JPH0255180B2 - - Google Patents
Info
- Publication number
- JPH0255180B2 JPH0255180B2 JP14574284A JP14574284A JPH0255180B2 JP H0255180 B2 JPH0255180 B2 JP H0255180B2 JP 14574284 A JP14574284 A JP 14574284A JP 14574284 A JP14574284 A JP 14574284A JP H0255180 B2 JPH0255180 B2 JP H0255180B2
- Authority
- JP
- Japan
- Prior art keywords
- link
- pallet
- fixed
- shaft
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- 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
- B23Q7/1431—Work holder changers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はワークを載置したパレツト又はマガジ
ン交換等のマガジンベースを工作機械側に搬入
し、加工又は使用後これを搬出する工作機械の被
搬送物交換装置に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention is applied to a machine tool where a pallet on which a work is placed or a magazine base for magazine exchange etc. is carried into a machine tool side and then carried out after being processed or used. The present invention relates to a conveyed object exchange device.
従来採用されているパレツト交換装置として
は、パレツト待機位置と工作機械のテーブルとの
間をシリンダを用いてパレツトを往復動せしめて
パレツトチエンジするのが一般であつた。しかし
ながら、上記シリンダを使用するとパレツト台車
のストローク以上に大きなシリンダが必要となり
無駄なスペースを要すると共に動作が不円滑とな
る欠点を有してした。
Conventionally used pallet changing devices generally change pallets by using a cylinder to reciprocate the pallets between a pallet standby position and a table of a machine tool. However, the use of the above-mentioned cylinder requires a cylinder larger than the stroke of the pallet truck, which has the drawback of requiring wasted space and making the operation unsmooth.
また特開昭57−13855号に開示されたものは上
記欠点を解決するもので、第１および第２のリン
ク結合体を遊星歯車機構を用いて連結し、リンク
を早送り移動せしめてパレツトを搬出入する構造
を有している。しかし昨今の小スペース構造で且
つ大ストロークパレツトチエンジヤの要求にあつ
てはこのような手段を講じると、これに伴つてリ
ンク機構も大形となり、操作の円滑性を欠く不具
合が生じてくる。またマガジン交換等の場合に
は、マガジンベースを駆動する手段として特開昭
55−96244号の如くチエーンを使用する場合もあ
るがストロークとして配慮されておらず、被搬送
物の大ストロークチエーン駆動としては特願昭59
−043556号があるがこの方法でも充分ではなかつ
た。 Furthermore, the method disclosed in JP-A-57-13855 solves the above-mentioned drawbacks, and the first and second link combination bodies are connected using a planetary gear mechanism, and the pallet is transported by rapidly moving the links. It has a structure that allows for However, in response to the recent demands for small space structures and large stroke pallet changers, if such measures are taken, the link mechanism will also become larger, resulting in problems such as a lack of smooth operation. . In addition, when replacing the magazine, etc., the JP-A-Sho is used as a means to drive the magazine base.
In some cases, a chain is used as in No. 55-96244, but the stroke is not taken into consideration, and a patent application filed in 1983 is not suitable for large stroke chain drive of conveyed objects.
-043556, but even this method was not sufficient.
本発明は上記事情に鑑みてなされたものであ
り、その目的は、小スペースでパレツト又は被搬
送物のストロークを大きくし得ると共に、簡便構
造で円滑動作ができ機構の稼動効率を向上し得る
工作機構の被搬送物交換装置を提供することにあ
る。本発明の説明に当りマガジンの搬送等広い範
囲に使用できるが、パレツト搬送側で以下説明す
る。
The present invention has been made in view of the above circumstances, and its purpose is to provide a machine that can increase the stroke of pallets or conveyed objects in a small space, and that can operate smoothly with a simple structure and improve the operating efficiency of the mechanism. An object of the present invention is to provide a mechanism for exchanging conveyed objects. In explaining the present invention, although the present invention can be used in a wide range of applications such as magazine transport, the pallet transport side will be explained below.
