WO2017073305A1 - Pallet transport device - Google Patents

Pallet transport device Download PDF

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Publication number
WO2017073305A1
WO2017073305A1 PCT/JP2016/080010 JP2016080010W WO2017073305A1 WO 2017073305 A1 WO2017073305 A1 WO 2017073305A1 JP 2016080010 W JP2016080010 W JP 2016080010W WO 2017073305 A1 WO2017073305 A1 WO 2017073305A1
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WO
WIPO (PCT)
Prior art keywords
pallet
rail
auxiliary
circulation belt
rails
Prior art date
Application number
PCT/JP2016/080010
Other languages
French (fr)
Japanese (ja)
Inventor
郁夫 鈴木
Original Assignee
日特エンジニアリング株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016184003A external-priority patent/JP6621205B2/en
Application filed by 日特エンジニアリング株式会社 filed Critical 日特エンジニアリング株式会社
Priority to CN201680056645.4A priority Critical patent/CN108367867B/en
Publication of WO2017073305A1 publication Critical patent/WO2017073305A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/80—Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers

Definitions

  • the present invention relates to a pallet transport device in which a plurality of pallet rails on which pallets are movably mounted are provided in the same horizontal plane.
  • JP2011-93032A There is a transport device that transports a workpiece in a production line and performs predetermined processing on the workpiece by a machine tool at a transport destination.
  • a plurality of pallets for placing workpieces are conveyed so as to circulate with respect to the machine tool on a track-shaped track composed of two straight portions and two curves connecting the straight portions.
  • a pallet carrying device is disclosed.
  • the conveying device includes first and second pallet rails extending in parallel to each other, first and second pallet feeding units that convey the pallet along the first and second pallet rails, and a plurality of pallets in the first or second.
  • a pallet moving section that moves from the edge of the two pallet rails to the second or first pallet rail. The pallet moving part moves in a semicircular path between two positions facing each end of the first and second pallet rails.
  • the pallet is mounted on the first or second pallet rail by the first or second pallet feeding unit and conveyed, and then the pallet moving unit from the edge of the first or second pallet rail.
  • the pallet is connected to the edge of the second or first pallet rail, moved to the second or first pallet rail by the second or first pallet feed section, and mounted again on the second or first pallet rail.
  • the pallet transport device includes first and second pallet rails extending in parallel with each other. On the other hand, it may be required to provide a plurality of pallet rails so that their extension lines intersect rather than in parallel. In such a case, using the pallet moving part in the pallet transport device described above, the pallet that reaches the end of one pallet rail is connected to the end of the other pallet rail that crosses the pallet rail. It is possible to move to
  • the pallet feeding unit conveys the pallet along the pallet rail, and is engaged with the pallet when the pallet moving unit moves the pallet reaching the end of the pallet rail. It is not allowed to do. For this reason, the pallet moving unit requires a structure that can reliably move the pallet from the end of the pallet rail in a semicircular orbit.
  • the pallet feed unit in the pallet transport device transports the pallet along the pallet rail
  • the pallet reaches the end of the pallet rail and the pallet moving unit moves the pallet.
  • the engagement with the pallet needs to be released. Therefore, the pallet feeding unit cannot move the pallet at the end of the pallet rail.
  • the object of the present invention is to move the pallet from the end of one pallet rail provided so that the extension lines intersect, and to move the pallet from the vicinity of the end of the other pallet rail to the other pallet rail. It is to provide a pallet transport device that can be surely performed.
  • a plurality of pallet rails on which a pallet is movably mounted in the same horizontal plane, a pallet feeding unit that conveys the pallet along the pallet rail, and ends of the plurality of pallet rails A pallet moving part that moves a pallet mounted on any one of the pallet rails to another pallet rail, and the pallet moving part is centered on a vertical rotation axis.
  • a lifting part for raising and lowering the pallet feeding auxiliary part, and the plurality of pallet rails have their extension lines rotated at a predetermined angle with each other. It is provided so as to intersect on the rotation axis.
  • FIG. 1 is a plan view of a pallet carrying device according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the pallet conveying device shown in FIG. 1, showing a state where the pallet is conveyed and reaches the end of the pallet rail.
  • FIG. 3 is a plan view of the pallet conveying device shown in FIG. 1 and shows a state in which the pallet is mounted on the short rail from the end of the pallet rail.
  • FIG. 4 is a cross-sectional view taken along the line AA in FIG. 1 and shows the front of one pallet rail of the pallet transport device.
  • FIG. 5 is a cross-sectional view taken along the line BB in FIG. 2 and shows a state where the pallet of one pallet rail is engaged with the pallet feed assisting portion.
  • FIG. 6 is a cross-sectional view taken along the line CC of FIG. 3 and shows a state in which the pallet of one pallet rail has been moved to the short rail by the pallet feed assisting portion.
  • 7 is a cross-sectional view taken along the line DD of FIG.
  • FIG. 8 is a plan view of the pallet used in the pallet carrying device according to the embodiment of the present invention as seen from the direction G of FIG.
  • FIG. 9 is a cross-sectional view taken along the line EE of FIG. 3 and shows the pallet moving unit.
  • FIG. 10 is a cross-sectional view corresponding to FIG. 9 and shows a state in which the movement of the pallet mounted on the short rail is prohibited by the pallet locking mechanism.
  • FIG. 11 is a plan view corresponding to FIG.
  • FIG. 12 is a cross-sectional view taken along the line FF of FIG. 11 and shows a state in which the pallet locking mechanism is released and movement of the pallet mounted on the short rail is allowed.
  • FIG. 13 is a cross-sectional view corresponding to FIG. 12 and shows a state where the pallet feed assisting portion is lowered by the elevating portion.
  • FIG. 14 is a cross-sectional view corresponding to FIG. 10 and shows a state where the pallet feed assisting portion is lowered by the elevating portion.
  • FIG. 15 is a cross-sectional view corresponding to FIG.
  • FIG. 12 shows a state in which the auxiliary rail is lowered together with the pallet feed auxiliary portion by the auxiliary rail elevating portion.
  • FIG. 16 is a cross-sectional view corresponding to FIG. 10 and shows a state in which the auxiliary rail is lowered together with the pallet feed auxiliary portion by the auxiliary rail elevating portion.
  • FIG. 17 is a plan view corresponding to FIG. 1, and includes an enlarged view showing a state in which surfaces facing each other of the end portion of the pallet rail and the end portion of the short rail continuous thereto are curved.
  • FIG. 1 shows a pallet transport apparatus 10 according to an embodiment of the present invention.
  • three axes X, Y, and Z orthogonal to each other are set.
  • the configuration of the pallet transport apparatus 10 will be described assuming that the X axis extends in a substantially horizontal lateral direction, the Y axis extends in a substantially horizontal front-rear direction, and the Z axis extends in a vertical direction.
  • the pallet transport device 10 includes a plurality of pallet rails 21 and 31 on which the pallet 11 is movably mounted in the same horizontal plane.
  • a first pallet rail 21 provided extending in the horizontal front-rear direction (Y-axis direction) and a second pallet rail provided extending in a substantially horizontal lateral direction (X-axis direction). 31 is provided.
  • 1st and 2nd pallet rails 21 and 31 mount pallet 11 so that movement is possible.
  • Each of the first and second pallet rails 21 and 31 is provided on the gantry 9 (FIGS. 4 to 6), and the pallet 11 is moved and conveyed.
  • the first pallet rail 21 mounts the pallet 11 in a horizontal state. As shown in detail in FIG. 7, the first pallet rail 21 includes a support plate 22 that is directly fixed on the gantry 9 and a commercially available linear motion guide rail that is fixed to the upper edge of the support plate 22 by screws. 23.
  • the pallet 11 mounted on the first and second pallet rails 21 and 31 is screwed to the linear motion block 12 and the linear motion block 12 supported movably on the first and second pallet rails 21 and 31. And a locking member 14 provided on the pedestal 13.
  • the linear motion block 12 is formed so as to straddle the linear motion guide rail 23.
  • the linear motion block 12 is sold as a pair with the linear motion guide rail 23.
  • the linear motion block 12 preferably includes a roller retainer (not shown).
  • the pallet 11 moves on the first and second pallet rails 21 and 31 while restricting movement in the width direction and tilting with respect to the first and second pallet rails 21 and 31. It is possible to significantly reduce the resistance generated when moving.
  • a mounting tool 16 for mounting the workpiece 6 is provided on the upper surface of the base 13.
  • the mounting tool 16 is disposed on one side of the base 13.
  • the workpiece 6 is fixed to the pedestal 13 by the mounting tool 16.
  • the structure of the mounting tool 16 is appropriately changed according to the type of the workpiece 6 to be processed while mounted on the pallet 11.
  • the linear motion block 12 is fixed to the other side of the pedestal 13.
  • the locking member 14 is provided between the linear motion block 12 and the mounting tool 16 in the base 13.
  • the linear motion block 12 is supported so as to be movable so as to straddle the linear motion guide rails 23 in the first and second pallet rails 21 and 31. Therefore, even when one side portion of the pedestal 13 is supported by the first and second pallet rails 21 and 31 via the linear motion block 12, the pallet 11 is in a horizontal state and the first and second pallet rails 21, 31 is movably mounted.
  • the machine tool for processing the workpiece 6 is provided along the first and second pallet rails 21 and 31.
  • the length L of the base 13 along the longitudinal direction of the first and second pallet rails 21 and 31 is preferably formed to be the same as or shorter than the pitch at which the machine tools provided along the first and second pallet rails 21 and 31 are installed.
  • the plurality of pallets 11 move on the first and second pallet rails 21 and 31 with a predetermined pitch, the plurality of pallets 11 have one side portion of the pedestal 13 in the horizontal state. Face each machine tool so that it protrudes to the machine tool side. Therefore, the workpiece 6 mounted on one side through the mounting tool 16 can be processed by the machine tool.
  • the other side part of the base 13 is formed with a locking hole 13a into which a lifting rod 72 (FIGS. 9 and 10) in a pallet locking mechanism 71 described later enters.
  • the locking hole 13a has an inner diameter slightly larger than the outer diameter of the upper end of the lifting rod 72 so that the upper end of the lifting rod 72 can enter. Details of the locking member 14 will be described later.
  • the pallet transport device 10 includes a first pallet feed unit 41 that transports a pallet 11 mounted on a first pallet rail 21 and a pallet 11 mounted on a second pallet rail 31. And a second pallet feeder 51 for conveying the pallet.
  • the first pallet feeder 41 conveys the pallet 11 along the first pallet rail 21.
  • the second pallet feeder 51 conveys the pallet 11 along the second pallet rail 31.
  • first pallet feed unit 41 Since the first pallet feed unit 41 and the second pallet feed unit 51 have the same structure, the first pallet feed unit 41 will be described below as a representative.
  • the first pallet feed unit 41 includes an endless circulation belt 42 provided along the first pallet rail 21, and a servo motor 43 (see FIG. 4) as a circulation mechanism that circulates the circulation belt 42. 4).
  • the circulation belt 42 is formed to be engageable with the pallet 11.
  • driven pulleys 44 are provided at the four corners of the support plate 22 in the first pallet rail 21.
  • the circulation belt 42 is wound around the driven pool 44 so as to surround these four driven pulleys 44.
  • Servo motor 43 is provided on support plate 22.
  • a drive pulley 45 is attached to the rotation shaft 43 a of the servo motor 43.
  • the driving pulley 45 and the four driven pulleys 44 are provided on the same plane.
  • the first pallet feeder 41 has a pair of turning pulleys 46 that turn the circulation belt 42 so that the circulation belt 42 is wound around the drive pulley 45.
  • the pair of turning pulleys 46 are provided in the vicinity of the driving pulley and are pivotally supported by the support plate 22.
  • the rotary shaft 43a rotates with the drive pulley 45.
  • the circulation belt 42 circulates in a state of surrounding the four driven pulleys 44.
  • the circulation belt 42 is a so-called toothed belt. As shown in the enlarged view of FIG. 4, the circulation belt 42 is a belt in which irregularities 42 a and 42 b are alternately formed in the longitudinal direction. The irregularities 42 a and 42 b extend in the width direction of the circulation belt 42. The irregularities 42 a and 42 b are formed so as to be engageable with the irregularities 14 a and 14 b of the pallet 11. The irregularities 14 a and 14 b are formed on the locking member 14 of the pallet 11.
  • the locking member 14 is provided below the pedestal 13 in the same manner as the linear motion block 12.
  • the locking member 14 engages with the circulation belt 42.
  • the irregularities 14a and 14b of the locking member 14 and the irregularities 42a and 42b of the circulation belt 42 are engaged with each other.
  • the engagement between the irregularities 42 a and 42 b of the circulation belt 42 and the irregularities 14 a and 14 b of the locking member 14 is released.
  • the pallet 11 When the irregularities 14a, 14b of the pallet 11 and the irregularities 42a, 42b of the circulation belt 42 are engaged, the pallet 11 cannot freely move along the first and second pallet rails 21, 31. Therefore, when the servo motor 43 is driven and the circulation belt 42 engaged with the pallet 11 is circulated, the pallet 11 moves together with the circulation belt 42. Since the circulation belt 42 is provided along the first pallet rail 21, the pallet 11 is conveyed along the first pallet rail. Similarly, since the circulation belt 42 of the second pallet feeder 51 is provided along the second pallet rail, the pallet 11 is transported along the second pallet rail 31.
  • a member denoted by reference numeral 47 in the drawing is a support member that supports the circulation belt 42 between the driven pulleys 44.
  • the support member 47 prevents the circulation belt 42 from slacking around the driven pulley 44 and prevents the circulation belt 42 from being separated from the locking member 14.
  • a member denoted by reference numeral 48 is a fixture for attaching the support member 47 to the support plate 22.
  • a pallet moving part 61 is provided in the vicinity of the ends of the first and second pallet rails 21 and 31.
  • the pallet moving unit 61 moves the pallet 11 from one of the first and second pallet rails 21 and 31 to the other.
  • the pallet moving unit 61 moves the pallet 11 from the first pallet rail 21 to the second pallet rail 31 and moves the pallet 11 from the second pallet rail 31 to the first pallet rail 21.
  • the pallet moving unit 61 includes a rotating plate 62 that can rotate around a vertical rotation axis, one or more short rails 63 provided around the rotating plate 62, and an index for rotating the rotating plate 62.
  • a unit 64 (FIGS. 9, 10, and 12).
  • the short rails 63 are provided on the rotating circumference of the rotating plate 62 at even angular intervals.
  • the index unit 64 includes a main body portion 64a provided on the gantry 9 and a rotating rod that protrudes upward from the substantially central portion of the upper surface of the main body portion 64a with a vertical line as the rotation center O. 64b.
  • the rotating rod 64b is provided in the main body 64a so as to be rotatable about a vertical line as the rotation center O.
  • the rotation center O of the rotating rod 64b is located at a point where the extended lines of the first and second pallet rails 21 and 31 intersect.
  • the rotating plate 62 is a disc, and the center thereof is screwed to the upper end of the rotating rod 64b in a horizontal state.
  • the rotating plate 62 rotates at a predetermined angle as indicated by a solid line arrow in FIG.
  • one or more short rails 63 are provided around the rotating plate 62.
  • a plurality of short rails 63 are provided for each angle at which the extended lines of the plurality of pallet rails 21 and 31 intersect each other on the rotation axis of the rotation plate 62 or on the rotation circumference of the rotation plate 62 based on the angle.
  • four short rails 63 are provided radially at equal angular intervals on the rotation circumference of the rotating plate 62.
  • the base plate 65 is provided on the rotating plate 62 so as to extend in the radial direction so that the positions of the rotating plate 62 from the rotation center O are equal.
  • the base plate 65 is provided so that the outer end thereof coincides with the outer periphery of the circular rotating plate 62 in a top view.
  • the base plates 65 are provided at four positions every 90 degrees in the rotation circumferential direction of the rotation plate 62.
  • the four short rails 63 are provided around the rotating plate 62 so as to extend in the radial direction through the base plate 65 so that the positions from the rotation center O are equal.
  • the short rail 63 has an outer end protruding from the outer periphery of the rotating plate 62 and is provided at four locations every 90 degrees in the rotating circumferential direction of the rotating plate 62.
  • the short rail 63 has the same cross-sectional shape as the linear motion guide rail 23 in the first and second pallet rails 21 and 31.
  • the length W (FIG. 1) of the short rail 63 is equal to or longer than the length L of the pallet 11 in the rail direction.
  • the short rail 63 When the short rail 63 is rotated 90 degrees around the rotation center O of the rotating plate 62 from the state where the short rail 63 is continuous with the linear motion guide rail 23 in the first pallet rail 21, the short rail 63 is in the second pallet rail 31. It continues to the linear motion guide rail 23.
  • the pallet 11 can be moved from the linear motion guide rail 23 to the short rail 63 and mounted on the short rail 63. Moreover, it moves to the linear motion guide rail 23 from the short rail 63, and can be mounted on the linear motion guide rail 23.
  • the rotating plate 62 is provided with a pallet locking mechanism 71 for each short rail 63.
  • the pallet locking mechanism 71 restricts relative movement of the pallet 11 with respect to the short rail 63 in a state where the pallet 11 is mounted on the short rail 63 provided radially around the rotating plate 62.
  • the pallet locking mechanism 71 includes an elevating rod 72 provided on the rotating plate 62, an elastic body 73 that urges the elevating rod 72, and first and second cylinders 74 and 75 that move the elevating rod 72. And comprising.
  • the lifting rod 72 has an upper end formed so as to be able to enter the locking hole 13 a of the pallet 11 mounted on the short rail 63.
  • the elastic body 73 urges the elevating rod 72 in a direction in which the upper end of the elevating rod 72 enters the locking hole 13a.
  • the first and second cylinders 74 and 75 move the lifting rod 72 against the urging force of the elastic body 73 in the direction in which the upper end of the lifting rod 72 is detached from the locking hole 13a.
  • a through hole 13b is formed in the rotating plate 62, and the lifting rod 72 is provided so as to be movable in the vertical direction through the through hole 13b.
  • the lifting rod 72 is provided with a flange 72a.
  • the flange 72a contacts the lower surface of the base 13 around the locking hole 13a from below with the upper end of the elevating rod 72 entering the locking hole 13a (FIG. 10).
  • the coil spring 73 which is an elastic body, is mounted in a compressed state between the flange 72a and the rotating plate 62.
  • the lifting rod 72 is biased upward by the restoring force of the coil spring 73.
  • a support 76 is provided on the lower surface of the rotating plate 62 so as to protrude downward.
  • a substantially center of the swing piece 77 is pivotally supported at the lower end of the column 76.
  • the swing piece 77 extends in the circumferential direction of the rotating plate 62 and is pivotally supported.
  • One end of the swing piece 77 is pivotally supported by the lower end of the lifting rod 72.
  • the gantry 9 is provided with a first cylinder 74 and a second cylinder 75.
  • the main body 74b of the first cylinder 74 is attached to the gantry 9 so that the upper end of the retracting rod 74a faces the other end of the swing piece 77 when the short rail 63 continues to the first pallet rail 21.
  • the main body 75b of the second cylinder 75 is attached to the gantry 9 so that the upper end of the projecting rod 75a faces the other end of the swing piece 77 when the short rail 63 continues to the second pallet rail 31.
  • the pallet locking mechanism 71 projects the retracting rod 74a of the first cylinder 74 as shown in FIG. Move down against In this state, the lifting rod 72 does not hinder the movement of the pallet 11, so the pallet 11 moves from the first pallet rail 21 to the short rail 63 continuous to the first pallet rail 21 and is mounted on the short rail 63.
  • the pallet moving unit 61 immerses the retracting rod 74 a of the first cylinder 74 and moves the lifting rod 72 upward by the urging force of the coil spring 73.
  • the upper end of the elevating rod 72 enters the locking hole 13 a provided in the pallet 11.
  • the relative movement of the pallet 11 with respect to the short rail 63 can be restrict
  • the pallet moving unit 61 rotates the rotating plate 62 together with the pallet 11. Accordingly, the short rail 63 on which the pallet 11 is mounted can be separated from the first position continuous with the first pallet rail 21 and rotated to the second position continuous with the second pallet rail 31.
  • the pallet moving unit 61 causes the protruding and retracting rod 75 a of the second cylinder 75 to protrude and moves the lifting rod 72 downward again against the biasing force of the coil spring 73. Thereby, the movement of the pallet 11 mounted on the short rail 63 is allowed, and the pallet 11 can be moved to the second pallet rail 31.
  • the pallet carrying device 10 includes a pallet feed assisting portion 81.
