KR100381152B1 - Flexible transfer line - Google Patents

Abstract

PURPOSE: To provide a general-purpose conveyor device usable for both inline type and independent type conveyance without selecting the laid pitch of machining stations. CONSTITUTION: A conveyor device is provided with an elevating member 101 elevatingly supported to a fixed member provided between machine tools, a sliding member 102, a member shorter than the workpiece conveying distance between the machine tools, provided movably in relation to the elevating member 101 so as to be moved in the workpiece conveying direction by a sliding device, and a workpiece holding member 103 provided at the sliding member 102, movably in the same direction as the moving direction of the sliding member 102.

Description

Flexible Transfer Line {FLEXIBLE TRANSFER LINE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer apparatus for conveying a workpiece to a transfer machine and a machining station of a machine tool constituting the transfer machine.

Conventionally, the transfer apparatus 10 shown in FIG. 17 is used in order to convey a workpiece | work to a machining station etc. of a machine tool. S1-S3 is a processing station, 17 is a conveyor, 10 is a transfer apparatus, and each processing station S1-S3 is arrange | positioned by making the pitch pitch P constant. The transfer device 10 is such that the transfer bar 11 having the jig 16 for supporting and supporting the work W is disposed at a constant pitch P such that the transfer bar 11 can move in the retreat direction and the lift direction relative to the transport direction of the work W. The workpiece W is conveyed by the combination of the retraction and the lifting movement operation.

The transfer bar 11 is movable on a roller rotatably supported at one end of the plurality of swing arms 15. The swing arm 15 has a curved portion rotatably supported on a reference plane, not shown, and at one end the roller is rotatably supported, while the other end is rotatably supported by a lift bar 14. Then, by swinging the swing arm 15a by the lift device 13 made of a motor, all the swing arms 15 are synchronously oscillated to move the transfer bar 11 up and down. Moreover, the transfer bar 11 is connected to the shift apparatus 12, and the transfer bar 11 is moved forwards and backwards by the drive of the shift apparatus 12. As shown in FIG. The shift device 12 is composed of a link mechanism and a cylinder (not shown), and moves the transfer bar 11 forward and backward regardless of the transfer bar 11 lifting up and down.

While the conveying apparatus that conveys the work W using the transfer bar 11 like the transfer apparatus 10 described above is easy to control the conveyance of the work W (driving the transfer bar 11), the problem described below have. That is, they cannot be used unless the pitches between the processing stations S1 to S3 are the same, thereby deteriorating the flexibility in replacing the machine tool and forming the process. In addition, in line with the cycle time of the machine tool with the longest cycle time, only the inline type conveying work of all the machine tools can be carried out simultaneously. There is a problem that it cannot be used for the conveyance of the independent type in which carrying out and carrying in of the workpiece to be processed next are carried out by individual machine tools. In addition, since the transfer bar 11 is always located below the machining stations S1, S2, and S3, it is difficult to discharge the cutting powder, the cutting powder is deposited on the transfer bar 11, and an extra load is transferred to the transfer apparatus 10. There was also a problem that will work.

Therefore, in order to solve the above-mentioned problem, an object of the present invention is to provide a general-purpose transfer machine and a conveying apparatus therefor which can be used for conveying both in-line and independent types without depending on the pitch between processing stations.

1 is a schematic view showing a production line using a conveying apparatus according to a first embodiment of the present invention.

Fig. 2 is a block diagram showing a slide device of the conveying device according to the first embodiment of the present invention.

3 is a cross-sectional view seen from the direction A′A in FIG. 2.

4 is a configuration diagram showing a lift device of the transport apparatus according to the first embodiment of the present invention.

Fig. 5 is a model diagram showing the operation of the conveying apparatus according to the first embodiment of the present invention.

6 is a view showing an in-line type production line using the conveying apparatus according to the first embodiment of the present invention.

7 is a view showing a first modification of the present invention.

8 is a view showing a second modification of the present invention.

9 is a view showing a third modification of the present invention.

10 is a schematic view showing a production line using a conveying apparatus according to a second embodiment of the present invention.

Fig. 11 is a configuration diagram showing a conveying apparatus showing the second embodiment of the present invention.

12 is a configuration diagram of a jig device according to a second embodiment of the present invention.

It is a side view seen from the arrow C direction in FIG.

FIG. 14 is a top view of the transmission member seen from the arrow B direction in FIG. 12.

Fig. 15 is a model diagram showing the operation of the conveying apparatus according to the second embodiment of the present invention.

Fig. 16 is a model diagram showing the operation of the conveying apparatus according to the second embodiment of the present invention.

Fig. 17 is an overall configuration diagram showing a conventional transport apparatus.

18 is a plan view showing a system arrangement of a transfer machine according to a third embodiment of the present invention.

Fig. 19 is a perspective view showing the appearance of a part (two units) of the transfer machine of the third embodiment.

20 is a front view of the workpiece conveyance apparatus used in the transfer machine of the third embodiment.

FIG. 21 is an enlarged cross-sectional view of the main portion broken along the line AA ′ in FIG. 20.

FIG. 22 is a sectional view showing the principal parts of a modification in which the conveying head of the conveying apparatus shown in FIG. 21 is modified.

FIG. 23 is a sectional view showing the main parts broken along the line BB of FIG. 22. FIG.

Fig. 24 is a front view of the workpiece conveyance apparatus used in the fourth embodiment of the present invention.

25 is an enlarged cross-sectional view of the main portion broken along the line C­C in FIG.

* Explanation of symbols for main parts of the drawings

(1): slide device, (2): lifting device, (100): conveying device, (101): lifting member, (102): slide member, (103): workpiece support member, (104): sprocket, ( 105): chain, (107): rack, (108): pinion, (110): servomotor, (118): support, (130): hydraulic cylinder, (140): fixing member, (141): first Link, 142: second link, 151: groove, 200: conveying device, 300: jig device, 302: click part, 303: hydraulic cylinder, 304: transmission member , 305: pallet support member, 306: shaft, P: pallet, W: workpiece.

In order to solve the said subject, in the transfer machine of this invention, the conveying apparatus which conveys a workpiece from the machining position of the machine tool of a previous process to the machining position of a machine tool of a next process is arrange | positioned in the middle of these machine tools. The conveying apparatus includes a slide member that can reciprocate in a conveying direction on a frame, a work support head that can reciprocate in the same direction on the slide member, and drive means for reciprocating these slide members and the work support head. When the slide member is moved to one side of the machine tool, the work support head is moved in the same direction, so that the work support head reaches the machining position of the machine tool. Therefore, the entire length of the slide member can be approximately half of the distance between the machining positions of both machine tools. While the machine tool is executing the machining operation, the slide member of the conveying apparatus is waited at an intermediate position of both machines, so that the tip of the slide member is sufficiently retracted from the processing region, so that the conveying apparatus is contaminated by cutting tongue. I am released from being.

The structure of the conveying apparatus used for the transfer machine by this invention is a conveying apparatus which conveys a workpiece from the workpiece conveyance position arrange | positioned at the machine tool of a previous process, to the workpiece conveyance position arrange | positioned at the machine tool of a next process, The said front A fixed member disposed between the machine tool of the process and the machine tool of the next process, and a member having a length shorter than the distance from the workpiece conveyance position of the machine tool of the preceding process to the workpiece conveyance position of the machine tool of the next process And disposed on the holding member so as to be movable in a direction parallel to the conveying direction of the workpiece, and by means of a slide device, between the workpiece conveyance position of the machine tool in the preceding process and the workpiece conveyance position of the machine tool in the next process. A slide member that is moved and disposed to be movable on the slide member, A workpiece support member which moves in parallel and supports the workpiece, and a detachable device that attaches and detaches between the workpiece support member of the workpiece and the workpiece transport position.

