JPH0565305B2 - - Google Patents

Description

[Detailed Description of the Invention] A. Purpose of the Invention (1) Industrial Field of Application The present invention provides a method for producing pallets in a plurality of machine tools arranged around a virtual center line at intervals along the circumferential direction. The present invention relates to a workpiece conveyance device for conveying an attached workpiece.

(2) Conventional technology Conventionally, such a device has been disclosed in, for example, Japanese Patent Application Laid-Open No. 61-284365.
It is publicly known from the publication No.

(3) Problems to be Solved by the Invention By the way, in the conventional method described above, a plurality of machining stations are set at equal intervals in the circumferential direction in the middle of a rail formed in an arc shape, and the workpiece is positioned at each machining station. A machine tool or a tool placed around the rail is advanced toward the workpiece to process the workpiece. However, according to such a device, it is possible to process a workpiece in a substantially horizontal direction with a machine tool or a tool;
With a machine tool that performs vertical machining, such as a boring machine that has a boring bar that extends in the vertical direction, machining is difficult because the rails get in the way.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a workpiece transport device that can transport and process workpieces to multiple machine tools, regardless of the processing mode of the machine tools. do.

B. Structure of the Invention (1) Means for Solving the Problems According to the present invention, a support for carrying out and carrying in workpieces attached to a pallet is provided around a support that is erected with an imaginary center line as an axis. - A loading station and a plurality of attachment/detachment stations that individually correspond to the processing stations set for each machine tool to process the workpiece and are located on a straight line connecting the support and each processing station are located at the center of the support. A plurality of fixed guide rails are set at equal intervals in the circumferential direction on an imaginary circle, and are formed in an arc shape along the imaginary circle except for the unloading/loading station and each attachment/detachment station. - A movable guide rail formed in an arc shape at a portion corresponding to the loading station and each attachment/detachment station forms an annular guide rail that guides the angular displacement movement of the pallet around the support, and the support has an annular guide rail. An indexing arm detachably connected to a pallet on a rail is supported for angular displacement for conveying the pallet along an annular guide rail, and between each corresponding loading/unloading station and each processing station. The movable guide rail is disposed on a slide unit that can reciprocate across.

(2) Effect According to the above configuration, the pallet with a workpiece attached thereto is carried in and out of the annular guide rail at the unloading and loading station, and the pallet carried into the annular guide rail is moved onto the annular guide rail by the index arm. As the slide unit moves between the loading/unloading station and the processing station, the pallet leaves the annular guide rail and moves between the loading/unloading station and the processing station. Therefore, each machine tool processes the workpiece at a processing station located away from the annular guide rail, so the annular guide rail does not interfere with machining, and the workpiece can be machined regardless of the machining mode. It becomes possible to do so.

(3) Embodiment An embodiment of the present invention will be described below with reference to the drawings. First, in FIGS. 1 and 2, a plurality of, for example, three first, second, and third machine tools are shown.
M ₁ , M ₂ , M ₃ are arranged at intervals around the virtual center line C, and these machine tools M ₁ ,
A workpiece W to be sequentially machined with M ₂ and M ₃ , for example, a cylinder block in an engine, is sequentially transferred to each machine tool M ₁ , M ₂ , M ₃ by a workpiece transfer device 1, and the workpiece W is transferred to and from the workpiece transfer device 1. - Carrying in is carried out via the posture changing device 2.

The machine tools M ₁ , M ₂ , M ₃ , the workpiece transfer device 1 and the posture changing device 2 are mounted on fixed bases 3a, 3.
b and 3c, respectively. Around the virtual center line C set on the fixed base 3b, there are machine tools M ₁ ,
1st, 2nd and 3rd corresponding to M ₂ , M ₃ individually
Machining stations S _M1 , S _{M2 , S M3 are} set, and _the first,
Second and third detachable stations S _R1 , S _R2 , S _R3
and a carry-out/carry-in station S _C are set on a virtual circle centered on the virtual center line C at equal intervals in the circumferential direction.

Referring to FIG. 3 and FIG. 4 together, the workpiece transfer device 1 includes a support 4 that is erected on a fixed base 3b with the virtual center line C as an axis, and a first, second, and third removable support. A pair of upper and lower annular guide rails 5 and 6 formed in an annular shape along a virtual circle passing through stations S _R1 , S _R2 , S _R3 and unloading/loading station S _C
, an index arm 8 which is engageable with a pallet 7 on both annular guide rails 5 and 6 and is supported by the column 4 for angular displacement; An index drive motor 9 provided at the upper end, a first and a second
and third attachment/detachment stations S _R1 , S _R2 , S _R3 and first, second and third processing stations S _M1 ,
3 that can transport pallet 7 between S _M2 and S _M3 respectively
and two slide units 10.

