the arm 133 is connected to the window hole 5 formed in the substrate 45.
It projects upward from 2 and faces the cap 6. Reference numeral 135 denotes a pressing rod slidably provided within the substrate 45, which has a cam hole 136 formed in its middle portion, and presses against the back surface of the fixed arm 133. 137
The cam is a cam that moves a pressing rod 135 back and forth, and has a flat pressing portion 139 having a tapered surface 138 at its upper end, and an engagement flange 140 at its lower end. This cam 137 is slidably inserted into a housing 141 attached to the lower surface of the board 45, and the upper end pressing portion 139 is inserted into the cam hole 13 of the pressing rod 135.
6, and further insert the housing 141 and cam 13
7, a spring 142 is compressed and interposed therebetween. Therefore, the cam 137 is raised by the elasticity of the spring 142 and pushes out the pressing rod 135 at the tapered surface 138, thereby pushing the fixed arm 13
3 to press the cap 6.

The pallet 10 having the above structure is moved to the first to fourth clamping mechanisms 62, 7 by an appropriate driving means (not shown).
7, 92, 107 cams 71, 86, 101, 1
16 with engaging flanges 72, 87, 102, 1, respectively.
17 to the outside, and press the cam tips 74, 89, 104, 119 onto the support rods 63, 7.
8, 93, 108 cam holes 66, 81, 96, 1
11 and support rods 63, 78, 93, 10
Free 8. After this, support rods 63, 78, 9
Using the engagement grooves 65, 80, 95, 110 of No. 3, 108, pressers 64, 79, 94, 109 to escape from above the holding fittings 46, 47, and 48. In addition, the cams 1 of the fifth and sixth clamp mechanisms 120 and 131
25, 137 downward using the engaging flanges 128, 140, and press the pressing parts 127, 139 into the cam holes 124, 136 of the pressing rods 123, 135.
The fixed arms 1 are pulled out from the fixed arms 1 by freeing the pressing rods 123 and 135 and releasing the pressing of the fixed arms 122 and 133 by the pressing rods 123 and 135.
22,133 will be made free.

In this state, the connecting rod 1 and the cap 6 are supplied onto the pallet 10, and the large end 1a of the connecting rod 1 is
is accommodated in the recess 55 of the holding fitting 46, and the small end 1b
is accommodated in the recess 56 of the holding fitting 47, and when the cap 6 is accommodated in the recess 57 of the holding fitting 48, the first to fourth clamp mechanisms 62, 77, 92, 107
Rotate the support rods 63, 78, 93, 108 in the opposite direction and push the metal rods 64, 79, 94, 109 to the connecting rod 1.
and placed above the cap 6. Subsequently, the pushing up force on the support rods 63, 78, 93, 108 is released, and the elasticity of the springs 68, 83, 98, 113 pushes down the support rods 63, 78, 93, 108, and the presser metals 64, 79, 94 and 109 are brought into contact with the corresponding connecting rod 1 and cap 6, respectively, to temporarily clamp them. Next, the cams 71, 8 of the first to fourth clamp mechanisms 62, 77, 92, 107
6, 101, 116 inward, and press the pressing parts 74, 89, 104, 119 into the corresponding cam holes 6.
6, 81, 96, 111, taper surface 7
Support rods 63, 7 at 3, 88, 103, 118
8, 93, 108, and presser foot 6.
4, 79, 94, and 109 are firmly pressed against the connecting rod 1 and the cap 6 to clamp them. At the same time, the fifth and sixth clamp mechanisms 120 and 131
Push up the cams 125, 137, insert the pressing parts 127, 139 at the upper ends of the cams into the cam holes 124, 136 of the pressing rods 123, 135, and press the tapered surface 12.
6, 138, the pressing rods 123, 135 are moved, thereby swinging the fixed arms 122, 133, one fixed arm 122 presses the articulating rod 1, and the other fixed arm 133 presses the cap 6.
Press.

In this way, the first to sixth clamp mechanisms 6
The connecting rod 1 and the cap 6 are clamped at 2, 77, 92, 107, 120, and 131, and after clamping, the pallet 10 is conveyed to the first reversing station a. Further, after the processing is completed, the processed connecting rod 1 and the cap 6 are connected to the first to sixth clamp mechanisms 6 as described above.
2, 77, 92, 107, 120, 131 and attach the connecting rod 1 and cap 6 to the holding metal fittings 46,
Take it out from 47 and 48.

The loading/unloading device for loading and unloading the articulated rod 1 and the cap 6 into and out of the pallet 10 at the loading/unloading station k is a moving frame formed in a portal shape, as shown in FIGS. 1 to 3. holding means for holding a pair of connecting rods 1 and a cap 6 at lower ends 143a and 143b of the rod 143, respectively;
For example, a pair of chuck means 144, 145, 14
6,147 are provided, and the movable frame 14
3 is integrally attached to the lower end of a column 148 extending in the vertical direction. The chuck means 14
4, 145, 146, 147 have a pair of fingers 149, 150 facing each other, one finger 150 is provided movably relative to the other finger 149, and one finger 150 is moved by the expansion and contraction operation of the opening/closing cylinder 151. It is configured so that the connecting rod 1 or the cap 6 can be checked by moving the rod. Furthermore, running rails 152, 15 are provided on both sides of the support 148 along the entire length in the vertical direction.
3 is installed.