In particular, it is a conveying apparatus which is a lifting device which attaches and detaches the said slide member, and performs the attachment / detachment of the said workpiece support member of the said workpiece | work and the said workpiece conveyance position. Alternatively, the detaching apparatus is a conveying apparatus which is arranged on the machine tool and is a jig apparatus for moving the workpiece on the workpiece supporting member to the workpiece conveying position.

In addition, the flexible transfer line of the present invention includes a machine tool for processing a workpiece carried in and out of a machining station in a machining step in which the workpiece is divided, and a plurality of the machine tools are disposed at intervals along the conveying direction of the workpiece. In the flexible transfer line which sequentially conveys the workpiece directly from the machining station of the machine tool of the previous step to the machining station of the machine tool of the next step by a conveying device in accordance with the conveying direction of the workpiece between the plurality of machine tools, The conveying apparatus is constituted by a plurality of independent intermachine tool conveying apparatuses, and each of the plurality of conveying apparatuses is formed on a straight line connecting the respective machining stations of the plurality of machine tools, and the machine tool of the preceding process and the next process. Are independently disposed between the machine tools, and the plurality of conveying apparatuses include a An elevating member disposed to be capable of elevating the fixed member, an elevating device for elevating the elevating member, and a length of approximately half the distance from the machining station of the preceding process to the machining station of the preceding process, which is disposed on the elevating member; And a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, the workpiece being capable of supporting the work and simultaneously with the movement of the slide member. And a workpiece support member for moving the slide member in parallel with and in the same direction as the movement direction of the slide member, and a control device for controlling the slide device and the elevating device.

In addition, the flexible transfer line of the present invention includes a machine tool for processing a workpiece carried in and out of a machining station in a machining step in which the workpiece is divided, and a plurality of the machine tools are disposed at intervals along the conveying direction of the workpiece. A flexible transfer line for sequentially conveying a workpiece from a machining station of a machine tool in a previous step to a machining station of a machine tool in a next step by a conveying device in accordance with a conveying direction of the workpiece between the plurality of machine tools. And a plurality of jig devices disposed at respective processing stations of the plurality of machine tools, each supporting the workpiece to be lifted by an actuator, and configured by the plurality of independent inter-machine transfer devices. Each of the conveying apparatus of each processing stay of the said plurality of machine tools On a straight line connected between the machine tool of the preceding step and the machine tool of the next step, wherein the plurality of conveying devices are disposed on the fixing member and the fixing member and are disposed from the processing station of the preceding step. A slide member having a length of approximately half of the distance to the machining station of the next step, a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, and the workpiece A work support member which can support and simultaneously move the slide member on the slide member in parallel with and in the same direction as the movement direction of the slide member, and controls the actuator of the jig device and the slide device. An apparatus is provided.

In addition, the flexible transfer line of the present invention includes a machine tool for processing a workpiece carried in and out of a machining station in a machining step in which the workpiece is divided, and a plurality of the machine tools are disposed at intervals along the conveying direction of the workpiece. A flexible transfer line for sequentially conveying the workpieces directly from a machining station of a machine tool in a previous step to a machining station of a machine tool in a next step by a conveying device in accordance with a conveying direction of the workpiece between the plurality of machine tools. The conveying apparatus is constituted by a plurality of independent intermachine tool conveying apparatuses, and each of the plurality of conveying apparatuses is formed on a straight line connecting the respective machining stations of the plurality of machine tools, and the machine tool of the preceding process and the next process. Are independently disposed between the machine tools, and the plurality of conveying apparatuses include a An elevating member disposed to be capable of elevating the fixed member, an elevating device for elevating the elevating member, and a length of approximately half the distance from the machining station of the preceding process to the machining station of the preceding process, which is disposed on the elevating member. And a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, the workpiece being capable of supporting the work and simultaneously with the movement of the slide member. And a work support member for moving the slide member in parallel with and in the same direction as the movement direction of the slide member, and a control device for controlling the slide device and the elevating device, wherein the control device, when processing the work piece, The slide members of the plurality of conveying devices are processed in the preceding step. Between the station and the machining station of the next step and at an intermediate position as an initial position spaced approximately the same distance from either the machining station of the preceding step or the machining station of the next step, and the workpiece after the end of the machining. At the time of conveyance, the slide member is retracted from the initial position to the machining station of the preceding step in a direction opposite to the conveyance direction of the workpiece, and the workpiece supporting member is moved by the workpiece support member at the retracted position. It is operated so as to ascend from a lower position of the workpiece at the machining position on the station to an upper position than the machining position, thereby transferring the workpiece from the machining station of the preceding process to the workpiece supporting member, and then transferring the workpiece supporting member to the upward position. The slab in the state supported by The workpiece is moved forward in the conveying direction of the workpiece toward the machining station of the next step, and in this forward position, the elevating member is operated so that the workpiece supporting member is lowered from the upper position to the lower position. It is characterized in that the workpiece support member is transferred to the machining station of the next step, and the slide member is retracted to the initial position.

In addition, the flexible transfer line of the present invention includes a machine tool for processing a workpiece carried in and out of a machining station in a machining step in which the workpiece is divided, and a plurality of the machine tools are disposed at intervals along the conveying direction of the workpiece. A flexible transfer line for sequentially conveying a workpiece from a machining station of a machine tool in a previous step to a machining station of a machine tool in a next step by a conveying device in accordance with a conveying direction of the workpiece between the plurality of machine tools. And a plurality of jig devices disposed at respective processing stations of the plurality of machine tools, each supporting the workpiece to be lifted by an actuator, and configured by the plurality of independent inter-machine transfer devices. Each of the conveying apparatuses of the On a straight line connected between the machine tool of the preceding step and the machine tool of the next step, wherein the plurality of conveying devices are disposed on the fixing member and the fixing member and are disposed from the processing station of the preceding step. A slide member having a length of approximately half the distance to the machining station of the next step, a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, and supporting the workpiece And a work support member for moving the slide member on the slide member in parallel and in the same direction as the movement direction of the slide member in conjunction with the movement of the slide member, a control device for controlling the actuator and the slide device of the jig apparatus. The control device is, when processing the workpiece, The slide members of the plurality of conveying apparatuses are separated by approximately the same distance between the processing station of the preceding step and the processing station of the next step and from any of the processing station of the preceding step and the processing station of the next step. At the intermediate position as the initial position, when the workpiece is conveyed after the end of the machining, the slide member is retracted from the initial position toward the machining station of the preceding step in the direction opposite to the conveying direction of the workpiece, and this retraction is carried out. At the position, the jig device is lowered from the machining position to the workpiece conveying device to transfer the workpiece from the machining station of the preceding step to the workpiece supporting member, and thereafter, the slide member is moved in the conveying direction of the workpiece in the following process. Move forward toward the machining station And at this forward position, the jig device is raised from the workpiece conveyance position to the machining position to transfer the workpiece from the workpiece supporting member to the machining station of the next step, and to move the slide member back to the initial position. It is characterized by.

Next, the operation of the present invention will be described. However, the conveying apparatus is assumed to be in the initial position where the slide member and the work support member are positioned at the neutral positions of movement.