Both annular guide rails 5 and 6 are arranged vertically with an interval between them, and are connected to the carry-out/carry-in station S _C and each attachment/detachment station S _R1 , S _R2 ,
_S・Carry-in station S _C and each attachment/detachment station S _R1 , S _R2 ,
It is composed of a plurality of movable guide rails 13 formed in an arc shape at a portion corresponding to S _R3 . In addition, both annular guide rails 5 and 6 are formed so that their cross-sectional shapes are substantially U-shaped and open upward.

1st, 2nd and 3rd detachable station S _R1 ,
Between S _R2 , S _R3 and the first, second and third processing stations S _M1 , S _M2 and S _M3 , a pair of guide rods 14 are mounted on a rectangular support frame 15 fixed on the fixed base 3b. , 14 are fixed parallel to each other and horizontally. Guide rods 14, 14 are slidably fitted in the lower part of the slide unit 10, and the slide unit 10 is guided by both guide rods 14, 14 to the first, second and third attachment/detachment stations S _R1 , S _R2 , S _R3 and 1st, 2nd and 3rd processing stations
It is possible to move back and forth between S _M1 , S _M2 , and S _M3 . Further, a rotary drive shaft 16 parallel to the guide rods 14, 14 is rotatably supported on the upper part of the slide unit 10. A pallet support plate 17 is fixed to the end of the rotary drive shaft 16 on the side of each processing station S _M1 , S _M2 , S _M3 , and movable guide rails are provided at both upper and lower ends of the pallet support plate 17 . 13,
13 is fixedly installed. Therefore, the pallet support plate 1
7 is capable of reciprocating with the slide unit 10 and rotates in response to the rotation of the rotation drive shaft 16. This rotation drive shaft 16 is coaxially connected to a rotation drive motor 24 fixedly disposed on the upper part of the slide unit 10. Moreover, the rotation drive shaft 16 and the slide unit 10 are provided with stoppers 16a, which can come into contact with each other in order to restrict rotation of the rotation drive shaft 16 by a set rotation amount, for example, 180 degrees.
10a is provided.

The pallet 7 can move along the annular guide rails 5 and 6 while supporting the workpiece W, and the pallet 7 has a vertical rail at the top so that it can roll within the annular guide rail 5 above. A pair of guide rollers 18, 18 having axes and a pair of guide rollers 19, 19 having horizontal axes to roll on the annular guide rail 5 are arranged on the annular guide rail 5.
A pair of guide rollers 20 are supported at intervals in the circumferential direction, and have horizontal axes at the bottom of the pallet 7 to roll within the annular guide rail 6 below.
20 are pivotally supported at intervals in the circumferential direction of the annular guide rail 6.

The pallet 7 has movable guide rails 13, 13.
as part of the annular guide rails 5, 6 and the pallet support plate 1 on the attachment/detachment stations S _R1 , S _R2 , S _R3 .
2 spaced vertically while supported by 7
Positioning holes 21, 21 are drilled at the locations,
The pallet support plate 17 has these positioning holes 2.
Positioning pin 2 to be removably inserted into 1 and 21.
2 and 22 are arranged. These locating pins 2
2 and 22 are piston rods 23 in a pair of cylinders 23 and 23 fixed and supported on the pallet support plate 17 with axes parallel to the rotation drive shaft 16.
It is coaxially connected to a and 23a.

The detailed structure related to the pallet 7 will be explained in detail in FIGS. 10 and 11 shown below to explain the pallet attitude changing device 2.

In FIG. 5, the rotary drive shaft 16 is formed into a hollow cylindrical shape, and the base end of the rotary drive shaft 16 is spline-coupled to the output shaft 24a of the rotary drive motor 24. The distal end of 16 is closed by fitting a short cylindrical connecting member 26 thereinto. on the other hand,
A fluid pressure supply pipe 25 coaxially penetrating the output shaft 24a is disposed coaxially within the rotary drive shaft 16, and one end of this fluid pressure supply pipe 25 is connected to the connecting member 26.
A connecting pipe 27 is connected to the other end of the fluid pressure supply pipe 25 coaxially connected to the rotary drive motor 24 and passing through the rotary drive motor 24 via a rotary joint (not shown), and the connecting pipe 27 is connected to a hydraulic pressure supply source 28. be done. Also, the rotation drive shaft 1 protrudes from the slide unit 10.
6 is provided with an oil passage 29 extending in the radial direction, and the connecting member 26 is provided with an annular groove 30 on the outer surface that constantly communicates with the oil passage 29, and a groove 30 is provided to connect the fluid pressure supply pipe 25 and the annular groove 30. A communicating path 31 is bored. Further, one end of a connecting pipe 32 is connected to the outer end of the oil passage 29, and the other end of this connecting pipe 32 is connected to the hydraulic chamber 33 of each cylinder 23, 23.
connected to. Therefore, hydraulic pressure can be easily supplied to each cylinder 23, 23 which can rotate together with the rotation drive shaft 16.

