WO2018012404A1 - パレット搬送装置及びパレット搬送方法 - Google Patents
パレット搬送装置及びパレット搬送方法 Download PDFInfo
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- WO2018012404A1 WO2018012404A1 PCT/JP2017/024855 JP2017024855W WO2018012404A1 WO 2018012404 A1 WO2018012404 A1 WO 2018012404A1 JP 2017024855 W JP2017024855 W JP 2017024855W WO 2018012404 A1 WO2018012404 A1 WO 2018012404A1
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- WIPO (PCT)
- Prior art keywords
- pallet
- belt
- guide rail
- movable
- rail
- Prior art date
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Classifications
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- 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
- B23Q7/14—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 co-ordinated in production lines
- B23Q7/1426—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 co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1436—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 co-ordinated in production lines with work holders not rigidly fixed to the transport devices using self-propelled work holders
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- 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
- B65G35/08—Mechanical conveyors not otherwise provided for comprising trains of unconnected load-carriers, e.g. belt sections, movable in a path, e.g. a closed path, adapted to contact each other and to be propelled by means arranged to engage each load-carrier in turn
-
- 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
- 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
- B23Q7/14—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 co-ordinated in production lines
- B23Q7/1426—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 co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1447—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 co-ordinated in production lines with work holders not rigidly fixed to the transport devices using endless conveyors
-
- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
- B65G15/42—Belts or like endless load-carriers made of rubber or plastics having ribs, ridges, or other surface projections
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0267—Pallets
Definitions
- the present invention relates to a pallet transport apparatus and a pallet transport method.
- a transfer device for transferring a workpiece in a production line is known.
- the machine tool performs predetermined processing on the work.
- the present applicant has proposed a pallet transport device that transports a plurality of pallets on which a workpiece is placed so as to circulate to the machine tool (see JP2011-93032A).
- the conveying device includes a guide rail, an endless circulation belt provided along the guide rail, and one or more pallets that are movably mounted on the guide rail.
- the pallet is transported to the circulation belt, and the circulation belt is circulated so that the pallet is transported in a state of being mounted on the guide rail.
- the movement speed of the pallet that is locked to the circulation belt and moves on the guide rail by circulation of the circulation belt is the same as the circulation speed of the circulation belt. For this reason, the pallet cannot be conveyed at a speed exceeding the circulation speed of the circulation belt.
- An object of the present invention is to provide a pallet transport device capable of increasing the pallet transport speed beyond the circulation speed of the circulation belt.
- the pallet transport device includes a guide rail, an endless first belt provided along the guide rail, and a locking unit that locks the first belt.
- One or more pallets movably mounted on the guide rail, and the pallet mounted on the guide rail is transported while being locked to the circulating first belt, and the locking means Is a pulley that rotates with the outer periphery contacting the first belt or an endless second belt that partially overlaps and circulates on the first belt, and rotates the pulley or the second belt.
- a pallet transport device is provided in which a motor for circulating the pallet is provided on the pallet.
- a pallet conveying method in which a pallet mounted on a guide rail is engaged with and conveyed by an endless first belt provided along the guide rail and circulating.
- the outer periphery of the pulley provided on the pallet is brought into contact with the first belt, or a part of the endless second belt provided on the pallet is superposed on the first belt, whereby the pallet is moved to the first belt.
- a pallet conveying method that is engaged with a belt and rotates the pulley together with the circulation of the first belt or separately from the circulation of the first belt or causes the pallet to self-run by circulating the second belt.
- FIG. 1 is a plan view of a pallet carrying device according to an embodiment of the present invention.
- FIG. 2 is a front view of the pallet conveyance device.
- FIG. 3 is an enlarged view of part III in FIG. 4 is a cross-sectional view taken along the line IV-IV in FIG. 5 is a cross-sectional view taken along the line VV in FIG.
- FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG.
- FIG. 7 is a diagram illustrating a state in which the pallet is transported and mounted on the first movable rail at the first position from the end portion of the first guide rail.
- FIG. 8 is a diagram illustrating a state in which the first movable rail is moved to a second position continuous with the second guide rail together with the mounted pallet, and the pallet is moved to the second guide rail.
- FIG. 9 is a diagram illustrating a state in which the pallet is transported and mounted on the second movable rail at the second position from the end portion of the second guide rail.
- FIG. 10 is a diagram illustrating a state in which the second movable rail is moved to a first position continuous with the first guide rail together with the mounted pallet, and the pallet is moved to the first guide rail.
- FIG. 11 is a view showing a pallet when the locking means is a pulley.
- FIG. 1 is a plan view of a pallet transport apparatus according to an embodiment of the present invention.
- three axes of X, Y, and Z orthogonal to each other are set.
- the configuration of the pallet transport apparatus 10 will be described on the assumption 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 movably mounts a pallet 11 on which a workpiece (not shown) is mounted on the first and second guide rails 21 and 31, and the pallet 11 is moved along the first and second guide rails 21 and 31. Transport.