First, the slide member is driven to move the slide member in a direction opposite to the workpiece conveyance direction. At the same time, the workpiece support member is also moved in the same direction as the movement direction of the slide member, and the workpiece support member is placed at the workpiece conveyance position disposed in the machine tool of the previous step.

The detachable device is driven to send and receive the finished work supported by the machine tool in the previous process to the workpiece support member of the conveying device.

Subsequently, the slide device is driven to move the slide member and the work support member in the work conveyance direction, and the work support member is positioned at the work conveyance position disposed in the machine tool in the next step.

By driving the detachable device, the workpiece supported on the workpiece supporting member is exchanged at the workpiece conveyance position of the machine tool in the next process. Then, the slide device is driven to return the initial position to the initial position, and the conveyance of the work piece is completed once, and the work piece is then conveyed repeatedly.

The conveying apparatus mentioned above is arrange | positioned one by one between each machine tool, and the conveyance of the workpiece | work of the whole line is performed.

Next, a first embodiment of the present invention will be described with reference to the drawings.

1 is a schematic view showing a production line using the conveying apparatus of the first embodiment.

S1-S3 are processing stations, such as a machine tool, and 117 is the conveyor for supplying and unloading the workpiece | work W. As shown to FIG. The support base 118 is arrange | positioned at each processing station S1-S3, The conveying apparatus 100 is being fixed on this support base 118. As shown in FIG. Then, the processing stations S1 to S3 are arranged so that the front and rear stations S1 to S3 are connected to the connecting member 119 to form a production line.

The conveying apparatus 100 is demonstrated in detail. This conveying apparatus 100 is divided into two apparatuses, the slide apparatus 1 which conveys the workpiece W largely, and the elevating apparatus 2 which carries in and carries out the workpiece W. As shown in FIG.

First, the slide apparatus 1 is demonstrated with reference to FIG. 2 and FIG. FIG. 2 is a detailed view of the slide apparatus of the conveying apparatus 100, and FIG. 3 is a cross-sectional view seen from the direction AA ′ in FIG. 2. The slide device 1 is a slide member 102 having a length of approximately half of the workpiece conveyance distance to the elevating member 101 which is moved up and down by the elevating device 2 which will be described later. Supported. A rack 107 is disposed below the slide member 102, and the pinion 108 meshing with the rack 107 is supported by the lifting member 101 so as to be rotatable. The slide member 102 is moved by rotating the pinion 108.

The pinion 108 is rotated by the following configuration. That is, as shown in FIG. 3, the servomotor 110 is being fixed to the elevating member 101 by making the shaft 110a which is the output shaft coaxial with the center of rotation of the pinion 108. As shown in FIG. The shaft 110a penetrates the elevating member 101 and is connected to the transmission shaft 120 rotatably supported in the pinion 108. In addition, the transmission shaft 120 is connected to the speed reducer 121, is connected to the pinion 108 via the speed reducer 121, and is configured to transmit the power of the servomotor 110.

Moreover, the pair of sprockets 104 are rotatably supported by the slide member 102, and the chain 105 hangs on this sprocket 104. As shown in FIG. Both ends of the chain 105 are supported by the chain fixing member 106 fixed to the elevating member 101, respectively, so as to move the engaging portion with the sprocket 104 in accordance with the movement of the slide member 102. .

In addition, the chain 105 is supported on the slide member 102 so as to be movable in the same direction as the moving direction of the slide member 102, and to support the workpiece with the workpiece supporting member 103. . As a result, the workpiece support member 103 moves on the slide member 102 at the same speed as the movement of the slide member 102 in the same direction as the movement direction of the slide member 102 by the movement of the slide member 102. As a result, a double speed displacement mechanism is provided which moves at twice the moving amount and twice the moving speed with respect to the movement of the slide member 102.

Next, the lifting device 2 will be described with reference to FIG. 4. The fixing member 140 is fixed to the support base 118 arrange | positioned at processing station S1-S3. The above-mentioned elevating member 101 is supported by the fixing member 140 so that the elevating member 101 can be elevated by a pair of link mechanisms of the first link 141 and the second link 142, respectively. One end of the first link 141 is rotatably supported by the fixing member 140 by a pin, and the other end of the roller 141a is rotatably supported, and the roller 141a is supported by the elevating member 101. It engages with the formed long hole 101a. On the other hand, one end of the second link 142 is pivotally supported by the elevating member 101 by a pin, and the other end of the roller 142a is rotatably supported so that the roller 142a is fixed member 140. Engages with the long hole 140a formed in the cross-section. The first and second links 141 and 142 are slidably supported by the pins 143 at the midpoints of each other, and the angle of intersection of the first and second links 141 and 142 is increased or decreased. The load of the elevating member 101 is supported.

Further, the tip of the shaft 130a of the hydraulic cylinder 130 fixed to the fixing member 140 is fixed to the elevating member 101, and the elevating member 101 is made by stretching the shaft 130a of the hydraulic cylinder 130. Is supposed to ascend).

The driving of the hydraulic source (not shown) for driving the servomotor 110 and the hydraulic cylinder 130 described above is controlled by the controller 150.

And in the conveyance apparatus 100 of this 1st Example, the attachment / detachment apparatus in a claim is comprised by the elevating apparatus 2. As shown in FIG.

With the above structure, the operation | movement of the conveyance apparatus 100 of this 1st Example is demonstrated according to FIG. 5 is a diagram that models the operation of the transport apparatus 100.

Now, the description is divided into three steps of the carrying out process from the machining station S1 of the workpiece W by the transfer device 100 between the machining stations S1 and S2, the transfer process from the machining station S1 to the machining station S2, and the carrying-in process to the machining station S2. do.

However, initially, the conveying apparatus 100 lowers the elevating member 101 as shown in FIG. 5A, and positions the slide member 102 at the center position of the movement which becomes symmetrical, and the workpiece support member It is assumed that 103 is located at a position that does not interfere with the workpiece W in the machining stations S1 and S2 (hereinafter, this position is called an initial position).

First, the carry-out process from the machining station S1 drives the servomotor 110 from the control device 150 to move the slide member in the direction opposite to the workpiece conveyance direction (the drawing right direction), and the slide member 102. The workpiece supporting member 103, which moves in conjunction with the movement of, is moved so as to be located just below the position where the machining station S1 supports the workpiece (Fig. 5 [B] position). Subsequently, the control unit 150 controls the hydraulic pressure source, not shown, extends the shaft 130a of the hydraulic cylinder 130, and the machining station S1 supports the workpiece W (the machining position in FIG. 5). The elevating member 101 is raised to a higher position (rising cross section in Fig. 5C). Then, the workpiece W which has completed the processing supported by the machining station S1 is placed on the workpiece support member 103 to exchange the workpiece to complete the carrying out process.

Subsequently, the conveyance process from the processing station S1 to the processing station S2 drives the servomotor 110 by the control apparatus 150 in the state (rising end of FIG. 5) with the elevating member 101 raised, and slides it. The member 102 is moved in the workpiece conveyance direction (the drawing left direction), and the workpiece support member 103 is moved to a position directly above the position where the machining station S2 supports the workpiece W (the position in FIG. 5D). It moves and completes a conveyance process.

Next, the carrying-in process to the processing station S2 controls the hydraulic pressure source of illustration not shown with the control apparatus 150, shrinks the shaft 130 of the hydraulic cylinder 130, and makes the elevating member 101 the same as the said initial position. It descends to height (the lower end of FIG. 5E). Then, the workpiece supporting member 103 is transferred to the machining station S2 of the placed workpiece W, and the loading process is completed. Then, the servomotor 110 is driven to return the slide member 102 to its initial position (the position in FIG. 5A), and the conveyance of the work piece is completed once, and the conveyance of the work piece is repeated next. Is done.

