JPS6040345B2 - Automatic workpiece loading/unloading device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic workpiece loading and unloading device that is mainly used in pallet exchange type machining centers and other flexible production systems whose main components are numerically controlled (abbreviated as NC) machine tools. It is something.

In a flexible production system such as the one described above, in order to process a large number of workpieces in a continuous unmanned manner, it is necessary to automatically attach and detach the workpieces so that the posture of the workpieces can be changed.

However, in the past, it has been difficult to automatically attach and detach a workpiece that involves changing its posture, so this has been done manually.

In other words, if we take the production system shown in Figure 1 as an example, 1 is the machining center that performs the first process, and 2 is the machining center that performs the second process (in this case, the posture of the workpiece attached to the pallet is changed to the first process). A machining center 3 and 4 is provided with ten pallets 5 and 6, and a pallet magazine in which the pallets 5 and 6 sequentially move around the machining center, and 7 and 8 are unmanned machining centers. It is a transport vehicle.

In this case, the handling for the first process is as follows:
Manual carrying-in operation from the material storage area 9 by a worker, manual attachment of the workpiece to the pallet on the pallet magazine, and various automatic conveyance operations by the unmanned carrier 7 between the pallet magazine 3 and the manufacturing center 1. carried out by
Handling between the pallet magazine 3 in the first process and the pallet magazine 4 in the second process includes manual removal of chips by an operator from the pallet magazine 3, manual removal operation, and loading of workpieces onto the pallet 6 on the pallet magazine 4. This is performed by manual replacement operation and manual attachment of the workpiece to the pallet 6 on the pallet magazine 4.
Handling for processing in the process includes automatic transport operation by the unmanned carrier 8 between the pallet magazine 4 and the machining center 2, manual chip removal operation of the processed workpiece,
The processing work for one workpiece is completed by manually removing the workpiece from the pallet 6 and manually transporting the workpiece to the finished product storage area 10. In this case, the time during which unmanned operation can be carried out is ~ Pallet magazine 3
, the time equal to the number of pallets on the tome. In other words, it is the solid state of work 1.

Conventionally, workpieces were attached to and removed from pallets manually, so in order to process a large number of workpieces in continuous unmanned operation, it was necessary to use the above-mentioned multi-sided pallet magazine or a pallet with workpieces pre-loaded, such as in an automated warehouse. It is necessary to store a large number of Such a preset method is not only limited by the number of pallets and the storage scale, but also increasing the number of pallets unnecessarily means that the same workpiece mounting device (fixed to the pallet and the workpiece is attached to this workpiece mounting device) Since a large number of units are required, the equipment operating rate is low and efficiency is inevitably lowered. In addition, ``In the case of multi-step machining that requires changing the posture of the workpiece, there is a drawback that continuous automatic machining of multiple steps cannot be performed.This invention was proposed against the background of the above circumstances, and it It is an object of the present invention to provide an automatic workpiece attachment/detachment device that can automatically attach and detach a workpiece to and from a pallet.

An embodiment of the present invention will be described below with reference to the drawings.

Figure 2 is a plan view of a flexible production system that processes cylinder heads for diesel engines, for example.
1 is a machining center that performs the first process (machining in a horizontal position) and the second process (machining in a vertical position). A pallet 11a for the first process is placed on the table of this machining center 11. 12 is a two-sided pallet exchange device (hereinafter referred to as "exchange PC"), which replaces pallet 1 for the second process.
2a is listed.

13 is an automated guided vehicle that runs on a track 14, 15 is a pallet reversing machine, 16 is an external station for the vertical position, 17 is an external station for the horizontal position, 18 is a spare table, and 19 is a table that runs on the rail 20. The manipulator 21 is a conveyor that carries in the materials 22, and stores, for example, 15 materials and sequentially carries them out.
Something to be moved directly below the rail 20 of the manipulator, 2
3 is a carry-out conveyor for carrying out the finished product 24;
It is possible to receive completed products one after another.