- the pallet transport device 10 is a guide rail on which the pallet 11 is movably mounted, and a first guide rail 21 and a first guide rail 21 provided in parallel with each other at a predetermined interval in the horizontal direction (Y-axis direction). A case where the two guide rails 31 are provided will be described.
- 1st and 2nd guide rails 21 and 31 mount pallet 11 so that movement is possible.
- the first and second guide rails 21 and 31 are each provided so as to extend straight in the X-axis direction on the gantry 9, and the pallet 11 mounted on each of them moves. That is, the pallet 11 is conveyed.
- first guide rail 21 Since the first and second guide rails 21 and 31 have the same structure, the first guide rail 21 will be described as a representative.
- the first guide rail 21 mounts the pallet 11 in a horizontal state. As shown in FIG. 4, the first guide rail 21 includes a support plate 22 that is directly fixed on the gantry 9 and a commercially available linear motion guide rail 23 that is fixed to the upper edge of the support plate 22 by screws. And comprising.
- the pallet conveying device 10 of the present embodiment includes a first pallet feeding means 41 that conveys the pallet 11 mounted on the first guide rail 21 along the first guide rail 21, and Second pallet feeding means 51 (see FIG. 1) for conveying the pallet 11 mounted on the second guide rail 31 along the second guide rail 31.
- the first pallet feeding means 41 and the second pallet feeding means 51 have the same structure, and the first pallet feeding means 41 will be described as a representative.
- the first pallet feeding means 41 is configured to be engageable with the pallet 11 and is provided along the first guide rail 21 as a circulation belt 42 as an endless first belt, and a circulation mechanism for circulating the circulation belt 42.
- Servo motor 43 (see FIG. 2).
- the support plate 22 in the first guide rail 21 is provided with driven pulleys 44 at four corners.
- the circulation belt 42 is wound around the four driven pulleys 44.
- the support plate 22 is provided with a servo motor 43 that is a circulation mechanism for circulating the circulation belt 42, and a drive pulley 45 is attached to the rotation shaft 43 a of the servo motor 43.
- the driving pulley 45 is provided on the same plane as the four driven pulleys 44.
- a pair of turning pulleys 46 that turn the circulation belt 42 so as to hang the circulation belt 42 around the drive pulley 45 are pivotally supported by the support plate 22 in the vicinity of the drive pulley 45.
- the rotating shaft 43a rotates with the drive pulley 45, and the circulating belt 42 wound around the drive pulley 45 surrounds the four driven pulleys 44 Circulate with.
- the control device includes, for example, a microcomputer including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface). It is also possible to configure the control device with a plurality of microcomputers.
- a microcomputer including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface). It is also possible to configure the control device with a plurality of microcomputers.
- the pallet 11 mounted on the first and second guide rails 21 and 31 straddles the linear motion guide rail 23 and the first and second guide rails 21 and 31.
- a linear motion block 12 configured to be movable on the top, a base 15 on which the linear motion block 12 is provided at the bottom, a horizontal base 13 screwed to the top of the base 15, and a base 15
- a short belt 16 as a second belt which is a locking means for locking to the circulation belt 42.
- the linear motion block 12 is a commercially available one that is sold as a pair with the linear motion guide rail 23, and preferably includes a roller retainer (not shown).
- linear motion block 12 including a roller retainer
- movement in the width direction (Y-axis direction) and tilting with respect to the first and second guide rails 21 and 31 can be restricted.
- the resistance at the time of the pallet 11 moving on the 1st and 2nd guide rails 21 and 31 can be remarkably reduced.
- the pallet 11 By supporting such a linear motion block 12 across the linear motion guide rails 23 in the first and second guide rails 21, 31, the pallet 11 is in a state where the pedestal 13 is horizontal, The first and second guide rails 21 and 31 are movably mounted.
- the base 13 in the pallet 11 has a length L in the X-axis direction that is the same as the shortest pitch P1 between the machine tools 1 to 3, or shorter than the shortest pitch P1. Preferably it is formed.
- the locking means of this embodiment is an endless short belt 16 that partially overlaps and circulates on the circulation belt 42 in the pallet feeding means 41 and 51.
- Auxiliary pulleys 17 are provided on both sides of the pallet 11 in the conveying direction (X-axis direction) of the base 15, and the short belt 16 is wound around the auxiliary pulleys 17.
- the circulation belt 42 in the present embodiment is a so-called toothed belt in which unevenness 42a and 42b extending in the width direction are alternately and continuously formed in the longitudinal direction.
- the short belt 16 partially superposed on the circulation belt 42 is a so-called toothed belt similar to the circulation belt 42.
- the short belt 16 is formed with concave and convex portions 16a and 16b extending in the width direction alternately and continuously as meshing teeth that mesh with the concave and convex portions 42a and 42b of the circulation belt 42 (see FIG. 2).