As shown in FIG. 1, the above-mentioned conveying apparatus 100 is arrange | positioned between each processing station S1-S3 and the conveyor 117, and conveyance as an entire line is performed. Since the conveying apparatus 100 can be driven individually, the moving distance of the work support member 103 can be arbitrarily set by changing the moving distance of the slide member 102 by the control apparatus 150, so that the processing station Even in production lines having different distances (transfer distances), in-line workpieces can be conveyed by synchronously driving in accordance with individual conveyance distances. That is, since the movement of the slide member 102 is performed by the servomotor 110, since the workpiece support member 103 can move to an arbitrary position, the initial position of the conveying apparatus 100 (refer FIG. 5 [A]) The conveyance can be performed even if the distances from the processing stations to both processing stations are not equal. In other words, this indicates that the degree of freedom is large in the setting position of the conveying apparatus 100. In addition, since the slide device 2 is a double speed discharging mechanism, the length of the slide member 102 is approximately half the length of the installation pitch between the processing stations, so that a wide range of conveyances can be performed at high speed.

6, in the production line which arrange | positioned the processing stations S1-S3 at the interval of laying pitch P, the slide members 102 of the conveying apparatus 100 are connected by the connecting rod 180, and all If the conveying apparatus 100 of this invention is driven synchronously, it can be used also as a conventional inline type conveying apparatus. On the contrary, when the conveying apparatus 100 of the first embodiment is used alone, it can be used as a loading / unloading apparatus of a machine tool, and thus can also be used as an independent conveying apparatus.

As described above, the conveying apparatus 100 of the first embodiment can be used as a conveying apparatus for all production lines, can easily change the processing station, organize processes, and the like, and has the effect of good flexibility. .

Moreover, since the conveying apparatus 100 is arrange | positioned between the individual processing stations S1-S3 and the conveyor 117, it can test-run by a processing station unit at the time of a production line structure. Since the conveying device 100 is located between the processing stations during the processing of the workpiece, there is also an advantage such that it is hardly affected by the cutting powder.

In the first embodiment, the slide member 102 is moved by the servo motor 110 installed in the elevating member 101 through the rack 107 and the pinion 108. The apparatus need not be particularly disposed on the elevating member 101, and the following modifications are possible. First, as shown in FIG. 7, the first modified example closes the rack 107 and the pinion 108 of the conveying apparatus of the first embodiment, and rotates one of the sprockets 104 to the slide member 102. Exposed drive device 200 to be. As shown in Fig. 8, the second modification is provided with a gear 104a which is fixed to the sprocket 104 and rotates together in addition to the conveying apparatus of the first modification, and the endless chain 201 is attached to the gear 104a. ). In the third modification, as shown in Fig. 9, the driving devices 202 and 203 for driving the individual sprockets 104 are disposed on the slide member 102, and the driving devices 202 and 203 are provided. By synchronously driving the slide member 102 and the work support member 103 to move.

In addition, in the first embodiment, the work support member 103 is moved by a double speed discharging mechanism that moves in conjunction with the movement of the slide member 102. However, the work support member 103 is disposed on the slide member 102. FIG. A drive device for moving the) may be separately provided.

In addition, although the lifting device 2 is performed by the hydraulic cylinder 130 in this 1st Example, you may comprise the lifting device 2 by a servomotor, a ball screw mechanism, etc.

In this way, the lifting operation of the lifting member 101 can be accurately controlled, and the lifting operation of the lifting member 101 is also controlled in the process of conveying the work W. Also, the workpiece can be conveyed.

Next, a second embodiment of the present invention will be described below. Incidentally, the same components as those in the above-described first embodiment are denoted by the same reference numerals.

10 is a schematic view showing a production line using the conveying apparatus 200 of the second embodiment. S1 to S3 are processing stations for machine tools and the like, 117 is a conveyor for supplying and unloading the work W placed on the pallet P, and 300 is a jig device for positioning and supporting the work W placed on the pallet P. to be.

The support base 118 is arrange | positioned at each processing station S1-S3, and the conveying apparatus 200 is being fixed on this support base 118. As shown in FIG. Then, the processing stations S1 to S3 are arranged, and the front and rear processing stations S1 to S3 are connected to each other by the connecting member 119 to form a production line.

The conveying apparatus 200 omits the elevating apparatus 2 from the conveying apparatus 100 of 1st Example mentioned above. As shown in FIG. 11, the elevating member 101 is fixed directly to the support stand 118. As shown in FIG. . The slide device 1 is configured in the same manner as the transport device 100. However, the positioning pin 103a is disposed on the upper surface of the work support member 103, and is coupled to the positioning hole 150 formed in the center of the lower surface of the pallet P, which will be described later, and the pallet P is supported by the work support member 103. Is positioned at (see Fig. 12).

The jig device 300 is individually disposed in each of the stations S1 to S3 so as to perform positioning of the work W placed on the pallet P and exchange of the pallet P from the work support member 103 of the conveying device 200. It is.

This jig device 300 will be described in detail. FIG. 12: is a block diagram of the jig | tool apparatus 300 seen from the direction in which the conveyance direction of the workpiece | work W becomes perpendicular to a figure.

FIG. 13 is a side view seen from the arrow C direction in FIG. 12. In addition, the pallet P used in the second embodiment has grooves 151 to which the click portion 302 of the jig device 300 to be described later can be relaxedly formed on both sides thereof, and on the lower surface, a workpiece support member ( A groove 150a having a width equivalent to the width of 103 and extending in the conveying direction of the pallet P is formed. Further, a pallet positioning hole 150 to which the pallet positioning pin 103a is coupled is formed at the center position of the pallet P in the groove 150a.

The jig body 301 has a penetrating space of the slide member 102 and the work support member 103 of the conveying apparatus 200 at the center thereof, and the click portion that fits comfortably in the groove 151 formed on the side of the pallet P. 302 is provided. That is, this click part 302 has the groove | channel 151 in the state in which the pallet P was mounted in the workpiece support member 103 of the slide apparatus 1 (the position of the pallet P of the dashed-dotted line in FIG. 12, and the state of FIG. 13). ) Is loosely fitted to the click portion 302, so that the click portion 302 is set to a height that does not interfere with the pallet P.

In addition, the hydraulic cylinder 303 is fixed to the center of the jig main body 301 so that the moving direction of the shaft 306 which is the drive shaft of the hydraulic cylinder 303 is in the up and down direction. The transmission member 304 shown in FIG. 14 is fixed to this shaft 306 horizontally in the center. FIG. 14 is a top view of the transmission member 304 as seen in the direction BB of FIG. 12, and the transmission member 304 is an X-shaped plate member. On all four ends of the transmission member 304, a circumferential pallet supporting member 305 is fixed in parallel with the four shafts 306. As shown in FIG. Moreover, the positioning pin 305a is arrange | positioned at the two front-end | tips which make the pallet support member 305 diagonal.