本発明は上記目的を達成するためにパレツトの
一端側に第２のリンクの一端部を係止し、その他
端部に遊星歯車を形成する回転軸を固定し、該回
転軸に第１のリンクの一端部を枢支すると共に、
その他端部に固定される駆動軸を枢支し上記遊星
歯車の２倍の歯数を有する太陽歯車を設け、該太
陽歯車と上記遊星歯車とを中間歯車を介して噛合
せしめ、かつ上記太陽歯車を固定する移動台を上
記パレツト台車の搬出入方向に案内する案内軸を
設け、該案内軸に沿つて固定されたラツクに噛合
し上記移動台に支持されるピニオンを上記駆動軸
とこれを駆動する駆動源間に設け、上記駆動軸に
回転を伝達すべく形成される工作機械のパレツト
交換装置をその手段としたものである。
In order to achieve the above object, the present invention locks one end of the second link to one end of the pallet, fixes a rotating shaft forming a planetary gear to the other end, and attaches the first link to the rotating shaft. Along with pivoting one end of the
A sun gear is provided which pivotally supports a drive shaft fixed to the other end and has twice the number of teeth as the planetary gear, the sun gear and the planetary gear are meshed with each other via an intermediate gear, and the sun gear A guide shaft is provided for guiding a movable platform to which the pallet truck is fixed in the loading and unloading direction of the pallet truck, and a pinion that engages with a rack fixed along the guide shaft and is supported by the movable platform is driven by the drive shaft. The means for this purpose is a pallet changing device of a machine tool which is provided between the drive sources and transmits rotation to the drive shaft.
移動台を案内軸にに沿つて往復動すると共に、
上記移動台に支持される駆動軸を回転し、遊星歯
車機構によつて第２のリンクを第１のリンクの２
倍の早さで回動せしめ、第２のリンクに係止する
パレツト台車を工作機械のテーブルに係合せしめ
るようにする。
While reciprocating the moving platform along the guide shaft,
The drive shaft supported by the moving table is rotated, and the second link is connected to the second link by the planetary gear mechanism.
The pallet truck is rotated twice as fast and the pallet truck, which is locked to the second link, is brought into engagement with the table of the machine tool.
以下、本発明の実施例を図面に基づき説明す
る。
Embodiments of the present invention will be described below based on the drawings.
第１図（平面図）に示す如く、パレツト交換装
置１は工作機械２と軌道４上を走行する無人パレ
ツト搬送車３間に介設される。 As shown in FIG. 1 (plan view), a pallet exchange device 1 is interposed between a machine tool 2 and an unmanned pallet carrier 3 running on a track 4. As shown in FIG.
工作機械２のテーブル５は水平に支持され、水
平面を図のＸ方向に移動する。テーブル５上には
ワークを載置したパレツト６が搭載され、主軸７
に挿着される刃具により所定の加工が行われる。
刃具は工具マガジン８内適宜刃具を選択し自動工
具交換装置により自動交換される。これ等の動作
は制御装置９により制御される。 A table 5 of the machine tool 2 is supported horizontally and moves on a horizontal plane in the X direction in the figure. A pallet 6 with a workpiece placed on it is mounted on the table 5, and the main shaft 7
A predetermined process is performed using a cutting tool inserted into the machine.
The cutting tools are selected as appropriate in the tool magazine 8 and are automatically replaced by the automatic tool changing device. These operations are controlled by a control device 9.
無人パレツト搬送車３上のパレツト６は本発明
によるパレツト交換装置１上に図示しない移動手
段により移送される。該パレツト６は後に詳説す
るパレツト交換装置１により図のPz方向に移動
しテーブル５上に移送される。 The pallets 6 on the unmanned pallet transport vehicle 3 are transferred onto the pallet changing device 1 according to the invention by moving means (not shown). The pallet 6 is moved in the Pz direction in the figure and transferred onto the table 5 by a pallet exchanging device 1, which will be explained in detail later.