- the irregularities 16a and 16b formed on the short belt 16 mesh with the irregularities 42a and 42b of the circulation belt 42. Thereby, the pallet 11 can be locked to the circulation belt 42.
- the pallet 11 has a pressing member 15a.
- the pressing member 15a is integrally formed on the base 15 so as to be superposed on a part of the short belt 16 superposed on the circulation belt 42.
- the pallet 11 moves together with the circulation belt 42. Accordingly, the pallet 11 is transported along the first and second guide rails 21 and 31 along which the circulation belt 42 extends.
- reference numeral 47 in FIG. 2 is a support member 47 that prevents the circulation belt 42 between the driven pulleys 44 from loosening and prevents the circulation belt 42 from being separated from the short belt 16.
- Reference numeral 48 denotes an attachment 48 for attaching the support member 47 to the support plate 22.
- the pallet 11 is provided with a self-propelled motor 18 for circulating the short belt 16.
- the self-propelled motor 18 is provided on the base 15 between the pair of auxiliary pulleys 17 and 17.
- a driving pulley 50 around which the short belt 16 is wound is attached to the rotating shaft 18 a of the self-propelled motor 18.
- the self-propelled motor 18 is screwed to the base 15 so as to be movable in a direction perpendicular to a straight line connecting the pair of auxiliary pulleys 17 and 17.
- the tension applied to the short belt 16 can be adjusted by moving the self-running motor 18 to change the position of the drive pulley 50.
- the rotary shaft 18a rotates with the drive pulley 50.
- the short belt 16 wound around the drive pulley 50 circulates while being wound around the pair of auxiliary pulleys 17 and 17.
- the short belt 16 when the short belt 16 is circulated by driving the self-propelled motor 18, the short belt 16 rolls and moves on the circulation belt 42 while being partially overlapped with the circulation belt 42.
- the pallet 11 is self-propelled along the first and second guide rails 21 and 31 along which the circulation belt 42 lies even if the circulation belt 42 is not circulated. Will move.
- pallet moving means 61 is provided at both ends of the first and second guide rails 21 and 31.
- the pallet moving means 61 is for moving the pallet 11 mounted on one of the first and second guide rails 21 and 31 to the other.
- the pallet 11 mounted on the first guide rail 21 is moved to the second guide rail 31 and the pallet 11 mounted on the second guide rail 31 is moved to the first guide rail 21. The case will be described.
- the pallet moving means 61 is mounted on the pallet 11 and reciprocates between a first position continuing to one end of the first guide rail 21 and a second position continuing to one end of the second guide rail 31.
- a first movable rail 62 configured to be movable, a first position where the pallet 11 is mounted and continuing to the other end of the first guide rail 21, and a second position continuing to the other end of the second guide rail 31.
- a second movable rail 63 configured to be capable of reciprocating between two positions.
- the first and second movable rails 62 and 63 have the same structure.
- the first and second movable rails 62 and 63 are continuous to the support plate 22 of the first guide rail 21 at their respective first positions, and are movable to the support plate 22 of the second guide rail 31 at their respective second positions.
- a linear motion block 62c that moves on bases 62a and 63a, short rails 62b and 63b provided on the upper edges of the movable bases 62a and 63a, and a moving guide rail 64 provided on the bottom of the movable bases 62a and 63a; 63c, respectively.
- the moving guide rail 64 will be described later.
- the short rails 62b and 63b are the same as the linear motion guide rails 23 in the first and second guide rails 21 and 31.
- the length W (see FIG. 1) of the short rails 62b and 63b is formed to be equal to or longer than the length L of the pallet 11 in the X-axis direction.
- the short rails 62b and 63b are continuous with the linear motion guide rail 23 in the first guide rail 21 at the first position, and are continuous with the linear motion guide rail 23 in the second guide rail 31 at the second position. , 63a.
- the pallet 11 moved from the linear motion guide rail 23 can be mounted on the short rails 62b and 63b.
- the pallet 11 mounted on the short rails 62b and 63b can be moved to the linear motion guide rail 23.
- a plurality of moving guide rails 64 are provided at portions of the gantry 9 beyond both ends of the first and second guide rails 21 and 31 so as to be orthogonal to the first and second guide rails 21 and 31.
- linear motion blocks 62 c and 63 c are mounted on each moving guide rail 64. Accordingly, the first and second movable rails 62 and 63 are movably mounted on the moving guide rail 64.
- ball screws 66 are provided along the movement guide rails 64 at portions of the gantry 9 beyond the both ends of the first and second guide rails 21 and 31, respectively.
- Female screw members 62d and 63d with which a ball screw 66 is screwed are provided on the movable bases 62a and 63a of the first and second movable rails 62 and 63, respectively.