Then, the hydraulic cylinder 303 is driven to move the shaft 306 to move the pallet support member 305 fixed to the transmission member 304 to move. That is, by raising the pallet supporting member 305, the positioning pin 305a of the pallet supporting member 305 engages with the positioning hole 153 formed in the lower surface of the pallet P to position the pallet P, The pallet P is supported by the jig device 300 by inserting the pallet P by the front end face of the pallet support member 305 and the click part 302 of the jig main body 301. In addition, when pallet P is carried in and out, the pallet support member 305 falls and retracts in the position (position of the dashed-dotted line in figure) which does not interfere with pallet P carried in and out. In the lower part of the jig main body 301, a space in which the transmission member 304 penetrates when the shaft 306 is lowered is disposed.

Next, the operation of the second embodiment will be described with reference to FIGS. 15 and 16. 15 and 16 are model diagrams showing the operation of the conveying apparatus 200.

Now, the process is divided into three steps of the carrying-out process from the processing station S1 of the workpiece W by the conveying apparatus 200 between the processing stations S1 and S2, the transfer process from the processing station S1 to the processing station S2, and the import process to the processing station S2. do.

However, the conveying apparatus 200 shall be in the initial position which positioned the slide member 102 in the center of the movement which becomes symmetrical, as shown to FIG. 15A.

First, the carrying out process from the processing station S1 moves the slide member 102 in the direction opposite to the workpiece conveyance direction (the drawing right direction), and moves the workpiece support member 103 to move in conjunction with the movement of the slide member 102. Is moved so that the jig device 300 of the machining station S1 is located directly below (the position in Fig. 15 [B]) where the work W placed on the pallet P is supported.

The hydraulic cylinder 303 of the jig device 300 is driven to lower the pallet support member 305. Then, the contact of the groove part 151 and the click part 302 of the pallet P will fall, and the pallet P will fall. When the pallet support member 305 is lowered again, the lower surface of the pallet P is placed on the upper surface of the workpiece support member 103, and the exchange of the pallet support member 305 is made. At this time, the positioning pin 103a disposed on the upper surface of the workpiece supporting member 103 is engaged with the positioning hole 150 formed in the groove 150a of the pallet P, so that the pallet P is placed on the workpiece supporting member 103. Is positioned at the position (state of Fig. 14C). And the pallet P which exchanged with the workpiece support member 103 is supported by the height which the groove part 151 does not contact with the click part 302. FIG. As described above, the workpiece is exchanged from the jig device 300 to the conveying device 200, and the carrying out process is completed.

Subsequently, the conveyance process from the machining station S1 to the machining station S2 moves the slide member 102 in the workpiece conveyance direction (drawing direction left), and just below the place where the machining station S2 supports the workpiece W (Fig. 16 [D] Position) to move the workpiece support member (103). At this time, the groove part 151 of the pallet P does not contact the click part 302 of the jig | tool apparatus 300, and is movable by the conveying apparatus 200 in the workpiece conveyance direction. In this way, the conveyance process is completed.

Next, the carry-in process to the processing station S2 drives the hydraulic cylinder 303 of the jig | tool apparatus 300, and raises the pallet support member 305. As shown in FIG. Then, the front end surface of the raised pallet support member 305 contacts the lower surface of the pallet P, and raises the pallet P. As shown in FIG. At this time, the positioning pin 305a disposed at the tip of the pallet supporting member 305 is engaged with the positioning hole 153 on the lower surface of the pallet P, thereby positioning the pallet P with respect to the jig device 300. . In addition, when the pallet supporting member 305 is raised, the pallet P which is lifted is separated from the pallet positioning pin 103a and the pallet positioning hole 150 so that the pallet P is exchanged.

And the pallet P is a pallet support member 305 to the position (the position of FIG. 16E) which the lower surface of the click part 302 which fits loosely in the groove part 151 of the pallet P contacts the lower surface of the groove part 151. ), The pallet P is positioned and supported by the jig device 300 by being supported by this position. In this way, the import process is completed. Then, the slide member 102 is returned to the initial position (the position in Fig. 16F), and the conveyance of the workpiece W is completed once, and the workpiece W is then conveyed repeatedly.

This conveying apparatus 200 is arrange | positioned between each processing station S1-S3 shown in FIG. 10, and between the conveyors 117, and conveyance as an entire line is performed.

The conveying apparatus 200 of the second embodiment described above has the same effect as the conveying apparatus 100 of the first embodiment. In addition, as in the conveying apparatus 200 of the second embodiment, the conveying apparatus 200 is arranged by disposing the apparatus for transferring the workpiece W from the conveying apparatus of the workpiece W to the processing station in the processing station (the jig apparatus 300). There is an advantage that it is not necessary to arrange the elevating device 2 for elevating the slide member 102.

And in the conveying apparatus of this 2nd Example, the attachment / detachment apparatus in a claim is comprised by the jig | tool apparatus 300. As shown in FIG.

Next, referring to Figs. 18 to 23, a third embodiment of the present invention will be described.

Fig. 18 shows a system layout plan view of the transfer machine of this third embodiment. The conveying apparatus 500A-D is arrange | positioned at the front end of processing station S1-S4, respectively.

Each conveying apparatus corresponds to the arrangement position of the chip discharging apparatus 510 which discharges the cutting tongue from the machining station of a conveying ship to the back of the station. The arrangement in which each of the conveying apparatus and the chip discharging apparatus 510 are arranged at the same position in the conveying direction is effective for shortening the entire length of the system and reducing the required floor area.

The conveyance operation of each conveyance apparatus 500A-D is controlled by the system control apparatus 530. FIG.

The system control device 530 is coupled to the numerical control device NC of each machining station, and receives a machining completion signal from the device NC. The process by which the system control apparatus 530 controls each conveyance apparatus 500A-D is divided roughly, and consists of the following two processes.

① Receiving and waiting process

② Import and Return Process

When the system controller 530 receives the machining completion signal from each machining station, the system controller 530 executes the receiving and waiting process on the conveying apparatus 500 arranged at the rear end of the machining station (the back of the conveying direction). . In carrying out this step, the conveying apparatus 500 moves a conveying head, which will be described later, to a machining station at the front end, and places the finished workpiece thereon on the conveying head, and then returns the conveying head to the original position (standby state). Return to the same position) and wait.

And about the conveying apparatus 500A arrange | positioned at the rear end of the loading station LS, as long as it receives the signal which shows the presence of the workpiece | work on the loading station LS, the system control apparatus 530 receives the said receiving and conveying to the conveying apparatus 500A. The waiting process is carried out. This signal can be obtained from general detecting means such as a limit switch or a proximity switch provided in the import station LS.

Therefore, each conveying apparatus 500A-D in a system performs a receipt and waiting process asynchronously depending on the long and short processing time of each processing station S1-S4.

When all the conveying apparatuses 500A to D have completed the receiving and waiting process and have reached the original position shown by the solid line, the operation signals from the known detecting means disposed in each conveying apparatus for detecting such a state are In response, the system controller 530 executes the carrying in and returning processes on all the conveying apparatuses 500A to D at once. Therefore, this carry-in and return process causes a slight difference due to the moving distance of the carrying head to the processing station of the carrying-in line, but substantially all the conveying apparatuses 500A to D are executed in synchronization. In this carry-in and return process, each conveying apparatus 500 transfers the conveying head which mounts a workpiece to the processing station of a carrying ship, places a workpiece in the station of a carrying ship, and returns to the original position shown by the solid line.