Moreover, both cylinders 23, 23 are biased by a spring 34 in the direction of protruding the piston rods 23a, 23a, and when hydraulic pressure is supplied to the hydraulic chamber 33, the piston rods 23a, 23a are contracted and the positioning pins are moved. 22, 22 into positioning hole 2
Pull out from 1,21. In this way, each cylinder 2
Positioning pin 22, without supplying hydraulic pressure to 3, 23.
22 are fitted into the positioning holes 21, 21, the pallet 7, which is riding on the upper and lower movable guide rails 13, 13 via the guide rollers 18, 19, 20, is rotated by the rotation drive shaft 16. The pallet support plate 17 does not wobble even when it rotates due to the movement operation. In addition, hydraulic pressure is supplied to the hydraulic chamber 33 of each cylinder 23, 23, and the positioning pin 22, 2
2 is pulled out from the positioning holes 21, 21, the pallet 7 becomes movable along the annular guide rails 5, 6.

The slide unit 10 has a shift cylinder 35 fixedly disposed on the fixed base 3b, and a bracket 38 fixedly attached to the support frame 15, which supports the slide unit 10 so as to be swingable at its intermediate portion, and the shift cylinder 35 at one end.
The link 36 to which the piston rod 35a is connected
and a unit feed cylinder 37 which is connected to the other end of the link 36 and whose piston rod 37a is connected to the slide unit 10, and is driven forward and backward. The shift cylinder 35 has an axis parallel to both guide rods 14, 14, and is attached to the support frame 1.
The piston rod 35a of this shift cylinder 35 protrudes from the support frame 15 toward the support column 4 side. Also, link 36 is
It is swingably supported by a bracket 38 via a horizontal support shaft 39 perpendicular to the axes of both guide rods 14, 14, and a piston rod 35a is connected to one end, that is, the lower end of this link 36. Furthermore, the unit feed cylinder 37 is arranged above the shift cylinder 35 and substantially parallel to the guide rods 14, 14, and is connected to the other end of the link 36 via a trunnion shaft 40. be done.

The amount of expansion and contraction of the shift cylinder 35 is set smaller than the amount of expansion and contraction of the unit feed cylinder 39, and when both cylinders 35 and 37 are contracted, the slide unit 10 moves toward the movable guide rail 1.
3 and 13 are part of the annular guide rails ₅ and 6, and the slide unit 10 _is attached to the movable guide rails 13 and ₁₃ in response to the shift cylinder 35 being extended to the maximum extent. 1
3 from the fixed guide rail 12 and advance a certain distance toward each processing station S _M1 , S _M2 , and S _M3 . Next, by extending the unit feed cylinder 37, the slide unit 10 advances to each processing station S _M1 , S _M2 , and S _M3 .

The index arm 8 has a base rotatably supported by the support column 4 and has a plurality of index arms, for example, four index arms extending radially.
The ends of the book arms 8a are connected by an annular connecting part 8b, and the connecting part 8b has a substantially U-shaped engagement opening outward in the radial direction for detachably engaging the pallet 7. The stop portions 41 are fixedly provided at, for example, four locations equally spaced in the circumferential direction. On the other hand, the pallet 7 is provided with an engaging pin 42 projecting from the center of its upper end, which is supported by the pallet support plate 17, and which can be engaged with the locking portion 41. Therefore, the engagement pin 42 is connected to the locking portion 4.
1, the index arm 8
By rotationally driving each pallet 7, each pallet 7 is angularly displaced about the column 4 along the annular guide rails 5, 6.

Each machine tool M ₁ , M ₂ , M ₃ is, for example, a boring device, and the processing stations S _M1 , S _M2 ,
A drive mechanism 44 that can be raised and lowered at a position corresponding to S _M3 ;
A plurality of tool heads 45 are selectively and removably fixed to the lower part of the drive mechanism 44, a boring bar 46 whose upper end is removably connected to each tool head 45 and extends downward, and processing stations S _M1 and S. A plurality of support jigs 47 are selectively switched and fixed at positions corresponding to _M2 and S _M3 ,
The work W brought to processing S _M1 , S _M2 , S _M3 and supported by the corresponding support jig 47 is
Boring is carried out using a boring bar 46 selected correspondingly.

A pallet attitude changing device 2 is connected to the workpiece conveyance device 1 at its unloading/loading station S _C , and the work W attached to the pallet 7 is transferred from the pallet posture changing device 2 to the workpiece conveying device 1. Each machine tool is transported to Station S _C.
The workpiece W processed by M ₁ , M ₂ , and M ₃ is carried out together with the pallet 7 from the carry-out/carry-in station _SC to the pallet attitude changing device 2 .