- the gantry 9 is provided with a drive motor 67 that rotates the ball screw 66 forward or backward.
- a drive motor 67 that rotates the ball screw 66 forward or backward.
- the first and second movable rails 62, 63 having the female screw members 62d, 63d with which the ball screw 66 is screwed are connected to the first position where the first guide rail 21 is continuous, and the second guide rail. It is possible to reciprocate between the second position continuous to 31.
- the first and second movable rails 62 and 63 are provided with contact members 68 that contact the short belt 16 of the pallet 11 mounted on the first and second movable rails 62 and 63, respectively. .
- the contact member 68 in the present embodiment is a rod-like member, and is attached to the movable bases 62a and 63a via attachment members 68c in parallel with the short rails 62b and 63b.
- the contact member 68 is provided to be continuous with the circulation belt 42 in a state where the first and second movable rails 62 and 63 are in the first and second positions.
- a short belt 16 is used in which irregularities 16a and 16b extending in the width direction are alternately and continuously formed in the longitudinal direction. Therefore, as shown in FIG. 3, the contact member 68 is also formed with irregularities 68a and 68b that mesh with the irregularities 16a and 16b of the short belt 16 with the pallet 11 mounted on the short rails 62b and 63b.
- the pallet 11 moves on the first and second movable rails 62 and 63.
- the pallet 11 is moved from the first and second guide rails 21, 31 to the first and second movable rails 62, 63, or the first and second guides continuous from the first and second movable rails 62, 63.
- the pallet 11 is moved to the rails 21 and 31.
- the circulation of the short belt 16 is performed by driving the self-propelled motor 18 with electric power.
- the pallet 11 is provided with a sliding contact terminal 19 for supplying power to the self-propelled motor 18. Further, both the first and second guide rails 21 and 31 are provided with electrode bands 24 that are formed so as to extend in the moving direction of the pallet 11 and that are in contact with the sliding contact terminals 19 to be energized.
- the upper portion of the insulating substrate 20 is attached to the base 15 of the pallet 11, and the lower portion of the insulating substrate 20 has a predetermined gap on the side surface of the support plate 22 in the first and second guide rails 21 and 31. Polymerize after emptying.
- a sliding contact terminal 19 is provided on the surface of the insulating substrate 20 facing the support plate 22.
- An insulating plate 26 extends in the longitudinal direction and is attached to the side surface of the support plate 22 in the first and second guide rails 21 and 31 covered by the lower portion of the insulating substrate 20. Then, the electrode band 24 is formed on the insulating plate 26.
- four sliding contact terminals 19 are provided on a single insulating substrate 20 provided on the pallet 11. Therefore, similarly to the sliding contact terminal 19, the four electrode strips 24 are formed extending in the moving direction of the pallet 11 with a predetermined interval in the vertical direction (Z-axis direction).
- the four electrode strips 24 are connected to a control signal for controlling the self-propelled motor 18 and a control device for supplying electric power for driving the self-propelled motor 18.
- a control signal for controlling the self-propelled motor 18
- a control device for supplying electric power for driving the self-propelled motor 18.
- the pallet 11 When the self-propelled motor 18 is driven and the pallet 11 is self-propelled along the first or second guide rails 21 and 31, the pallet 11 is moved from the first or second guide rails 21 and 31 to the first or second. It moves to the first or second movable rail 62, 63 located at the first position or the second position continuous with the second guide rails 21, 31.
- a current-carrying band 69 that is continuous with the electrode band 24 formed on the first and second guide rails 21 and 31 is provided on the first and second movable rails 62 and 63, respectively.
- the structure of the energization band 69 is the same as that of the electrode band 24. As shown in FIGS. 5 and 6, an insulating plate 70 is attached to the movable bases 62 a and 63 a of the first and second movable rails 62 and 63 so as to extend in the longitudinal direction. The insulating plate 70 is provided with an energization band 69 with which the sliding contact terminal 19 comes into contact.
- a control device for supplying a control signal for controlling the self-propelled motor 18 and electric power for driving the self-propelled motor 18 is also connected to the energizing zone 69. Then, the self-propelled motor 18 is driven by the electric power supplied to the self-propelled motor 18 via the energization band 69 and the sliding contact terminal 19.
- the pallet 11 reciprocates between the first or second guide rails 21 and 31 and the first or second movable rails 62 and 63. Therefore, the sliding contact terminals 19 are provided on both sides in the moving direction of the pallet 11 so that power supply to the self-propelled motor 18 is not interrupted.
- the upper portions of the insulating substrate 20 are respectively attached to both sides of the base 15 in the moving direction of the pallet 11, and the sliding contact terminals 19 are provided on the insulating substrate 20.
- any of the sliding contact terminals 19 is connected to the energization band 69 or the electrode band. It is configured so that it always contacts 24.
- FIGS. 5 and 6 is a protective cover 71 attached to the support plate 22 so as to cover the electrode strip 24 with a gap through which the insulating substrate 20 can enter.