パレツト交換装置１には１対の同一形状の搬出
入部が形成され、その１方側（搬入部）からパレ
ツト６がテーブル５上に搬入されると共に、ワー
ク加工済のパレツト６は他方側（搬出部）に搬出
される。 The pallet changing device 1 is formed with a pair of loading/unloading sections of the same shape, and the pallets 6 are loaded onto the table 5 from one side (loading section), and the pallets 6 on which workpieces have been processed are loaded onto the table 5 from the other side (loading section). Department).
第２図（第１図の−線断面図）にパレツト
交換装置１の主要部を示す。 FIG. 2 (cross-sectional view taken along the line -- in FIG. 1) shows the main parts of the pallet exchange device 1.
第２のリンク１０の一端部に移動可能に支持さ
れる係止ピン１１はパレツト６の係止部６ａに設
けられた通し溝６ｂに着脱自在に係合する。第２
のリンク１０の他端部には回転軸１５が固定さ
れ、回転軸１５の端部には遊星歯車１６が形成さ
れる。 A locking pin 11 movably supported at one end of the second link 10 is removably engaged with a through groove 6b provided in a locking portion 6a of the pallet 6. Second
A rotating shaft 15 is fixed to the other end of the link 10, and a planetary gear 16 is formed at the end of the rotating shaft 15.
第１のリンク１７の一端部は回転軸１５に軸受
１８を介し支持され、他端部には駆動軸１９の一
端側がボルト２０により固定される。また第１の
リンク１７の中間位置には遊星歯車１６と噛合す
る中間歯車２１が枢支されている。駆動軸１９は
軸受２２を介し太陽歯車２３に枢支され、太陽歯
車２３はボルト２４により移動台２５に固定され
る。太陽歯車２３の歯数は遊星歯車１６の２倍に
形成される。また第５図に示す如く第１および第
２のリンク１７，１０の端間距離ｌは同長に形成
される。 One end of the first link 17 is supported by the rotating shaft 15 via a bearing 18, and one end of a drive shaft 19 is fixed to the other end with a bolt 20. Further, an intermediate gear 21 that meshes with the planetary gear 16 is pivotally supported at an intermediate position of the first link 17. The drive shaft 19 is pivotally supported by a sun gear 23 via a bearing 22, and the sun gear 23 is fixed to a movable base 25 with bolts 24. The number of teeth of the sun gear 23 is twice that of the planet gear 16. Further, as shown in FIG. 5, the distance l between the ends of the first and second links 17 and 10 is formed to be the same length.
第３図にも示す如く架台２６の一部を形成する
支持板２６ａにはラツク２７、案内軸支持具２８
を介して案内軸２９が支持固定されている。案内
軸はパレツト台６の搬出入方向、すなわち第１図
のPz方向に沿つて配設される（第２図の案内軸
２９の方向は実際にはこれと直交する方向となる
が説明の度合上展開図の如く表示した）。移動台
２５は案内軸２９にPz方向に沿つて摺動可能に
支持される。また上記の如くラツク２７は案内軸
２９に沿つてボルト３０により固定される（第２
図）。 As shown in FIG. 3, a support plate 26a forming a part of the pedestal 26 includes a rack 27 and a guide shaft support 28.
A guide shaft 29 is supported and fixed via. The guide shaft is disposed along the loading and unloading direction of the pallet table 6, that is, the Pz direction in FIG. 1 (the direction of the guide shaft 29 in FIG. (Displayed as shown in the exploded view above). The movable table 25 is supported by a guide shaft 29 so as to be slidable along the Pz direction. Further, as mentioned above, the rack 27 is fixed along the guide shaft 29 with the bolt 30 (second
figure).