154 is a movable body that holds the support column 148 vertically movably, and includes a support plate 15 that is elongated in the vertical direction.
Side plates 156, 157 are provided on both sides of the side plates 156, 157, and running rails 152, 1 are provided at the upper and lower ends of the side plates 156, 157.
Rolling rollers 158, 158, 15 sandwiching 53
9, 159, 160, 160, 161, 161 are provided. and the rolling rollers 158, 15
8,159,159,160,160,161,
By sandwiching travel rails 152 and 153 at 161, the support column 148 and the movable body 154 are attached so as to be relatively movable up and down.

Reference numeral 162 denotes a support frame that supports the movable body 154 in a horizontally movable manner, and is fixedly arranged horizontally at a predetermined height.
3,164 is installed. This support frame 1
A movable body 154 is mounted on the support frame 162 so as to sandwich the support frame 162 between sub-frames 165 and 166 provided at the upper and lower portions of the rear surface of the movable body 154, and running rollers 167 and 16 provided on the upper sub-frame 165.
The movable body 154 is made horizontally movable by holding the running rail 163 at 7, 168, 168, and holding the running rail 164 at running rollers 169, 169, 170, 170 provided on the lower subframe 166. .

171 is a first horizontal motion cylinder attached to the end of the support frame 162; 172 is a second horizontal motion cylinder attached to the end of the upper subframe subframe 165 of the moving body 154, facing the first horizontal motion cylinder 171; In the horizontally moving cylinder, both piston rods 171a and 172a are connected by a connecting fitting 173. Therefore, the first and second horizontal motion cylinders 17
1,172 expands and contracts, the moving body 15
4 horizontally moves along the support frame 162, and only one horizontal movement cylinder 171 or 172 is in an extended state, the moving body 154 stops at approximately the middle position of the horizontal movement stroke. That is, when both the first horizontal motion cylinder 171 and the second horizontal motion cylinder 172 perform a shortening operation, the movable body 1
54 is at a first position (right end in FIG. 1) where the chuck means 146, 147 for carrying in are facing the conveyor 43 for carrying in, and the chuck means for carrying out 144, 145 are facing the conveyor 44 for carrying out. Also the first
When both the horizontal motion cylinder 171 and the second horizontal motion cylinder 172 extend, the movable body 154
At this point, the loading chuck means 146, 147 are at the second position (left end in FIG. 1) facing the loading/unloading station k. Also, the first horizontal motion cylinder 171
Alternatively, when one of the second horizontal motion cylinders 172 performs a shortening or extending operation, the movable body 154
The unloading chuck means 144, 145 come to a third position (intermediate position in FIG. 1) facing the loading/unloading station k. 174 is a first vertically moving cylinder attached to the upper end of the column 148, 175 is a second vertically moving cylinder opposite to the first vertically moving cylinder 174 and attached to the lower end of the moving body 154, and both piston rods 174a, Connecting fitting 175a
They are connected at 76. Therefore, when the first and second vertically movable cylinders 174 and 175 extend, the column 148 moves vertically, and the chuck means 14
4, 145, 146, 147 and only one of the vertical movement cylinders 174 or 175 is in an extended state.
5, 146, and 147 stop at approximately midpoints of the vertical stroke.

In the loading/unloading device 37, the first and second vertically movable cylinders 174, 175 are extended and the chuck means 144, 145, 146, 147 are placed on standby for raising, and the processed articulating rod 1 and the cap 6 are placed on standby. When the pallet 10 loaded with
1 is extended to move the movable body 154 to the third position, and the unloading chuck means 144, 145
are placed opposite above the pallet 10. Next, with the chuck means 144, 145 open, the first
The up and down cylinder 174 of the column 14 is shortened.
8 to an intermediate position and the chuck means 14
4,145 over the connecting rod 1 and cap 6 on the pallet 10, and then the chuck means 144,14
5 to hold the connecting rod 1 and cap 6, respectively.

When the connecting rod 1 and the cap 6 are held, the first vertical cylinder 174 is extended to raise the chuck means 144 and 145, and the connecting rod 1 and the cap 6 are taken out from the pallet 10. After this, the first
The horizontal movement cylinder 171 of the moving body 1 is shortened.
54 to the first position of the supporting frame 162, the chuck means 144, 145 for carrying out are placed above the carrying conveyor 44, and the chuck means 146, 147 for carrying in are placed above the carrying conveyor 43. Next, the first and second vertically movable cylinders 174, 175 are both shortened to lower the chuck means 144, 145, 146, 147 to the lowest position, and the unloading chuck means 144, 14
The articulated rod 1 and cap 6 held at step 5 are carried out by the carry-out conveyor 44, and at the same time, the carry-in chuck means 146, 147 are attached to the unprocessed articulated bar 1 and cap 6 that have been carried by the carry-in conveyor 43. After this, the chuck means 146, 147 are closed to hold them.