  • the pallet feed assisting part 81 moves the pallet 11 from the first pallet rail 21 to the short rail 63 that continues to the first pallet rail 21 or the pallet 11 continues from the short rail 63 to the short rail 63. Move to rail 21. Further, the pallet feed assisting portion 81 moves the pallet 11 from the second pallet rail 31 to the short rail 63 that continues to the second pallet rail 31, or the pallet 11 continues from the short rail 63 to the short rail 63. Move to two pallet rails 31.
  • the pallet feed auxiliary portion 81 is provided in the vicinity of the end portion on the side where the extension lines of the first and second pallet rails 21 and 31 intersect. These pallet feed auxiliary portions 81 have the same structure. Therefore, one of them will be described as a representative.
  • the pallet feed assisting portion 81 in this embodiment includes an auxiliary circulation belt 82 provided continuously with the circulation belt 42, and an auxiliary circulation mechanism 83 that circulates the auxiliary circulation belt 82.
  • the auxiliary circulation belt 82 extends along the end of the first and second pallet rails 21 and 31 and the short rail 63 that continues from the ends of the first and second pallet rails 21 and 31 and protrudes from the outer periphery of the rotating plate 62. Circulate.
  • the auxiliary circulation belt 82 is a so-called toothed belt like the circulation belt 42.
  • the auxiliary circulation belt 82 also has irregularities 82a and 82b extending in the width direction.
  • the irregularities 82a and 82b are alternately and continuously formed in the longitudinal direction (enlarged view in FIG. 5).
  • the irregularities 14a and 14b of the locking member 14 of the pallet 11 are formed to be able to engage with the irregularities 82a and 82b.
  • the pallet feed assisting portion 81 has a fulcrum provided at an end near the first and second pallet feed portions 41 and 51, and the other end that rotates up and down around the fulcrum. .
  • the pallet feed assisting portion 81 is not limited to this, and may be moved up and down horizontally.
  • one end of the auxiliary plate 91 near the first and second pallet feeding portions 41 and 51 is connected to the support plate 22 of the first and second pallet rails 21 and 31. It is pivotally supported at the upper end near the linear motion guide rail 23 at the end portion on the rotating plate 62 side.
  • the linear motion guide rail 23 is provided so as to protrude from the end of the support plate 22 on the rotating plate 62 side.
  • the end edge of the straight guide rail 23 faces the outer end edge of the short rail 63 provided on the rotating plate 62 with a slight gap. Accordingly, the linear motion guide rail 23 is configured to be continuous with the short rail 63.
  • a guide material 92 is provided horizontally on the upper end of the auxiliary plate 91.
  • the guide material 92 extends along the first and second pallet rails 21, 31 along the end portions of the first and second pallet rails 21, 31 and the short rail 63 that is continuous with the first and second pallet rails 21, 31. Extending in the longitudinal direction.
  • the guide member 92 has an auxiliary circulation belt 82 such that the auxiliary circulation belt 82 extends along the end portions of the first and second pallet rails 21 and 31 and the short rail 63 continuous to the first and second pallet rails 21 and 31. Is supported from below.
  • the auxiliary plate 91 pivotally supports an auxiliary pulley 93 that turns the auxiliary circulation belt 82 that moves on the upper surface of the guide member 92 and moves in the longitudinal direction of the first and second pallet rails 21 and 31.
  • the auxiliary pulley 93 is disposed on both sides of the guide material 92.
  • the auxiliary plate 91 is provided with a servo motor 83 which is an auxiliary circulation mechanism.
  • the servo motor 83 circulates the auxiliary circulation belt 82.
  • An auxiliary drive pulley 84 is attached to the rotation shaft 83 a of the servo motor 83.
  • the auxiliary drive pulley 84 is provided on the same plane as the two auxiliary pulleys 93.
  • the auxiliary circulation belt 82 is wound around the auxiliary drive pulley 84 and the auxiliary pulley 93.
  • the auxiliary circulation belt 82 wound around the auxiliary drive pulley 84 circulates.
  • the auxiliary circulation belt 82 moves on the upper surface of the horizontal guide member 92 between the two auxiliary pulleys 93. That is, the auxiliary circulation belt 82 extends along the end of the first and second pallet rails 21 and 31 and the short rail 63 protruding from the outer periphery of the rotating plate 62 continuously to the first and second pallet rails 21 and 31. To move.
  • the auxiliary circulation belt 82 has irregularities 82a and 82b extending in the width direction and continuously formed in the longitudinal direction, like the circulation belt 42. For this reason, when the locking member 14 is overlaid on the auxiliary circulation belt 82, the irregularities 82 a and 82 b of the auxiliary circulation belt 82 engage with the irregularities 14 a and 14 b of the locking member 14.
  • the pallet 11 moves the first pallet rail 21, moves from the circulation belt 42 to the auxiliary circulation belt 82 at the end of the first pallet rail 21, and engages the auxiliary circulation belt 82 (see FIGS. 4 and 5). .
  • the pallet 11 can freely move in the longitudinal direction of the first and second pallet rails 21 and 31. Movement (relative movement with the auxiliary circulation belt 82) is restricted. Therefore, when the auxiliary circulation belt 82 engaged with the pallet 11 is circulated, the pallet 11 moves together with the auxiliary circulation belt 82 and the short rail 63 or the first and second pallet rails 21 and 31 along the auxiliary circulation belt 82. It is conveyed along.
  • the pallet 11 When the auxiliary circulation belt 82 engaged with the locking member 14 is further circulated, the pallet 11 is connected to the first pallet rail 21 from the end of the first pallet rail 21 as shown in FIG. Move up to. When the auxiliary circulation belt 82 is circulated in the reverse direction, the pallet 11 moves from the short rail 63 to the first pallet rail 21 or the second pallet rail 31.
  • the pallet carrying device 10 includes a fluid pressure cylinder (elevating part) 95 for elevating and lowering the pallet feeding auxiliary part 81.
  • the main body 95b of the fluid pressure cylinder 95 is fixed to the gantry 9 with the retracting rod 95a facing upward.
  • the other end of the auxiliary plate 91 is pivotally supported on the upper end of the retracting rod 95a.
  • the auxiliary circulation belt 82 in the auxiliary plate 91 protrudes from the outer periphery of the rotating plate 62 of the pallet 11 mounted on the short rail 63 in a state where the protruding rod 95 a protrudes upward. It is comprised so that it may overlap (FIG. 6).
  • the locking member 14 is provided on the lower surface of the base 13 in the pallet 11. Since the other end of the auxiliary plate 91 is pivotally supported by the other end of the retracting rod 95a, when the retracting rod 95a of the fluid pressure cylinder 95 is immersed in the main body 95b, the pallet feed assisting portion 81 including the auxiliary plate 91 is lowered. As a result, the auxiliary circulation belt 82 in the auxiliary plate 91 is also lowered.
  • the pallet transport method using the pallet transport device 10 includes a first pallet transport process for transporting the pallet 11 along the first pallet rail 21, and the pallet 11 from the end of the first pallet rail 21 to the second pallet rail 31.
  • the pallet 11 is mounted on the first pallet rail 21.
  • the pallet 11 is mounted on the second pallet rail 31.
  • a workpiece 6 that requires predetermined processing is mounted.
  • the workpiece 6 is mounted on the pallet 11 mounted on the first guide rail 21
  • the end of the linear motion guide rail 23 in the first guide rail 21 is inserted into the linear motion block 12 of the pallet 11, and the linear motion block 21 is moved to the linear motion guide rail 23. To be installed.
  • the irregularities 14 a and 14 b on the pallet 11 are engaged with the irregularities 42 a and 42 b of the circulation belt 42 provided along the first guide rail 21, as shown in FIG. 4. To do.
  • the servo motor 43 that is a driving mechanism to circulate the circulation belt 42, the pallets 11 can be conveyed along the first guide rail 21.
  • the pallet 11 is conveyed until it faces each machine tool (not shown) provided along the first pallet rail 21.
  • the servo motor 43a is stopped.
  • the workpiece 6 mounted on the pallet 11 is processed by each of these machine tools.
  • it is possible to simultaneously perform machining with a plurality of machine tools by conveying the plurality of pallets 11 at the same pitch as the pitch of each machine tool (not shown).
  • ⁇ Pallet moving process> the pallet 11 is moved to the second pallet rail 31 from the end of the first pallet rail 21. This movement is performed by a pallet moving part 61 provided in the vicinity of the ends of the first and second pallet rails 21 and 31.
  • an auxiliary circulation belt 82 is provided continuously to the circulation belt 42.
  • the pallet 11 moves along the first pallet rail 21 in the above-described first pallet conveying step.
  • the irregularities 42a, 42b (FIG. 4) of the circulation belt 42 and the irregularities 82a, 82b of the auxiliary circulation belt 82 are made continuous, and the auxiliary circulation belt 82 is circulated at the same speed as the circulation belt 42, the pallet 11 is moved immediately before reaching the end of the first pallet rail 21 from the circulation belt 42 to the auxiliary circulation belt 82 continuous thereto as shown in FIGS. As a result, the pallet 11 is engaged with the auxiliary circulation belt 82.
  • the pallet 11 is assisted by the circulation belt 42. It quickly moves and engages with the circulation belt 82. Thereafter, the pallet 11 reaches the end of the first pallet rail 21.
  • an auxiliary circulation belt 82 that circulates along the end of the first pallet rail 21 and the short rail 63 that continues to the end of the first pallet rail 21 is provided continuously to the circulation belt 42. It is done. For this reason, after the pallet 11 is engaged with the auxiliary circulation belt 82, the circulation of the auxiliary circulation belt 82 is stopped, so that the pallet 11 engaged with the auxiliary circulation belt 82 is set to the first regardless of the circulation of the circulation belt 42. It can be retained at the end of the pallet rail 21. Further, if the circulation belt 42 is circulated, the pallet 11 different from the pallet 11 held at the end of the first pallet rail 21 is moved along the first pallet rail 21 regardless of the circulation of the auxiliary circulation belt 82. Can be moved. That is, by providing the auxiliary circulation belt 82 continuously with the circulation belt 42, the pallet 11 can be transported along the first pallet rail 21 from the pallet 11 that moves in the pallet movement process.
  • the rotating plate 62 is rotated by the index unit 64 in the pallet moving unit 61 so that the short rail 63 is continued to the first pallet rail 21.
  • the auxiliary circulation belt 82 is circulated to move the pallet 11 from the end of the first pallet rail 21 to the short rail 63.
  • the pallet 11 is mounted on the short rail 63.
  • the retracting rod 74a of the first cylinder 74 is protruded from the main body 74b.
  • the elevating rod 72 facing the short rail 63 continuous with the first pallet rail 21 moves downward against the urging force of the coil spring 73.
  • the pallet 11 is moved from the first pallet rail 21 to the short rail 63 continuous to the first pallet rail 21, and the pallet 11 is mounted on the short rail 63.
  • the retracting rod 74a of the first cylinder 74 is immersed in the main body 74b.
  • the elevating rod 72 moves upward by the urging force of the coil spring 73, and the upper end of the elevating rod 72 enters the locking hole 13 a provided in the pallet 11.
  • the index unit 64 rotates the rotating plate 62 as shown by the solid line arrow in FIG.
  • the short rail 63 on which the pallet 11 is mounted moves from a first position continuous with the first pallet rail 21 and rotates to a second position continuous with the second pallet rail 31.
  • the irregularities 82a and 82b (FIG. 5) engaged with the pallet 11 are formed to extend in the width direction on the auxiliary circulation belt 82. For this reason, when the rotating plate 62 is rotated, the pallet 11 mounted on the short rail 63 moves in the width direction of the auxiliary circulation belt 82. Accordingly, the irregularities 14a and 14b of the pallet 11 are shifted in the width direction from the irregularities 82a and 82b of the auxiliary circulation belt 82, and the engagement with the irregularities 82a and 82b of the auxiliary circulation belt 82 is released.
  • the retracting rod 95a of the fluid pressure cylinder 95 may be immersed in the main body 95b below it. preferable.
  • the interference between the short rail 63 and the auxiliary circulation belt 82 can be avoided, and the engagement between the pallet 11 and the auxiliary circulation belt 82 can be reliably released. That is, since the auxiliary plate 91 whose other end is pivotally supported by the upper end of the retractable rod 95a is lowered together with the auxiliary circulation belt 82, the engagement between the pallet 11 and the auxiliary circulation belt 82 can be reliably released. Therefore, it is possible to avoid the short rail 63 rotating together with the rotating plate 62 from interfering with the auxiliary circulation belt 82.
  • the engagement between the pallet 11 and the auxiliary circulation belt 82 is released and the rotating plate 62 is rotated 90 degrees.
  • the next short rail 63 continues to the first pallet rail 21.
  • the rotating plate 62 is rotated by 90 degrees, the short rail 63 that is continuous with the first pallet rail 21 is separated from the first position, and the pallet 11 mounted on the short rail 63 is moved to the second position.
  • the pallet rail 31 moves to a second position.
  • the rotation angle of the rotation plate 62 required in the pallet moving process is reduced. Therefore, the pallet 11 can be moved quickly.
  • the rotation angle of the servo motor 83 is controlled by a preset program.
  • the retracting rod 75a of the second cylinder 75 is projected from the main body 75b.
  • the lifting rod 72 moves downward against the biasing force of the coil spring 73, and the upper end of the lifting rod 72 is detached from the locking hole 13a. As a result, relative movement of the pallet 11 with respect to the short rail 63 is allowed.
  • the auxiliary circulation belt 82 located near the end of the second pallet rail 31 and engaged with the pallet 11 is circulated, and the pallet 11 is moved together with the auxiliary circulation belt 82.
  • the pallet 11 moves from the short rail 63 to the second pallet rail 31.
  • the pallet 11 is moved from the end of the first pallet rail 21 to the second pallet rail 31.
  • the pallet 11 finally moves from the short rail 63 to the second pallet rail 31 as indicated by the broken line arrow in FIG.
  • the pallet 11 moves to the end of the second pallet rail 31 while being engaged with an auxiliary circulation belt 82 provided along the end of the second pallet rail 31.
  • the pallet 11 mounted on the second pallet rail 31 is transported.
  • a circulation belt 42 provided along the second pallet rail 31 is continuous with the auxiliary circulation belt 82. Therefore, the auxiliary circulation belt 82 and the circulation belt 42 are circulated at the same speed so that the irregularities 82a and 82b of the auxiliary circulation belt 82 are continuous with the irregularities 42a and 42b of the circulation belt 42.
  • the pallet 11 starts to move from the end of the second pallet rail 31 toward the center as shown by the one-dot chain arrow in FIG.
  • the pallet 11 is separated from the auxiliary circulation belt 82 and engages with the circulation belt 42.
  • the circulation belt 42 By circulating the circulation belt 42, the pallet 11 can be conveyed along the second pallet rail 31.
  • the pallet 11 is transported along the second pallet rail 31 until it faces each machine tool (not shown) provided along the second pallet rail 31.
  • the servo motor 43 is stopped.
  • the workpiece 6 mounted on the pallet 11 is processed by each of these machine tools.
  • the auxiliary circulation belt 82 that circulates along the end of the second pallet rail 31 and the short rail 63 that continues to the end of the second pallet rail 31 is provided continuously to the circulation belt 42. For this reason, by circulating the circulation belt 42 and the auxiliary circulation belt 82 separately, it is possible to maintain the pallet 11 at the end of the second pallet rail 31 without overlapping the pallet 11 with the circulation belt 42. Specifically, as shown in FIG. 11, the circulation of the auxiliary circulation belt 82 causes the pallet 11 to move from the short rail 63 to the end of the second pallet rail 31 and then circulate before the pallet 11 reaches the circulation belt 42. To stop. Since the pallet 11 does not engage with the circulation belt 42, the pallet 11 can be maintained at the end of the second pallet rail 31 regardless of the circulation of the circulation belt 42.
  • the pallet 11 engaged with the circulation belt 42 is conveyed on the second pallet rail 31 by the circulation of the circulation belt 42.
  • the circulation belt 42 mounted on the second pallet rail 31 is moved without moving the pallet 11 mounted on the end of the second pallet rail 31 and engaged with the auxiliary circulation belt 82 but not engaged with the circulation belt 42.
  • the pallet 11 engaged with the can be moved.
  • the auxiliary circulation belt 82 is circulated and the pallet 11 engaged with the auxiliary circulation belt 82. Is moved and engaged with the circulation belt 42. Thereby, the plurality of pallets 11 can be conveyed on the second pallet rail 31 at a predetermined pitch.
  • the auxiliary circulation belt 82 engages with the pallet 11 mounted on the short rail 63. For this reason, the pallet 11 can be reliably guided to the short rail 63 by the auxiliary circulation belt 82.
  • the pallet transport device 10 includes an elevating unit 95 that elevates and lowers the pallet feed auxiliary unit 81.
  • the engagement between the pallet 11 mounted on the short rail 63 and the pallet feed assisting portion 81 can be released.
  • the rotating plate 62 rotates, if the short rail 63 rotating with the rotating plate 62 interferes with the auxiliary circulation belt 82, such interference can be avoided.
  • the pallet 11 is reliably moved from the end of the first pallet rail 21 to the end of the second pallet rail 31. be able to.
  • the pallet feed assisting portion 81 is raised, the auxiliary circulation belt 82 is engaged again with the pallet 11 mounted on the short rail 63. Therefore, the pallet 11 can be reliably moved to the other pallet rail 31 from the short rail 63 that is moved together with the pallet 11 and connected to the edge of the other pallet rail 31.
  • the pallet 11 can be reliably carried.
  • the engagement of the pallet 11 and the pallet feed assisting portion 81 and the release thereof can also be performed by raising and lowering the pallet 11.
  • the weight of the pallet 11 is relatively large, and raising and lowering the pallet 11 causes power consumption.
  • the workpiece 6 also moves up and down as the pallet 11 moves up and down. It is necessary that the mounting of the work by the mounting tool 16 be able to withstand the elevation, and the structure of the mounting tool 16 on which the work 6 is mounted may be complicated.
  • the pallet feed assisting portion 81 since the pallet feed assisting portion 81 is moved up and down, the pallet 11 and the pallet feed assisting portion 81 can be engaged and released with less power. Moreover, it is not necessary to consider the raising / lowering of the workpiece
  • the workpiece 6 is mounted on one side of the pedestal 13, and the linear motion block 12 is fixed to the other side of the pedestal 13. Since the linear movement block 12 is supported by the first pallet rail 21 and the second pallet rail 31, the pallet 11 can be transported with one side portion of the base 13 on which the workpiece 6 is mounted always facing outward.
  • the pallet 11 is engaged with the endless circulation belt 42 and is conveyed along the first pallet rail 21 and the second pallet rail 31.
  • the interval between the plurality of pallets 11 conveyed along the first pallet rail 21 or the second pallet rail 31 can be changed. That is, the transport pitch between the pallet 11 transported first and the pallet transported later can be easily changed.
  • one end of the auxiliary plate 91 is pivotally supported on the upper end of the support plate 22 and close to the linear motion guide rail 23. Further, the linear motion guide rail 23 protrudes from the end portion of the support plate 22 and continues to the short rail 63 in the rotating plate 62.
  • the pallet rails 21 and 31 are arranged on the same straight line between the pallet rails 21 and 31 and the rotating plate 62 so as to be continuous with the end portions of the pallet rails 21 and 31.
  • An auxiliary rail 96 may be provided.
  • the pallet carrying device 10 further requires a fluid pressure cylinder (auxiliary rail elevating part) 97 for elevating the auxiliary rail 96.
  • the fluid pressure cylinder 97 has a first position where the auxiliary rail 96 continues to the end of the pallet rails 21 and 31 as shown by a one-dot chain line in the drawing, and a first position below the first position as shown by a solid line in the drawing. The auxiliary rail 96 is moved up and down between the two positions.
  • a pivot post 90 is erected on the mount 9 near the end of the support plate 22 on the rotary plate 62 side of the first and second pallet rails 21 and 31, and an auxiliary plate 91 is disposed on the upper end of the pivot post 90.
  • a case where one end of the auxiliary rail 96 and one end of the auxiliary rail 96 are pivotally supported is shown.
  • the main body 97b of the fluid pressure cylinder 97 is fixed to the gantry 9 with the retracting rod 97a facing upward.
  • the other end of the auxiliary rail 96 is pivotally supported at the upper end of the retracting rod 97a.
  • the auxiliary rail 96 has a fulcrum 96a at the end close to the pallet rails 21 and 31, and the other end moves up and down with the fulcrum 96a as a rotation axis.
  • the fluid pressure cylinder 97 has a first position (one-dot chain line in the figure) where the auxiliary rail 96 continues to the end of the pallet rails 21 and 31, and a second position (solid line in the figure) below the first position. , Go up and down between.
  • the auxiliary rail 96 is lowered when the rotating plate 62 is rotated.
  • the pallet 11 can be reliably rotated and moved together with the rotating plate 62.
  • auxiliary rail 96 may be moved up and down in a horizontal state.