- Reference numeral 72 in FIGS. 5 and 6 denotes an insulating cover 72 attached to the movable base 62a so as to cover the energization band 69 with a gap through which the insulating substrate 20 can enter.
- the pallet transport method includes a first pallet transport process for transporting the pallet 11 mounted on the first guide rail 21 along the first guide rail 21, and the pallet 11 that reaches the end of the first guide rail 21 in the second pallet transport method.
- each step will be described below assuming that the pallet 11 circulates in a counterclockwise orbit in the top view in FIG.
- First pallet transport process In the first pallet conveying step, the pallet 11 mounted on the first guide rail 21 is conveyed.
- the pallet 11 of the present embodiment is for mounting a workpiece on which predetermined processing is performed, and the workpiece is mounted on the pallet 11 mounted on the first guide rail 21.
- the pallet 11 is provided with a mounting tool for mounting a work, and the work is mounted on the pallet 11 via the mounting tool.
- the mounting of the pallet 11 on the first guide rail 21 is performed by mounting the linear motion block 12 of the pallet 11 from the end of the linear motion guide rail 23.
- the pallet 11 locked to the circulation belt 42 is moved along the first guide rail 21. Moving. As a result, the pallet 11 is conveyed along the first guide rail 21.
- the pallet 11 is transported along the first guide rail 21 until the pallet 11 to be transported faces the machine tools 1 to 3 provided along the first guide rail 21. .
- the servo motor 43 By stopping the servo motor 43 in a state where the pallet 11 faces each of the machine tools 1 to 3, it becomes possible to process the workpiece mounted on the pallet 11 with the machine tools 1 to 3.
- the interval between the plurality of pallets is the same as that between the circulation belt and the circulation belt. Adjustment was possible by changing the locking position.
- the pallet transport device 10 of the present embodiment for example, circulates the short belt 16 in one pallet 11 of the plurality of pallets 11 and independently uses the pallet 11 independently of the other pallets 11. If it is run, it is possible to change the interval between the plurality of pallets 11 regardless of whether the plurality of pallets 11 are being conveyed.
- the short belt 16 is circulated by driving the self-propelled motor 18 with electric power. Specifically, as shown in FIGS. 4 and 6, a control signal for the control device to control the self-propelled motor 18 on the electrode band 24 formed on the first guide rail 21 extending in the moving direction of the pallet 11. Or by supplying electric power for driving the self-propelled motor 18.
- the pallets 11 having the adjusted intervals face each other on the machine tools 2 and 3 provided with a relatively wide interval P2 (see FIG. 1).
- First pallet moving process In the first pallet moving step, the pallet 11 that has reached the end of the first guide rail 21 is moved to the second guide rail 31.
- the pallet 11 is moved by a pallet moving means 61 provided at one end of the first and second guide rails 21 and 31.
- the first movable rail 62 is moved so that the first movable rail 62 continues to one end of the first guide rail 21.
- the first movable rail 62 is moved by driving the drive motor 67 and rotating the ball screw 66.
- the circulation of the circulation belt 42 is stopped in a state where the irregularities 42a and 42b of the circulation belt 42 are made continuous with the irregularities 68a and 68b of the contact member 68 of the first movable rail 62 (see FIG. 6).
- the self-propelled motor 18 provided on the pallet 11 is driven to circulate the short belt 16, and the pallet 11 reaching the end of the first guide rail 21 is self-propelled.
- the self-running of the pallet 11 is performed by supplying a control signal and electric power to the electrode band 24 of the first guide rail 21 by the control device.
- the circulating short belt 16 is engaged from the circulation belt 42 to the contact member 68 continuous to the circulation belt 42. Then, the pallet 11 moves from the first guide rail 21 to the first movable rail 62 as indicated by solid arrows in FIG.
- a gap is generated between the circulation belt 42 and the contact member 68.
- the short belt 16 meshes with both the circulation belt 42 and the contact member 68 by making the interval between the auxiliary pulleys 17 around which the short belt 16 is wound larger than the gap between the circulation belt 42 and the contact member 68. . Therefore, a situation in which the short belt 16 enters between the circulation belt 42 and the contact member 68 and the self-propelling of the pallet 11 becomes difficult is avoided.
- the upper portions of the insulating substrate 20 are attached to both sides of the base 15 in the moving direction of the pallet 11, and the sliding contact terminals 19 are provided on the insulating substrate 20, respectively. Therefore, even if the pallet 11 is positioned between the first guide rail 21 and the first movable rail 62, the sliding contact terminal 19 always contacts either the energizing band 69 or the electrode band 24.
- the self-propelled pallet 11 is not interrupted between the first guide rail 21 and the first movable rail 62, and the pallet 11 can be reliably moved to the first movable rail 62.