FIG. 3 is a side view of the pallet reversing machine 15 and its peripheral equipment (a lost view in FIG. 2), and shows the automatic guided vehicle 1.
3 is equipped with a roller table 25 on the upper surface that moves up and down. Reference numeral 26 denotes wheels rotatably provided at the lower end of the automatic guided vehicle 13, which move along the track 14.

A guide car 27 is rotatably attached to the lower end of the automatic guided vehicle 3, and is brought into contact with both sides of the track 14 in pairs so that the wheels 26 do not come off the track 14.

The external station 16 for the vertical position has its frame 28.
Four vertical hydraulic cylinders 29 for attaching and detaching workpieces are installed vertically in line in the running direction of the manipulator, and an operating member 30 is attached to the tip of the rod. The manipulator 19 includes a grasping claw 31 for grasping a workpiece, and this grasping claw 31 can be moved up and down. Next, the pallet reversing machine 15 will be explained.

On the left and right sides of the pedestal 32 of the pallet reversing machine 15, as shown in FIG. A plurality of rollers 33 are rotatably attached, and a drum 34 is rotatably supported by these left and right rollers 33. The drum 34 has left and right perforated disks 35.
are integrally connected by a plurality of stays 36 at the outer periphery of the drum 16, so that the grasping claws 31 of the manipulator can move in and out of the drum 16 from above. An annular member 37 having a blade part 37a on the outer peripheral surface on which the chain can be loosened is fixed to the outer side surface of the left and right perforated disks 35, and the chain 3 is attached to the blade part 37a.
8 are beating together.

Both ends of the left and right chains 38 are connected to blocks 39 fixed to the annular village 37 side, respectively, and the chains 38 are connected to two blocks 39 that are rotatably attached to the pedestal 32 side.
annular member 37 by means of guide sprockets 40, 41;
The blade 37a is held so as to fit tightly with the blade 37a, and is further wound around a sprocket 43 fixed to a koji 42 which is rotatably supported on a pedestal 32. Further, a sprocket 44 is fixed to the shaft 42, and a sprocket 46 is fixed to the output shaft of a hydraulic motor 45 installed on the pedestal 32.
A chain 47 is wound between the sprocket 44 and the sprocket 44. One of the guide sprockets 41 is
An arcuate long hole 48a is provided so that the tension of the chain 38 can be adjusted.
It is attached to an adjustment mounting plate 48 whose position can be adjusted. In addition, if a large diameter chain wheel of the perforated disc 35 is attached to make the chain endless, it can rotate freely any number of times.

Further, in the outer peripheral green portion of the perforated disc 35, as shown in FIG. 6, a notch groove 49a for the rotation angle 00 position of the drum 34,
and a notch air cylinder device 51 in which a notch groove 49b for the 90o position is provided, and a notch pin 50 that can be engaged with these notch grooves 49a, 49b is a rod.
is provided on the pedestal 32 side.

Note that FIG. 6 shows a state in which the drum 34 is at a rotation angle of 900. The drum 34 has a perforated disc 3 inside it.
A pallet pedestal stand 52 is fixed to the left and right perforated discs 35 near the outer periphery of the pallet 5.

This pallet stacking table 52 is formed as a frame, and the cylindrical part 53a of the clamp part village 53 is inserted into the guide hole part 52a of the cylindrical member 52c fixed at the center in the axial direction (of the drum 34). It is fitted with iron so that it can slide in the vertical direction (at the 00 rotation angle position). This cylindrical part 53a
A presser plate 53b is fixed to the upper surface, and a lever 55 is provided so as to hold the cylindrical portion 53a. 53 is restrained in the drum radial direction with respect to the lever 55. A compression spring 56 is provided between the upper surface of the driven portion 55a at one end of the lever 55 and the pallet platform 52, and an arm 57 is fixed to the end of the lever. Further, this lever 55 is pivotally attached to the drum 34 side by a hinge pin 63 on the outside of the cylindrical portion 53a. On the other hand, a bell crank 59 is pivotally attached to a support base 58 fixed to the drum 34, and one arm 59a of the bell crank 69 is attached to the tip of the arm 57.
The tip of the other arm 59b is in contact with the roller 57a.
A plate fixing pin 601 inserted into the guide pin hole 52b of the pallet calendar table 52 engages with a protrusion 60a provided thereon.
This plate fixing pin 60 is biased in a direction such that its tip protrudes from the upper surface of the pallet stacking table 52 by a compression spring 61 whose one end is supported on the drum 34 side. Further, this plate fixing pin 60 is designed to be inserted into a pin hole 62a formed in the pallet 62 when it protrudes from the pallet counterfeit stand 52. Further, a hydraulic cylinder device 64 for pallet unclamping is installed on the side frame of the pedestal 32, and a lever 65 whose center portion is fixed to the pedestal 32 is connected to the tip of the piston rod 64a. At the tip of the lever 55, there is a push-up which can push the driven portion 55a of the lever 55 when the pallet loading table 52 is at the rotation angle oo position, that is, the top surface of the pallet loading table 52 is in a horizontal position. A member 66 is fixed.