  • the linear motion guide rail 23 and the short rail 63 of the rotating plate 62 are continuously provided with a slight gap
  • the linear motion guide rail 23 and the short rail are rotated when the rotating plate 62 rotates. May interfere with each other and cannot be continued.
  • the surfaces of the end portions of the linear motion guide rail 23 and the end portions of the short rails 63 that are continuous with each other may be curved.
  • the curvature R of the curved surface processing in this case is preferably finished to be equal to the curvature of the rotating circle of the rotating plate 62. Such a modification is particularly effective when the diameter of the rotating plate 62 is relatively small.
  • times in a horizontal surface are provided as a several pallet rail which mounts the pallet in a pallet conveyance apparatus so that a movement is possible.
  • a plurality of pallet rails may be provided so as to intersect each other at a predetermined angle other than a right angle in the horizontal plane.
  • the first and second pallet feeding units 41 and 51 include the circulation belt 42 and a circulation mechanism (servo motor 43) that circulates the circulation belt 42.
  • the first and second pallet feeding units 41 and 51 are not limited to this, and may have different configurations as long as the pallet 11 can be conveyed along the first and second pallet rails 21 and 31. .
  • the short rail 63 is not limited to four as long as it is provided for each crossing angle of the first pallet rail 21 and the second pallet rail 31. For example, if the crossing angle is 30 degrees, twelve, 60 degrees If so, a plurality other than four may be provided based on the intersection angle, such as six.
  • the rotating plate 62 in the pallet moving unit 61 is formed in a disc shape when viewed from above.
  • the rotating plate 62 may have a polygonal shape, a cross shape, or a rod shape in a top view, and if the one or more short rails 63 are provided on the rotating circumference of the pallet moving unit 61, the rotating plate 62. It is not related to the shape.
  • the mounting tool 16 for mounting the workpiece 6 is provided on the upper surface of one side portion of the base 13 .
  • a through hole may be formed in the pedestal 13
  • a mounting tool 16 may be provided in the through hole
  • the workpiece 6 may be mounted through the pedestal 13 through the through hole.
  • the pallet conveying device is provided at a plurality of pallet rails that movably mount a pallet in the same horizontal plane, a pallet feeding unit that conveys the pallet along the pallet rails, and ends of the pallet rails.
  • a pallet moving unit that moves a pallet mounted on any one of the pallet rails to another pallet rail, and the pallet moving unit is rotatable around a vertical axis of rotation.
  • a plurality of pallet rails, and the extension lines of the plurality of pallet rails rotate at a predetermined angle with respect to each other. It is provided so as to intersect above.
  • the pallet feed assisting unit may have a fulcrum at the end close to the pallet feed unit, and the other end may be raised and lowered with the fulcrum as the rotation axis.
  • the pallet feed auxiliary part is provided with endlessness along the end of the pallet rail and the short rail that continues to the end of the pallet rail, in which unevenness extending in the width direction is formed alternately and continuously,
  • a circulatory belt is provided, and the bottom surface of the pallet is formed with a concavo-convex that can be engaged with the concavo-convex of the auxiliary circulation belt.
  • the pallet is configured to be movable by circulation of the belt, and when the pallet feed assisting portion is lowered, the unevenness of the auxiliary circulation belt is separated from the unevenness of the pallet.
  • a plurality of short rails are provided for each angle at which the extended lines of the plurality of pallet rails cross each other on the rotation axis of the rotating plate, or on the rotating circumference of the rotating plate based on the angle.
  • the pallet transport device includes a pallet locking mechanism that allows and restricts movement of the pallet mounted on the short rail.
  • the pallet transport device includes an auxiliary rail provided on the same straight line of the pallet rail so as to be continuous with the end of the pallet rail between the pallet rail and the rotating plate, and a first position continuous with the end of the pallet rail.
  • an auxiliary rail elevating part that elevates and lowers the auxiliary rail between the first position and the second position below the first position.
  • the auxiliary rail may have a fulcrum at the end near the pallet rail, and the other end may be raised and lowered with the fulcrum as the rotation axis.
  • the pallet feed auxiliary unit that moves the pallet from the pallet rail to the short rail, or the pallet moves from the short rail to the pallet rail, and the elevating unit that raises and lowers the pallet feed auxiliary unit (fluid pressure cylinder) And). For this reason, even when the pallet feed assisting portion is engaged with a pallet mounted on the short rail, the pallet and the pallet feed assisting portion are Can be disengaged.
  • the pallet mounted on the short rail can be moved to the other pallet rail by rotating the rotating plate together with the short rail. If a pallet locking mechanism is provided during this movement, movement of the pallet mounted on the short rail can be restricted.
  • the pallet feed auxiliary part when the pallet feed auxiliary part is raised, the pallet feed auxiliary part is engaged again with the pallet mounted on the short rail. For this reason, the pallet can be moved again from the short rail connected to the edge of the other pallet rail to the other pallet rail. Thereby, even if a plurality of pallet rails are provided so that the extension lines intersect, the pallet can be reliably moved.

Abstract

A pallet transport device is provided with: a plurality of pallet rails for mounting pallets thereon; pallet feeding sections for transporting the pallets; a pallet movement section for moving a pallet mounted on one pallet rail to the other pallet rail; a rotatable plate capable of rotating about a vertical rotation axis; a short rail provided on the periphery of the rotatable plate; pallet feeding assist sections for moving a pallet from a pallet rail to the short rail or moving a pallet mounted on the short rail to a pallet rail; and lifting-lowering means for lifting and lowering the pallet feeding assist sections. The plurality of pallet rails are configured so that lines extending from the pallet rails intersect each other on the rotation axis of the rotatable plate at a predetermined angle.

Description

パレット搬送装置Pallet transport device
　本発明は、パレットを移動可能に搭載する複数のパレットレールが水平な同一面内に設けられるパレット搬送装置に関する。 The present invention relates to a pallet transport device in which a plurality of pallet rails on which pallets are movably mounted are provided in the same horizontal plane.
　製造ラインにおいて、ワークを搬送し、搬送先において工作機によりそのワークに対して所定の加工が行われる搬送装置がある。ＪＰ２０１１－９３０３２Ａには、ワークを載せるための複数のパレットを、２本の直線部分と、直線部分どうしをつなぐ２つの曲線と、からなるトラック形の軌道で工作機に対して循環するように搬送するパレット搬送装置が開示されている。 There is a transport device that transports a workpiece in a production line and performs predetermined processing on the workpiece by a machine tool at a transport destination. In JP2011-93032A, a plurality of pallets for placing workpieces are conveyed so as to circulate with respect to the machine tool on a track-shaped track composed of two straight portions and two curves connecting the straight portions. A pallet carrying device is disclosed.
　この搬送装置は、互いに平行に延びる第一及び第二パレットレールと、パレットを第一及び第二パレットレールに沿って搬送させる第一及び第二パレット送り部と、複数のパレットを第一又は第二パレットレールの端縁から第二又は第一パレットレールにまで移動させるパレット移動部と、を備えている。パレット移動部は、第一及び第二パレットレールの各両端部に対峙する二位置間を半円状の軌道で移動する。 The conveying device includes first and second pallet rails extending in parallel to each other, first and second pallet feeding units that convey the pallet along the first and second pallet rails, and a plurality of pallets in the first or second. A pallet moving section that moves from the edge of the two pallet rails to the second or first pallet rail. The pallet moving part moves in a semicircular path between two positions facing each end of the first and second pallet rails.
　このようなパレット搬送装置では、パレットは、第一又は第二パレット送り部により第一又は第二パレットレールに搭載されて搬送され、その後、第一又は第二パレットレールの端縁からパレット移動部により半円状の軌道で移動する。パレットは、第二又は第一パレットレールの端縁に接続され、第二又は第一パレット送り部により第二又は第一パレットレールに移動して再び第二又は第一パレットレールに搭載される。これより、複数のパレットは、トラック形の軌道で循環される。 In such a pallet conveying device, the pallet is mounted on the first or second pallet rail by the first or second pallet feeding unit and conveyed, and then the pallet moving unit from the edge of the first or second pallet rail. To move in a semicircular orbit. The pallet is connected to the edge of the second or first pallet rail, moved to the second or first pallet rail by the second or first pallet feed section, and mounted again on the second or first pallet rail. Thus, the plurality of pallets are circulated in a track-shaped orbit.
　上記のパレット搬送装置は、互いに平行に延びる第一及び第二パレットレールを備える。これに対し、複数のパレットレールを平行ではなく、その延長線が交差するように設けることが要求されることがある。このような場合に、上記のパレット搬送装置におけるパレット移動部を用いて、一方のパレットレールの端部にまで達したパレットを、そのパレットレールと交差するように設けられる他方のパレットレールの端部にまで移動させることが考えられる。 The pallet transport device includes first and second pallet rails extending in parallel with each other. On the other hand, it may be required to provide a plurality of pallet rails so that their extension lines intersect rather than in parallel. In such a case, using the pallet moving part in the pallet transport device described above, the pallet that reaches the end of one pallet rail is connected to the end of the other pallet rail that crosses the pallet rail. It is possible to move to
　しかしながら、上記のパレット搬送装置では、パレット送り部は、パレットレールに沿ってパレットを搬送するものであり、パレットレールの端部に達したパレットをパレット移動部により移動させる場合に、パレットと係合することは許されない。このため、パレット移動部は、パレットレールの端部からパレットを半円状の軌道で確実に移動させ得る構造を必要とする。 However, in the above pallet conveying device, the pallet feeding unit conveys the pallet along the pallet rail, and is engaged with the pallet when the pallet moving unit moves the pallet reaching the end of the pallet rail. It is not allowed to do. For this reason, the pallet moving unit requires a structure that can reliably move the pallet from the end of the pallet rail in a semicircular orbit.
　つまり、上記のパレット搬送装置におけるパレット送り部は、パレットをパレットレールに沿って搬送させる一方で、そのパレットがパレットレールの端部にまで達して、パレット移動部によりそのパレットを移動させる場合には、そのパレットとの係合が解除される必要がある。従って、パレット送り部は、パレットレールの端部にあるパレットを移動させることはできない。 In other words, when the pallet feed unit in the pallet transport device transports the pallet along the pallet rail, the pallet reaches the end of the pallet rail and the pallet moving unit moves the pallet. The engagement with the pallet needs to be released. Therefore, the pallet feeding unit cannot move the pallet at the end of the pallet rail.
　パレットレールの端部にまで達したパレットを移動させることができないパレット送り部では、一方のパレットレールから他方のパレットレールの端縁近傍に移動したパレットを、他方のパレットレールに再び移動させることができない。よって、一方のパレットレールから他方のパレットレールにパレットを速やかに移動させることが困難になる。 In a pallet feeder that cannot move the pallet that reaches the end of the pallet rail, the pallet moved from one pallet rail to the vicinity of the edge of the other pallet rail can be moved again to the other pallet rail. Can not. Therefore, it becomes difficult to quickly move the pallet from one pallet rail to the other pallet rail.
　本発明の目的は、延長線が交差するように設けられた一方のパレットレールの端部からのパレットの移動、及び他方のパレットレールの端縁近傍から他方のパレットレールへのパレットの再移動を確実に行わせ得るパレット搬送装置を提供することである。 The object of the present invention is to move the pallet from the end of one pallet rail provided so that the extension lines intersect, and to move the pallet from the vicinity of the end of the other pallet rail to the other pallet rail. It is to provide a pallet transport device that can be surely performed.
　本発明のある態様によれば、水平な同一面内においてパレットを移動可能に搭載する複数のパレットレールと、パレットをパレットレールに沿って搬送するパレット送り部と、複数のパレットレールの端部に設けられ、複数のパレットレールの内のいずれか一のパレットレールに搭載されたパレットを他のパレットレールに移動させるパレット移動部と、を備え、パレット移動部は、鉛直方向の回転軸を中心に回転可能な回転板と、回転板の周囲に設けられた１又は２以上の短レールと、パレットをパレットレールから短レールに移動、又はパレットを短レールからパレットレールに移動させるパレット送り補助部と、パレット送り補助部を昇降させる昇降部と、を有し、複数のパレットレールは、その延長線が互いに所定の角度で回転板の回転軸上で交差するように設けられる。 According to an aspect of the present invention, a plurality of pallet rails on which a pallet is movably mounted in the same horizontal plane, a pallet feeding unit that conveys the pallet along the pallet rail, and ends of the plurality of pallet rails A pallet moving part that moves a pallet mounted on any one of the pallet rails to another pallet rail, and the pallet moving part is centered on a vertical rotation axis. A rotatable rotating plate, one or more short rails provided around the rotating plate, and a pallet feed assisting unit that moves the pallet from the pallet rail to the short rail or moves the pallet from the short rail to the pallet rail A lifting part for raising and lowering the pallet feeding auxiliary part, and the plurality of pallet rails have their extension lines rotated at a predetermined angle with each other. It is provided so as to intersect on the rotation axis.
図１は、本発明の実施形態のパレット搬送装置の平面図である。FIG. 1 is a plan view of a pallet carrying device according to an embodiment of the present invention. 図２は、図１に示すパレット搬送装置の平面図であり、パレットを搬送してパレットレールの端部にまで達する状態を示す。FIG. 2 is a plan view of the pallet conveying device shown in FIG. 1, showing a state where the pallet is conveyed and reaches the end of the pallet rail. 図３は、図１に示すパレット搬送装置の平面図であり、パレットをパレットレールの端部から短レールに搭載した状態を示す。FIG. 3 is a plan view of the pallet conveying device shown in FIG. 1 and shows a state in which the pallet is mounted on the short rail from the end of the pallet rail. 図４は、図１におけるＡ－Ａ線断面図であり、パレット搬送装置の一方のパレットレールの正面を示す。FIG. 4 is a cross-sectional view taken along the line AA in FIG. 1 and shows the front of one pallet rail of the pallet transport device. 図５は、図２におけるＢ－Ｂ線断面図であり、一方のパレットレールのパレットがパレット送り補助部に係合した状態を示す。FIG. 5 is a cross-sectional view taken along the line BB in FIG. 2 and shows a state where the pallet of one pallet rail is engaged with the pallet feed assisting portion. 図６は、図３のＣ－Ｃ線断面図であり、一方のパレットレールのパレットがパレット送り補助部により短レールに移動した状態を示す。FIG. 6 is a cross-sectional view taken along the line CC of FIG. 3 and shows a state in which the pallet of one pallet rail has been moved to the short rail by the pallet feed assisting portion. 図７は、図１のＤ－Ｄ線断面図である。7 is a cross-sectional view taken along the line DD of FIG. 図８は、本発明の実施形態のパレット搬送装置に用いられるパレットを図４のＧ方向から見た平面図である。FIG. 8 is a plan view of the pallet used in the pallet carrying device according to the embodiment of the present invention as seen from the direction G of FIG. 図９は、図３のＥ－Ｅ線断面図であり、パレット移動部を示す。FIG. 9 is a cross-sectional view taken along the line EE of FIG. 3 and shows the pallet moving unit. 図１０は、図９に対応する断面図であり、短レールに搭載されたパレットの移動がパレット係止機構により禁止された状態を示す。FIG. 10 is a cross-sectional view corresponding to FIG. 9 and shows a state in which the movement of the pallet mounted on the short rail is prohibited by the pallet locking mechanism. 図１１は、図３に対応する平面図であり、短レールに搭載されたパレットとともに回転板を回転させた状態を示す。FIG. 11 is a plan view corresponding to FIG. 3 and shows a state in which the rotating plate is rotated together with the pallet mounted on the short rail. 図１２は、図１１のＦ－Ｆ線断面図であり、パレット係止機構が解除されて短レールに搭載されたパレットの移動が許容された状態を示す。FIG. 12 is a cross-sectional view taken along the line FF of FIG. 11 and shows a state in which the pallet locking mechanism is released and movement of the pallet mounted on the short rail is allowed. 図１３は、図１２に対応する断面図であり、昇降部によりパレット送り補助部を下降させた状態を示す。FIG. 13 is a cross-sectional view corresponding to FIG. 12 and shows a state where the pallet feed assisting portion is lowered by the elevating portion. 図１４は、図１０に対応する断面図であり、昇降部によりパレット送り補助部を下降させた状態を示す。FIG. 14 is a cross-sectional view corresponding to FIG. 10 and shows a state where the pallet feed assisting portion is lowered by the elevating portion. 図１５は、図１２に対応する断面図であり、補助レール昇降部によりパレット送り補助部とともに補助レールを下降させた状態を示す。FIG. 15 is a cross-sectional view corresponding to FIG. 12 and shows a state in which the auxiliary rail is lowered together with the pallet feed auxiliary portion by the auxiliary rail elevating portion. 図１６は、図１０に対応する断面図であり、補助レール昇降部によりパレット送り補助部とともに補助レールを下降させた状態を示す。FIG. 16 is a cross-sectional view corresponding to FIG. 10 and shows a state in which the auxiliary rail is lowered together with the pallet feed auxiliary portion by the auxiliary rail elevating portion. 図１７は、図１に対応する平面図であり、パレットレールの端部とこれに連続する短レールの端部との互いに対向する面が曲面加工された状態を示す拡大図を含むものである。FIG. 17 is a plan view corresponding to FIG. 1, and includes an enlarged view showing a state in which surfaces facing each other of the end portion of the pallet rail and the end portion of the short rail continuous thereto are curved.
　以下、添付図面を参照しながら、本発明の実施形態について説明する。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
　図１に、本発明の実施形態に係るパレット搬送装置１０を示す。各図において、互いに直交するＸ、Ｙ、Ｚの３軸を設定する。Ｘ軸が略水平横方向、Ｙ軸が略水平前後方向、Ｚ軸が鉛直方向に延びるものとし、パレット搬送装置１０の構成について説明する。 FIG. 1 shows a pallet transport apparatus 10 according to an embodiment of the present invention. In each figure, three axes X, Y, and Z orthogonal to each other are set. The configuration of the pallet transport apparatus 10 will be described assuming that the X axis extends in a substantially horizontal lateral direction, the Y axis extends in a substantially horizontal front-rear direction, and the Z axis extends in a vertical direction.
　パレット搬送装置１０は、水平な同一面内においてパレット１１を移動可能に搭載する複数のパレットレール２１，３１を備える。本実施形態では、複数のパレットレールとして、水平前後方向（Ｙ軸方向）に延びて設けられた第一パレットレール２１及び略水平横方向（Ｘ軸方向）に延びて設けられた第二パレットレール３１を備える。 The pallet transport device 10 includes a plurality of pallet rails 21 and 31 on which the pallet 11 is movably mounted in the same horizontal plane. In the present embodiment, as a plurality of pallet rails, a first pallet rail 21 provided extending in the horizontal front-rear direction (Y-axis direction) and a second pallet rail provided extending in a substantially horizontal lateral direction (X-axis direction). 31 is provided.
　第一及び第二パレットレール２１，３１は、パレット１１を移動可能に搭載する。第一及び第二パレットレール２１，３１のそれぞれは、架台９（図４～図６）上に設けられて、パレット１１が移動、搬送される。 1st and 2nd pallet rails 21 and 31 mount pallet 11 so that movement is possible. Each of the first and second pallet rails 21 and 31 is provided on the gantry 9 (FIGS. 4 to 6), and the pallet 11 is moved and conveyed.
　第一及び第二パレットレール２１，３１は同一構造を有するため、第一パレットレール２１を代表して説明する。第一パレットレール２１は、パレット１１を水平状態で搭載する。図７に詳しく示すように、第一パレットレール２１は、架台９上に直接固定されて設けられた支持板２２と、支持板２２の上縁にねじ止めにより固定された市販の直線運動ガイドレール２３と、を備える。 Since the first and second pallet rails 21 and 31 have the same structure, the first pallet rail 21 will be described as a representative. The first pallet rail 21 mounts the pallet 11 in a horizontal state. As shown in detail in FIG. 7, the first pallet rail 21 includes a support plate 22 that is directly fixed on the gantry 9 and a commercially available linear motion guide rail that is fixed to the upper edge of the support plate 22 by screws. 23.
　第一及び第二パレットレール２１，３１に搭載されるパレット１１は、第一及び第二パレットレール２１，３１上に移動可能に支持される直線運動ブロック１２と、直線運動ブロック１２にねじ止めされた台座１３と、台座１３に設けられた係止部材１４と、を有する。直線運動ブロック１２は、直線運動ガイドレール２３を跨ぐように形成される。 The pallet 11 mounted on the first and second pallet rails 21 and 31 is screwed to the linear motion block 12 and the linear motion block 12 supported movably on the first and second pallet rails 21 and 31. And a locking member 14 provided on the pedestal 13. The linear motion block 12 is formed so as to straddle the linear motion guide rail 23.