ピニオン軸３１の一端部にはラツク２７に噛合
するピニオン３２が形成され、ピニオン軸３１は
移動台２５に軸受３３ａ，３３ｂ，３４により枢
支される。またピニオン軸３１の他端部にはウオ
ームホイール３５が固定され、ウオームホイール
３５にはウオーム３６が噛合する。このウオーム
３６は第３図に示すオイルモータ３７に連結し、
オイルモータ３７は移動台２５に固定される。 A pinion 32 that meshes with the rack 27 is formed at one end of the pinion shaft 31, and the pinion shaft 31 is pivotally supported on the movable table 25 by bearings 33a, 33b, and 34. Further, a worm wheel 35 is fixed to the other end of the pinion shaft 31, and a worm 36 meshes with the worm wheel 35. This worm 36 is connected to an oil motor 37 shown in FIG.
The oil motor 37 is fixed to the moving table 25.
中間軸３８は軸受３９，４０を介し移動台２５
に支持され、歯車４１を形成する。また中間軸３
８にはピニオン３２と噛合する歯車４２が固定さ
れる。 The intermediate shaft 38 is connected to the movable table 25 via bearings 39 and 40.
, forming a gear 41. Also, intermediate shaft 3
A gear 42 that meshes with the pinion 32 is fixed to the pinion 8.
駆動軸１９の他端側には歯車４３が固定され、
歯車４３は中間軸３８の歯車４１と噛合する。な
お歯車４２，４３はピニオン３２および歯車４１
によつてピニオン軸３１の回転は減速されて駆動
軸１９に伝えられる。 A gear 43 is fixed to the other end of the drive shaft 19,
The gear 43 meshes with the gear 41 of the intermediate shaft 38. Note that the gears 42 and 43 are the pinion 32 and the gear 41.
As a result, the rotation of the pinion shaft 31 is decelerated and transmitted to the drive shaft 19.
第３図および第５図に示す如く、架台２６の
Pz方向の両側部側には移動台２５の側面に当接
する調整自在なストツパ金具４４，４５が固定さ
れる。また架台２６の上面にはローラ４６を介し
パレツト６を支持する１対の搬入部５１、搬出部
５２が形成される（第１図）。 As shown in FIGS. 3 and 5, the frame 26 is
Adjustable stopper fittings 44 and 45 that come into contact with the side surfaces of the moving table 25 are fixed to both sides in the Pz direction. Further, a pair of carrying-in section 51 and carrying-out section 52 for supporting the pallet 6 via rollers 46 are formed on the upper surface of the pedestal 26 (FIG. 1).
次に、第２図において、係止ピン１１は第２の
リンク１０の一端部に挿入固定されたプツシユ１
２に摺動可能に支持され、プツシユ１２に架設さ
れたピン１３と係止ピン１１の内凹部間にはスプ
リング１４が介設され、係止ピン１１を係止部６
ａ側に付勢している。なお係止ピン１１には移動
時にピン１３ト干渉しないための長溝１１ａが形
成される。また係止ピン１１の係止側と反対の端
部にはＴ字状の突出部１１ｂが形成される。第３
図に示す如く、この突出部１１ｂにはピストン４
７の一端部に形成される溝４７ａが係合し、この
係合は第２のリンク１０の回転動作により溝４７
ａ内に突出部１１ｂを係止することにより行われ
る。ピストン４７は架台２６に固定されるシリン
ダ４８により上下動される。ピストン４７の移動
により係止ピン１１と通し溝６ｂと係合は解除さ
れる。 Next, in FIG.
A spring 14 is interposed between a pin 13 that is slidably supported by the pusher 12 and an inner recess of the locking pin 11, and a spring 14 is inserted between the locking pin 11 and the inner recess of the locking pin 11.
It is biased toward the a side. Note that a long groove 11a is formed in the locking pin 11 to prevent interference with the pin 13 during movement. Further, a T-shaped protrusion 11b is formed at the end of the locking pin 11 opposite to the locking side. Third
As shown in the figure, this protrusion 11b has a piston 4
A groove 47a formed at one end of the second link 10 is engaged with the groove 47a, and this engagement is caused by the rotational movement of the second link 10.
This is done by locking the protrusion 11b in the a. The piston 47 is moved up and down by a cylinder 48 fixed to the pedestal 26. The movement of the piston 47 releases the engagement between the locking pin 11 and the through groove 6b.