The workpiece fed into the system of the third embodiment can be a plurality of kinds of similar workpieces, and another feature of this system is that it can cope with the mixed conveyance of such similar workpieces. That is, assuming that the workpiece which does not need processing in the 2nd machining station S2 is assumed, the conveying apparatus 500B for 2nd machining station S2 will return to the original position shown by the solid line in the final process of the said receiving and waiting process. After return, it moves to the shift original position shown by the dashed line. When the carry-in and return process is started, the conveying apparatus 500B conveys the conveying head from the shift home position to the mantissa 520B of the second processing station S2, and to this mantissa 520B. After placing the workpiece, it returns to the shift home position. In this case, whether the conveying apparatus 500B stops at the original position of the sheet or moves to the original position shown by the solid line to complete the carry-in return process depends on the position of the workpiece conveyed by the first machining station S1. Decide by

That is, when 500 A of 1st conveying apparatuses conveyed the workpiece | work to 520 A of water stages, the 2nd conveying apparatus 500B is after the conveyance of the workpiece | work to the mantle stage 520B, and is shifted from the shift original position shown by the dashed line to the next. Wait until the start of the receiving and returning process. Conversely, when the workpiece of the first conveying apparatus 500A is brought into the work table (processing position) 521A of the first machining station S1, the second conveying apparatus 500B is in the final process of the carrying in and returning process. Return to the original position shown by the solid line. In addition, in the same carry-in and return process, the third conveying apparatus 500C conveys the workpiece to the third machining station S3 and returns it to its original position, and then shifts to the position of the broken line shown in FIG. Wait until start.

The system controller 530 incorporates a computer to grasp the conveying path information for each work piece as internal information, and based on this information, each of the conveying devices 500A to 500D is a solid line in the receiving and waiting process. It determines whether to wait at the home position shown or the shift home position shown by the dashed line. Further, the system controller 530 determines whether or not each conveying device should wait until the start of the next receiving / waiting process at the home position or the shift home position in the final process of the carry-in and return positions based on the conveying path information. do.

FIG. 19 is a perspective view of the first and second processing stations S1 and S2 shown in FIG. 18 and their accessories. As can be easily understood from this figure, the machine tool of each machining station S1, S2 has a work table 521A / along the X axis parallel to the workpiece conveyance direction and the Y and Z axes perpendicular to each other at right angles thereto. A spindle head 522A / B movable relative to B) and an exchange arm device 524A / B for automatically exchanging a tool between the tool spindle of the spindle head and the tool magazine 523A / B. . In the figure, reference numeral 511 denotes a cutting tongue discharge duct of the chip discharging device 510, and 525 denotes a jig unit for fixing the workpiece disposed on the work table 521A / B.

Next, the specific structure of each conveyance apparatus 500A-D which implements the system of 3rd Example is demonstrated with reference to FIGS.

As shown in Fig. 20, the conveying apparatus 500A includes a fixed base 40 which is fixedly installed on a bottom surface or an enemy mounting table, and guided by a pair of guide rail mechanisms 541 on the base, A shift base 543 which can be shifted between the home position and the shift home position described above by a shift device 542 such as a pneumatic cylinder or a motor screw feed screw mechanism, and a lift device 550 with respect to the shift base 543. Frame 551 that can be lifted and lowered by a frame, and a slide device 560 slidably guided by the frame 551 in a horizontal direction orthogonal to the shift direction of the shift base 543.

The elevating device 550 has substantially the same mechanism and function as the elevating device 2 described in the first embodiment. That is, two pairs of linkage devices 551 supported to be swingable by the pins at the midpoint of each other are arranged in the shift movement direction, and the cylinder device 551 is erected by the cylinder 552. The frame 551 is moved up and down.

As shown in FIG. 21, the slide device 560 slidably guided to the frame 551 includes a pair of slide members 561 having a length of approximately half of the workpiece conveyance distance, and the upper and lower intermediate portions of the slide members. It consists of the slide plate 563 which fits in the long window 562 opened in the longitudinal direction, and connects the slide member 561 integrally. The straight rails 564 are fixed to both end surfaces in the left and right directions perpendicular to the conveying direction of the slide plate 563, and each of the straight rails 564 is a frame 551 at two front and rear portions in the conveying direction center part. Is guided by a linear bearing unit 565 fixed to the unit. Moreover, the pair of rollers 568 which guide each linear rail 564 up and down are arrange | positioned at each front-and-back end part of the frame 551. As shown in FIG. Each slide member 561 has a front and rear end formed on a semicircle, and a gamma member 566 is preferably fixed to the upper and lower portions and the front and rear semicircle portions.

In FIG. 21, a rack 570 is formed on the lower surface of the slave member 561 disposed on the left side over its entire length. The rack 570 may be formed as a separate component from the slide member 561 and may be fixed to the lower surface of the slide plate 563. The rack 570 meshes with a large-diameter gear 573 rotated and driven by a servomotor 572 with a built-in reduction gear mounted at the center of the frame 551, and the slide member is driven by the servomotor 572. 561 is to be moved forward and backward with respect to the frame 551 in the conveying direction.

The conveying head 580 is slidably guided on the gamma member 566 of the pair of left and right slide members 561, and as shown in FIG. 20, the mounting members 581 and 581 are provided at the front and rear ends of the lower surface thereof. ) Is fixed, and one end of the front and back pairs of chains 585 and 586 are connected to the mounting member. The chain 585 is engaged with the sprocket wheel 587, which is freely rotatably supported at the front end of the slide member 561, and is connected to the upper end of the lever 589, the other end of which is swingably supported in the frame 551. It is. The lower end of the lever 589 is connected to the screw mechanism 590, and the tension of the chain 585 is adjustable by the screw mechanism 590.

Similarly, the chain 586 is engaged with the sprocket wheel 591 freely supported at the rear end of the slide member 561, the other end is engaged with the lever 592, the tension is adjusted by the screw mechanism 593 It is possible. Thus, when the slide member 561 slides over the frame 551, the conveying head 580 moves over the slide member 561 at constant equidistant velocity in the same direction as this, and as a result, with respect to the frame 551. Compared to the slide member 561, it moves at twice the moving amount and twice the moving speed. In other words, the chains 585 and 586 and the sprocket wheels 587 and 591 constitute a double speed removal mechanism.

Next, the modification of the conveyance apparatus 500 is demonstrated with reference to FIG. 22 and FIG.

The conveying apparatus 500 which has the structure of this modification is used as the conveying apparatus 500D for the processing station S4 of the system of FIG. 18, for example. That is, the conveying head 580 of the conveying apparatus 500D includes a slide table 600 and a pivot table 602 pivotably supported around the vertical axis by a bearing 601 on the slide table 600. And a turning mechanism 700 for horizontally rotating the workpiece 180 degrees back and forth at approximately an intermediate position between the machining stations S3 and S4. The turning mechanism 700 has a pinion 701 fixed concentrically with this on the lower surface of the rotary table 602, a roller 702 fixed eccentrically to the lower surface of the pinion 701, and this roller 702. The cam plate 703 detachably fixed to the slide plate 563 for guiding, and also the slide plate 563 that engages the pinion 701 only at approximately an intermediate position between the two machining stations S3 and S4. Possibly with a fixed short-acting rack 704. As enlarged in Fig. 23, the cam plate 703 is formed with a straight guide groove 703A at both ends, and a circular arc guide groove 703B passing through them. In the slide plate 563, the linear guide groove 703C which passes through the linear guide groove 703A of the front and rear ends of the cam plate 703 is formed to the front and rear ends.