　直線運動ブロック１２は、直線運動ガイドレール２３と対に販売される。直線運動ブロック１２は、好ましくは、ローラリテーナ（図示省略）を備える。ローラリテーナを備える直線運動ブロック１２を用いることにより、幅方向の移動、並びに第一及び第二パレットレール２１，３１に対する傾動を制限しつつパレット１１が第一及び第二パレットレール２１，３１上を移動する際に生じる抵抗を著しく軽減することができる。 The linear motion block 12 is sold as a pair with the linear motion guide rail 23. The linear motion block 12 preferably includes a roller retainer (not shown). By using the linear motion block 12 including the roller retainer, the pallet 11 moves on the first and second pallet rails 21 and 31 while restricting movement in the width direction and tilting with respect to the first and second pallet rails 21 and 31. It is possible to significantly reduce the resistance generated when moving.
　台座１３の上面にはワーク６を搭載するための搭載具１６が設けられる。搭載具１６は、台座１３の一方の側部に配置される。搭載具１６によって、ワーク６は台座１３に固定される。搭載具１６の構造は、パレット１１に搭載された状態で加工されるワーク６の種類に応じて、適宜変更される。直線運動ブロック１２は、台座１３の他方の側部に固定される。係止部材１４は、台座１３における直線運動ブロック１２と搭載具１６の間に設けられる。 A mounting tool 16 for mounting the workpiece 6 is provided on the upper surface of the base 13. The mounting tool 16 is disposed on one side of the base 13. The workpiece 6 is fixed to the pedestal 13 by the mounting tool 16. The structure of the mounting tool 16 is appropriately changed according to the type of the workpiece 6 to be processed while mounted on the pallet 11. The linear motion block 12 is fixed to the other side of the pedestal 13. The locking member 14 is provided between the linear motion block 12 and the mounting tool 16 in the base 13.
　このように、直線運動ブロック１２は、第一及び第二パレットレール２１，３１における直線運動ガイドレール２３に跨ぐように移動可能に支持される。そのため、台座１３の一方の側部が直線運動ブロック１２を介して第一及び第二パレットレール２１，３１に支持された状態においても、パレット１１は水平状態で第一及び第二パレットレール２１，３１に移動可能に搭載される。 Thus, the linear motion block 12 is supported so as to be movable so as to straddle the linear motion guide rails 23 in the first and second pallet rails 21 and 31. Therefore, even when one side portion of the pedestal 13 is supported by the first and second pallet rails 21 and 31 via the linear motion block 12, the pallet 11 is in a horizontal state and the first and second pallet rails 21, 31 is movably mounted.
　ここで、図示は省略するが、ワーク６を加工する工作機は、第一及び第二パレットレール２１，３１に沿って設けられる。第一及び第二パレットレール２１，３１に沿って複数の工作機が設けられる場合、パレット１１において、第一及び第二パレットレール２１，３１の長手方向に沿った台座１３の長さＬ（図１）は、第一及び第二パレットレール２１，３１に沿って設けられる各工作機が設置されているピッチと同一又は短く形成されることが好ましい。 Here, although illustration is omitted, the machine tool for processing the workpiece 6 is provided along the first and second pallet rails 21 and 31. When a plurality of machine tools are provided along the first and second pallet rails 21 and 31, in the pallet 11, the length L of the base 13 along the longitudinal direction of the first and second pallet rails 21 and 31 (see FIG. 1) is preferably formed to be the same as or shorter than the pitch at which the machine tools provided along the first and second pallet rails 21 and 31 are installed.
　このようにすることで、第一及び第二パレットレール２１，３１上を複数のパレット１１が所定のピッチを空けて移動すると、複数のパレット１１は、水平状態の台座１３の一方の側部が工作機側に突出するように各工作機に対峙する。したがって、搭載具１６を介して一方の側部に搭載されたワーク６を工作機により加工することができる。 In this way, when the plurality of pallets 11 move on the first and second pallet rails 21 and 31 with a predetermined pitch, the plurality of pallets 11 have one side portion of the pedestal 13 in the horizontal state. Face each machine tool so that it protrudes to the machine tool side. Therefore, the workpiece 6 mounted on one side through the mounting tool 16 can be processed by the machine tool.
　なお、台座１３の他方の側部には、後述するパレット係止機構７１における昇降ロッド７２（図９、図１０）が進入する係止穴１３ａが形成される。係止穴１３ａは、昇降ロッド７２の上端が進入可能なように、昇降ロッド７２の上端外径より僅かに大きな内径を有する。係止部材１４の詳細は後述する。 In addition, the other side part of the base 13 is formed with a locking hole 13a into which a lifting rod 72 (FIGS. 9 and 10) in a pallet locking mechanism 71 described later enters. The locking hole 13a has an inner diameter slightly larger than the outer diameter of the upper end of the lifting rod 72 so that the upper end of the lifting rod 72 can enter. Details of the locking member 14 will be described later.
　図１に示すように、本実施形態におけるパレット搬送装置１０は、第一パレットレール２１に搭載されたパレット１１を搬送する第一パレット送り部４１と、第二パレットレール３１に搭載されたパレット１１を搬送する第二パレット送り部５１と、を備える。第一パレット送り部４１は、パレット１１を第一パレットレール２１に沿って搬送する。第二パレット送り部５１は、パレット１１を第二パレットレール３１に沿って搬送する。 As shown in FIG. 1, the pallet transport device 10 according to the present embodiment includes a first pallet feed unit 41 that transports a pallet 11 mounted on a first pallet rail 21 and a pallet 11 mounted on a second pallet rail 31. And a second pallet feeder 51 for conveying the pallet. The first pallet feeder 41 conveys the pallet 11 along the first pallet rail 21. The second pallet feeder 51 conveys the pallet 11 along the second pallet rail 31.
　第一パレット送り部４１及び第二パレット送り部５１は同一構造を有するので、以下では、第一パレット送り部４１を代表して説明する。 Since the first pallet feed unit 41 and the second pallet feed unit 51 have the same structure, the first pallet feed unit 41 will be described below as a representative.
　図１及び図４に示すように、第一パレット送り部４１は、第一パレットレール２１に沿って無端で設けられる循環ベルト４２と、循環ベルト４２を循環させる循環機構としてのサーボモータ４３（図４）と、を備える。循環ベルト４２は、パレット１１と係合可能に形成される。 As shown in FIGS. 1 and 4, the first pallet feed unit 41 includes an endless circulation belt 42 provided along the first pallet rail 21, and a servo motor 43 (see FIG. 4) as a circulation mechanism that circulates the circulation belt 42. 4). The circulation belt 42 is formed to be engageable with the pallet 11.
　図４に示すように、第一パレットレール２１における支持板２２の四隅には、従動プーリ４４が設けられる。循環ベルト４２は、これらの四つの従動プーリ４４を包囲するように、従動プール４４に掛け回される。 As shown in FIG. 4, driven pulleys 44 are provided at the four corners of the support plate 22 in the first pallet rail 21. The circulation belt 42 is wound around the driven pool 44 so as to surround these four driven pulleys 44.
　サーボモータ４３は、支持板２２に設けられる。サーボモータ４３の回転軸４３ａには、駆動プーリ４５が取付けられる。駆動プーリ４５と四つの従動プーリ４４とは、同一面上に設けられる。第一パレット送り部４１は、駆動プーリ４５に循環ベルト４２を掛け回すように循環ベルト４２を転向させる一対の転向プーリ４６を有する。一対の転向プーリ４６は、駆動プーリの近傍に設けられ、支持板２２に枢支される。 Servo motor 43 is provided on support plate 22. A drive pulley 45 is attached to the rotation shaft 43 a of the servo motor 43. The driving pulley 45 and the four driven pulleys 44 are provided on the same plane. The first pallet feeder 41 has a pair of turning pulleys 46 that turn the circulation belt 42 so that the circulation belt 42 is wound around the drive pulley 45. The pair of turning pulleys 46 are provided in the vicinity of the driving pulley and are pivotally supported by the support plate 22.
　図示しないコントローラからの指令によりサーボモータ４３が作動すると、回転軸４３ａが駆動プーリ４５とともに回転する。駆動プーリ４５の回転によって、循環ベルト４２が四つの従動プーリ４４を包囲した状態で循環する。 When the servo motor 43 is actuated by a command from a controller (not shown), the rotary shaft 43a rotates with the drive pulley 45. As the drive pulley 45 rotates, the circulation belt 42 circulates in a state of surrounding the four driven pulleys 44.
　循環ベルト４２はいわゆる歯付きベルトである。循環ベルト４２は、図４の拡大図に示すように、凹凸４２ａ，４２ｂが長手方向に交互に形成されるベルトである。凹凸４２ａ，４２ｂは、循環ベルト４２の幅方向に延びる。凹凸４２ａ，４２ｂは、パレット１１の凹凸１４ａ，１４ｂに係合可能に形成される。凹凸１４ａ，１４ｂはパレット１１の係止部材１４に形成される。 The circulation belt 42 is a so-called toothed belt. As shown in the enlarged view of FIG. 4, the circulation belt 42 is a belt in which irregularities 42 a and 42 b are alternately formed in the longitudinal direction. The irregularities 42 a and 42 b extend in the width direction of the circulation belt 42. The irregularities 42 a and 42 b are formed so as to be engageable with the irregularities 14 a and 14 b of the pallet 11. The irregularities 14 a and 14 b are formed on the locking member 14 of the pallet 11.
　係止部材１４は、直線運動ブロック１２と同じように台座１３の下側に設けられる。パレット１１が循環ベルト４２に重ね合わされた状態では、係止部材１４は循環ベルト４２に係合する。具体的には、係止部材１４が循環ベルト４２に重ね合わせられると、係止部材１４の凹凸１４ａ，１４ｂと、循環ベルト４２の凹凸４２ａ，４２ｂとが互いに係合する。係止部材１４が循環ベルト４２から離間すると、循環ベルト４２の凹凸４２ａ，４２ｂと係止部材１４の凹凸１４ａ，１４ｂとの係合が解除される。 The locking member 14 is provided below the pedestal 13 in the same manner as the linear motion block 12. When the pallet 11 is superimposed on the circulation belt 42, the locking member 14 engages with the circulation belt 42. Specifically, when the locking member 14 is superimposed on the circulation belt 42, the irregularities 14a and 14b of the locking member 14 and the irregularities 42a and 42b of the circulation belt 42 are engaged with each other. When the locking member 14 is separated from the circulation belt 42, the engagement between the irregularities 42 a and 42 b of the circulation belt 42 and the irregularities 14 a and 14 b of the locking member 14 is released.
　パレット１１の凹凸１４ａ，１４ｂと循環ベルト４２の凹凸４２ａ，４２ｂとが係合すると、パレット１１は、第一及び第二パレットレール２１，３１に沿って自在に移動することはできない。よって、サーボモータ４３を駆動し、パレット１１に係合する循環ベルト４２を循環させると、パレット１１が循環ベルト４２とともに移動する。循環ベルト４２が第一パレットレール２１に沿って設けられるため、パレット１１は第一パレットレールに沿って搬送される。同様に、第二パレット送り部５１の循環ベルト４２は第二パレットレールに沿って設けられるので、パレット１１は第二パレットレール３１に沿って搬送される。 When the irregularities 14a, 14b of the pallet 11 and the irregularities 42a, 42b of the circulation belt 42 are engaged, the pallet 11 cannot freely move along the first and second pallet rails 21, 31. Therefore, when the servo motor 43 is driven and the circulation belt 42 engaged with the pallet 11 is circulated, the pallet 11 moves together with the circulation belt 42. Since the circulation belt 42 is provided along the first pallet rail 21, the pallet 11 is conveyed along the first pallet rail. Similarly, since the circulation belt 42 of the second pallet feeder 51 is provided along the second pallet rail, the pallet 11 is transported along the second pallet rail 31.
　ここで、係止部材１４は台座１３の移動方向の両側に設けられる。また、図の符号４７で示される部材は、従動プーリ４４間で循環ベルト４２を支持する支持材である。支持材４７は、従動プーリ４４巻での循環ベルト４２の弛みを防止して、係止部材１４から循環ベルト４２が離間することを防止する。符号４８で示される部材は、支持材４７を支持板２２に取付ける取付具である。 Here, the locking members 14 are provided on both sides of the pedestal 13 in the moving direction. A member denoted by reference numeral 47 in the drawing is a support member that supports the circulation belt 42 between the driven pulleys 44. The support member 47 prevents the circulation belt 42 from slacking around the driven pulley 44 and prevents the circulation belt 42 from being separated from the locking member 14. A member denoted by reference numeral 48 is a fixture for attaching the support member 47 to the support plate 22.
　図１に示すように、第一及び第二パレットレール２１，３１の端部近傍には、パレット移動部６１が設けられる。 As shown in FIG. 1, a pallet moving part 61 is provided in the vicinity of the ends of the first and second pallet rails 21 and 31.
　パレット移動部６１は、第一，第二パレットレール２１，３１のいずれか一方からパレット１１を他方にまで移動させる。 The pallet moving unit 61 moves the pallet 11 from one of the first and second pallet rails 21 and 31 to the other.
　本実施形態においては、パレット移動部６１は、第一パレットレール２１からパレット１１を第二パレットレール３１に移動させると共に、第二パレットレール３１からパレット１１を第一パレットレール２１に移動させる。 In the present embodiment, the pallet moving unit 61 moves the pallet 11 from the first pallet rail 21 to the second pallet rail 31 and moves the pallet 11 from the second pallet rail 31 to the first pallet rail 21.
　また、このパレット移動部６１は、鉛直方向の回転軸を中心として回転可能な回転板６２と、回転板６２の周囲に設けられる１又は２以上の短レール６３と、回転板６２を回転させるインデックスユニット６４（図９，図１０，図１２）と、を備える。 In addition, the pallet moving unit 61 includes a rotating plate 62 that can rotate around a vertical rotation axis, one or more short rails 63 provided around the rotating plate 62, and an index for rotating the rotating plate 62. A unit 64 (FIGS. 9, 10, and 12).
　本実施形態では、短レール６３は、回転板６２の回転円周上に等角度間隔で偶数設けられる。 In the present embodiment, the short rails 63 are provided on the rotating circumference of the rotating plate 62 at even angular intervals.
　図９、図１０及び図１２に示すように、インデックスユニット６４は、架台９に設けられる本体部６４ａと、本体部６４ａの上面略中央部分から鉛直線を回転中心Ｏとして上方に突出する回転ロッド６４ｂと、を有する。回転ロッド６４ｂは、鉛直線を回転中心Ｏとして回転可能に本体部６４ａに設けられる。図１～図３に示すように、回転ロッド６４ｂの回転中心Ｏは、第一及び第二パレットレール２１，３１の延長線が交差する点に位置する。 As shown in FIGS. 9, 10, and 12, the index unit 64 includes a main body portion 64a provided on the gantry 9 and a rotating rod that protrudes upward from the substantially central portion of the upper surface of the main body portion 64a with a vertical line as the rotation center O. 64b. The rotating rod 64b is provided in the main body 64a so as to be rotatable about a vertical line as the rotation center O. As shown in FIGS. 1 to 3, the rotation center O of the rotating rod 64b is located at a point where the extended lines of the first and second pallet rails 21 and 31 intersect.
　回転板６２は円板であって、その中央が回転ロッド６４ｂの上端に水平状態でネジ止めされる。インデックスユニット６４では、図示しないコントローラからの指令により回転ロッド６４ｂが回転すると、図１１の実線矢印で示すように、回転板６２が所定の角度で回転する。 The rotating plate 62 is a disc, and the center thereof is screwed to the upper end of the rotating rod 64b in a horizontal state. In the index unit 64, when the rotating rod 64b rotates according to a command from a controller (not shown), the rotating plate 62 rotates at a predetermined angle as indicated by a solid line arrow in FIG.
　図１に示すように、回転板６２の周囲には１又は２以上の短レール６３が設けられる。短レール６３は、複数のパレットレール２１，３１の延長線が回転板６２の回転軸上で互いに交差する角度毎に、又は当該角度に基づいて回転板６２の回転円周上に複数設けられる。本実施形態では、回転板６２の回転円周上に等角度間隔で、４つの短レール６３が放射状に設けられる。 As shown in FIG. 1, one or more short rails 63 are provided around the rotating plate 62. A plurality of short rails 63 are provided for each angle at which the extended lines of the plurality of pallet rails 21 and 31 intersect each other on the rotation axis of the rotation plate 62 or on the rotation circumference of the rotation plate 62 based on the angle. In the present embodiment, four short rails 63 are provided radially at equal angular intervals on the rotation circumference of the rotating plate 62.
　４本の短レール６３が用いられる本実施形態では、台板６５が、回転板６２の回転中心Ｏからの位置が等しくなるように半径方向に延びて回転板６２に設けられる。台板６５は、外端が、上面視で円形の回転板６２の外周に一致するように設けられる。第一及び第二パレットレール２１，３１が９０度で交差する本実施形態では、回転板６２における回転円周方向の９０度毎の４箇所に台板６５が設けられる。 In the present embodiment in which the four short rails 63 are used, the base plate 65 is provided on the rotating plate 62 so as to extend in the radial direction so that the positions of the rotating plate 62 from the rotation center O are equal. The base plate 65 is provided so that the outer end thereof coincides with the outer periphery of the circular rotating plate 62 in a top view. In the present embodiment in which the first and second pallet rails 21 and 31 intersect at 90 degrees, the base plates 65 are provided at four positions every 90 degrees in the rotation circumferential direction of the rotation plate 62.
　４本の短レール６３は、台板６５を介して、回転中心Ｏからの位置が等しくなるように半径方向に延びて回転板６２の周囲に設けられる。短レール６３は、外端が回転板６２の外周から突出し、回転板６２の回転円周方向の９０度毎に４カ所設けられる。 The four short rails 63 are provided around the rotating plate 62 so as to extend in the radial direction through the base plate 65 so that the positions from the rotation center O are equal. The short rail 63 has an outer end protruding from the outer periphery of the rotating plate 62 and is provided at four locations every 90 degrees in the rotating circumferential direction of the rotating plate 62.
　短レール６３は、第一及び第二パレットレール２１，３１における直線運動ガイドレール２３と同一の断面形状を有する。短レール６３の長さＷ（図１）は、パレット１１のレール方向の長さＬと同一又はそれよりも長い。 The short rail 63 has the same cross-sectional shape as the linear motion guide rail 23 in the first and second pallet rails 21 and 31. The length W (FIG. 1) of the short rail 63 is equal to or longer than the length L of the pallet 11 in the rail direction.
　短レール６３を、第一パレットレール２１における直線運動ガイドレール２３に連続する状態から、回転板６２の回転中心Ｏを中心として９０度回動させると、その短レール６３は第二パレットレール３１における直線運動ガイドレール２３に連続する。
そして、第一及び第二パレットレール２１，３１の直線運動ガイドレール２３に短レール６３が連続した状態では、パレット１１は、直線運動ガイドレール２３から短レール６３に移動し短レール６３に搭載可能であり、又、短レール６３から直線運動ガイドレール２３に移動し直線運動ガイドレール２３に搭載可能である。 When the short rail 63 is rotated 90 degrees around the rotation center O of the rotating plate 62 from the state where the short rail 63 is continuous with the linear motion guide rail 23 in the first pallet rail 21, the short rail 63 is in the second pallet rail 31. It continues to the linear motion guide rail 23.
When the short rail 63 continues to the linear motion guide rail 23 of the first and second pallet rails 21, 31, the pallet 11 can be moved from the linear motion guide rail 23 to the short rail 63 and mounted on the short rail 63. Moreover, it moves to the linear motion guide rail 23 from the short rail 63, and can be mounted on the linear motion guide rail 23.
　図９，図１０及び図１２に示すように、回転板６２には、パレット係止機構７１が短レール６３毎に設けられる。パレット係止機構７１は、回転板６２の周囲に放射状に設けられた短レール６３にパレット１１が搭載された状態で、短レール６３に対するパレット１１の相対移動を制限する。 As shown in FIGS. 9, 10, and 12, the rotating plate 62 is provided with a pallet locking mechanism 71 for each short rail 63. The pallet locking mechanism 71 restricts relative movement of the pallet 11 with respect to the short rail 63 in a state where the pallet 11 is mounted on the short rail 63 provided radially around the rotating plate 62.