また第３図に示す如くオイルモータ３７には、
これに圧油を供給するパイプ５０が連結してい
る。パイプ５０は移動台２５が移動しても追従し
得るように固定側との間にフレキシブルパイプ等
（図示せず）が介設される。 Further, as shown in FIG. 3, the oil motor 37 includes:
A pipe 50 for supplying pressure oil is connected to this. A flexible pipe or the like (not shown) is interposed between the pipe 50 and the fixed side so that it can follow the movement of the moving table 25.
次に、第４図により第１のリンク１７と第２の
リンク１０の動きを説明する。 Next, the movements of the first link 17 and the second link 10 will be explained with reference to FIG.
第１のリンク１７がある角度θだけ回転する
と、遊星歯車機構により第２のリンク１０は逆方
向に角度θだけ回転する。すなわち第１のリンク
１７を正すれば第２のリンク１０は2θだけ回転す
ることになる。第４図は横軸に第１のリンク１７
の回転角度を示し、縦軸に係止ピン１１の速度を
示し、実線Ｄは速度変化、一点錯線Ｅは係止ピン
１１の変位を示したものである。 When the first link 17 rotates by a certain angle θ, the second link 10 rotates by the angle θ in the opposite direction due to the planetary gear mechanism. That is, if the first link 17 is corrected, the second link 10 will rotate by 2θ. Figure 4 shows the first link 17 on the horizontal axis.
The vertical axis shows the speed of the locking pin 11, the solid line D shows the speed change, and the dotted line E shows the displacement of the locking pin 11.
今、第１および第２のリンク１７，１０の端間
距離をｌとし、駆動軸１９の回転角速度をω
（rad／ses）とすると、変位Ｘおよび速度Ｖは次
式の如くなる。 Now, let the distance between the ends of the first and second links 17 and 10 be l, and the rotational angular velocity of the drive shaft 19 be ω
(rad/ses), the displacement X and velocity V are as shown in the following equation.
Ｘ＝2lcoswt
Ｖ＝dx／dt＝2lωsinwt（ｏwtπ）
図で判明できる如く、速度Ｖは回転角度0゜およ
び180゜において零となり、パレツト台車６の始動
時と停止時に速度が小さく、その中間で大きく、
速度が連続的に変化する。従つて動作が円滑とな
り衝撃も緩和される。また始動時および停止時に
おける変位Ｘの変化が小さく、位置決めが正確に
行われる。 X=2lcoswt V=dx/dt=2lωsinwt(owtπ) As can be seen from the figure, the speed V becomes zero at rotation angles of 0° and 180°, is small when the pallet truck 6 starts and stops, and increases in between. ,
The speed changes continuously. Therefore, the operation becomes smooth and the impact is alleviated. Further, the change in displacement X during starting and stopping is small, and positioning is performed accurately.
次に、本実施例の作用を説明する。 Next, the operation of this embodiment will be explained.
第１図において無人パレツト搬送車３によりワ
ークを載置したパレツト６が搬送され、図示しな
い移送手段にTz方向によりパレツト交換装置１
の架台２６上に搬入部５１に移送されて待機され
て待機する。この状態で第５図のＡに示す如く、
搬入部５１における移動第２５は無人パレツト搬
送車３側にあり、第２のリンク１０の係止ピン１
１が図の右側に突き出しパレツト６の通り溝６ｂ
に係止している。また第１のリンク１７は第２の
リンク１０と直列に配置される。 In FIG. 1, a pallet 6 with a workpiece placed thereon is transported by an unmanned pallet transport vehicle 3, and a pallet exchange device 1 is transferred to a transport means (not shown) in the Tz direction.
It is transferred to the carry-in section 51 on the stand 26 and is put on standby. In this state, as shown in A of Figure 5,
The moving part 25 in the carrying-in part 51 is located on the unmanned pallet carrier 3 side, and the locking pin 1 of the second link 10
1 is the passage groove 6b of the pallet 6 that protrudes to the right side in the figure.