In the above-described receiving and waiting process, after receiving the workpiece from the machining station S3 of the carrier, the conveying head 580 is returned to the original position at approximately an intermediate position between the machining stations S3 and S4. Until the conveying head 580 reaches approximately the middle of the machining stations S3 and S4, the roller 702 is eccentric to the rear of the shifting pinion 701 in the rearward direction of the slide plate 563 of the linear guide groove 703C. It is moved while guided. When the above intermediate position is reached, the roller 702 rides on the straight guide groove 703A of the cam plate 703 and moves along the center circular guide groove 703B. Since the roller 702 moves along the arc guide groove 703B, the switching pinion 701 is engaged with the shortening rack 704 while turning, and actively at the center of the arc guide groove 703B by the shortening rack 704. And the position of the 2nd attitude | position P2 which rotated the turntable 602 90 degrees from the 1st attitude | position P1, it stops according to the conveyance stop of the conveyance head 580. FIG.

Thereafter, when the above-mentioned carry-in and return process is executed, in accordance with the advancement of the conveying head 580, the roller 702 is swiveled again from the 90 ° position by the turning assist function of the shortening rack 704, and the arc guide groove Turn to 180 ° from the end position of 703B. Therefore, as the transfer head 580 continues to advance, the turning pinion 701 and the pivot table 602 integrally pivot to the 180 ° position P2, and change the front and rear positions of the workpiece placed on the pivot table 602. . Then, as the conveyance head 580 advances, the roller 70 moves along the straight guide groove 70A in the conveyance direction forward. As a result, the workpiece on the turning table 602 is carried into the machining station S4 of the carrier ship. After the conveying head 580 lowers the workpiece by the lowering operation of the elevating device 550 on the jig unit (not shown) of the conveying ship station S4, the conveying head 580 returns to its original position, but the pivoting table 602 Stops at a 90 ° reverse turn from position P3 to P2.

For example, the reorientation of the workpiece, such as between machining stations S1 and S2,

Although the conveying apparatus 500 used for the location which is not needed uses the conveying apparatus 500A shown in FIG. 21, you may set and use the conveying apparatus 500D shown as a modification of FIG. 22 and FIG. In this case, the cam plate 703 is replaced with another cam plate for turning prohibition not shown. The other cam plate is formed with a linear guide groove which connects to the linear guide groove 703C of the slide plate 563. In addition, the short cutting rack 704 is separated from the slide plate 563. As a result, the swing table 602 is integrally moved with the slide table 600 in the same posture without being swung between the propagation strokes of the transfer head 580.

24 and 25 show a conveying apparatus 800 used in the fourth embodiment. This conveying apparatus 800 differs from the conveying apparatus 500 of FIG. 20 and FIG. 21 used for 3rd Example by the following point. The conveying device 800 includes a shift device composed of components 541, 542, and the like, and a horizontal shifting device 820 composed of a pair of flexing arms on the conveying head 810 instead. Is excreted. That is, as shown in FIG. 25, the conveyance head 810 arrange | positions the pivot shaft 812 perpendicularly to the head main body 811 so that rotation is possible, and the base end part of the 1st arm 813 is provided in this pivot shaft 812. As shown in FIG. And the base end of the second arm 815 is rotatably supported through the bearing 814 at the distal end of the first arm 813.

The tip end of the second arm 815 pivotally supports the mounting plate 816 on which the work W is mounted and the rotational shaft 817 integral with the mounting plate 816. A fixed sprocket wheel 818 concentrically fixed to the pivot shaft 812 is disposed, and the wheel 818 is a lower sprocket wheel 819 of an intermediate sleeve supported to be freely rotatable at the tip of the first arm 813. ) And a chain 821. The upper sprocket wheel 823 of the intermediate sleeve is connected via a chain 825 to the sprocket wheel 819 integrally disposed with the rotary shaft 817.

On the other hand, the worm wheel 830 is disposed so as to rotate integrally with the pivot shaft 812, and the worm shaft 832 integrally rotates with the driving sprocket wheel 831 is engaged with this. The drive sprocket wheel 831 is engaged with the endless chain 834. As shown in FIG. 24, the endless chain 834 is a pair of auxiliary sprocket wheels 835, 835, and three sprockets, which are rotated and supported on the front and rear ends of the slide member 561. It is wound around the drive sprocket wheel 840 rotated by the wheels 836 to 838 and the arm drive servomotor 839 fixed to the frame 551. Therefore, when the endless chain 834 is rotated by the rotation of the servomotor 839, the sprocket wheel 831 is rotated and the first arm 813 is pivoted through the worm mechanism. Since the rotatable sprocket wheel 818 and the freely rotatable sprocket wheel 824 are chained together, the second arm 815 is pivoted in the reverse direction by turning the first arm 813. .

The mechanism for sliding the conveying head 810 on the pair of slide members 561 is the same as that of the conveying apparatus 500 shown in FIGS. 20 and 21. As described above, the slide transfer mechanism has a pair of sprocket wheels 587 and 591 at the front and rear ends of the slide member 561, but the wheels 587 and 591 are sprocket wheels shown in FIG. It will be understood that it is separate from (835).

In this conveying apparatus 800, while the conveying head 810 is out of the forward end position and the retracted end position in the conveyance direction, the first arm 813 faces the conveyance direction, and the second arm 815 Overlapping on the first arm 813 and facing in the conveying direction in the same manner, therefore, the mounting plate 816 supports the work W just above the conveying head 810. When the conveying head 810 reaches the retreat end in the conveying direction, that is, immediately next to the jig unit of the processing station of the conveying source (for example, S1 in FIG. 18), or the conveying head 810 is conveyed in the conveying direction When reaching the forward end, i.e., just next to the jig unit of the machining station of the carrier ship (for example, S2 in FIG. 18), the first arm 813 is pivoted in the lateral direction, and at the same time the second arm 815 is Is turning in the reverse direction. As a result, the distal end of the second arm 815, that is, the mounting plate 816 and the work W, approach each jig unit 850 from approximately right next to the center of each jig unit. In the state of FIG. 25 where the second arm 815 is most extended, the conveying head 810 is lowered together with the frame 551 by the above-described lifting and lowering device, and the second arm 815 and the mounting plate 816 are provided. Is lowered in the central opening of the jig unit 850. In this process, the workpiece W is put down on the sheet members 851 and 852 of the jig unit 850, and then the first arm 813 and the second arm 815 are folded and operated. At this time, the second arm 815 is drawn substantially linearly from the central opening of the jig unit 850 and returned to the position on the conveying head 810 directed in the conveying direction.

As is apparent from the above description, the conveying apparatus 800 shown in Figs. 24 and 25 is positioned by the approach distance of the first and second arms 813, 815 from a straight line through each jig unit of a plurality of processing stations. It can be understood that the conveying head 810 is arranged to move along the straight line separated by. Moreover, each jig unit 850 has the shape of a U-shaped jaw when seen from the direction orthogonal to a conveyance direction, and FIG. 25 has shown one vertical support part of such a U-shaped.

In FIG. 25, reference numeral 900 is used to engage the base of the first arm 813 at the position where the arms 813 and 815 extend to prevent the inclination of these arms. And a roller for counterbalance disposed in the processing station.

As described above, the conveying apparatus of the present invention has the following effects. That is, the conveying apparatus of this invention arrange | positions the slide member which moves to the fixed member in the direction parallel to a workpiece conveyance direction, and arrange | positions the workpiece support member which is movable in the direction parallel to the moving direction of a slide member on this slide member. The workpiece can be conveyed between machine tools for which the laying pitch of the machine tool is not selected. And this conveying apparatus is arrange | positioned between individual machine tools, and a production line is comprised, and it becomes a highly flexible conveying apparatus at the time of replacing a machine tool or forming a process.