　本実施形態では、パレット係止機構７１は、回転板６２に設けられる昇降ロッド７２と、昇降ロッド７２を付勢する弾性体７３と、昇降ロッド７２を移動させる第一及び第二シリンダ７４，７５と、を備える。昇降ロッド７２は、短レール６３に搭載されたパレット１１の係止穴１３ａに進入可能に形成された上端を有する。弾性体７３は、昇降ロッド７２の上端が係止穴１３ａに進入する方向に昇降ロッド７２を付勢する。第一及び第二シリンダ７４，７５は、昇降ロッド７２の上端が係止穴１３ａから離脱する方向に弾性体７３の付勢力に抗して昇降ロッド７２を移動させる。 In the present embodiment, the pallet locking mechanism 71 includes an elevating rod 72 provided on the rotating plate 62, an elastic body 73 that urges the elevating rod 72, and first and second cylinders 74 and 75 that move the elevating rod 72. And comprising. The lifting rod 72 has an upper end formed so as to be able to enter the locking hole 13 a of the pallet 11 mounted on the short rail 63. The elastic body 73 urges the elevating rod 72 in a direction in which the upper end of the elevating rod 72 enters the locking hole 13a. The first and second cylinders 74 and 75 move the lifting rod 72 against the urging force of the elastic body 73 in the direction in which the upper end of the lifting rod 72 is detached from the locking hole 13a.
　回転板６２には貫通孔１３ｂが形成され、昇降ロッド７２は貫通孔１３ｂを貫通して鉛直方向に移動可能に設けられる。昇降ロッド７２にはフランジ７２ａが設けられる。フランジ７２ａは、昇降ロッド７２の上端が係止穴１３ａに進入した状態で係止穴１３ａの周囲の台座１３の下面に下方から接触する（図１０）。 A through hole 13b is formed in the rotating plate 62, and the lifting rod 72 is provided so as to be movable in the vertical direction through the through hole 13b. The lifting rod 72 is provided with a flange 72a. The flange 72a contacts the lower surface of the base 13 around the locking hole 13a from below with the upper end of the elevating rod 72 entering the locking hole 13a (FIG. 10).
　弾性体であるコイルスプリング７３は、フランジ７２ａと回転板６２の間に圧縮された状態で装着される。コイルスプリング７３の復元力により、昇降ロッド７２が上方に付勢される。 The coil spring 73, which is an elastic body, is mounted in a compressed state between the flange 72a and the rotating plate 62. The lifting rod 72 is biased upward by the restoring force of the coil spring 73.
　回転板６２の下面には支柱７６が下方に向かって突出して設けられる。支柱７６の下端には揺動片７７の略中央が枢支される。揺動片７７は回転板６２の円周方向に延びて枢支され、揺動片７７の一方の端部が昇降ロッド７２の下端に枢支される。 A support 76 is provided on the lower surface of the rotating plate 62 so as to protrude downward. A substantially center of the swing piece 77 is pivotally supported at the lower end of the column 76. The swing piece 77 extends in the circumferential direction of the rotating plate 62 and is pivotally supported. One end of the swing piece 77 is pivotally supported by the lower end of the lifting rod 72.
　架台９には、第一シリンダ７４及び第二シリンダ７５が設けられる。第一シリンダ７４は、短レール６３が第一パレットレール２１に連続したときに揺動片７７の他方の端部に出没ロッド７４ａの上端が対向するように本体７４ｂが架台９に取付けられる。第二シリンダ７５は、短レール６３が第二パレットレール３１に連続したときに揺動片７７の他方の端部に出没ロッド７５ａの上端が対向するように本体７５ｂが架台９に取付けられる。 The gantry 9 is provided with a first cylinder 74 and a second cylinder 75. The main body 74b of the first cylinder 74 is attached to the gantry 9 so that the upper end of the retracting rod 74a faces the other end of the swing piece 77 when the short rail 63 continues to the first pallet rail 21. The main body 75b of the second cylinder 75 is attached to the gantry 9 so that the upper end of the projecting rod 75a faces the other end of the swing piece 77 when the short rail 63 continues to the second pallet rail 31.
　図９及び図１２に示すように、出没ロッド７４ａ，７５ｂが揺動片７７の他方の端部に対向する状態で第一，第二シリンダ７４，７５が出没ロッド７４ａ，７５ｂを突出させると、揺動片７７が揺動する。揺動片７７の一方の端部に昇降ロッド７２の下端が枢支されるので、昇降ロッド７２が弾性体であるコイルスプリング７３の付勢力に抗して下方に移動する。昇降ロッド７２の上端は、パレット１１に設けられた係止穴１３ａから離脱し、短レール６３に搭載されたパレット１１の自由な移動が可能になる。 As shown in FIGS. 9 and 12, when the first and second cylinders 74 and 75 project the projecting rods 74a and 75b with the projecting rods 74a and 75b facing the other end of the swing piece 77, The swing piece 77 swings. Since the lower end of the lifting rod 72 is pivotally supported at one end of the swing piece 77, the lifting rod 72 moves downward against the biasing force of the coil spring 73, which is an elastic body. The upper end of the lifting rod 72 is detached from the locking hole 13a provided in the pallet 11, and the pallet 11 mounted on the short rail 63 can be freely moved.
　一方、図１０に示すように、第一，第二シリンダ７４，７５が出没ロッド７４ａ，７５ｂを本体７４ｂ，７５ｂの内部に没入させると、昇降ロッド７２がコイルスプリング７３の付勢力により上方に移動する。昇降ロッド７２の上端は、パレット１１に設けられた係止穴１３ａに進入する。これにより短レール６３に搭載されたパレット１１の自由な移動が制限される。 On the other hand, as shown in FIG. 10, when the first and second cylinders 74, 75 cause the retracting rods 74 a, 75 b to be immersed in the main bodies 74 b, 75 b, the lifting rod 72 moves upward by the biasing force of the coil spring 73. To do. The upper end of the elevating rod 72 enters the locking hole 13 a provided in the pallet 11. Thereby, the free movement of the pallet 11 mounted on the short rail 63 is restricted.
　短レール６３にパレット１１を搭載する際には、パレット係止機構７１は、図９に示すように、第一シリンダ７４の出没ロッド７４ａを突出させて、昇降ロッド７２をコイルスプリング７３の付勢力に抗して下方に移動させる。この状態では、昇降ロッド７２は、パレット１１の移動を阻害しないので、パレット１１は、第一パレットレール２１から、第一パレットレール２１に連続する短レール６３に移動し、短レール６３に搭載される。 When the pallet 11 is mounted on the short rail 63, the pallet locking mechanism 71 projects the retracting rod 74a of the first cylinder 74 as shown in FIG. Move down against In this state, the lifting rod 72 does not hinder the movement of the pallet 11, so the pallet 11 moves from the first pallet rail 21 to the short rail 63 continuous to the first pallet rail 21 and is mounted on the short rail 63. The
　その後、パレット移動部６１は、図１０に示すように、第一シリンダ７４の出没ロッド７４ａを没入させて、昇降ロッド７２をコイルスプリング７３の付勢力により上方に移動させる。この状態では、昇降ロッド７２の上端がパレット１１に設けられた係止穴１３ａに進入する。これにより、短レール６３に対するパレット１１の相対移動を制限することができる。 Thereafter, as shown in FIG. 10, the pallet moving unit 61 immerses the retracting rod 74 a of the first cylinder 74 and moves the lifting rod 72 upward by the urging force of the coil spring 73. In this state, the upper end of the elevating rod 72 enters the locking hole 13 a provided in the pallet 11. Thereby, the relative movement of the pallet 11 with respect to the short rail 63 can be restrict | limited.
　この状態で、パレット移動部６１は、パレット１１とともに回転板６２を回転させる。これにより、パレット１１が搭載された短レール６３を第一パレットレール２１に連続する第一位置から離して、第二パレットレール３１に連続する第二位置まで回転させることができる。 In this state, the pallet moving unit 61 rotates the rotating plate 62 together with the pallet 11. Accordingly, the short rail 63 on which the pallet 11 is mounted can be separated from the first position continuous with the first pallet rail 21 and rotated to the second position continuous with the second pallet rail 31.
　パレット１１が搭載された短レール６３が第二位置まで回転した状態では、図１１に示すように、その短レール６３は第二パレットレール３１と連続する。 In the state where the short rail 63 on which the pallet 11 is mounted is rotated to the second position, the short rail 63 continues to the second pallet rail 31 as shown in FIG.
　その後、図１２に示すように、パレット移動部６１は、第二シリンダ７５の出没ロッド７５ａを突出させて、昇降ロッド７２をコイルスプリング７３の付勢力に抗して再び下方に移動させる。これにより、短レール６３に搭載されたパレット１１の移動が許容され、パレット１１を第二パレットレール３１に移動させることができる。 Thereafter, as shown in FIG. 12, the pallet moving unit 61 causes the protruding and retracting rod 75 a of the second cylinder 75 to protrude and moves the lifting rod 72 downward again against the biasing force of the coil spring 73. Thereby, the movement of the pallet 11 mounted on the short rail 63 is allowed, and the pallet 11 can be moved to the second pallet rail 31.
　図１及び図４に示すように、パレット搬送装置１０は、パレット送り補助部８１を備える。パレット送り補助部８１は、パレット１１を第一パレットレール２１から第一パレットレール２１に連続する短レール６３に移動させるか、またはパレット１１を短レール６３から、短レール６３に連続する第一パレットレール２１に移動させる。また、パレット送り補助部８１は、パレット１１を第二パレットレール３１から第二パレットレール３１に連続する短レール６３に移動させるか、又はパレット１１を短レール６３から、短レール６３に連続する第二パレットレール３１に移動させる。 As shown in FIGS. 1 and 4, the pallet carrying device 10 includes a pallet feed assisting portion 81. The pallet feed assisting part 81 moves the pallet 11 from the first pallet rail 21 to the short rail 63 that continues to the first pallet rail 21 or the pallet 11 continues from the short rail 63 to the short rail 63. Move to rail 21. Further, the pallet feed assisting portion 81 moves the pallet 11 from the second pallet rail 31 to the short rail 63 that continues to the second pallet rail 31, or the pallet 11 continues from the short rail 63 to the short rail 63. Move to two pallet rails 31.
　パレット送り補助部８１は、第一及び第二パレットレール２１，３１の延長線が交差する側の端部近傍にそれぞれ設けられる。これらのパレット送り補助部８１は同一構造を有する。よって、その内の１つを代表して説明する。 The pallet feed auxiliary portion 81 is provided in the vicinity of the end portion on the side where the extension lines of the first and second pallet rails 21 and 31 intersect. These pallet feed auxiliary portions 81 have the same structure. Therefore, one of them will be described as a representative.
　本実施形態におけるパレット送り補助部８１は、循環ベルト４２に連続して設けられた補助循環ベルト８２と、補助循環ベルト８２を循環させる補助循環機構８３と、を備える。補助循環ベルト８２は、第一及び第二パレットレール２１，３１の端部、並びに第一及び第二パレットレール２１，３１の端部に連続し回転板６２の外周から突出する短レール６３に沿って循環する。 The pallet feed assisting portion 81 in this embodiment includes an auxiliary circulation belt 82 provided continuously with the circulation belt 42, and an auxiliary circulation mechanism 83 that circulates the auxiliary circulation belt 82. The auxiliary circulation belt 82 extends along the end of the first and second pallet rails 21 and 31 and the short rail 63 that continues from the ends of the first and second pallet rails 21 and 31 and protrudes from the outer periphery of the rotating plate 62. Circulate.
　図５に示すように、補助循環ベルト８２は、循環ベルト４２と同様にいわゆる歯付きベルトである。補助循環ベルト８２も、幅方向に延びる凹凸８２ａ，８２ｂを有する。凹凸８２ａ，８２ｂは長手方向に交互に連続して形成される（図５の拡大図）。パレット１１の係止部材１４の凹凸１４ａ，１４ｂは、凹凸８２ａ，８２ｂにも係合可能に形成される。 As shown in FIG. 5, the auxiliary circulation belt 82 is a so-called toothed belt like the circulation belt 42. The auxiliary circulation belt 82 also has irregularities 82a and 82b extending in the width direction. The irregularities 82a and 82b are alternately and continuously formed in the longitudinal direction (enlarged view in FIG. 5). The irregularities 14a and 14b of the locking member 14 of the pallet 11 are formed to be able to engage with the irregularities 82a and 82b.
　本実施形態では、パレット送り補助部８１は、第一及び第二パレット送り部４１，５１に近い側の端部に設けられる支点と、支点を中心に回転して昇降する他端と、を有する。パレット送り補助部８１は、これに限らず、水平に昇降するものでもよい。 In the present embodiment, the pallet feed assisting portion 81 has a fulcrum provided at an end near the first and second pallet feed portions 41 and 51, and the other end that rotates up and down around the fulcrum. . The pallet feed assisting portion 81 is not limited to this, and may be moved up and down horizontally.
　図９，図１０及び図１２に示すように、補助板９１における第一及び第二パレット送り部４１，５１に近い側の一端は、第一及び第二パレットレール２１，３１における支持板２２の回転板６２側端部であって、直線運動ガイドレール２３に近い上部に枢支される。 As shown in FIGS. 9, 10, and 12, one end of the auxiliary plate 91 near the first and second pallet feeding portions 41 and 51 is connected to the support plate 22 of the first and second pallet rails 21 and 31. It is pivotally supported at the upper end near the linear motion guide rail 23 at the end portion on the rotating plate 62 side.
　直線運動ガイドレール２３は、支持板２２の回転板６２側端部から突出して設けられる。直線ガイドレール２３の端縁は、回転板６２に設けられた短レール６３の外端縁に僅かな隙間を空けて臨む。これにより、直線運動ガイドレール２３が短レール６３に連続するように構成される。 The linear motion guide rail 23 is provided so as to protrude from the end of the support plate 22 on the rotating plate 62 side. The end edge of the straight guide rail 23 faces the outer end edge of the short rail 63 provided on the rotating plate 62 with a slight gap. Accordingly, the linear motion guide rail 23 is configured to be continuous with the short rail 63.
　補助板９１の上端には、ガイド材９２が水平に設けられる。ガイド材９２は、第一及び第二パレットレール２１，３１の端部、並びに第一及び第二パレットレール２１，３１に連続する短レール６３に沿って、第一及び第二パレットレール２１，３１の長手方向に延びる。 A guide material 92 is provided horizontally on the upper end of the auxiliary plate 91. The guide material 92 extends along the first and second pallet rails 21, 31 along the end portions of the first and second pallet rails 21, 31 and the short rail 63 that is continuous with the first and second pallet rails 21, 31. Extending in the longitudinal direction.
　ガイド材９２は、補助循環ベルト８２が第一及び第二パレットレール２１，３１の端部、並びに第一及び第二パレットレール２１，３１に連続する短レール６３に沿うように、補助循環ベルト８２を下方から支える。 The guide member 92 has an auxiliary circulation belt 82 such that the auxiliary circulation belt 82 extends along the end portions of the first and second pallet rails 21 and 31 and the short rail 63 continuous to the first and second pallet rails 21 and 31. Is supported from below.
　また、補助板９１は、ガイド材９２の上面に乗って第一及び第二パレットレール２１，３１の長手方向に移動する補助循環ベルト８２を転向させる補助プーリ９３を枢支する。補助プーリ９３は、ガイド材９２の両側に配置される。 Also, the auxiliary plate 91 pivotally supports an auxiliary pulley 93 that turns the auxiliary circulation belt 82 that moves on the upper surface of the guide member 92 and moves in the longitudinal direction of the first and second pallet rails 21 and 31. The auxiliary pulley 93 is disposed on both sides of the guide material 92.
　補助板９１には、補助循環機構であるサーボモータ８３が設けられる。サーボモータ８３は、補助循環ベルト８２を循環させる。サーボモータ８３の回転軸８３ａには、補助駆動プーリ８４が取付けられる。 The auxiliary plate 91 is provided with a servo motor 83 which is an auxiliary circulation mechanism. The servo motor 83 circulates the auxiliary circulation belt 82. An auxiliary drive pulley 84 is attached to the rotation shaft 83 a of the servo motor 83.
　補助駆動プーリ８４は、２つの補助プーリ９３と同一面上に設けられる。補助循環ベルト８２は、補助駆動プーリ８４と補助プーリ９３に掛け回される。 The auxiliary drive pulley 84 is provided on the same plane as the two auxiliary pulleys 93. The auxiliary circulation belt 82 is wound around the auxiliary drive pulley 84 and the auxiliary pulley 93.
　図示しないコントローラからの指令によりサーボモータ８３が作動すると、補助駆動プーリ８４に掛け回された補助循環ベルト８２が循環する。二つの補助プーリ９３間で補助循環ベルト８２は水平なガイド材９２の上面を移動する。つまり、補助循環ベルト８２は、第一及び第二パレットレール２１，３１の端部、並びに第一及び第二パレットレール２１，３１に連続して回転板６２の外周から突出する短レール６３に沿うように移動する。 When the servo motor 83 is activated by a command from a controller (not shown), the auxiliary circulation belt 82 wound around the auxiliary drive pulley 84 circulates. The auxiliary circulation belt 82 moves on the upper surface of the horizontal guide member 92 between the two auxiliary pulleys 93. That is, the auxiliary circulation belt 82 extends along the end of the first and second pallet rails 21 and 31 and the short rail 63 protruding from the outer periphery of the rotating plate 62 continuously to the first and second pallet rails 21 and 31. To move.
　図５に示すように、補助循環ベルト８２は、循環ベルト４２と同様に、幅方向に延び長手方向に交互に連続して形成される凹凸８２ａ，８２ｂを有する。このため、係止部材１４が補助循環ベルト８２に重ね合わせられると、補助循環ベルト８２の凹凸８２ａ，８２ｂが係止部材１４の凹凸１４ａ，１４ｂに係合する。 As shown in FIG. 5, the auxiliary circulation belt 82 has irregularities 82a and 82b extending in the width direction and continuously formed in the longitudinal direction, like the circulation belt 42. For this reason, when the locking member 14 is overlaid on the auxiliary circulation belt 82, the irregularities 82 a and 82 b of the auxiliary circulation belt 82 engage with the irregularities 14 a and 14 b of the locking member 14.
　従って、補助循環ベルト８２の凹凸８２ａ，８２ｂと循環ベルト４２の凹凸４２ａ，４２ｂ（図４）とが連続するようにして、補助循環ベルト８２を循環ベルト４２と同一の速度で循環させると、パレット１１は、第一パレットレール２１を移動するとともに、第一パレットレール２１の端部において循環ベルト４２から補助循環ベルト８２に移動し、補助循環ベルト８２に係合する（図４及び図５参照）。 Therefore, when the auxiliary circulation belt 82 is circulated at the same speed as the circulation belt 42 so that the irregularities 82a and 82b of the auxiliary circulation belt 82 and the irregularities 42a and 42b (FIG. 4) of the circulation belt 42 are continuous, the pallet 11 moves the first pallet rail 21, moves from the circulation belt 42 to the auxiliary circulation belt 82 at the end of the first pallet rail 21, and engages the auxiliary circulation belt 82 (see FIGS. 4 and 5). .
　図５に示すように、パレット１１における凹凸１４ａ，１４ｂが補助循環ベルト８２の凹凸８２ａ，８２ｂに係合すると、パレット１１は、第一及び第二パレットレール２１，３１の長手方向への自在な移動（補助循環ベルト８２との相対移動）が制限される。このため、パレット１１に係合する補助循環ベルト８２を循環させると、パレット１１は、補助循環ベルト８２とともに移動し、補助循環ベルト８２に沿う短レール６３又は第一及び第二パレットレール２１，３１に沿って搬送される。 As shown in FIG. 5, when the irregularities 14 a and 14 b on the pallet 11 are engaged with the irregularities 82 a and 82 b of the auxiliary circulation belt 82, the pallet 11 can freely move in the longitudinal direction of the first and second pallet rails 21 and 31. Movement (relative movement with the auxiliary circulation belt 82) is restricted. Therefore, when the auxiliary circulation belt 82 engaged with the pallet 11 is circulated, the pallet 11 moves together with the auxiliary circulation belt 82 and the short rail 63 or the first and second pallet rails 21 and 31 along the auxiliary circulation belt 82. It is conveyed along.
　係止部材１４に係合した補助循環ベルト８２を更に循環させると、図６に示すように、パレット１１は、第一パレットレール２１の端部から、第一パレットレール２１に連続する短レール６３にまで移動する。補助循環ベルト８２を逆に循環させると、パレット１１は、短レール６３から第一パレットレール２１又は第二パレットレール３１に移動する。 When the auxiliary circulation belt 82 engaged with the locking member 14 is further circulated, the pallet 11 is connected to the first pallet rail 21 from the end of the first pallet rail 21 as shown in FIG. Move up to. When the auxiliary circulation belt 82 is circulated in the reverse direction, the pallet 11 moves from the short rail 63 to the first pallet rail 21 or the second pallet rail 31.