Further, on the upper surface of the pallet platform 52, as shown in FIG. 5, a pallet 62 is mounted in the front-rear direction (the direction perpendicular to the plane of FIG. 5).

In FIG. 3, a rail 67 is provided on which the rail 67 is slidably mounted.The right side, that is, the lateral external station 17 side is referred to as the front, and the left side, that is, the side of the automatic guided vehicle 13 is referred to as the rear. Further, a front stopper 68 having a screw ridge 68a for adjusting the position of the pallet 62 is provided at the front end of the pallet calendar table 52 in the horizontal position.

Further, a safety stopper device 69 is provided at the rear of the pallet lighthouse 52 in a horizontal position.

To explain this safety stopper 69 in detail, as shown in FIGS. 7 and 8, two safety stoppers 71 on the left and right rotate around a shaft 71b supported by a support base 7 fixed to the pallet training base 52. This safety stopper 71 is movably attached.
A step portion 71a is formed at the tip of the step portion 71a.
On the a side, the safety stopper 71 is urged counterclockwise in FIG. 7 by a compression spring 72 interposed between the spring receiving member 71c attached to the safety stopper 71c and the support base 70.

Further, an adjustment bolt 73 is provided on the pedestal 32 side.
A hydraulic cylinder 74 for loading and unloading pallets in the front and rear direction is installed on the external station 17 for horizontal position, and a horizontal T-shaped member 75 is fixed to the tip of the rod 4a. A hook 76 is iron-coupled to the village 75 so that it can be slid in the left and right direction of the reversing machine (in the direction of the center line of the drum).
A pin 76a is fixed to the lower side of this hook T6.

On the other hand, a locking portion 62e on which the hook 76 can be hooked is provided on the pallet 62 side. Also, pedestal 3
A small hydraulic cylinder device 77 is installed on the second side, and when the hook 76 is in the position where it hooks on the locking portion 62e of the pallet 62, the hydraulic cylinder device 77 is attached to the tip of the piston rod of the hydraulic cylinder device 77. A fixed hook (not shown) engages with the pin 76a of the hook 76, and pushes the pin 76a in the left and right direction of the reversing machine to remove the hook 76 from the locking portion 62e or to release the hook 76 from the locking portion 62e. It is moved to the position where it is hung. Also,
In the external station 17 for horizontal position, four hydraulic cylinder units 78 for horizontal position are installed in parallel with the hydraulic cylinder device 74 for loading/unloading the pallet for loading and unloading workpieces.

As shown in the cross section of FIG. 5, the pallet 62 has a recess 62b formed on the back side, and fixing grooves 62d are formed on the left and right sides by protrusions 62c on both sides of the recess 62b.

FIG. 9 shows an automatic jig 79 mounted on a pallet 62.
This is a plan view showing a schematic mechanism of the workpiece counterfeiting table 80. Reference surface blocks 82 and 83, which serve as reference surfaces for two sides of a workpiece 81, are fixed on a workpiece counterfeiting stand 80, respectively, and these reference surface blocks 8
2 and 83, two hydraulic sillage devices 84 and 85 for vertically attaching the workpiece are respectively provided.