- the drive motor 67 is driven again to rotate the ball screw 66, and the first movable rail 62 on which the pallet 11 is mounted is detached from the end of the first guide rail 21. Then, as indicated by the broken arrow, the ball screw 66 is moved to the one end of the second guide rail 31 and the first movable rail 62 reaches the second position continuous with the second guide rail 31. Stop rotating.
- the circulation belt in the second guide rail 31 is reached.
- the concave and convex portions 42 a and 42 b of 42 are made continuous with the concave and convex portions 68 a and 68 b of the contact member 68 in the first movable rail 62. Then, the pallet 11 is caused to self-travel toward the second guide rail 31 as indicated by a solid arrow.
- the self-propelled motor 18 provided on the pallet 11 is driven again to circulate the short belt 16. Since the irregularities 68 a and 68 b of the contact member 68 in the first movable rail 62 are continuous with the irregularities 42 a and 42 b of the circulation belt 42 in the second guide rail 31, the circulating short belt 16 is the contact member in the first movable rail 62. It engages from 68 to the circulation belt 42 in the second guide rail 31. As a result, the pallet 11 moves from the first movable rail 62 to the second guide rail 31.
- the pallet 11 is moved from the end of the first guide rail 21 to the second guide rail 31.
- the irregularities 16 a and 16 b of the short belt 16 on the pallet 11 engage with the irregularities 42 a and 42 b of the circulation belt 42 on the second guide rail 31. Therefore, the pallet 11 can be conveyed along the second guide rail 31 by circulating the circulation belt 42 in the second guide rail 31.
- the conveyance speed of the pallet 11 when the circulation of the short belt 16 is stopped and the circulation belt 42 locked by the short belt 16 is circulated is the same as the circulation speed of the circulation belt 42. For this reason, the conveyance speed of the pallet 11 in a state where the circulation of the short belt 16 is stopped does not exceed the circulation speed of the circulation belt 42.
- the endless short belt 16 that partially circulates and circulates on the circulation belt 42 is provided on the pallet 11, and the self-propelled motor 18 that circulates the short belt 16 is provided with the pallet 11. Provided. Therefore, when the self-propelled motor 18 is driven to circulate the short belt 16, the short belt 16 rolls and moves on the circulation belt 42. That is, the pallet 11 can be self-propelled.
- the short belt 16 in the pallet 11 is circulated along with the circulation of the circulation belt 42, and the pallet 11 self-travels in the direction in which the circulation belt 42 conveys the pallet 11.
- the pallet 11 can be transported beyond the circulation speed. Thereby, the conveyance speed of the pallet 11 can be raised significantly.
- ⁇ Second pallet moving process> the pallet 11 that has reached the end of the second guide rail 31 is moved to the first guide rail 21.
- the movement of the pallet 11 is performed by a pallet moving means 61 provided at the other end of the first and second guide rails 21 and 31.
- the specific moving procedure is the same as the first pallet moving step.
- the second movable rail 63 is moved so that the second movable rail 63 continues to the other end of the second guide rail 31.
- the movement of the second movable rail 63 is performed by driving the drive motor 67 and rotating the ball screw 66.
- the circulation belt 42 of the second guide rail 31 is circulated, and the circulation of the circulation belt 42 is stopped when the conveyed pallet 11 reaches the end of the second guide rail 31.
- the concave and convex portions 42 a and 42 b of the circulation belt 42 are made to be continuous with the concave and convex portions 68 a and 68 b of the contact member 68 in the second movable rail 63.
- the self-propelled motor 18 is driven to circulate the short belt 16 to cause the pallet 11 reaching the end of the second guide rail 31 to self-propell, and as indicated by the solid line arrow, the second guide rail 31 To the second movable rail 63.
- the drive motor 67 is driven again to rotate the ball screw 66, and the second movable rail 63 on which the pallet 11 is mounted is detached from the end of the second guide rail 31. Then, as indicated by the dashed arrow, the ball screw 66 is moved to the other end of the first guide rail 21 and the second movable rail 63 reaches the first position continuous with the first guide rail 21. Stop rotating.
- the circulation belt in the first guide rail 21 is reached.
- the concave and convex portions 42 a and 42 b of 42 are made continuous with the concave and convex portions 68 a and 68 b of the contact member 68 in the second movable rail 63. Then, as indicated by the solid line arrow, the pallet 11 is caused to self-travel toward the first guide rail 21 and is moved from the second movable rail 63 to the first guide rail 21.
- the pallet 11 is moved from the end of the second guide rail 31 to the first guide rail 21.
- each pallet 11 can be conveyed in the counterclockwise direction one by one.
- each machine tool 1 to 3 is operated, so that various predetermined processes are performed in parallel on each workpiece placed on each pallet 11.
- the work is carried in and out of any pallet 11.
- the pallet 11 is self-propelled by driving the self-propelling motor 18 and circulating the short belt 16.