　また、パレット搬送装置１０は図９，図１０及び図１２に示すように、パレット送り補助部８１を昇降させる流体圧シリンダ（昇降部）９５を備える。流体圧シリンダ９５の本体９５ｂは、出没ロッド９５ａを上方に向けて架台９に固定される。出没ロッド９５ａの上端に補助板９１の他端が枢支される。 Further, as shown in FIGS. 9, 10 and 12, the pallet carrying device 10 includes a fluid pressure cylinder (elevating part) 95 for elevating and lowering the pallet feeding auxiliary part 81. The main body 95b of the fluid pressure cylinder 95 is fixed to the gantry 9 with the retracting rod 95a facing upward. The other end of the auxiliary plate 91 is pivotally supported on the upper end of the retracting rod 95a.
　流体圧シリンダ９５は、出没ロッド９５ａを上方に突出した状態で、補助板９１における補助循環ベルト８２が、短レール６３に搭載されたパレット１１の回転板６２の外周から突出した係止部材１４に重ね合わせられるように構成される（図６）。 In the fluid pressure cylinder 95, the auxiliary circulation belt 82 in the auxiliary plate 91 protrudes from the outer periphery of the rotating plate 62 of the pallet 11 mounted on the short rail 63 in a state where the protruding rod 95 a protrudes upward. It is comprised so that it may overlap (FIG. 6).
　一方、図１３及び図１４に示すように、係止部材１４はパレット１１における台座１３の下面に設けられている。補助板９１の他端が出没ロッド９５ａの他端に枢支されるので、流体圧シリンダ９５の出没ロッド９５ａを本体９５ｂに没入させると、補助板９１を含むパレット送り補助部８１が下降する。その結果、補助板９１における補助循環ベルト８２も下降する。 Meanwhile, as shown in FIGS. 13 and 14, the locking member 14 is provided on the lower surface of the base 13 in the pallet 11. Since the other end of the auxiliary plate 91 is pivotally supported by the other end of the retracting rod 95a, when the retracting rod 95a of the fluid pressure cylinder 95 is immersed in the main body 95b, the pallet feed assisting portion 81 including the auxiliary plate 91 is lowered. As a result, the auxiliary circulation belt 82 in the auxiliary plate 91 is also lowered.
　回転板６２とともに回転する短レール６３が補助循環ベルト８２に接触などして、回転板６２の自由な回転が困難になるような場合には、パレット送り補助部８１は下降される。 When the short rail 63 rotating with the rotating plate 62 comes into contact with the auxiliary circulation belt 82 and the free rotation of the rotating plate 62 becomes difficult, the pallet feed assisting portion 81 is lowered.
　図１３及び図１４は、係止部材１４に補助循環ベルト８２が重ね合わせられた状態で短レール６３にまでパレット１１が移動した状態を示す。この状態で補助板９１の他端を下降させてパレット送り補助部８１を下降させると、補助循環ベルト８２の凹凸８２ａ，８２ｂ（図５）は、係止部材１４における凹凸１４ａ，１４ｂから離間する。 13 and 14 show a state where the pallet 11 has moved to the short rail 63 in a state where the auxiliary circulation belt 82 is superimposed on the locking member 14. When the other end of the auxiliary plate 91 is lowered in this state to lower the pallet feed auxiliary portion 81, the irregularities 82a and 82b (FIG. 5) of the auxiliary circulation belt 82 are separated from the irregularities 14a and 14b in the locking member 14. .
　これにより、補助循環ベルト８２の凹凸８２ａ，８２ｂと係止部材１４の凹凸１４ａ，１４ｂとの係合は解除される。その結果、パレット１１が搭載された短レール６３が設けられた回転板６２の水平回転を確実に行うことができる。 Thereby, the engagement between the irregularities 82a and 82b of the auxiliary circulation belt 82 and the irregularities 14a and 14b of the locking member 14 is released. As a result, the rotating plate 62 provided with the short rail 63 on which the pallet 11 is mounted can be reliably rotated horizontally.
　図１０及び図１２に示すように、流体圧シリンダ９５の出没ロッド９５を再び上方に突出させて、下降していた補助板９１の他端を上昇させると、短レール６３に搭載されたパレット１１における係止部材１４に補助循環ベルト８２が重ね合わされる。この結果、補助循環ベルト８２の凹凸８２ａ，８２ｂが係止部材１４の凹凸１４ａ，１４ｂに再び係合する。 As shown in FIGS. 10 and 12, when the protruding and retracting rod 95 of the fluid pressure cylinder 95 is protruded upward again and the other end of the lowered auxiliary plate 91 is raised, the pallet 11 mounted on the short rail 63. The auxiliary circulation belt 82 is superimposed on the locking member 14 in FIG. As a result, the irregularities 82a and 82b of the auxiliary circulation belt 82 are engaged with the irregularities 14a and 14b of the locking member 14 again.
　次に、上記パレット搬送装置を用いたパレット搬送方法を説明する。 Next, a pallet transport method using the pallet transport device will be described.
　パレット搬送装置１０を用いたパレット搬送方法は、パレット１１を第一パレットレール２１に沿って搬送する第一パレット搬送工程と、第一パレットレール２１の端部からパレット１１を第二パレットレール３１に移動させるパレット移動工程と、パレット１１を第二パレットレール３１に沿って搬送する第二パレット搬送工程と、を有する。第一パレット搬送工程では、パレット１１は、第一パレットレール２１に搭載されている。第二パレット搬送工程では、パレット１１は、第二パレットレール３１に搭載されている。 The pallet transport method using the pallet transport device 10 includes a first pallet transport process for transporting the pallet 11 along the first pallet rail 21, and the pallet 11 from the end of the first pallet rail 21 to the second pallet rail 31. A pallet moving process of moving the pallet 11 along the second pallet rail 31; In the first pallet conveying step, the pallet 11 is mounted on the first pallet rail 21. In the second pallet conveying step, the pallet 11 is mounted on the second pallet rail 31.
　以下に各工程を説明する。 Each process will be described below.
　＜第一パレット搬送工程＞
　この工程では、第一パレットレール２１に搭載されたパレット１１を搬送する。 <First pallet transport process>
In this step, the pallet 11 mounted on the first pallet rail 21 is transported.
　本実施形態におけるパレット１１には、所定の加工を必要とするワーク６が搭載される。ここでは、第一ガイドレール２１に搭載されたパレット１１にワーク６が搭載される例を説明する。さらに、パレット１１は、ワーク６を搭載するための搭載具１６を備え、ワーク６は搭載具１６を介してパレット１１に搭載される例を説明する。 In the pallet 11 in the present embodiment, a workpiece 6 that requires predetermined processing is mounted. Here, an example in which the workpiece 6 is mounted on the pallet 11 mounted on the first guide rail 21 will be described. Further, an example in which the pallet 11 includes a mounting tool 16 for mounting the workpiece 6 and the workpiece 6 is mounted on the pallet 11 via the mounting tool 16 will be described.
　パレット１１を第一ガイドレール２１へ搭載するには、パレット１１の直線運動ブロック１２に第一ガイドレール２１における直線運動ガイドレール２３の端部を挿入し、直線運動ブロック２１を直線運動ガイドレール２３に搭載する。 In order to mount the pallet 11 on the first guide rail 21, the end of the linear motion guide rail 23 in the first guide rail 21 is inserted into the linear motion block 12 of the pallet 11, and the linear motion block 21 is moved to the linear motion guide rail 23. To be installed.
　パレット１１を第一ガイドレール２１に搭載すると、図４に示すように、パレット１１における凹凸１４ａ，１４ｂは、第一ガイドレール２１に沿って設けられた循環ベルト４２の凹凸４２ａ，４２ｂに係合する。駆動機構であるサーボモータ４３を駆動して循環ベルト４２を循環させることにより、第一ガイドレール２１に沿ってそれらのパレット１１を搬送することが可能になる。 When the pallet 11 is mounted on the first guide rail 21, the irregularities 14 a and 14 b on the pallet 11 are engaged with the irregularities 42 a and 42 b of the circulation belt 42 provided along the first guide rail 21, as shown in FIG. 4. To do. By driving the servo motor 43 that is a driving mechanism to circulate the circulation belt 42, the pallets 11 can be conveyed along the first guide rail 21.
　パレット１１は、第一パレットレール２１に沿って設けられた図示しない各工作機に対峙するまで搬送される。パレット１１が各工作機に対峙したところで、サーボモータ４３ａを停止させる。パレット１１に搭載されたワーク６は、それらの各工作機によって加工される。このとき、図示しない各工作機のピッチと同一のピッチで複数のパレット１１を搬送させることにより、複数の工作機による加工を同時に行うことが可能となる。 The pallet 11 is conveyed until it faces each machine tool (not shown) provided along the first pallet rail 21. When the pallet 11 faces each machine tool, the servo motor 43a is stopped. The workpiece 6 mounted on the pallet 11 is processed by each of these machine tools. At this time, it is possible to simultaneously perform machining with a plurality of machine tools by conveying the plurality of pallets 11 at the same pitch as the pitch of each machine tool (not shown).
　＜パレット移動工程＞
　この工程では、第一パレットレール２１の端部からパレット１１を第二パレットレール３１に移動させる。この移動は第一及び第二パレットレール２１，３１の端部近傍に設けられたパレット移動部６１により行われる。 <Pallet moving process>
In this step, the pallet 11 is moved to the second pallet rail 31 from the end of the first pallet rail 21. This movement is performed by a pallet moving part 61 provided in the vicinity of the ends of the first and second pallet rails 21 and 31.
　本実施形態では、循環ベルト４２に連続して補助循環ベルト８２が設けられる。パレット１１は、前述の第一パレット搬送工程において、第一パレットレール２１に沿って移動する。この際、循環ベルト４２の凹凸４２ａ，４２ｂ（図４）と補助循環ベルト８２の凹凸８２ａ，８２ｂとが連続するようにし、補助循環ベルト８２を循環ベルト４２と同一の速度で循環させると、パレット１１は、第一パレットレール２１の端部に達する直前で、図２及び図５に示すように、循環ベルト４２から、これに連続する補助循環ベルト８２に移動する。その結果、パレット１１は、補助循環ベルト８２に係合する。 In this embodiment, an auxiliary circulation belt 82 is provided continuously to the circulation belt 42. The pallet 11 moves along the first pallet rail 21 in the above-described first pallet conveying step. At this time, if the irregularities 42a, 42b (FIG. 4) of the circulation belt 42 and the irregularities 82a, 82b of the auxiliary circulation belt 82 are made continuous, and the auxiliary circulation belt 82 is circulated at the same speed as the circulation belt 42, the pallet 11 is moved immediately before reaching the end of the first pallet rail 21 from the circulation belt 42 to the auxiliary circulation belt 82 continuous thereto as shown in FIGS. As a result, the pallet 11 is engaged with the auxiliary circulation belt 82.
　即ち、補助循環ベルト８２の凹凸８２ａ，８２ｂと循環ベルト４２の凹凸４２ａ，４２ｂとを連続させ、補助循環ベルト８２を循環ベルト４２と同一の速度で循環させると、パレット１１は循環ベルト４２から補助循環ベルト８２に速やかに移動して係合する。その後、パレット１１は、第一パレットレール２１の端部にまで至る。 That is, when the irregularities 82 a and 82 b of the auxiliary circulation belt 82 and the irregularities 42 a and 42 b of the circulation belt 42 are made continuous and the auxiliary circulation belt 82 is circulated at the same speed as the circulation belt 42, the pallet 11 is assisted by the circulation belt 42. It quickly moves and engages with the circulation belt 82. Thereafter, the pallet 11 reaches the end of the first pallet rail 21.
　ここで、本実施形態では、第一パレットレール２１の端部、及び第一パレットレール２１の端部に連続する短レール６３に沿って循環する補助循環ベルト８２が循環ベルト４２に連続して設けられる。このため、パレット１１が補助循環ベルト８２に係合した後に、補助循環ベルト８２の循環を停止することにより、循環ベルト４２の循環に関わらず、補助循環ベルト８２に係合したパレット１１を第一パレットレール２１の端部に留め置くことができる。また、循環ベルト４２を循環させれば、補助循環ベルト８２の循環に関わらず、第一パレットレール２１の端部に留め置かれたパレット１１とは別のパレット１１を第一パレットレール２１に沿って移動させることができる。即ち、補助循環ベルト８２を循環ベルト４２に連続して設けることにより、パレット移動工程において移動するパレット１１と別のパレット１１を、第一パレットレール２１に沿ってパレット１１を搬送させることができる。 Here, in this embodiment, an auxiliary circulation belt 82 that circulates along the end of the first pallet rail 21 and the short rail 63 that continues to the end of the first pallet rail 21 is provided continuously to the circulation belt 42. It is done. For this reason, after the pallet 11 is engaged with the auxiliary circulation belt 82, the circulation of the auxiliary circulation belt 82 is stopped, so that the pallet 11 engaged with the auxiliary circulation belt 82 is set to the first regardless of the circulation of the circulation belt 42. It can be retained at the end of the pallet rail 21. Further, if the circulation belt 42 is circulated, the pallet 11 different from the pallet 11 held at the end of the first pallet rail 21 is moved along the first pallet rail 21 regardless of the circulation of the auxiliary circulation belt 82. Can be moved. That is, by providing the auxiliary circulation belt 82 continuously with the circulation belt 42, the pallet 11 can be transported along the first pallet rail 21 from the pallet 11 that moves in the pallet movement process.
　パレット移動工程では、パレット移動部６１におけるインデックスユニット６４により回転板６２を回転させて、短レール６３を第一パレットレール２１に連続させる。この状態で補助循環ベルト８２を循環させて、第一パレットレール２１の端部からパレット１１を短レール６３に移動させる。その結果、図３及び図６に示すように、パレット１１は、短レール６３に搭載される。 In the pallet moving process, the rotating plate 62 is rotated by the index unit 64 in the pallet moving unit 61 so that the short rail 63 is continued to the first pallet rail 21. In this state, the auxiliary circulation belt 82 is circulated to move the pallet 11 from the end of the first pallet rail 21 to the short rail 63. As a result, as shown in FIGS. 3 and 6, the pallet 11 is mounted on the short rail 63.
　このとき、図９に示すように、第一シリンダ７４の出没ロッド７４ａを本体部７４ｂから突出させる。第一パレットレール２１に連続する短レール６３に対向する昇降ロッド７２は、コイルスプリング７３の付勢力に抗して下方に移動する。その状態で、第一パレットレール２１から、第一パレットレール２１に連続する短レール６３にパレット１１を移動させて、パレット１１を短レール６３に搭載する。 At this time, as shown in FIG. 9, the retracting rod 74a of the first cylinder 74 is protruded from the main body 74b. The elevating rod 72 facing the short rail 63 continuous with the first pallet rail 21 moves downward against the urging force of the coil spring 73. In this state, the pallet 11 is moved from the first pallet rail 21 to the short rail 63 continuous to the first pallet rail 21, and the pallet 11 is mounted on the short rail 63.
　その後、図１０に示すように、第一シリンダ７４の出没ロッド７４ａを本体７４ｂに没入させる。昇降ロッド７２はコイルスプリング７３の付勢力により上方に移動し、昇降ロッド７２の上端はパレット１１に設けられた係止穴１３ａに進入する。これにより、回転板６２を回転させてパレット１１を移動させる際に短レール６３に対してパレット１１が相対的に移動するのを防止することができる。 Thereafter, as shown in FIG. 10, the retracting rod 74a of the first cylinder 74 is immersed in the main body 74b. The elevating rod 72 moves upward by the urging force of the coil spring 73, and the upper end of the elevating rod 72 enters the locking hole 13 a provided in the pallet 11. Thereby, when rotating the rotating plate 62 and moving the pallet 11, it is possible to prevent the pallet 11 from moving relative to the short rail 63.
　その後、インデックスユニット６４は、図１１の実線矢印で示すように、回転板６２を回転させる。パレット１１が搭載された短レール６３は、第一パレットレール２１に連続する第一位置から移動し、第二パレットレール３１に連続する第二位置まで回転する。 Thereafter, the index unit 64 rotates the rotating plate 62 as shown by the solid line arrow in FIG. The short rail 63 on which the pallet 11 is mounted moves from a first position continuous with the first pallet rail 21 and rotates to a second position continuous with the second pallet rail 31.
　ここで、パレット１１に係合する凹凸８２ａ，８２ｂ（図５）は、補助循環ベルト８２に幅方向に延びて形成されている。このため、回転板６２を回転させると、短レール６３に搭載されたパレット１１は、補助循環ベルト８２の幅方向に移動する。よって、パレット１１の凹凸１４ａ，１４ｂは、補助循環ベルト８２の凹凸８２ａ，８２ｂから幅方向にずれて、補助循環ベルト８２の凹凸８２ａ，８２ｂとの係合が解除される。 Here, the irregularities 82a and 82b (FIG. 5) engaged with the pallet 11 are formed to extend in the width direction on the auxiliary circulation belt 82. For this reason, when the rotating plate 62 is rotated, the pallet 11 mounted on the short rail 63 moves in the width direction of the auxiliary circulation belt 82. Accordingly, the irregularities 14a and 14b of the pallet 11 are shifted in the width direction from the irregularities 82a and 82b of the auxiliary circulation belt 82, and the engagement with the irregularities 82a and 82b of the auxiliary circulation belt 82 is released.
　回転板６２とともに回転する短レール６３が補助循環ベルト８２と干渉するような場合には、図１３に示すように、流体圧シリンダ９５の出没ロッド９５ａをその下方にある本体９５ｂに没入させることが好ましい。これにより、短レール６３と補助循環ベルト８２との干渉を回避できると共に、パレット１１と補助循環ベルト８２との係合を確実に解除することができる。つまり、出没ロッド９５ａの上端に他端が枢支される補助板９１が補助循環ベルト８２とともに下降するため、パレット１１と補助循環ベルト８２との係合を確実に解除することができる。したがって、回転板６２とともに回転する短レール６３が補助循環ベルト８２と干渉することを回避することができる。 When the short rail 63 that rotates together with the rotating plate 62 interferes with the auxiliary circulation belt 82, as shown in FIG. 13, the retracting rod 95a of the fluid pressure cylinder 95 may be immersed in the main body 95b below it. preferable. Thereby, the interference between the short rail 63 and the auxiliary circulation belt 82 can be avoided, and the engagement between the pallet 11 and the auxiliary circulation belt 82 can be reliably released. That is, since the auxiliary plate 91 whose other end is pivotally supported by the upper end of the retractable rod 95a is lowered together with the auxiliary circulation belt 82, the engagement between the pallet 11 and the auxiliary circulation belt 82 can be reliably released. Therefore, it is possible to avoid the short rail 63 rotating together with the rotating plate 62 from interfering with the auxiliary circulation belt 82.
　回転板６２に９０度毎に短レール６３が設けられる本実施形態では、図１１に示すように、パレット１１と補助循環ベルト８２との係合を解除させて回転板６２を９０度回転させることにより、次の短レール６３が第一パレットレール２１に連続する。このように、回転板６２を９０度回転させると、第一パレットレール２１に連続していた短レール６３は、その第一位置から離れて、その短レール６３に搭載されたパレット１１が第二パレットレール３１に連続する第二位置まで移動する。 In the present embodiment in which the short plate 63 is provided on the rotating plate 62 every 90 degrees, as shown in FIG. 11, the engagement between the pallet 11 and the auxiliary circulation belt 82 is released and the rotating plate 62 is rotated 90 degrees. Thus, the next short rail 63 continues to the first pallet rail 21. As described above, when the rotating plate 62 is rotated by 90 degrees, the short rail 63 that is continuous with the first pallet rail 21 is separated from the first position, and the pallet 11 mounted on the short rail 63 is moved to the second position. The pallet rail 31 moves to a second position.
　回転板６２の回転円周上に短レール６３を等角度間隔で偶数設けることにより、パレット移動工程において必要な回転板６２の回転角度は減少する。よって、パレット１１の速やかな移動が可能となる。 By providing an even number of short rails 63 at equal angular intervals on the rotation circumference of the rotation plate 62, the rotation angle of the rotation plate 62 required in the pallet moving process is reduced. Therefore, the pallet 11 can be moved quickly.
　補助板９１を下降させていない場合、パレット１１が第二パレットレール３１に連続する第二位置まで移動すると、パレット１１の凹凸１４ａ，１４ｂは、補助循環ベルト８２の凹凸８２ａ，８２ｂに幅方向から進入する。これにより、補助循環ベルト８２の凹凸８２ａ，８２ｂに係止部材１４の凹凸１４ａ，１４ｂが再び係合する。 When the auxiliary plate 91 is not lowered, when the pallet 11 moves to the second position continuous with the second pallet rail 31, the irregularities 14 a and 14 b of the pallet 11 are formed on the irregularities 82 a and 82 b of the auxiliary circulation belt 82 from the width direction. enter in. Thereby, the projections and recesses 14a and 14b of the locking member 14 are engaged with the projections and recesses 82a and 82b of the auxiliary circulation belt 82 again.