The pallet 62 on which the workpiece mounting table 80 of the automatic jig 79 is placed has a mounting booth and a removal booth (both are not shown, but these booths are of the hydraulic sill type). The donning booster or doffing booth is pushed by the horizontal position hydraulic cylinder device 78 or the vertical posture hydraulic cylinder device 29, and the booster is connected to the booster by hydraulic piping. In addition, the workpiece tightening hydraulic cylinder devices 84 and 85 of the automatic jig 79 are operated to press the workpiece 81 against the two reference blocks 82 and 83, or to release them, thereby attaching and detaching the workpiece. ing. Note that the hydraulic motor 45, each sprocket 46, 44, 43, 41, 40,
Each chain 47, 38, etc. constitutes a rotation drive side.

Further, the pallet loading/unloading hydraulic cylinder hawk 74, the horizontal T-shaped member 75, the hook 76, the hydraulic cylinder device 77, etc. constitute a pallet loading/unloading mechanism with a jig.

Also, "clamp member 53, lever 55, arm 57, bell crank 59, plate fixing pin 60, hydraulic cylinder device 64"
``The lever 65 and the like constitute a clamp mechanism.

Further, the hydraulic cylinder device 29 for vertical posture, the hydraulic cylinder device 78 for horizontal posture, the reference plane blocks 82 and 83 of the automatic jig 79, and the hydraulic cylinder device 84 and 8 for attaching workpiece cotton.
5 and a donning booth, a doffing booster, etc. built into the pallet 62 constitute a workpiece attaching and detaching mechanism.

Next, the operation will be explained.

1. The explanation starts from the stage in which a pallet with a pick-up tool to which no workpiece is attached is fixed on the pallet copy stand 62 in the horizontal position of the pallet reversing machine (hereinafter simply referred to as the reversing machine) 15.

2 The material 22 on the imported Kosobair 21 is transferred to the manipulator 19.
The grasping claws 31 of the gripper grip the reversing machine 15, and then lower the automatic jig 79 attached to the pallet 62.
Place it on the work base 80.

Then, the grasping claw 31 rises. 3 When the hydraulic cylinder device 78 for horizontal position of the external station 17 for horizontal position operates and pushes the wear booth built in the pallet 62, the workpiece of the automatic odor control 79 connected to this wear booth by hydraulic piping is activated. The tightening hydraulic cylinder devices 84 and 85 operate,
Since the workpiece is pressed against the reference plane blocks 82 and 83,
The workpiece is fixed to the automatic jig 79.

Then, the rod of the horizontal hydraulic sill device 78 is retracted.
4 Release the fixation of the pallet with lining.

That is, by operating the air cylinder device 64, the lever 6
5 in the clockwise direction in FIG.
Push up the driven portion 55a. Then, the lever 55 rotates counterclockwise around the hinge pin 63 and pushes up the clamp portion 53 via the pin 54. Also, at this time, the roller 57a of the arm 57 is moved by the bell crank 59.
Push one arm 59a of the holder, rotate it counterclockwise, and use the other arm 59b to push down the retaining pin 60 against the collapse spring 61.In this way, the clamp member 53 is held down. Release the fixation of the pallet with pick-up tool by the plate 53b, and insert the plate fixing pin 60 into the pin hole 6 of the pallet 62.
Remove from 2a.

5 Rod 74a of hydraulic cylinder 74 for loading and unloading pallets
moves forward, pushes the pallet 62, and carries it out onto the unmanned carrier roller table 25, which is moved in front of the reversing machine 15.

Note that at this time, the roller table 25 is in an elevated state. After the pallet 62 is carried out, the rod 74a of the hydraulic cylinder device 74 for carrying in and out of the pallet retreats. Further, when the pallet stacking table 52 is in a horizontal position, the rear end of the safety stopper 71 is in contact with the adjustment bolt 73, so the safety stopper 71 is horizontal as shown by the solid line in FIG. Since the pallet 62 passes through the recess 62b of the pallet 62, movement of the pallet 62 in the direction of the automatic conveyance vehicle 13 is not hindered. 6
The unmanned guided vehicle 13 is.