- a sliding contact terminal 19 for supplying power to the self-propelled motor 18 is provided on the pallet 11. Further, the sliding contact terminal 19 and the electrode band 24 to be energized are formed on both the first and second guide rails 21 and 31.
- the pallet transport device 10 may be configured to include a single guide rail, or three or more guide rails may be provided in parallel to each other at a predetermined interval in the horizontal direction.
- the pallet 11 is mounted on any of the plurality of guide rails by providing a movable rail that is mounted on the end of each guide rail. It becomes the pallet conveying apparatus 10 which can be moved and conveyed.
- the circulation belt 42 is a toothed belt.
- the circulation belt 42 is not limited to a toothed belt as long as the pallet 11 can be locked.
- the locking means is the endless short belt 16 that partially circulates and circulates on the circulation belt 42 .
- the locking means may be a pulley 90 that rolls with the outer circumference contacting the circulation belt 42.
- the pallet 11 can be self-propelled by the self-propelling motor 18 rotating the pulley 90 as long as the outer periphery can contact the rolling belt 42 and roll.
- the pulley 90 meshed with the circulation belt 42 is formed by forming the irregularities 90a, 90b as meshing teeth meshing with the irregularities 42a, 42b of the circulation belt 42 on the outer periphery of the pulley 90. be able to.
- the pulley 90 can be prevented from slipping with respect to the circulation belt 42, the pallet 11 can be surely self-propelled.
- the pallet 11 can be self-propelled so as to contact the contact member 68. Irregularities 68a and 68b may not be formed.
- the contact member 68 does not have the unevenness 68a, 68b, the unevenness of the circulation belt 42 on the first guide rail 21 or the second guide rail 31 when the pallet 11 is mounted on the first and second movable rails 62, 63. 42a and 42b do not need to be continuous with the unevenness 68a and 68b in the contact member 68. Therefore, control for mounting the pallet 11 on the first and second movable rails 62 and 63 is facilitated.
- the pedestal 9 is provided with the ball screw 66, and the drive motor 67 rotates the ball screw 66 forward or backward, whereby the first and second movable rails 62 and 63 are moved to the first position and the second position.
- the reciprocating movement of the first and second movable rails 62 and 63 may be performed by other means.
- a retracting rod of a fluid pressure cylinder (not shown) provided along the moving guide rail 64 is attached to the first and second movable rails 62, 63, and the retracting rod protrudes from the main body of the fluid pressure cylinder.
- the first and second movable rails 62 and 63 may be reciprocated between the first position and the second position by being immersed in the main body.
- the pallet 11 circulates in a counterclockwise orbit.
- the pallet conveying device 10 includes the first and second guide rails 21 and 31 provided side by side, the pallets 11 can be conveyed not only in the counterclockwise direction but also in the clockwise direction.
- the endless short belt 16 that is partly overlapped and circulates on the pulley 90 or the circulation belt 42 that rolls with the outer circumference contacting the circulation belt 42.
- the pallet 11 is provided with a self-propelled motor 18 that is provided on the pallet 11 and rotates the pulley 90 or circulates the short belt 16. Therefore, when the self-propelled motor 18 is driven to rotate the pulley 90 or circulate the short belt 16, the pulley 90 or the short belt 16 rolls on the circulation belt 42. As a result, the pallet 11 is self-propelled on the guide rails 21 and 31.
- the pallet 11 can be conveyed exceeding the circulation speed of the circulation belt 42.
- the conveyance speed of the pallet 11 can be remarkably increased.
- the pulley 90 in one pallet 11 is rotated or the short belt 16 is circulated so that the pallet 11 is automatically moved. If it is run, it is possible to change the interval between the plurality of pallets 11 regardless of whether or not the pallet 11 is being conveyed.