　補助板９１を下降させた場合、パレット１１が搭載された短レール６３が第二パレットレール３１の直線運動ガイドレール２３に連続した後、流体圧シリンダ９５の出没ロッド９５を上方に突出させて、下降していた補助板９１の他端を上昇させる。これにより、パレット１１における係止部材１４に補助循環ベルト８２が重ね合わせられ、補助循環ベルト８２の凹凸８２ａ，８２ｂを係止部材１４の凹凸１４ａ，１４ｂに再び係合させることができる。 When the auxiliary plate 91 is lowered, after the short rail 63 on which the pallet 11 is mounted continues to the linear motion guide rail 23 of the second pallet rail 31, the retracting rod 95 of the fluid pressure cylinder 95 protrudes upward, The other end of the auxiliary plate 91 that has been lowered is raised. Thereby, the auxiliary circulation belt 82 is superposed on the locking member 14 in the pallet 11, and the irregularities 82a and 82b of the auxiliary circulation belt 82 can be engaged with the irregularities 14a and 14b of the locking member 14 again.
　回転板６２の回転又は補助板９１の他端の上昇の際には、パレット１１の係止部材１４の凹凸１４ａ，１４ｂと補助循環ベルト８２の凹凸８２ａ，８２ｂとが確実に係合するように予め設定されたプログラムによりサーボモータ８３の回転角度が制御される。 When the rotating plate 62 is rotated or the other end of the auxiliary plate 91 is raised, the projections and depressions 14a and 14b of the locking member 14 of the pallet 11 and the projections and depressions 82a and 82b of the auxiliary circulation belt 82 are reliably engaged. The rotation angle of the servo motor 83 is controlled by a preset program.
　パレット１１が搭載された短レール６３が第二位置まで回転し第二パレットレール３１と連続した後、図１２に示すように、第二シリンダ７５の出没ロッド７５ａを本体７５ｂから突出させる。昇降ロッド７２は、コイルスプリング７３の付勢力に抗して下方に移動し、昇降ロッド７２の上端は係止穴１３ａから離脱する。その結果、短レール６３に対するパレット１１の相対移動が許容される。 After the short rail 63 on which the pallet 11 is mounted rotates to the second position and continues to the second pallet rail 31, as shown in FIG. 12, the retracting rod 75a of the second cylinder 75 is projected from the main body 75b. The lifting rod 72 moves downward against the biasing force of the coil spring 73, and the upper end of the lifting rod 72 is detached from the locking hole 13a. As a result, relative movement of the pallet 11 with respect to the short rail 63 is allowed.
　その後、図１１の破線矢印で示す様に、第二パレットレール３１の端部近傍に位置しパレット１１に係合する補助循環ベルト８２を循環させ、パレット１１を補助循環ベルト８２とともに移動させる。パレット１１は、短レール６３から第二パレットレール３１にまで移動する。 Thereafter, as indicated by the broken line arrow in FIG. 11, the auxiliary circulation belt 82 located near the end of the second pallet rail 31 and engaged with the pallet 11 is circulated, and the pallet 11 is moved together with the auxiliary circulation belt 82. The pallet 11 moves from the short rail 63 to the second pallet rail 31.
　このようにして、パレット１１を第一パレットレール２１の端部から第二パレットレール３１に移動させる。 In this way, the pallet 11 is moved from the end of the first pallet rail 21 to the second pallet rail 31.
　＜第二パレット搬送工程＞
　この工程では、第二パレットレール３１に搭載されたパレット１１を搬送する。 <Second pallet transport process>
In this step, the pallet 11 mounted on the second pallet rail 31 is transported.
　パレット移動工程では、図１１の破線矢印に示すように、最終的に短レール６３から第二パレットレール３１にパレット１１が移動する。パレット１１は第二パレットレール３１の端部に沿って設けられた補助循環ベルト８２に係合した状態で、第二パレットレール３１の端部に移動する。 In the pallet moving process, the pallet 11 finally moves from the short rail 63 to the second pallet rail 31 as indicated by the broken line arrow in FIG. The pallet 11 moves to the end of the second pallet rail 31 while being engaged with an auxiliary circulation belt 82 provided along the end of the second pallet rail 31.
　第二パレット搬送工程では、第二パレットレール３１に搭載されたパレット１１を搬送する。補助循環ベルト８２には、第二パレットレール３１に沿って設けられた循環ベルト４２が連続する。よって、補助循環ベルト８２の凹凸８２ａ，８２ｂが循環ベルト４２の凹凸４２ａ，４２ｂと連続するように、補助循環ベルト８２及び循環ベルト４２を同一の速度で循環させる。 In the second pallet transport process, the pallet 11 mounted on the second pallet rail 31 is transported. A circulation belt 42 provided along the second pallet rail 31 is continuous with the auxiliary circulation belt 82. Therefore, the auxiliary circulation belt 82 and the circulation belt 42 are circulated at the same speed so that the irregularities 82a and 82b of the auxiliary circulation belt 82 are continuous with the irregularities 42a and 42b of the circulation belt 42.
　これにより、パレット１１は第二パレットレール３１の端部から図１１の一点鎖線矢印で示すように、中央方向に向かって移動を初め、第二パレットレール３１の端部から離間する。この結果、パレット１１は、補助循環ベルト８２から離れて循環ベルト４２に係合する。循環ベルト４２を循環させることにより、パレット１１を第二パレットレール３１に沿って搬送することができる。 As a result, the pallet 11 starts to move from the end of the second pallet rail 31 toward the center as shown by the one-dot chain arrow in FIG. As a result, the pallet 11 is separated from the auxiliary circulation belt 82 and engages with the circulation belt 42. By circulating the circulation belt 42, the pallet 11 can be conveyed along the second pallet rail 31.
　パレット１１は、第二パレットレール３１に沿って設けられた図示しない各工作機に対峙するまで、第二パレットレール３１に沿って搬送される。パレット１１が各工作機に対峙したところで、サーボモータ４３を停止させる。パレット１１に搭載されたワーク６には、それらの各工作機において加工が施される。 The pallet 11 is transported along the second pallet rail 31 until it faces each machine tool (not shown) provided along the second pallet rail 31. When the pallet 11 faces each machine tool, the servo motor 43 is stopped. The workpiece 6 mounted on the pallet 11 is processed by each of these machine tools.
　本実施形態では、第二パレットレール３１の端部、及び第二パレットレール３１の端部に連続する短レール６３に沿って循環する補助循環ベルト８２は、循環ベルト４２に連続して設けられる。このため、循環ベルト４２と補助循環ベルト８２とを別々に循環させることにより、パレット１１を循環ベルト４２に重ねることなくパレット１１を第二パレットレール３１の端部に維持させることができる。具体的には、図１１に示すように、補助循環ベルト８２の循環によりパレット１１が短レール６３から第二パレットレール３１の端部に移動しその後パレット１１が循環ベルト４２に達する前にその循環を停止する。パレット１１は循環ベルト４２に係合しないので、循環ベルト４２の循環に関わらずパレット１１を第二パレットレール３１の端部に維持させることができる。 In this embodiment, the auxiliary circulation belt 82 that circulates along the end of the second pallet rail 31 and the short rail 63 that continues to the end of the second pallet rail 31 is provided continuously to the circulation belt 42. For this reason, by circulating the circulation belt 42 and the auxiliary circulation belt 82 separately, it is possible to maintain the pallet 11 at the end of the second pallet rail 31 without overlapping the pallet 11 with the circulation belt 42. Specifically, as shown in FIG. 11, the circulation of the auxiliary circulation belt 82 causes the pallet 11 to move from the short rail 63 to the end of the second pallet rail 31 and then circulate before the pallet 11 reaches the circulation belt 42. To stop. Since the pallet 11 does not engage with the circulation belt 42, the pallet 11 can be maintained at the end of the second pallet rail 31 regardless of the circulation of the circulation belt 42.
　また、循環ベルト４２に係合するパレット１１は、循環ベルト４２の循環によって、第二パレットレール３１上を搬送される。つまり、第二パレットレール３１の端部に搭載されて補助循環ベルト８２に係合するが循環ベルト４２には係合しないパレット１１を移動させること無く、第二パレットレール３１に搭載され循環ベルト４２に係合するパレット１１を移動させることができる。 Further, the pallet 11 engaged with the circulation belt 42 is conveyed on the second pallet rail 31 by the circulation of the circulation belt 42. In other words, the circulation belt 42 mounted on the second pallet rail 31 is moved without moving the pallet 11 mounted on the end of the second pallet rail 31 and engaged with the auxiliary circulation belt 82 but not engaged with the circulation belt 42. The pallet 11 engaged with the can be moved.
　そして、循環ベルト４２に係合するパレット１１と補助循環ベルト８２に係合するパレット１１とが所定のピッチ離れたときに、補助循環ベルト８２を循環させ、補助循環ベルト８２に係合するパレット１１を移動させて循環ベルト４２に係合させる。これにより、複数のパレット１１を所定のピッチで第二パレットレール３１上を搬送させることができる。 When the pallet 11 engaged with the circulation belt 42 and the pallet 11 engaged with the auxiliary circulation belt 82 are separated from each other by a predetermined pitch, the auxiliary circulation belt 82 is circulated and the pallet 11 engaged with the auxiliary circulation belt 82. Is moved and engaged with the circulation belt 42. Thereby, the plurality of pallets 11 can be conveyed on the second pallet rail 31 at a predetermined pitch.
　このようにして、図示しない各工作機のピッチと同一のピッチで複数のパレット１１を搬送させるようにすれば、複数の工作機による加工を同時に行うことが可能となる。 In this way, if a plurality of pallets 11 are transported at the same pitch as that of each machine tool (not shown), it is possible to perform machining by a plurality of machine tools simultaneously.
　上述したように、本実施形態のパレット搬送装置１０では、補助循環ベルト８２は、短レール６３に搭載されたパレット１１と係合する。このため、補助循環ベルト８２によりパレット１１を確実に短レール６３にまで案内することができる。 As described above, in the pallet transport device 10 of the present embodiment, the auxiliary circulation belt 82 engages with the pallet 11 mounted on the short rail 63. For this reason, the pallet 11 can be reliably guided to the short rail 63 by the auxiliary circulation belt 82.
　パレット搬送装置１０は、図１３及び図１４に示すように、パレット送り補助部８１を昇降させる昇降部９５を備える。パレット送り補助部８１を下降させることにより、短レール６３に搭載されたパレット１１とパレット送り補助部８１の係合を解除することができる。また、回転板６２の回転時に、回転板６２とともに回転する短レール６３が補助循環ベルト８２と干渉するような場合には、そのような干渉を回避することができる。このように係合を解除した状態で回転板６２を短レール６３とともに回転させることにより、第一パレットレール２１の端部から第二パレットレール３１の端部にまで、パレット１１を確実に移動させることができる。 As shown in FIGS. 13 and 14, the pallet transport device 10 includes an elevating unit 95 that elevates and lowers the pallet feed auxiliary unit 81. By lowering the pallet feed assisting portion 81, the engagement between the pallet 11 mounted on the short rail 63 and the pallet feed assisting portion 81 can be released. Further, when the rotating plate 62 rotates, if the short rail 63 rotating with the rotating plate 62 interferes with the auxiliary circulation belt 82, such interference can be avoided. Thus, by rotating the rotating plate 62 together with the short rail 63 in the released state, the pallet 11 is reliably moved from the end of the first pallet rail 21 to the end of the second pallet rail 31. be able to.
　そして、その後、パレット送り補助部８１を上昇させると、短レール６３に搭載されたパレット１１に補助循環ベルト８２が再び係合する。したがって、パレット１１とともに移動して他方のパレットレール３１の端縁に接続した短レール６３から、パレット１１を他方のパレットレール３１にまで確実に移動させることができる。 Then, when the pallet feed assisting portion 81 is raised, the auxiliary circulation belt 82 is engaged again with the pallet 11 mounted on the short rail 63. Therefore, the pallet 11 can be reliably moved to the other pallet rail 31 from the short rail 63 that is moved together with the pallet 11 and connected to the edge of the other pallet rail 31.
　このように、本実施形態のパレット搬送装置１０では、パレット１１を確実に搬送させることが可能になる。 Thus, in the pallet carrying device 10 of the present embodiment, the pallet 11 can be reliably carried.
　ここで、パレット１１とパレット送り補助部８１の係合及びその解除は、パレット１１を昇降させることによっても可能である。しかしながら、ワーク６がパレット１１に搭載された状態では、パレット１１の重量は比較的大きく、パレット１１を昇降させることは動力の消費を招く。また、パレット１１の昇降に伴いワーク６も昇降する。搭載具１６によるワークの搭載がその昇降に耐え得るようにする必要があり、ワーク６を搭載する搭載具１６の構造が複雑になるおそれがある。 Here, the engagement of the pallet 11 and the pallet feed assisting portion 81 and the release thereof can also be performed by raising and lowering the pallet 11. However, when the workpiece 6 is mounted on the pallet 11, the weight of the pallet 11 is relatively large, and raising and lowering the pallet 11 causes power consumption. In addition, the workpiece 6 also moves up and down as the pallet 11 moves up and down. It is necessary that the mounting of the work by the mounting tool 16 be able to withstand the elevation, and the structure of the mounting tool 16 on which the work 6 is mounted may be complicated.
　これに対して、本実施形態では、パレット送り補助部８１を昇降させるので、少ない動力でパレット１１とパレット送り補助部８１の係合及びその解除を行うことができる。また、ワーク６の昇降を考慮する必要がなく、ワーク６を搭載する搭載具１６の構造を比較的単純化させることができる。 In contrast, in this embodiment, since the pallet feed assisting portion 81 is moved up and down, the pallet 11 and the pallet feed assisting portion 81 can be engaged and released with less power. Moreover, it is not necessary to consider the raising / lowering of the workpiece | work 6, and the structure of the mounting tool 16 which mounts the workpiece | work 6 can be simplified comparatively.
　そして、パレット１１では、ワーク６が台座１３の一方の側部に搭載され、台座１３の他方の側部に直線運動ブロック１２が固定される。直線運動ブロック１２を第一パレットレール２１及び第二パレットレール３１が支持するので、ワーク６が搭載された台座１３の一方の側部を常に外側に向けて、パレット１１を搬送させることができる。 In the pallet 11, the workpiece 6 is mounted on one side of the pedestal 13, and the linear motion block 12 is fixed to the other side of the pedestal 13. Since the linear movement block 12 is supported by the first pallet rail 21 and the second pallet rail 31, the pallet 11 can be transported with one side portion of the base 13 on which the workpiece 6 is mounted always facing outward.
　また、パレット搬送装置１０では、パレット１１は、無端で設けられる循環ベルト４２に係合し、第一パレットレール２１及び第二パレットレール３１に沿って搬送される。パレット１１と循環ベルト４２とが係合する位置を変化させることにより、第一パレットレール２１又は第二パレットレール３１に沿って搬送される複数のパレット１１どうしの間隔を変更することができる。即ち、先に搬送されたパレット１１と後に搬送されるパレットとの搬送ピッチを容易に変更することができる。 Further, in the pallet conveying device 10, the pallet 11 is engaged with the endless circulation belt 42 and is conveyed along the first pallet rail 21 and the second pallet rail 31. By changing the position where the pallet 11 and the circulation belt 42 are engaged, the interval between the plurality of pallets 11 conveyed along the first pallet rail 21 or the second pallet rail 31 can be changed. That is, the transport pitch between the pallet 11 transported first and the pallet transported later can be easily changed.
　よって、各工作機又はワーク６の変更等がなされて、ワーク６の搬送ピッチの変更が必要になっても、パレット１１自体を変更することなく速やかにそのピッチの変更に対応させることが可能となる。 Therefore, even if each machine tool or the workpiece 6 is changed, and it is necessary to change the conveyance pitch of the workpiece 6, it is possible to quickly respond to the change in the pitch without changing the pallet 11 itself. Become.
　上述した実施形態では、補助板９１の一端が、支持板２２の端部であって直線運動ガイドレール２３に近い上部に枢支される。また、直線運動ガイドレール２３は、支持板２２の端部から突出し、回転板６２における短レール６３に連続する。 In the above-described embodiment, one end of the auxiliary plate 91 is pivotally supported on the upper end of the support plate 22 and close to the linear motion guide rail 23. Further, the linear motion guide rail 23 protrudes from the end portion of the support plate 22 and continues to the short rail 63 in the rotating plate 62.
　これに対し、図１５及び図１６に示すように、パレットレール２１，３１と回転板６２の間に、パレットレール２１，３１の端部に連続するようにパレットレール２１，３１の同一直線上に補助レール９６を設けてもよい。 On the other hand, as shown in FIGS. 15 and 16, the pallet rails 21 and 31 are arranged on the same straight line between the pallet rails 21 and 31 and the rotating plate 62 so as to be continuous with the end portions of the pallet rails 21 and 31. An auxiliary rail 96 may be provided.
　この場合には、パレット搬送装置１０は、補助レール９６を昇降させる流体圧シリンダ（補助レール昇降部）９７を更に必要とする。流体圧シリンダ９７は、図中一点鎖線で示すように、補助レール９６がパレットレール２１，３１の端部に連続する第一位置と、図中実線で示すように、第一位置より下方の第二位置と、の間で補助レール９６を昇降させる。 In this case, the pallet carrying device 10 further requires a fluid pressure cylinder (auxiliary rail elevating part) 97 for elevating the auxiliary rail 96. The fluid pressure cylinder 97 has a first position where the auxiliary rail 96 continues to the end of the pallet rails 21 and 31 as shown by a one-dot chain line in the drawing, and a first position below the first position as shown by a solid line in the drawing. The auxiliary rail 96 is moved up and down between the two positions.
　図１５及び図１６では、第一及び第二パレットレール２１，３１における支持板２２の回転板６２側端部近傍に枢支柱９０が架台９に立設され、枢支柱９０の上端に補助板９１の一端と補助レール９６の一端が枢支される場合を示す。流体圧シリンダ９７は、出没ロッド９７ａを上方に向けて本体９７ｂが架台９に固定される。出没ロッド９７ａの上端には、補助レール９６の他端が枢支される。 In FIGS. 15 and 16, a pivot post 90 is erected on the mount 9 near the end of the support plate 22 on the rotary plate 62 side of the first and second pallet rails 21 and 31, and an auxiliary plate 91 is disposed on the upper end of the pivot post 90. A case where one end of the auxiliary rail 96 and one end of the auxiliary rail 96 are pivotally supported is shown. The main body 97b of the fluid pressure cylinder 97 is fixed to the gantry 9 with the retracting rod 97a facing upward. The other end of the auxiliary rail 96 is pivotally supported at the upper end of the retracting rod 97a.
　流体圧シリンダ９７が出没ロッド９７ａを出没させると、補助レール９６の他端が昇降する。補助レール９６はパレットレール２１，３１に近い側の端部に支点９６ａを有し、支点９６ａを回転軸として他端が昇降する。これにより、流体圧シリンダ９７は、補助レール９６をパレットレール２１，３１の端部に連続する第一位置（図中一点鎖線）と、第一位置より下方の第二位置（図中実線）と、の間で昇降させる。 When the fluid pressure cylinder 97 retracts the retracting rod 97a, the other end of the auxiliary rail 96 moves up and down. The auxiliary rail 96 has a fulcrum 96a at the end close to the pallet rails 21 and 31, and the other end moves up and down with the fulcrum 96a as a rotation axis. Thereby, the fluid pressure cylinder 97 has a first position (one-dot chain line in the figure) where the auxiliary rail 96 continues to the end of the pallet rails 21 and 31, and a second position (solid line in the figure) below the first position. , Go up and down between.
　このような昇降可能な補助レール９６をパレットレール２１，３１と回転板６２の間に設けると、短レール６３に搭載されたパレット１１が回転板６２とともに回転する際に、パレット１１が第一位置の補助レール９６と干渉するような場合に有効である。 When such an auxiliary rail 96 that can be moved up and down is provided between the pallet rails 21 and 31 and the rotating plate 62, when the pallet 11 mounted on the short rail 63 rotates together with the rotating plate 62, the pallet 11 is in the first position. This is effective when interfering with the auxiliary rail 96.
　即ち、回転板６２における短レール６３に搭載されたパレット１１が第一位置の補助レール９６と干渉するような場合であっても、回転板６２を回転させる際に補助レール９６を下降させて第二位置に位置させることで、パレット１１と補助レール９６との干渉が回避される。よって、回転板６２と共にパレット１１を確実に回転移動させる事ができる。 That is, even when the pallet 11 mounted on the short rail 63 in the rotating plate 62 interferes with the auxiliary rail 96 in the first position, the auxiliary rail 96 is lowered when the rotating plate 62 is rotated. By positioning at two positions, interference between the pallet 11 and the auxiliary rail 96 is avoided. Therefore, the pallet 11 can be reliably rotated and moved together with the rotating plate 62.