After lowering the roller table 25, it travels to the machining center and stops, and here the pallet with jig is transferred to the machining center 1 via a PC (automatic pallet changing device) 12.
1 is inserted. 2APC12 and machining center 11
Since the operation of exchanging pallets between the pallets and the table is a common occurrence, the explanation will be omitted here.

7 In the machining center 11, the first step of machining is first performed.

8. When the processing of the first step is completed, the pallet with the jig is again transferred to the automatic conveyance vehicle 13 via the output PC 12, and the automatic conveyance vehicle 13 travels to the position of the reversing machine 15 again.

At this time, a pallet for the second process (vertical processing) is still on one end of the 2APC 12, waiting for its turn, but its explanation will be omitted here. 9 After the rod 74a of the loading/unloading hydraulic cylinder device 74 moves forward, the loaf bubble 25 of the automatic guided vehicle 13 rises, and the rod 4a moves forward.
A hook 76 at the tip of the pallet 62 is attached to the locking portion 62e of the pallet 62.

At this time, the hook 76 is attached to the horizontal T-shaped member 75 via the pin 76a by the operation of the hydraulic cylinder device 77.
It is moved horizontally on the top and placed in a position where it engages the locking portion 62e. 10 The rod 74a of the hydraulic cylinder device 74 for loading and unloading moves backward to slide the pallet with a jig, and place it on the rail 67 of the pallet loading table 52 located in the horizontal position inside the drum 34.

11 The hydraulic cylinder device 77 operates to push the pin 76a of the hook 76 in the width direction of the drum-34 (in the direction perpendicular to the plane of the paper in FIG. 3) and remove the hook 76 from the sub-stop part 62e.

Rod 74a is further retreated. 12 Now rotate the reversing drum 34 to about 290 degrees to remove the chips.

Then return it to the horizontal position. 13 The next bottle is the first one.
Remove the processed workpiece from the process.

14 Move forward the rod of the hydraulic cylinder device 78 for blind position provided in the external station 17 for horizontal position to push the escape booth built in the pallet 62.

Then, the hydraulic cylinder devices 84 and 85 for work tightening of the automatic jig 79 are activated. The head moves back and the workpiece 81 is released. At this point, the center of the workpiece 81 is at the position of arrow P in FIG. 15 Among the devices that operate the hydraulic cylinder device 86 and tighten the work, a clamper (not shown) that holds the work from above is moved to the 90.
The machine is rotated to zero so that there is no obstacle above the work to lift the work (details of this machine will not be explained).

16 The grasping claw 31 of the manipulator 19 grasps the work 81 and lifts the work 81 above the drum 34.

17 After completing the first process, this workpiece is temporarily placed on the preliminary table 18 in order to be inserted into the jig for the second process (vertical machining).
Transfer to the top.

18 Next, the manipulator 19 moves to the carry-in conveyor 21
Grasp one piece of material 22 from the holder and insert it again into the empty jig for the first process, and move it to the external station 17 for horizontal position.
The horizontal position hydraulic cylinder device 78 is operated to clamp a new work and send it to the table of the machining center again.

19 Next, we will explain the procedure for inserting the workpiece into the jig for the second process.

For convenience, it is assumed that machining is being performed continuously, and the explanation will be given starting from the second process odor-added pallet that has the processed workpieces that have completed the second process. 20 The pallet with picking tools is sent to the pallet reversing machine 15 in the same procedure as the pallet with jigs for the first process, and the pallet with jigs is clamped.

21 After clamping, the procedure for removing chips in the same manner is as follows.

22 Operate the hydraulic cylinder device 51 to release the notch pin 5
0 from the notch groove 47a of the drum 34, then the hydraulic motor 45 is operated and the drum 34 is rotated clockwise to 290 degrees in FIG. 90 in the direction
The hydraulic cylinder device 5 is rotated in the opposite direction to the o position, and then the hydraulic cylinder device 5
1 to engage the notch pin 50 with the notch groove 49b for the drum rotation angle of 90o.

FIG. 6 shows this state. It should be noted that during the above operation, that is, when the drum 34 rotates clockwise, the safety stopper 71 on the pallet mount 52 also goes up.
The rear end of the safety stopper 71 is separated from the adjustment bolt 73,
Therefore, the safety stopper 71 rotates counterclockwise in FIG.
This corresponds to the corner 62g of f.