It is locked in. Also, the first link 17 is arranged in series with the second link 10.
工作機械２のテーブル５上には先に搬入された
パレツト６上のワークが加工される。加工完了と
共にテーブル５がパレツト交換装置１の搬出部５
２側に移動する。搬出部５２における第２のリン
ク１０は第５図のＣに示す如く架台２６の図の左
端から突き出て待機し、第１のリンク１７はこれ
に直列に配置され、移動台２５は工作機械２側に
最も近接した位置にある。パレツト６の係止部６
ａの通り溝６ｂはＸ方向に開設されているためテ
ーブル５の移動により通り溝６ｂ内に係止ピン１
１が嵌り込み係止される。 On the table 5 of the machine tool 2, the workpieces on the pallet 6 carried in first are processed. Upon completion of processing, the table 5 moves to the unloading section 5 of the pallet exchange device 1.
Move to the 2nd side. The second link 10 in the unloading section 52 protrudes from the left end of the pedestal 26 as shown in FIG. Located closest to the side. Locking part 6 of pallet 6
Since the passage groove 6b of a is opened in the X direction, the locking pin 1 is inserted into the passage groove 6b by the movement of the table 5.
1 is fitted and locked.
次に、搬出部５２のオイルモータ３７を駆動す
ると、ウオーム３６およびウオームホイル３５を
介し、減速されてピニオン３２が回転する。ピニ
オン３２はラツク２７と噛合し、ラツク２７は架
台２６側に固定されているため、ピニオン３２を
支持している移動台２５が第５図の右方に移動す
る。ここでウオームホイル３５によりピニオン３
２を減速するのは移動台２５を円滑動作するため
である。 Next, when the oil motor 37 of the unloading section 52 is driven, the pinion 32 rotates at a reduced speed via the worm 36 and the worm wheel 35. Since the pinion 32 meshes with the rack 27, and the rack 27 is fixed to the pedestal 26 side, the movable table 25 supporting the pinion 32 moves to the right in FIG. Here, the pinion 3 is set by the worm wheel 35.
The purpose of slowing down the moving table 25 is to operate the moving table 25 smoothly.
ピニオン３２の回転により歯車４２、歯車４
１、歯車４３が回転し、駆駆動軸１９が回転す
る。従つて第１のリンク１７が回動し、上記した
如く第２のリンク１０が回動する。 Due to the rotation of the pinion 32, the gear 42 and the gear 4
1. The gear 43 rotates, and the drive shaft 19 rotates. Therefore, the first link 17 rotates, and the second link 10 rotates as described above.
上記により移動台２５の右向と共に第１および
第２のリンク１７，１０が回動し、係止ピン１１
が第５図のＢを経過しＡの位置に移動される。な
お第１および第２のリンク１７，１０の端間距離
ｌが同長のため、係止ピン１１はＺ方向に沿つて
同一直線上を移動してＡの位置に到る。また移動
台２５がＡの位置に丁度到達した時に係止ピン１
１が図のＡの位置に来るように各歯車４１，４
１，４３、ピニオン３２等の歯数が定められてい
る。 As a result of the above, the first and second links 17 and 10 rotate as the moving table 25 moves to the right, and the locking pin 11
is moved to position A after passing through B in FIG. Note that since the distance l between the ends of the first and second links 17 and 10 is the same length, the locking pin 11 moves on the same straight line along the Z direction and reaches the position A. Also, when the moving table 25 exactly reaches the position A, the locking pin 1
Each gear 41, 4 is placed in position A in the figure.
The number of teeth such as 1, 43 and pinion 32 is determined.
以上の如く、テーブル５上のパレツト６が搬入
されるとテーブル５は搬入部５１側に移動する。
搬入部５１に待機するパレツト６は上記と逆の動
作によりテーブル５上に移送される。移送後、テ
ーブル５は主軸７側に移動し、ワークの加工が行
われる。 As described above, when the pallet 6 on the table 5 is carried in, the table 5 moves to the carry-in section 51 side.