Referring also to FIGS. 6, 7, and 8, this pallet attitude changing device 2 has a mounting/dismounting position _P1 for mounting and removing a workpiece W to and from a pallet 7 in a horizontal position. ,
It is provided across the attitude change position P ₂ to bring the pallet 7 with the workpiece W attached thereto into a vertical attitude in order to carry out loading and unloading of the pallet 7 into the workpiece transport device ₁ . is set at the unloading/loading station S _C in the workpiece transfer device 1, and the installation/removal position
P ₁ is set apart from the posture change position P ₂ by a certain distance outward along the radial direction of the support column 4 in the workpiece conveyance device 1 . Moreover, posture change position
P ₂ is set so that the pallet 7 is located at a height corresponding to the workpiece machining position on each machine tool M ₁ , M ₂ , M ₃ , and the installation/removal position
P ₁ is set at a lower position than the attitude change position P ₂ .

The pallet attitude changing device 2 includes a pair of left and right attitude changing guide rails 51, 51 which are formed in an arc shape between the attachment/removal position _P1 and the attitude changing position _P2 and are fixedly arranged on the fixed base 3c. ,
A support stand 52 capable of supporting the pallet 7 from its back and movable along the guide rails 51 for changing both postures, and the guide rail 5 for changing both postures.
A pair of traveling guide rails 53, 53 are laid in parallel on the fixed base 3c between 1, 51, a traveling block 54 that can travel along both traveling guide rails 53, 53, and The support stand 52 is moved by a guide rail 51 for changing its posture as it travels.
It is provided with a connecting arm 55 that connects the traveling block 54 and the support base 52 so as to be moved along the moving block 51.

The attitude changing guide rails 51, 51 are fixedly mounted on a pair of side plates 56, 56 which are erected on the fixed base 3c to face each other. As shown, a pair of guide rollers 57, 57 having axes perpendicular to the attitude changing guide rail 51 sandwich the attitude changing guide rail 51 from above and below, and the attitude changing guide rail 5
a single guide roller 58 having an axis perpendicular to the guide roller 57 so as to be in sliding contact with the outer surface of the roller 1;
Two sets of each are arranged. By these guide rollers 57, 57, 58, the support stand 52
is installation/removal position P ₁ and posture change position P ₂
Posture change guide rails 51, 51 in between
As a result, the pallet 7 changes its position between a horizontal position and a vertical position.

Side plate 5 on the side corresponding to installation/removal position P ₁
6 and 56 are provided with a pair of horizontal stoppers 59 and 59 that abut against the support stand 52 and restrict movement, and the side plates 56 and 56 abut against the support stand 52 on the side corresponding to the posture change position _P2 . A pair of vertical stoppers 60, 60 are provided to restrict movement. In addition, the horizontal stoppers 59, 59 are arranged so that the support stand 52, that is, the pallet 7, is placed in a horizontal position while in contact with the support stand 52, and the vertical stoppers 60, 60 are arranged so that the support stand 52, that is, the pallet 7, is placed in a horizontal position while in contact with the support stand 52. The support stand 52, ie, the pallet 7, is arranged in a vertical position.
Further, movable guide rails 13, 13, which form part of the annular guide rails 5, 6 in the workpiece transfer device 1, are fixedly installed on the support stand 52 in a vertical posture in contact with the vertical stoppers 60, 60. When the support stand 52 is in a vertical position, both movable guide rails 13, 13 are connected to the fixed guide rail 12 in the workpiece transfer device 1.

The running block 54 is a guide rail 5 for both running.
The traveling block 54 is formed in a substantially U-shape that spans between the two traveling guide rails 53 and 53, and is provided with a pair of guide rollers 61 that roll along both traveling guide rails 53 and 53. , 61 are pivotally supported at the lower portions of both the left and right sides. Also, on the fixed base 3c, the drive motor 6 is located on the installation/removal position _P1 side.
2 is arranged. Guide rails 53, 5 for both running
The drive motor 62 has a drive sprocket 63 between
A driven sprocket 64 and a driving sprocket 63, which are connected coaxially and are rotatably arranged on the attitude change position _P2 side, are connected to the driving sprocket 63 and the driving sprocket 63.
An endless chain 65 located between the two blocks 53 is wound around the chain 65, and the chain 65 is engaged with the running block 54. Therefore, by activating the drive motor 62 and causing the chain 65 to travel, the traveling block 54 moves along both traveling guide rails 53, 53. Furthermore, the driven sprocket 64 is supported by the fixed base 3c via an adjuster 68 for adjusting the tension of the chain 65.