Therefore, when the drum 34 has rotated 900 degrees, the front stopper 68 prevents the pallet 62 from slipping off, and when the drum 34 has rotated 270 degrees, the front stopper 68 prevents the pallet 62 from slipping off.
The safety stopper 71 serves to prevent the pallet 62 from slipping. These stoppers 68 and 71 prevent the pallet from slipping off even if the plate retaining pin 60 protruding from the pallet platform 52 is fully inserted into the pallet pin hole 62a. 23 Automatic jig 79
Release the workpiece fixed to.

This operation is the same as the operation 14) above. A manipulator 19 grabs a workpiece and moves it onto a carry-out conveyor 23. 24 Spare table 18 by manipulator 19
The workpiece 81 which has been placed in the first process and has been completed is grasped and carried onto the pallet, the grasping claw 31 is lowered, and the workpiece 81 is inserted into the pallet.

At this time, the center of the workpiece coincides with the point P of the arrow. 25
The rod of the hydraulic cylinder device 29 for the vertical position of the external station 16 for the vertical position is advanced (ie, lowered), and the operating unit at the tip of the rod pushes the wear booth built in the pallet 62.

Then, the workpiece tightening hydraulic cylinder devices 84 and 85 of the automatic jig 79 operate to fix the workpiece to the eye movement 79. Thereafter, the rod of the vertical hydraulic cylinder device 29 retreats. 26 Retract the notch pin 50 and move the drum 34 to the sixth position.
In the figures, it is rotated 90° counterclockwise to return to its original position, and then the notch pin 50 is engaged with the notch groove 49a for the drum rotation angle oo position.

At this time, the pallet pupil stand 52 is horizontal, and the workpiece is in a vertical position on the pallet. and,
The center of the workpiece at this time is point Q in FIG.
Note that the point P, which is the center of the workpiece when the workpiece is in a horizontal position, is located at a position slightly eccentric from the horizontal direction at 90 degrees with respect to the rotation center 0 of the drum 34, so that the drum 34 is When rotated by 90 degrees, the center of the work moves from point P to point Q on the same vertical line. This is especially true for workpieces that are large in width and small in thickness, such as rectangular parallelepipeds or similar shapes.
9, without moving the grasping claw 31 of the manipulator 19 in the front-rear direction (left-right direction in FIG. 6), and with the upper and lower lowering ends at the same position (in both horizontal and vertical positions). It is designed to allow you to grip the workpiece. Note that if the center of the work coincides with the center of rotation 0 of the drum 34, the position of the pallet 62 will move away from the outer periphery of the drum 34, so the drum 34 itself will have to be enlarged, resulting in a wasteful structure, so this is preferable. do not have. 27 The hydraulic cylinder device 64 operates to rotate the lever 65 clockwise in FIG.
When a is pushed up, the fixation of the pallet 62 by the clamp member 53 is released, and the retaining pin 6 comes out of the pin hole 62a of the pallet 62, as described in 4) above.

28 Move the pallet with bandages onto the automatic carrier 13 using the hydraulic cylinder IJ for loading and unloading 74.

29 The automatic carrier 13 transports this pallet with jig to the position of 2APC 12 in front of the machining center 11.

30 2APC12 takes in this profane palette.

31 In the machining center 11, a second step of machining is performed on a workpiece fixed in a vertical position on a pallet with a jig.

32 On the other hand, instead of pulling the pallet with pick-up tools for the second process into the machining sesota 11, why is the pallet with pick-up tools for the first process completed machining moved towards CI2, and then the automatic guided vehicle 13 Pallet reversing machine 15
If it is inserted, the process returns to step 8), and unmanned machining progresses by repeating this process.

33 With the above steps, all steps of the first step machining and the second step machining for one workpiece are completed.