The pallet 6 waiting in the carry-in section 51 is transferred onto the table 5 by the reverse operation to that described above. After the transfer, the table 5 is moved to the spindle 7 side, and the workpiece is processed.
搬出部５２上にある加工済ワークを載置したパ
レツト６を無人パレツト搬送車側に移送するに
は、まず第３図に示すシリンダ４８を動作しピス
トン４７を下降する。これにより係止ピン１１が
通り溝６ｂから離れ、パレツト６は自由となる。
従つて図示しない移送手段によりパレツト６を無
人パレツト搬送車３側に移動することができる。 In order to transfer the pallet 6 on which processed workpieces are placed on the unloading section 52 to the unmanned pallet transport vehicle, the cylinder 48 shown in FIG. 3 is first operated to lower the piston 47. As a result, the locking pin 11 separates from the passage groove 6b, and the pallet 6 becomes free.
Therefore, the pallet 6 can be moved to the unmanned pallet transport vehicle 3 by means of a transfer means (not shown).
なお工作機械２のテーブル５への搬出入をパレ
ツト交換装置１の搬入部５１、搬出部５２を同時
に動作して交換効率を向上することもできる。 Note that the loading/unloading section 51 and unloading section 52 of the pallet exchange device 1 may be operated simultaneously to carry the machine tool 2 into and out of the table 5 to improve exchange efficiency.
本発明によれば次の如き効果が上げられる。 According to the present invention, the following effects can be achieved.
(1) 遊星歯車機構により端間距離ｌの４倍のスト
ロークが得られると共に、移動台の移動により
更に大きなストロークが得られる。(1) A stroke four times the distance l between the ends can be obtained by the planetary gear mechanism, and an even larger stroke can be obtained by moving the movable table.
(2) 従来技術の如く細長なシリンダを必要とせ
ず、小スペースで大ストロークを得ることがで
きる。(2) A large stroke can be obtained in a small space without requiring an elongated cylinder as in the prior art.
(3) 構造がコンパクトに形成されると共に、移動
速度が連続的にかつ円滑に変化し、円滑な被搬
送物交換ができる。(3) The structure is compact, the moving speed changes continuously and smoothly, and conveyed objects can be exchanged smoothly.
(4) 従来技術に較べ、被搬送物の交換時間が短縮
され、工作機械の稼動効率を向上することがで
きる。(4) Compared to the conventional technology, the time required to replace the transported object is shortened, and the operating efficiency of the machine tool can be improved.
(5) 全自動化が可能となり、FMS化に対応し得
る。(5) Full automation is possible, and it is compatible with FMS.
第１図は本発明の一実施例の取付状態を示す平
面図、第２図は実施例の主要部構造を示す断面
図、第３図は第２図の−矢視図を含む実施例
の側面図、第４図は実施例のリンク動作を示す関
係図、第５図は実施例の作用を示す説明平面図で
ある。
１……パレツト交換装置、２……工作機械、３
……無人パレツト搬送車、４……軌道、５……テ
ーブル、６……パレツト、６ａ……係止部、６ｂ
……通り溝、７……主軸、１０……第２のリン
ク、１１……係止ピン、１１ｂ……突出部、１２
……ブツシユ、１３……ピン、１４……スプリン
グ、１５……回転軸、１６……遊星歯車、１７…
…第１のリンク、１９……駆動軸、２１……中間
歯車、２３……太陽歯車、２５……移動台、２６
……架台、２７……ラツク、２９……案内軸、３
２……ピニオン、３５……ウオームホイル、３６
……ウオーム、３７……オイルモータ、４１，４
２，４３……歯車、４４，４５……ストツパ金
具、４６……ローラ、４７……ピストン、４８…
…シリンダ、５０……パイプ、５１……搬入部、
５２……搬出部。
FIG. 1 is a plan view showing an installed state of an embodiment of the present invention, FIG. 2 is a sectional view showing the main structure of the embodiment, and FIG. A side view, FIG. 4 is a relational diagram showing the link operation of the embodiment, and FIG. 5 is an explanatory plan view showing the operation of the embodiment. 1... Pallet exchange device, 2... Machine tool, 3
...Unmanned pallet carrier, 4...Track, 5...Table, 6...Pallet, 6a...Locking part, 6b
... Passage groove, 7 ... Main shaft, 10 ... Second link, 11 ... Locking pin, 11b ... Projection, 12
...Button, 13...Pin, 14...Spring, 15...Rotating shaft, 16...Planetary gear, 17...