One end of the connecting arm 55 is connected to the traveling block 54 via a horizontal connecting pin 66 that is perpendicular to the traveling guide rails 53, 53.
The other end is a connecting pin 6 parallel to the connecting pin 66.
It is connected to the support stand 52 via 7. Therefore, in accordance with the horizontal movement of the traveling block 54, the support stand 52
moves along the attitude changing guide rails 51, 51, and the attitude is changed.

In Figures 10 and 11, palette 7
is basically formed into a rectangular shape, and on its surface, a plurality of, for example, four, supporting protrusions 70 for placing the workpiece W are arranged such that the positioning hole 21 is sandwiched between the two, and each corner of the virtual quadrilateral is formed. It is installed protrudingly in the part. Further, adjacent to two of the support projections 70, positioning projections 69 are provided on the pallet 7 to fit into the pallet 7 and perform positioning. Furthermore, a pair of support cylinders 7 are provided on the surface of the pallet 7.
1 and 71 are erected, and these support tubes 7
Clamp rods 72 are respectively supported on 1 and 71 for axial movement and rotational movement.
At one end of the clamp rod 72 protruding from the support tube 71, clamp claws 73 capable of engaging with the workpiece W placed on the support protrusion 70 are fixedly installed. The rotating operation switches between a state in which the workpiece W is attached to the pallet 7 and a state in which it can be removed from the pallet 7. More palette 7
A pair of guide posts 93, 93 are protruded from the surface of the guide post 93, 93.
When the pallet 7 is transferred to the processing stations S _M1 , S _M2 , and S _M3 by the workpiece transfer device 1 , the positioning pins (not shown) provided on each machine tool M ₁ , M ₂ , and M ₃ are fitted. Together, they perform a positioning function for each machine tool S _M1 , S _M2 , and S _M3 .

A fitting recess 7 is provided at the upper end of the support tube 71 into which an engaging pin 74 fixed to the base of the clamp claw 73 can be fitted.
5 is provided, and the engagement pin 74 is inserted into the fitting recess 7.
5, the clamp claw 73 is attached to the workpiece W.
The engagement pin 74 is engaged with the engagement recess 75.
By rotating the clamp rod 72 so as to disengage the clamp rod 72, the engagement state of the clamp claw 73 with the workpiece W is released. Moreover, a clamp spring 76 is interposed between the clamp rod 72 and the support cylinder 71, which exerts a spring force in the direction of fitting the engagement pin 74 into the fitting recess 75.

Further, an unclamping spring 77 is interposed between the clamp rod 72 and the support cylinder 71, and the unclamping spring 77 biases the clamping claw 73 in the direction of disengaging from the engagement state with the workpiece W. When the clamp rod 72 is in the clamp position, the setting is not strong enough to cause the engagement pin 74 to disengage from the fitting recess 75 and release the clamp state.

Further, the other end of the clamp rod 72 protruding toward the back side of the pallet 7 is provided with an engaging protrusion 78 extending parallel to both side surfaces. At some point, the guide rail 53 for changing both postures,
The clamp rod 72 is protruded from the clamp rod 72 with both side surfaces extending in a direction perpendicular to the clamp rod 53.

In FIG. 12, pivot shafts 79, 79 are rotatably supported on the support base 52 at positions corresponding to the clamp rods 72, 72. An engagement groove 80 with both ends open so as to engage the engagement protrusion 78 is bored along one diameter line of the rotation shaft 79 at the tips of the rotation shafts 79 , 79 . Further, connecting arms 81, 81 are fixedly attached to both rotation shafts 79, 79, and these connecting arms 81, 81 are connected via a connection link 82, so that both rotation shafts 7
9 and 79 rotate synchronously.

A shift rod 83 is connected to one of the two rotating shafts 79, 79 and projects from the support base 52 on the side opposite to the attitude change position _P2 when the support base 52 is in a horizontal position in contact with the horizontal stopper 59. be done. That is, the shift rod 83 is movable in the longitudinal direction perpendicular to the axis of the rotating shaft 79 and supported by the support base 52, and one end of the shift rod 83 is connected to a connection fixed to one of the rotating shafts 79. It is connected to the arm 84 via a link 85. Therefore, by driving the shift rod 83 in its longitudinal direction, both rotation shafts 79, 79 are rotationally driven.
The clamp rod 72, which is engaged with the engagement grooves 80 of 9 and 79 via the engagement protrusion 78, is also rotationally driven.