According to the above-mentioned flexible production system, the number of workpieces that can be processed unmanned is
1, and the capacity of the discharge conveyor 23, that is, the workpiece 19 solid. Furthermore, since it is extremely easy to increase the capacity of the carry-in conveyor 21 and the carry-out conveyor 23, it can be said that unmanned operation can be carried out for a long time (usually during the night) with virtually no restrictions. . As explained above, according to the present invention, unattended operation for a sufficiently long time is possible without using a mechanism that provides a large number of pallets pre-loaded with workpieces, such as a subordinate multi-sided pallet magazine. Even when attaching and detaching the pallet to and from the pallet requires multiple processing steps that involve changing the posture, this is done completely automatically, so unmanned operation can be achieved to a sufficiently high degree.

In addition, since posture change is performed by rotating the drum,
The operations required of the manipulator are simply to travel, move up and down, and grasp the workpiece. In other words, there is no need for the manipulator to change the posture of the workpiece, so it is designed to be able to grasp workpieces in different postures. There is no need to separately prepare grasping claws 31 of different sizes, and the manipulator has a simple mechanism, so that even large workpieces can be easily handled. Furthermore, when the pallet is tilted, the removal of chips also takes place, which is also beneficial.

[Brief explanation of the drawings] Fig. 1 is a plan view of a conventional machining device, Fig. 2 and the following show embodiments of the present invention, and Fig. 2 is a plan view of a conventional machining device. A plan layout of the machining equipment, Fig. 3 is a side view of the automatic workpiece loading/unloading device and its peripheral equipment, Fig. 4 is a left side view of the pallet reversing machine, and Fig. 5 is a sectional view taken along the line V-V in Fig. 4. , Figure 6 shows the drum rotation angle 900
7 is an enlarged view of the safety stopper device, FIG. 8 is a view taken along the arrow in FIG. 7, and FIG. 9 is a plan view of the main parts of the automatic jig. 11, 12...Manufacturing center, 13...Automatic carrier, 15...Pallet reversing machine, 16...Vertical external station, 17...Horizontal external station, 19...
Manipulator, 29... Hydraulic cylinder for vertical position, 31
... Grasping claw, 32 ... Frame, 33 ... Roller, 3
4... Drum, 35... Perforated disk, 37... Annular part village, 37a... Blade part, 38, 47... Chain, 40, 41
... Guide sprocket, 43, 44, 46 ... Sprocket, 45 ... Hydraulic motor, 50 ... Notch pin, 52 ... Pallet loading table, 52a ... Guide hole portion, 52b ... Guide pin hole part, 53... Clamp member, 53a... Cylindrical part, 53b... Presser plate, 54
...Pin, 55...Lever, 57...Arm, 59...Bell clamp, 60...Plate fixing pin, 62...Pallet,
64...Hydraulic cylinder, 62c...Protrusion, 62d...
Fixing groove, 62e... Sun stop part, 65... Lever, 6
7...Rail, 68...Front stopper, 71...Safety stopper, 74...Hydraulic cylinder for pallet loading/unloading, 78
...Hydraulic silling for machine posture, 79...Automatic jig, 80.
...Work platform, 82, 83...Reference surface block,
84, 85... Hydraulic cylinder for work attachment. Figure 1 Figure 5 Figure 9 Figure 2 Figure 4 Figure 3 Figure 7 Figure 6 Figure 8

Claims (1)

[Claims] 1. A drum whose outer periphery is open so that the manipulator can go in and out, and which is rotatably supported on a pedestal, and a rotational drive mechanism that drives the drum to rotate and stops it at a predetermined rotation angle. , a pallet mounting table fixed to the drum near the outer periphery inside the drum, and a pallet with a jig attached to which a jig for fixing the workpiece is attached, are placed either outside in a direction orthogonal to the center of rotation of the drum or on the pallet mounting table. A pallet loading/unloading mechanism with a jig for loading the pallet onto the pallet loading table and transporting the pallet to the outside from the pallet loading table, and fixing the pallet with the jig placed on the pallet loading table to the pallet loading table and releasing the fixation thereof. An automatic workpiece attachment/detachment device equipped with a clamp mechanism and a workpiece attachment/detachment mechanism that attaches and detaches workpieces to and from jigs on a pallet with jigs.