When the unprocessed articulating rod 1 and cap 6 are held, both the first and second vertically moving cylinders 174, 175 extend and move the chuck means 144, 145, 1.
46 and 147 to the uppermost position, and then both the first and second horizontal movement cylinders 171 and 172 extend and move the moving body 154 to the support frame 162.
to a second position, and the loading chuck means 146, 147 are placed above the empty pallet 10. Next, the first vertically movable cylinder 174 performs a shortening operation to lower the chuck means 146 and 147 to the intermediate position, and places the unprocessed connecting rod 1 and cap 6 on the empty pallet 10, and the chuck means 146 , 147 are opened. After this, the first
The vertically movable cylinder 174 is extended to raise the chuck means 146, 147. Thereafter, the pallet 10 is transported from the loading/unloading station k to the first reversing station a. Then, the pallet 10 again equipped with the processed connecting rods 1 and caps 6 is transported from the alignment station j to the loading/unloading station k.
, the second horizontal motion cylinder 172
moves the movable body 154 to the third position through a shortening operation, and repeats the above-mentioned operation to carry the connecting rod 1 and the cap 6 into and out of the pallet 10.

Effects of the Invention In this invention, a moving frame equipped with two sets of workpiece holding means is moved horizontally and vertically by a pair of horizontally moving cylinders and a pair of vertically moving cylinders, so that one pair of workpiece holding means can be moved horizontally and vertically. The movable frame can be positioned with high precision in three positions in the horizontal and horizontal directions even at the end of the stroke of the horizontal motion cylinder's expansion and contraction. It is possible to accurately move the moving frame onto the unloading conveyor, and also in the vertical direction, the moving frame can be positioned in three positions with high precision in the vertical direction at the end of the expansion and contraction stroke of the pair of vertically moving cylinders. The carrying-in holding means and carrying-out holding means provided can be accurately moved to the standby position, onto the pallet, and onto the loading/unloading conveyor, allowing workpieces to be automatically loaded from the loading conveyor onto the pallet and transferred from the pallet to the loading/unloading conveyor. It can be automatically transported to In addition, since the automatic loading/unloading device controls the movable body in three positions in the horizontal direction, the loading conveyor and the loading/unloading conveyor can be installed side by side on the same side of the loading/unloading station. The entire device can be made very compact and easy to install. In addition, workpieces can be loaded onto the carry-in conveyor and finished products can be taken out from the carry-out conveyor all at once, which greatly improves work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an example of an automatic work loading/unloading device according to the present invention, FIG. 2 is a plan view thereof,
Fig. 3 is a side view, Fig. 4 is a plan view showing an example of a processing device equipped with an automatic workpiece loading/unloading device, and Fig. 5 is a side view.
The figure is a front view, Figure 6 is a side view, Figure 7 A and B are a plan view and front view of the connecting rod (work), and Figure 8 A and B are a plan view and front view of the cap (work). , FIG. 9 is a plan view showing a pallet for transporting workpieces, FIG. 10 is a sectional view taken along the line X-X in FIG. 9,
Figure 11 is a sectional view taken along the line XI-XI of Figure 9, Figure 12 is a sectional view taken along the line XII-XII of Figure 9, and Figure 13 is a sectional view taken from Figure 9-
FIG. 1... Work (articulated rod), 6... Work (cap), 10... Pallet, 37... Automatic loading/unloading device, 143... Moving frame, 144, 14
5,146,147... Holding means (chuck means), 148... Support column, 154... Moving body, 16
2...Support frame, 171, 172...Horizontal motion cylinder, 173...Connection fitting, 174, 175
... Vertical movement cylinder, 176 ... Connection fitting.

Claims (1)

[Claims] 1. A portal-shaped moving frame, carrying-in holding means and carrying-out holding means that are attached to both ends of the moving frame and hold the workpiece, a column that supports the moving frame, and a moving body that supports the column in a vertically movable manner. a support frame that supports the movable body horizontally; a pair of horizontal motion cylinders that are attached to the movable body and the ends of the support frame in the horizontal direction and connect the piston rods of both; The movable body is constituted by a pair of vertically moving cylinders that are attached to the lower end and the upper end of the column along the vertical direction, and in which the piston rods of both cylinders are connected, and the carrying-in holding means is opposed to the carrying-in conveyor, and a first position where the holding means for carrying out faces the carrying out conveyor;
and a second position where the loading holding means faces the loading/unloading station, and a third position where the loading holding means faces the loading/unloading station, and at each horizontal position, the column is moved in the vertical direction. Automatic loading/unloading device for workpieces that moves up and down to 3 positions.