The other end of the shift rod 83 is provided with a locking recess 86 that opens upward when the support base 52 is in a horizontal position in contact with the horizontal stopper 59, and is used to attach and remove the side plates 56 and 56. position
A shift drive source 87 that can engage with the locking recess 86 of the shift rod 83 is disposed at a portion corresponding to _P1 . This shift drive source 87 has an axis parallel to the traveling guide rails 53, 53, and is fixedly supported by the side plates 56, 56, and an engagement member fixed to the tip of a piston rod 88a in the cylinder 88. A locking recess 90 that can be engaged with the locking recess 86 is provided at the lower part of the engaging member 89. Further, a guide rod 91 fixedly arranged parallel to the axis of the cylinder 88 is inserted through the engaging member 89 .
The shift rod 83 moves in the longitudinal direction of the shift rod 83 while being guided by a guide rod 91 in response to the expansion and contraction of the cylinder 88. By telescopically operating the cylinder 88 with the locking recesses 86 and 90 engaged,
The clamp rods 72, 72 are driven to rotate in synchronism.

Positioning pins 94, 94 that are removably fitted into positioning holes 21, 21 bored in the pallet 7 are supported on the support base 52 so as to be movable in the axial direction. An actuating rod 96, which is connected via a link mechanism 95, is also movable in the axial direction and supported by the support base 52.
Each positioning pin 94, 94 has a positioning hole 21,
21 and a position where the fitted state is released.
2 and interposed between the support base 52 and each positioning pin 94, 94, respectively.
2, the positioning pins 94, 94 are elastically biased in the direction of fitting into the positioning holes 21, 21.

The actuating rod 96 has both positioning pins 94, 94
A roller 97 as a cam follower is rotatably supported at the end of an actuating rod 96 that extends through the support stand 52 at the center of the support stand 52 and protrudes toward the back side of the support stand 52. Ru. Further, the link mechanism 95 is composed of a pair of links 98, 98 whose one end is commonly connected to the end of the actuating rod 96 protruding from the surface side of the support base 52.
The other ends of the links 8 and 98 are connected to the positioning pins 94 and 94, and the intermediate portions of the links 97 and 97 are rotatably supported by brackets 99 and 99 fixed to the support base 52. Therefore, the actuating rod 9
By driving 6 in the axial direction, both positioning pins 94, 94 are moved in the axial direction in synchronization.

In FIG. 13, a cam 100 is fixed to the side plates 56, 56 on the side of the attitude changing device _P2 , which engages the roller 97 and drives the actuating rod 96 in the axial direction. This cam 100 has a cam groove 100a on its side surface into which the roller 97 is fitted, and the cam groove 100a is formed in the cam groove 100a when the support base 52 moves from the attachment/removal position _P1 to the posture change position _P2 . When the roller 97 is fitted, the actuating rod 9
The positioning pins 94, 94 are removed from the positioning holes 21, 21 by pressing the positioning pins 6 in the axial direction.

Next, to explain the operation of this embodiment, when the workpiece W is sequentially processed by each of the machine tools M ₁ , M ₂ , M ₃ , the workpiece W is placed in a horizontal position at the mounting/removal position P _{1 of} the pallet attitude converting device 2. Palette 7 in
Attach workpiece W on top. That is, at the installation/removal position _P1 , the support base 52 is in a horizontal position,
Both movable guide rails 1 on the support stand 52
The pallet 7 is supported by having guide rollers 18, 19, 20 fitted to the pallets 3, 13, and positioning pins 94, 94 fitted to the positioning holes 21, 21.
is also in a horizontal position. At this time, shift rod 83
By pulling the shift drive source 87,
Both shift rods 72, 72 rotate so that the engagement pin 74 rides up from the fitting recess 75 onto the upper end surface of the support cylinder 71, and then unclamps the spring 77.
The spring force moves the clamp to the position where it is released. Therefore, the work W is placed on each support protrusion 70, and the work W is positioned and placed on the pallet 7 by fitting the positioning protrusion 69 onto the work W. Next, by pressing and driving the shift rod 83 with the shift drive source 87, both the shift rods 72, 72 are rotated until the engagement pin 74 is fitted into the fitting recess 75, and both the clamp claws 73, 73 are engaged with the workpiece W. match. Moreover, this clamped state is elastically maintained by the spring force of the clamp spring 76.

In this way, at the attachment/removal position _P1 , the pair of clamp rods 72, 72 are synchronously driven by the operation of the shift drive source 87, and the attachment of the workpiece W to the pallet 7 can be carried out extremely easily.

After mounting the workpiece W on the pallet 7 on the support stand 52, move the traveling block 54 to the posture change position _P2.
It is made to run along both guide rails 53, 53 toward the side. By this traveling of the traveling block 54, the support stand 52 moves along the guide rails 51, 51 for changing both postures via the connecting arm 55, and the support stand 52, that is, the pallet 7 and the work W, change from the horizontal posture. Convert your posture to a vertical posture.

Such movement of the support base 52 is performed by the guide rollers 57 and 58 rolling along the posture change guide rail 51, and since the rolling resistance is small, the force required for posture change and movement is small. I'll try it. Moreover, each guide roller 57, 58
The position of the support base 52 can be adjusted simply by adjusting the axis of the support base 52, making the assembly work easy.