　なお、図１５及び図１６の補助レール９６は、パレットレール２１，３１に近い側の端部に支点９６ａを有し、支点９６ａを回転軸として他端が昇降する。これに対し、補助レール９６は水平状態で昇降するものでもよい。 15 and 16 has a fulcrum 96a at the end close to the pallet rails 21 and 31, and the other end moves up and down with the fulcrum 96a as a rotation axis. On the other hand, the auxiliary rail 96 may be moved up and down in a horizontal state.
　また、上述の実施形態において、直線運動ガイドレール２３と回転板６２の短レール６３とをわずかな隙間を空けて連続させる場合において、回転板６２が回転する際に直線運動ガイドレール２３と短レールとが互いに干渉し連続させることができないことも考えられる。このような場合には、図１７の拡大図に示すように、直線運動ガイドレール２３の端部とそれに連続する短レール６３の端部との互いに対向する面を曲面加工すればよい。この場合の曲面加工の曲率Ｒは、回転板６２の回転円の曲率と同等に仕上げるのが望ましい。このような変形例は、特に、回転板６２の直径が比較的小さい場合には有効である。 In the above-described embodiment, when the linear motion guide rail 23 and the short rail 63 of the rotating plate 62 are continuously provided with a slight gap, the linear motion guide rail 23 and the short rail are rotated when the rotating plate 62 rotates. May interfere with each other and cannot be continued. In such a case, as shown in the enlarged view of FIG. 17, the surfaces of the end portions of the linear motion guide rail 23 and the end portions of the short rails 63 that are continuous with each other may be curved. The curvature R of the curved surface processing in this case is preferably finished to be equal to the curvature of the rotating circle of the rotating plate 62. Such a modification is particularly effective when the diameter of the rotating plate 62 is relatively small.
　また、上述した実施形態では、パレット搬送装置におけるパレットを移動可能に搭載する複数のパレットレールとして、水平面内において９０度の角度で交差する第一パレットレール２１及び第二パレットレール３１を備える場合について説明した。しかしながら、パレットを循環する方式に拘らなければ、複数のパレットレールとして水平面内において互いに直角以外の所定の角度で交差するように設けてもよい。 Moreover, in embodiment mentioned above, about the case where the 1st pallet rail 21 and the 2nd pallet rail 31 which cross | intersect at an angle of 90 degree | times in a horizontal surface are provided as a several pallet rail which mounts the pallet in a pallet conveyance apparatus so that a movement is possible. explained. However, as long as the pallet circulation method is not concerned, a plurality of pallet rails may be provided so as to intersect each other at a predetermined angle other than a right angle in the horizontal plane.
　また、上述した実施形態では、第一及び第二パレット送り部４１，５１として、循環ベルト４２と、循環ベルト４２を循環させる循環機構（サーボモータ４３）と、を備える。これに対し、第一及び第二パレット送り部４１，５１はこれに限らず、パレット１１を第一及び第二パレットレール２１，３１に沿って搬送しうる限り、別の構成であってもよい。 In the above-described embodiment, the first and second pallet feeding units 41 and 51 include the circulation belt 42 and a circulation mechanism (servo motor 43) that circulates the circulation belt 42. On the other hand, the first and second pallet feeding units 41 and 51 are not limited to this, and may have different configurations as long as the pallet 11 can be conveyed along the first and second pallet rails 21 and 31. .
　また、上述した実施形態では、パレット移動部６１における回転板６２の回転円周上で９０度毎に四本の短レール６３が設けられる。これに対し、短レール６３は、第一パレットレール２１及び第二パレットレール３１の交差角度毎に設けられる限り、４本に限られず、例えば、交差角度が３０度であれば１２本、６０度であれば６本のように、交差角度に基づいて４本以外の複数設けるようにしてもよい。 In the above-described embodiment, four short rails 63 are provided every 90 degrees on the rotation circumference of the rotating plate 62 in the pallet moving unit 61. On the other hand, the short rail 63 is not limited to four as long as it is provided for each crossing angle of the first pallet rail 21 and the second pallet rail 31. For example, if the crossing angle is 30 degrees, twelve, 60 degrees If so, a plurality other than four may be provided based on the intersection angle, such as six.
　また、上述した実施形態では、パレット送り補助部８１の片側を下げるように回転させて、それを昇降させる場合を説明した。これに対し、パレット送り補助部８１を回転させることなく、平行に昇降させてもよい。 Further, in the above-described embodiment, the case where the pallet feed auxiliary portion 81 is rotated so as to be lowered and the pallet feed auxiliary portion 81 is moved up and down has been described. On the other hand, you may raise / lower in parallel, without rotating the pallet feed auxiliary | assistant part 81. FIG.
　また、上述した実施形態では、パレット移動部６１における回転板６２は、上面視で円板形状に形成される。回転板６２は、上面視で多角形状、十字状あるいは棒形状であってもよく、１又は２以上の短レール６３がパレット移動部６１の回転円周上に設けられていれば、回転板６２の形状に拘るものではない。 In the above-described embodiment, the rotating plate 62 in the pallet moving unit 61 is formed in a disc shape when viewed from above. The rotating plate 62 may have a polygonal shape, a cross shape, or a rod shape in a top view, and if the one or more short rails 63 are provided on the rotating circumference of the pallet moving unit 61, the rotating plate 62. It is not related to the shape.
　更に、上述した実施の形態では、台座１３の一方の側部の上面にワーク６を搭載する搭載具１６が設けられる場合を説明した。けれども、図示しないが、台座１３に貫通孔を形成し、その貫通孔に搭載具１６を設け、この貫通孔を介してワーク６を台座１３に貫通して搭載するようにしてもよい。 Furthermore, in the above-described embodiment, the case where the mounting tool 16 for mounting the workpiece 6 is provided on the upper surface of one side portion of the base 13 has been described. However, although not shown, a through hole may be formed in the pedestal 13, a mounting tool 16 may be provided in the through hole, and the workpiece 6 may be mounted through the pedestal 13 through the through hole.
　以下、本実施形態の構成、作用、及び効果をまとめて説明する。 Hereinafter, the configuration, operation, and effect of this embodiment will be described together.
　パレット搬送装置は、水平な同一面内においてパレットを移動可能に搭載する複数のパレットレールと、パレットをパレットレールに沿って搬送するパレット送り部と、複数のパレットレールの端部に設けられ、複数のパレットレールの内のいずれか一のパレットレールに搭載されたパレットを他のパレットレールに移動させるパレット移動部と、を備え、パレット移動部は、鉛直方向の回転軸を中心に回転可能な回転板と、回転板の周囲に設けられた１又は２以上の短レールと、パレットをパレットレールから短レールに移動、又はパレットを短レールからパレットレールに移動させるパレット送り補助部と、パレット送り補助部を昇降させる昇降部と、を有し、複数のパレットレールは、その延長線が互いに所定の角度で回転板の回転軸上で交差するように設けられる。 The pallet conveying device is provided at a plurality of pallet rails that movably mount a pallet in the same horizontal plane, a pallet feeding unit that conveys the pallet along the pallet rails, and ends of the pallet rails. A pallet moving unit that moves a pallet mounted on any one of the pallet rails to another pallet rail, and the pallet moving unit is rotatable around a vertical axis of rotation. A plate, one or more short rails provided around the rotating plate, a pallet feed assisting unit for moving the pallet from the pallet rail to the short rail, or moving the pallet from the short rail to the pallet rail, and a pallet feed assist A plurality of pallet rails, and the extension lines of the plurality of pallet rails rotate at a predetermined angle with respect to each other. It is provided so as to intersect above.
　短レールは、回転板の回転円周上に等角度間隔で偶数設けられることが好ましい。パレット送り補助部は、パレット送り部に近い側の端部に支点を有し、支点を回転軸として他端が昇降するように構成してもよい。 It is preferable that the short rails are provided at even angular intervals on the rotation circumference of the rotating plate. The pallet feed assisting unit may have a fulcrum at the end close to the pallet feed unit, and the other end may be raised and lowered with the fulcrum as the rotation axis.
　パレット送り補助部は、幅方向に延びる凹凸が長手方向に交互に連続して形成されパレットレールの端部及びパレットレールの端部に連続する短レールに沿って、無端で設けられて循環する補助循環ベルトを備え、パレットの下面には、補助循環ベルトの凹凸に係合可能な凹凸が形成され、パレット送り補助部が上昇すると補助循環ベルトの凹凸にパレットの凹凸が係合して、補助循環ベルトの循環によりパレットが移動可能に構成され、パレット送り補助部が下降すると補助循環ベルトの凹凸がパレットの凹凸から離間するように構成される。 The pallet feed auxiliary part is provided with endlessness along the end of the pallet rail and the short rail that continues to the end of the pallet rail, in which unevenness extending in the width direction is formed alternately and continuously, A circulatory belt is provided, and the bottom surface of the pallet is formed with a concavo-convex that can be engaged with the concavo-convex of the auxiliary circulation belt. The pallet is configured to be movable by circulation of the belt, and when the pallet feed assisting portion is lowered, the unevenness of the auxiliary circulation belt is separated from the unevenness of the pallet.
　また、短レールは、複数のパレットレールの延長線が回転板の回転軸上で互いに交差する角度毎に、又は当該角度に基づいて前記回転板の回転円周上に複数設けられる。 Also, a plurality of short rails are provided for each angle at which the extended lines of the plurality of pallet rails cross each other on the rotation axis of the rotating plate, or on the rotating circumference of the rotating plate based on the angle.
　更に、パレット搬送装置は、短レールに搭載されたパレットの移動を許容及び制限するパレット係止機構を備えることが好ましい。また、パレット搬送装置は、パレットレールと回転板の間であって、パレットレールの端部に連続するようにパレットレールの同一直線上に設けられる補助レールと、パレットレールの端部に連続する第一位置と第一位置より下方の第二位置との間で補助レールを昇降させる補助レール昇降部と、を更に備えていてもよい。この場合には、補助レールは、パレットレールに近い側の端部に支点を有し、支点を回転軸として他端が昇降する構成としてもよい。 Furthermore, it is preferable that the pallet transport device includes a pallet locking mechanism that allows and restricts movement of the pallet mounted on the short rail. In addition, the pallet transport device includes an auxiliary rail provided on the same straight line of the pallet rail so as to be continuous with the end of the pallet rail between the pallet rail and the rotating plate, and a first position continuous with the end of the pallet rail. And an auxiliary rail elevating part that elevates and lowers the auxiliary rail between the first position and the second position below the first position. In this case, the auxiliary rail may have a fulcrum at the end near the pallet rail, and the other end may be raised and lowered with the fulcrum as the rotation axis.
　本実施形態に係るパレット搬送装置では、パレットをパレットレールから短レールに移動、又はパレットを短レールからパレットレールに移動させるパレット送り補助部と、パレット送り補助部を昇降させる昇降部（流体圧シリンダ）と、を備える。このため、パレット送り補助部が短レールに搭載されたパレットと係合する場合であっても、パレット送り補助部を下降させて回転板の回転を許容することにより、パレットとパレット送り補助部との係合を解除できる。 In the pallet transport device according to the present embodiment, the pallet feed auxiliary unit that moves the pallet from the pallet rail to the short rail, or the pallet moves from the short rail to the pallet rail, and the elevating unit that raises and lowers the pallet feed auxiliary unit (fluid pressure cylinder) And). For this reason, even when the pallet feed assisting portion is engaged with a pallet mounted on the short rail, the pallet and the pallet feed assisting portion are Can be disengaged.
　よって、回転板を短レールとともに回転させることにより、短レールに搭載されたパレットを他方のパレットレールにまで移動させることができる。この移動の際に、パレット係止機構を設ければ、短レールに搭載されたパレットの移動を制限することができる。 Therefore, the pallet mounted on the short rail can be moved to the other pallet rail by rotating the rotating plate together with the short rail. If a pallet locking mechanism is provided during this movement, movement of the pallet mounted on the short rail can be restricted.
　また、パレット送り補助部を上昇させると、短レールに搭載されたパレットにパレット送り補助部が再び係合する。このため、他方のパレットレールの端縁に接続した短レールから、パレットを他方のパレットレールにまで再び移動させることができる。これにより、延長線が交差するように複数のパレットレールが設けられていても、パレットを確実に移動させることが可能になる。 Also, when the pallet feed auxiliary part is raised, the pallet feed auxiliary part is engaged again with the pallet mounted on the short rail. For this reason, the pallet can be moved again from the short rail connected to the edge of the other pallet rail to the other pallet rail. Thereby, even if a plurality of pallet rails are provided so that the extension lines intersect, the pallet can be reliably moved.
　以上、本発明の実施形態について説明したが、上記実施形態は本発明の適用例の一部を示したに過ぎず、本発明の技術的範囲を上記実施形態の具体的構成に限定する趣旨ではない。 The embodiment of the present invention has been described above. However, the above embodiment only shows a part of application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.
　本願は２０１５年１０月３０日に日本国特許庁に出願された特願２０１５－２１４６６２、及び、２０１６年９月２１日に日本国特許庁に出願された特願２０１６－１８４００３に基づく優先権を主張し、この出願の全ての内容は参照により本明細書に組み込まれる。 This application is based on Japanese Patent Application No. 2015-214662 filed with the Japan Patent Office on October 30, 2015, and Japanese Patent Application No. 2016-184003 filed with the Japan Patent Office on September 21, 2016. And the entire contents of this application are hereby incorporated by reference.

Claims (7)

  1. 　パレット搬送装置であって、
    　水平な同一面内においてパレットを移動可能に搭載する複数のパレットレールと、
    　前記パレットを前記パレットレールに沿って搬送するパレット送り部と、
    　前記複数のパレットレールの端部に設けられ、前記複数のパレットレールの内のいずれか一のパレットレールに搭載された前記パレットを他のパレットレールに移動させるパレット移動部と、を備え、
    　前記パレット移動部は、
    　鉛直方向の回転軸を中心に回転可能な回転板と、
    　前記回転板の周囲に設けられた１又は２以上の短レールと、
    　前記パレットを前記パレットレールから前記短レールに移動、又は前記パレットを前記短レールから前記パレットレールに移動させるパレット送り補助部と、
    　前記パレット送り補助部を昇降させる昇降部と、を有し、
    　前記複数のパレットレールは、その延長線が互いに所定の角度で前記回転板の回転軸上で交差するように設けられる、
    パレット搬送装置。     A pallet transfer device,
    A plurality of pallet rails on which pallets can be moved in the same horizontal plane;
    A pallet feeder for conveying the pallet along the pallet rail;
    A pallet moving unit that is provided at an end of the plurality of pallet rails and moves the pallet mounted on any one of the pallet rails to another pallet rail;
    The pallet moving part is
    A rotating plate rotatable around a vertical rotation axis;
    One or more short rails provided around the rotating plate;
    Moving the pallet from the pallet rail to the short rail, or moving the pallet from the short rail to the pallet rail;
    An elevating part that elevates and lowers the pallet feed auxiliary part,
    The plurality of pallet rails are provided such that their extension lines intersect each other on a rotation axis of the rotating plate at a predetermined angle.
    Pallet transport device.
  2. 　請求項１に記載のパレット搬送装置であって、
    　前記短レールは、回転板の回転円周上に等角度間隔で偶数設けられる、
    パレット搬送装置。     The pallet transport device according to claim 1,
    The short rail is provided at even angular intervals on the rotation circumference of the rotating plate,
    Pallet transport device.
  3. 　請求項１に記載のパレット搬送装置であって、
    　前記パレット送り補助部は、前記パレット送り部に近い側の端部に支点を有し、前記支点を回転軸として他端が昇降する、
    パレット搬送装置。     The pallet transport device according to claim 1,
    The pallet feed auxiliary part has a fulcrum at the end near the pallet feed part, and the other end is raised and lowered with the fulcrum as a rotation axis.
    Pallet transport device.
  4. 　請求項１に記載のパレット搬送装置であって、
    　前記パレット送り補助部は、幅方向に延びる凹凸が長手方向に交互に連続して形成され前記パレットレールの端部及び前記パレットレールの端部に連続する前記短レールに沿って、無端で設けられて循環する補助循環ベルトを備え、
    　前記パレットの下面には、前記補助循環ベルトの前記凹凸に係合可能な凹凸が形成され、
    　前記パレット送り補助部が上昇すると前記補助循環ベルトの前記凹凸に前記パレットの前記凹凸が係合して、前記補助循環ベルトの循環により前記パレットが移動可能に構成され、
    　前記パレット送り補助部が下降すると前記補助循環ベルトの前記凹凸が前記パレットの前記凹凸から離間するように構成される、
    パレット搬送装置。     The pallet transport device according to claim 1,
    The pallet feed auxiliary portion is provided endlessly along the short rail that is continuous with the end of the pallet rail and the end of the pallet rail, with irregularities extending in the width direction being alternately and continuously formed in the longitudinal direction. With an auxiliary circulation belt that circulates
    On the lower surface of the pallet, irregularities that can be engaged with the irregularities of the auxiliary circulation belt are formed,
    When the pallet feed auxiliary portion is raised, the unevenness of the pallet is engaged with the unevenness of the auxiliary circulation belt, and the pallet can be moved by circulation of the auxiliary circulation belt,
    When the pallet feed auxiliary portion is lowered, the unevenness of the auxiliary circulation belt is configured to be separated from the unevenness of the pallet.
    Pallet transport device.
  5. 　請求項１に記載のパレット搬送装置であって、
    　前記短レールは、前記複数のパレットレールの延長線が回転板の回転軸上で互いに交差する角度毎に、又は当該角度に基づいて前記回転板の回転円周上に複数設けられる、
    パレット搬送装置。     The pallet transport device according to claim 1,
    The short rail is provided at a plurality of angles at which the extended lines of the plurality of pallet rails cross each other on the rotation axis of the rotating plate, or on the rotating circumference of the rotating plate based on the angle,
    Pallet transport device.
  6. 　請求項１に記載のパレット搬送装置であって、
    　前記パレットレールと前記回転板の間であって、前記パレットレールの端部に連続するように前記パレットレールの同一直線上に設けられる補助レールと、
    　前記パレットレールの端部に連続する第一位置と前記第一位置より下方の第二位置との間で前記補助レールを昇降させる補助レール昇降部と、を更に備える、
    パレット搬送装置。     The pallet transport device according to claim 1,
    An auxiliary rail provided on the same straight line of the pallet rail between the pallet rail and the rotating plate so as to be continuous with the end of the pallet rail;
    An auxiliary rail elevating part that elevates and lowers the auxiliary rail between a first position continuous to the end of the pallet rail and a second position below the first position;
    Pallet transport device.
  7. 　請求項６に記載のパレット搬送装置であって、
    　前記補助レールは前記パレットレールに近い側の端部に支点を有し、当該支点を回転軸として他端が昇降する、
    パレット搬送装置。     It is a pallet conveyance apparatus of Claim 6, Comprising:
    The auxiliary rail has a fulcrum at the end on the side close to the pallet rail, and the other end moves up and down with the fulcrum as a rotation axis.
    Pallet transport device.
PCT/JP2016/080010 2015-10-30 2016-10-07 Pallet transport device WO2017073305A1 (en)

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CN201680056645.4A CN108367867B (en) 2015-10-30 2016-10-07 Tray conveying device

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Application Number Priority Date Filing Date Title
JP2015-214662 2015-10-30
JP2015214662 2015-10-30
JP2016184003A JP6621205B2 (en) 2015-10-30 2016-09-21 Pallet transport device
JP2016-184003 2016-09-21

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5161079A (en) * 1974-11-22 1976-05-27 Toshiba Machine Co Ltd Paretsutono ootorooda anroodasochi
JPH0636739U (en) * 1992-10-16 1994-05-17 三井精機工業株式会社 Pallet delivery device
JP2011093032A (en) * 2009-10-29 2011-05-12 Nittoku Eng Co Ltd Pallet conveying device and pallet conveying method
JP2011189999A (en) * 2010-03-12 2011-09-29 Nittoku Eng Co Ltd Apparatus and method for transporting pallet
JP2014200887A (en) * 2013-04-05 2014-10-27 日特エンジニアリング株式会社 Pallet carrying device, and pallet carrying method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5161079A (en) * 1974-11-22 1976-05-27 Toshiba Machine Co Ltd Paretsutono ootorooda anroodasochi
JPH0636739U (en) * 1992-10-16 1994-05-17 三井精機工業株式会社 Pallet delivery device
JP2011093032A (en) * 2009-10-29 2011-05-12 Nittoku Eng Co Ltd Pallet conveying device and pallet conveying method
JP2011189999A (en) * 2010-03-12 2011-09-29 Nittoku Eng Co Ltd Apparatus and method for transporting pallet
JP2014200887A (en) * 2013-04-05 2014-10-27 日特エンジニアリング株式会社 Pallet carrying device, and pallet carrying method

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