Abstract
Description
第1パレット搬送工程では、第1ガイドレール21に搭載されたパレット11を搬送する。
第1パレット移動工程では、第1ガイドレール21の端部に達したパレット11を、第2ガイドレール31に移動させる。パレット11の移動は、第1及び第2ガイドレール21、31の一方の端部に設けられたパレット移動手段61により行われる。
第2パレット搬送工程では、第2ガイドレール31に搭載されたパレット11を第2ガイドレール31に沿って搬送する。
第2パレット移動工程では、第2ガイドレール31の端部に達したパレット11を第1ガイドレール21に移動させる。パレット11の移動は、第1及び第2ガイドレール21、31の他方の端部に設けられたパレット移動手段61により行われる。具体的な移動の手順は、第1パレット移動工程と同一である。
-138219号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。
Claims (5)
- パレット搬送装置(10)であって、
ガイドレール(21、31)と、
前記ガイドレール(21、31)に沿って設けられる無端状の第1ベルト(42)と、
前記第1ベルト(42)に係止する係止手段を有し前記ガイドレール(21、31)に移動可能に搭載された1又は2以上のパレット(11)と、
を備え、
前記ガイドレール(21、31)に搭載された前記パレット(11)は、循環する前記第1ベルト(42)に係止して搬送され、
前記係止手段は、前記第1ベルト(42)に外周が接触して転動するプーリ(90)又は前記第1ベルト(42)に一部が重合して循環する無端状の第2ベルト(16)であって、
前記プーリ(90)を回転させ又は前記第2ベルト(16)を循環させるモータ(18)が前記パレット(11)に設けられる、
パレット搬送装置(10)。 - 請求項1に記載のパレット搬送装置(10)であって、
前記第1ベルト(42)は、幅方向に延びる凹凸(42a、42b)が長手方向に交互に連続する歯付きベルトであって、
前記プーリ(90)の前記外周又は前記第2ベルト(16)の外面に、前記第1ベルト(42)の前記凹凸(42a、42b)と噛み合う噛合歯(16a、16b、90a、90b)が形成される、
パレット搬送装置(10)。 - 請求項1又は2に記載のパレット搬送装置(10)であって、
前記パレット(11)に、前記モータ(18)に給電する摺動接触端子(19)が設けられ、
前記ガイドレール(21、31)に、前記パレット(11)の移動方向に延びて形成され、接触する前記摺動接触端子(19)と通電する電極帯(24)が設けられる、
パレット搬送装置(10)。 - 請求項3に記載のパレット搬送装置(10)であって、
並んで設けられた第1及び第2の前記ガイドレール(21、31)と、
前記パレット(11)を搭載して前記第1ガイドレール(21)の一方の端部に連続する第1位置と前記第2ガイドレール(31)の一方の端部に連続する第2位置との間を移動する第1可動レール(62)と、
前記パレット(11)を搭載して前記第1ガイドレール(21)の他方の端部に連続する第1位置と前記第2ガイドレール(31)の他方の端部に連続する第2位置との間を移動する第2可動レール(63)と、
を備え、
前記第1ガイドレール(21)及び前記第2ガイドレール(31)にそれぞれ設けられた前記電極帯(24)に連続する通電帯(69)が、前記第1可動レール(62)及び前記第2可動レール(63)にそれぞれ設けられ、
前記第1可動レール(62)及び前記第2可動レール(63)にそれぞれ搭載された前記パレット(11)の前記プーリ(90)又は前記第2ベルト(16)が接触する接触部材(68)が、前記第1可動レール(62)及び前記第2可動レール(63)にそれぞれ設けられる、
パレット搬送装置(10)。 - ガイドレール(21、31)に搭載されたパレット(11)を、前記ガイドレール(21、31)に沿って設けられて循環する無端状の第1ベルト(42)に係止して搬送するパレット搬送方法であって、
前記パレット(11)に設けられたプーリ(90)の外周を前記第1ベルト(42)に接触させ又は前記パレット(11)に設けられた無端状の第2ベルト(16)の一部を前記第1ベルト(42)に重合させて前記パレット(11)を前記第1ベルト(42)に係止し、
前記第1ベルト(42)の循環と共に又は前記第1ベルト(42)の循環とは別に前記プーリ(90)を回転させ又は前記第2ベルト(16)を循環させて前記パレット(11)を自走させる、
パレット搬送方法。
Priority Applications (3)
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EP17827532.7A EP3412404B1 (en) | 2016-07-13 | 2017-07-06 | Pallet transport device and pallet transport method |
KR1020187025072A KR102131732B1 (ko) | 2016-07-13 | 2017-07-06 | 팰릿 반송 장치 및 팰릿 반송 방법 |
CN201780014092.0A CN108698181B (zh) | 2016-07-13 | 2017-07-06 | 托盘输送装置和托盘输送方法 |
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JP2016138219A JP6695091B2 (ja) | 2016-07-13 | 2016-07-13 | パレット搬送装置及びパレット搬送方法 |
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CN109516112B (zh) * | 2018-12-19 | 2024-04-26 | 盐城合生柳环保科技有限公司 | 一种用于物料分拣的托盘分拣设备及其分拣方法 |
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JP7439061B2 (ja) * | 2019-04-16 | 2024-02-27 | ヤマハ発動機株式会社 | リニアコンベアシステム、リニアコンベアシステムの制御方法、リニアコンベアシステムの制御プログラムおよび記録媒体 |
JP7440199B2 (ja) * | 2019-07-22 | 2024-02-28 | Nittoku株式会社 | パレット搬送装置及びパレット搬送静止方法 |
JP7345229B2 (ja) | 2019-08-21 | 2023-09-15 | Nittoku株式会社 | パレット搬送装置及びパレット搬送方法 |
CN110540017B (zh) * | 2019-09-12 | 2024-03-12 | 合肥神马科技集团有限公司 | 一种线盘周转装置 |
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EP3412404A4 (en) | 2019-12-25 |
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