When the support stand 52 comes into contact with the vertical stoppers 60, 60 and reaches the posture change position _P2 , the support stand 5
2, that is, the pallet 7 and the work W are in a vertical posture, and at this time, both movable guide rails 13, 13 of the support stand 52 are connected to the fixed guide rail 12 of the work transfer device 1, and the annular guide rails 5, 6 are connected to the fixed guide rail 12 of the work transfer device 1. Configure. Moreover, the roller 97 of the actuating rod 96 fits into the cam groove 100a of the cam 100, and the actuating rod 96 is pressed, and the link mechanism 95
Both positioning pins 94, 94 are attached to the pallet 7 through
from the positioning holes 21, 21. Further, the engagement groove 80 into which the engagement protrusion 78 of both clamp rods 72, 72 of the pallet 7 is fitted is
The open ends of the pallet 7 are located along the annular guide rails 5 and 6, so that the pallet 7 can move along the annular guide rails 5 and 6.

Furthermore, when the support stand 52 reaches the posture change position _P2 , the engagement pin 42 of the pallet 7 engages with the locking portion 41 of the index arm 8 of the workpiece conveyance device 1. Therefore, as the index arm 8 rotates, the pallet 7 and the workpiece W move along the annular guide rails 5 and 6 from the pallet attitude changing device 2 to the workpiece transfer device 1.

The pallet 7 and the work W transferred to the work transfer device 1 are sequentially transferred to the loading/unloading stations S _R1 , S _R2 , S _R3 as the index arm 8 is angularly displaced by a constant angle, for example, 90 degrees. At each removable station S _R1 , S _R2 , S _R3 , cylinder 2
By supplying hydraulic pressure to the hydraulic chambers 33 of 3 and 23, the positioning pins 22 and 22 fit into the positioning holes 21 and 21 of the pallet 7.

Therefore, by the extension operation of the shift cylinder 35 and the subsequent extension operation of the unit feed cylinder 37, the slide unit 10, that is, the pallet 7 and the workpiece W are moved to the loading/unloading station S _R1 ,
It can be moved from S _R2 and S _R3 to processing stations S _M1 , S _M2 , and S _M3 . At this time, if it is necessary to reverse the postures of the pallet 7 and the workpiece W depending on the processing position of the workpiece W, the shift cylinder 35 is extended and the both movable guide rails 13, 13 of the pallet support plate 17 are fixed. When the pallet 7 and the workpiece W are separated from the guide rail 12, the pallet 7 and the workpiece W can be reversed by activating the rotary drive motor 24, and then the pallet 7 and the workpiece W in the reversed state can be reversed by the extension operation of the unit feed cylinder 37. Processing station S _M1 ,
It can be brought to S _M2 and S _M3 .

In this way, the movement of the slide unit 10 between the loading/unloading stations S _R1 , S _R2 , S _R3 and the processing stations S _M1 , S _M2 , S _M3 is carried out in two stages by the shift cylinder 35 and the unit feed cylinder 37, so that the pallet When it is necessary to temporarily stop the slide unit 10 midway to invert the workpiece 7 and the workpiece W, each cylinder 3
By simply operating 5 and 37 to the maximum, the stopping position can be determined with high precision. On the other hand, if the slide unit 10 is moved using one cylinder, it is difficult to accurately determine the stopping position due to the inertial force caused by the fluid pressure.

Machine tools at machining stations S _M1 , S _M2 , S _M3
After the machining by M ₁ , M ₂ and M ₃ is completed, the shift cylinder 35 and unit feed cylinder 3
7, the pallet 7 and the work W return to the original loading/unloading stations S _R1 , S _R2 , S _R3 , and the index arm 8 resumes conveyance along the annular guide rails 5 , 6 .

In this way, when the machining by each machine tool M ₁ , M ₂ , M ₃ is completed and the pallet 7 returns to the unloading/loading station _SC , the pallet 7 is moved to the unloading/loading station _SC , that is, the posture change position P. The clamp rod 72 rides on both the movable guide rails 13, 13 of the support stand 52, which was waiting at step ₂ , and the engagement protrusion 78 of the clamp rod 72 fits into the engagement groove 80 of the rotation shaft 79 on the support stand 52.

Therefore, the running block 5 in the attitude changing device 2
4 to the installation/removal position P ₁ side,
The support stand 52 has guide rails 51 and 5 for changing both postures.
1 toward the installation/removal position P ₁ while changing the posture from a vertical posture to a horizontal posture. At this time, as the roller 97 separates from the cam groove 100a, the positioning pins 94, 94 are moved to the positioning hole 2 of the pallet 7 by the spring force of the spring 92.
1 and 21.