In addition, the conveying apparatus of the present invention can be used as an inline conveying apparatus by arranging each machine tool at the same pitch, connecting the slide members of the conveying apparatus, and driving all the conveying apparatuses synchronously. If each conveying apparatus is driven independently by arranging the back and the like, there is an effect that it can also be used as an independent conveying apparatus.

Moreover, in the conveying apparatus of this invention, since the length of a slide member is shorter than the workpiece conveyance distance between machine tools, the whole conveying apparatus can be made compact. Further, since the slide member can stand by between the machine tools during the processing of the workpiece, it is easy to discharge the cutting powder in the machine tool, and there is an advantage that the cutting powder is not deposited on the conveying device.

Claims (4)

A machine tool for processing a workpiece carried in and out of a machining station is included in a machining step in which the workpiece is divided, and a plurality of machine tools are arranged at intervals along the conveying direction of the workpiece, and the plurality of machine tools are provided by a conveying device. In the flexible transfer line for sequentially conveying the workpiece directly from the machining station of the machine tool of the previous step to the machining station of the machine tool of the next step according to the conveying direction of the workpiece, The conveying apparatus is constituted by a plurality of independent intermachine tool conveying apparatuses, and each of the plurality of conveying apparatuses is formed on a straight line connecting the respective machining stations of the plurality of machine tools, and the machine tool of the preceding process and the next process. Excreted independently among machine tools, The plurality of conveying apparatuses include: a fixing member, a lifting member disposed to be liftable on the fixing member, a lifting device for lifting up and down the lifting member, and the lifting member disposed on the lifting member; A slide member having a length of approximately half of the distance to the machining station of the machine, a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, and the workpiece. And a workpiece support member which moves in parallel with the movement direction of the slide member in the same direction as the movement direction of the slide member in conjunction with the movement of the slide member, and a control device that controls the slide device and the elevating device. Flexible transfer line comprising a. A machine tool for processing a workpiece carried in and out of a machining station is included in a machining step in which the workpiece is divided, and a plurality of machine tools are arranged at intervals along the conveying direction of the workpiece, and the plurality of machine tools are provided by a conveying device. In the flexible transfer line for sequentially conveying the workpiece directly from the machining station of the machine tool of the previous step to the machining station of the machine tool of the next step according to the conveying direction of the workpiece, And a plurality of jig devices disposed at respective processing stations of the plurality of machine tools, each supporting the workpiece to be lifted by an actuator, and configured by the plurality of independent inter-machine transfer devices. Each of the conveying apparatuses of is independently disposed between the machine tool of the preceding step and the machine tool of the next step on a straight line connecting the respective machining stations of the plurality of machine tools, The plurality of conveying apparatus includes a holding member, a slide member disposed in the holding member and having a length of approximately half the distance from the machining station of the preceding step to the machining station of the next step, and the slide member being subjected to the preceding step. And a slide device for reciprocating between the machining station of the machine and the machining station of the next step, the workpiece being able to support the workpiece and in parallel with the movement of the slide member in parallel with the movement direction of the slide member. In addition, a control device for controlling the workpiece support member moving in the same direction, the actuator of the jig device and the slide device Flexible transfer line comprising a. A machine tool for processing a workpiece carried in and out of a machining station is included in a machining step in which the workpiece is divided, and a plurality of machine tools are arranged at intervals along the conveying direction of the workpiece, and the plurality of machine tools are provided by a conveying device. In the flexible transfer line for sequentially conveying the workpiece directly from the machining station of the machine tool of the previous step to the machining station of the machine tool of the next step according to the conveying direction of the workpiece, The conveying apparatus is constituted by a plurality of independent intermachine tool conveying apparatuses, and each of the plurality of conveying apparatuses is formed on a straight line connecting the respective machining stations of the plurality of machine tools, and the machine tool of the preceding process and the next process. Excreted independently among machine tools, The plurality of conveying apparatuses include a fixing member, an elevating member disposed on the fixing member so as to elevate the elevating member, an elevating device for elevating the elevating member, and an elevating member disposed on the elevating member and the next process from the processing station of the preceding process. A slide member having a length of approximately half of the distance to the machining station of the machine, a slide device for reciprocating the slide member between the machining station of the preceding step and the machining station of the next step, and the workpiece. And a workpiece support member which moves in parallel with the movement direction of the slide member and in parallel with the movement of the slide member, and a control device that controls the slide device and the elevating device. The control device is adapted to move the slide members of the plurality of conveying devices between the machining station of the preceding step and the machining station of the next step, and the machining station of the preceding step and the next step, when the workpiece is processed. At the intermediate position as an initial position spaced at substantially the same distance from any of the machining stations, and at the time of conveying the workpiece after the end of the processing, the slide member is moved from the initial position in the opposite direction to the conveying direction of the workpiece. Retreat toward the machining station of the process, and in this retracted position, the elevating member is operated such that the workpiece support member is raised from the lower position of the workpiece at the machining position on the machining station to a position above the machining position. From the processing station of the preceding step The slide member is moved forward and forward in the conveying direction of the workpiece toward the machining station of the next process while the workpiece support member is transferred to and received from the workpiece support member. Operating the lifting member so that the workpiece supporting member is lowered from the upward position to the downward position so as to transfer the workpiece from the workpiece supporting member to the processing station of the next step, and further, the slide member to the initial position. Retracting Flexible transfer line, characterized in that. A machine tool for processing a workpiece carried in and out of a machining station is included in a machining step in which the workpiece is divided, and a plurality of machine tools are arranged at intervals along the conveying direction of the workpiece, and the plurality of machine tools are provided by a conveying device. In the flexible transfer line for sequentially conveying the workpiece directly from the machining station of the machine tool of the previous step to the machining station of the machine tool of the next step according to the conveying direction of the workpiece, And a plurality of jig devices disposed at each processing station of the plurality of machine tools, respectively, and capable of lifting and lowering by an actuator for supporting the workpiece. The conveying apparatus is constituted by a plurality of independent intermachine tool conveying apparatuses, and each of the plurality of conveying apparatuses is formed on a straight line connecting the respective machining stations of the plurality of machine tools, and the machine tool of the preceding process and the next process. Excreted independently among machine tools, The plurality of conveying apparatus includes a holding member, a slide member disposed on the holding member and having a length of approximately half the distance from the machining station of the preceding step to the machining station of the next step, and the slide member of the preceding step. A slide device for reciprocating between the machining station and the machining station of the next step, and capable of supporting the workpiece and paralleling the movement of the slide member on the slide member in parallel with the movement of the slide member. A work support member moving in the same direction, a control device for controlling the actuator and the slide device of the jig device, The control device may be configured to move the slide members of the plurality of conveying devices between the processing station of the preceding step and the processing station of the next step, and the processing station of the preceding step and the next step when the workpiece is processed. At the intermediate position as an initial position spaced at approximately the same distance from any of the machining stations, and at the time of conveying the workpiece after the end of the processing, the slide member is moved from the initial position to the opposite direction to the conveying direction of the workpiece. Retreat to the machining station of the process, and at this retreat position, the jig device is lowered from the machining position to the workpiece conveyer to transfer the workpiece from the machining station of the preceding process to the workpiece support member, and then the slide. The member in the conveying direction of the workpiece; Move forward toward the machining station of the process, and raise the jig device from the workpiece conveyance position to the machining position at this advance position to transfer the workpiece from the workpiece support member to the machining station of the next process; To move the slide member back to the initial position Flexible transfer line, characterized in that.