When the support base 52 comes into contact with the horizontal stopper 59 and reaches the mounting/removal position P ₁ , the locking recess 86 of the shift rod 83 engages with the locking recess 90 of the shift drive source 87 . Therefore, the shift drive source 87
By activating the clamp claws 73, 7
3 can be synchronously rotated to the clamp release side, the workpiece W that has been processed can be removed from the pallet 7, and the workpiece W to be processed can be newly mounted on the pallet 7.

In the above embodiment, the pallet 7 and the workpiece W are sequentially transferred to the loading/unloading stations S _R1 , S _R2 , S _R3 by angular displacement of 90 degrees in the workpiece conveying device 1 . along the circumferential direction of the index arm 8.
They may be arranged at positions spaced apart by 45 degrees, and the index arm 8 may be driven by switching between angular displacements of 45 degrees and 90 degrees, in which case two types of workpieces W can be processed. becomes possible.

C. Effects of the Invention As described above, according to the present invention, a support that is erected with the virtual center line as the axis is provided with an unloading/loading station for unloading/loading the workpiece attached to the pallet, and a workpiece loading/unloading station for unloading/loading the workpiece attached to the pallet. A plurality of attachment/detachment stations individually correspond to machining stations set for each machine tool for machining, and are located on a straight line connecting the pillar and each machining station, on a virtual circle centered on the pillar. A plurality of fixed guide rails are set at equal intervals in the circumferential direction and are formed in an arc shape along a virtual circle except for the unloading/loading station and each attachment/detachment station, and the unloading/loading station and each attachment/detachment are connected to the fixed guide rails. A movable guide rail formed in an arc shape at a portion corresponding to the station forms an annular guide rail that guides the angular displacement movement of the pallet around the support. A removably coupled indexing arm is supported for angular displacement for conveying the pallets along an annular guide rail and is movable back and forth between the respective respective loading/unloading and processing stations. Since the movable guide rail is disposed on the slide unit, the workpiece can be transported between the workpiece transport device and each machine tool that is separated from the workpiece transport device, and the workpiece can be machined in multiple ways regardless of the processing mode of the workpiece. It becomes possible to process sequentially with a machine.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is an overall plan view, FIG. 2 is a cross-sectional view taken along the line -- in FIG. 1, FIG. 3 is an enlarged sectional view taken along the line -- in FIG.
The figure is a - line view of Fig. 3, Fig. 5 is an enlarged vertical cross-sectional view of the main part of Fig. 3, Fig. 6 is an enlarged view of Fig. 2 in the direction of arrows, and Fig. 7 is a - line cross-section of Fig. 6. Figure 8 is a cutaway side view seen from the right side of Figures 6 and 7;
Figure 9 is a side view of the pallet and support stand moving on the intermediate part of the attitude change guide rail, Figure 10 is a plan view of the pallet, and Figure 11 is XI-XI of Figure 10.
Longitudinal sectional view of the pallet and support along the line, 1st
FIG. 2 is a plan view of the support base, and FIG. 13 is an enlarged sectional view taken along the - line in FIG. 6. DESCRIPTION OF SYMBOLS 1... Workpiece conveyance device, 4... Support, 5, 6... Annular guide rail, 7... Pallet, 8... Index arm, 10... Slide unit, 12... Fixed guide rail, 13... Movable guide rail, C... Virtual center line , M ₁ , M ₂ , M ₃ ... Machine tool, S _C ... Carrying out/
Loading station, S _M1 , S _M2 , S _M3 ...Processing station, S _R1 , S _R2 , S _R3 ...Mounting/detaching station, W
…work.

Claims (1)

[Claims] 1. In a workpiece conveyance device for conveying workpieces attached to a pallet to multiple machine tools arranged around a virtual centerline at intervals along the circumferential direction, the machine tools are installed vertically with the virtual centerline as the axis Around the pillar, there are unloading and loading stations for loading and unloading workpieces attached to pallets, and processing stations that are set up for each machine tool to process the workpieces. A plurality of attachment/detachment stations located on a straight line connecting the column and each processing station are set at equal intervals in the circumferential direction on an imaginary circle centered on the column, and the part excluding the loading/unloading station and each attachment/detachment station forms a virtual circle. A plurality of fixed guide rails are formed in an arc shape along the fixed guide rails, and movable guide rails are formed in an arc shape at portions corresponding to the unloading/loading station and each attachment/detachment station to connect to the fixed guide rails. An annular guide rail is formed to guide the angular displacement movement around the annular guide rail, and an index arm detachably connected to the pallet on the annular guide rail is provided on the column to transport the pallet along the annular guide rail. 1. A workpiece conveyance device, characterized in that said movable guide rail is disposed on a slide unit which is supported so as to be angularly displaceable and capable of reciprocating movement between mutually corresponding attachment/detachment stations and processing stations.