...First link, 19... Drive shaft, 21... Intermediate gear, 23... Sun gear, 25... Moving base, 26
... Frame, 27 ... Rack, 29 ... Guide shaft, 3
2... Pinion, 35... Worm foil, 36
...Worm, 37...Oil motor, 41,4
2, 43... Gear, 44, 45... Stopper fitting, 46... Roller, 47... Piston, 48...
... cylinder, 50 ... pipe, 51 ... loading section,
52... Carrying out section.
Claims (1)
において、上記被搬送物の一端側にその一端を係
止する係止ピンを有する第２のリンクと、該第２
のリンクの他端部に固定され、遊星歯車を形成す
る回転軸と、該回転軸に一端部を枢支すると共
に、上記遊星歯車に噛合する中間歯車を枢支し、
上記第２のリンクと同長に形成される第１のリン
クと、該第１のリンクの他端部に固定される駆動
軸を枢支すると共に、移動台に固定され、上記遊
星歯車の２倍の歯数を有する太陽歯車と、上記被
搬送物の上記搬出入方向に配設され、上記移動台
を摺動自在に支持する案内軸と、該案内軸に沿つ
て固定されるラツクと、上記駆動軸とこれを駆動
する駆動源間に介設され、上記ラツクと歯合する
と共に、上記駆動軸に回転を伝達するピニオンと
を設けることを特徴とする工作機械の被搬送物交
換装置。1. In a conveyed object changing device used in a machine tool, a second link having a locking pin that locks one end of the conveyed object on one end side of the conveyed object;
a rotating shaft that is fixed to the other end of the link and forms a planetary gear; one end is pivotally supported on the rotating shaft, and an intermediate gear that meshes with the planetary gear is pivotally supported;
A first link formed to have the same length as the second link, and a drive shaft fixed to the other end of the first link are pivotally supported, and the second link is fixed to the movable base and is attached to the second link of the planetary gear. a sun gear having twice the number of teeth; a guide shaft disposed in the loading and unloading direction of the transported object and slidably supporting the moving platform; and a rack fixed along the guide shaft; A conveyed object changing device for a machine tool, characterized in that a pinion is provided between the drive shaft and a drive source that drives the drive shaft, meshes with the rack, and transmits rotation to the drive shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14574284A JPS6125745A (en) | 1984-07-13 | 1984-07-13 | Carrying object interchange apparatus for machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14574284A JPS6125745A (en) | 1984-07-13 | 1984-07-13 | Carrying object interchange apparatus for machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6125745A JPS6125745A (en) | 1986-02-04 |
| JPH0255180B2 true JPH0255180B2 (en) | 1990-11-26 |
Family
ID=15392095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14574284A Granted JPS6125745A (en) | 1984-07-13 | 1984-07-13 | Carrying object interchange apparatus for machine tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6125745A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0811346B2 (en) * | 1986-05-01 | 1996-02-07 | 日立精工株式会社 | Substrate transfer device |
| JP2521692B2 (en) * | 1987-02-23 | 1996-08-07 | 株式会社 松浦機械製作所 | Pallet changer for machine tools |
| IT1236790B (en) * | 1989-11-15 | 1993-04-02 | Salvagnini Transferica Spa Ora | PROCESSING SYSTEM OF PIECES ON PALLETS USING A MACHINE TOOL WITH A SINGLE DEVICE FOR THE TRANSFER OF THE PALLETS BETWEEN A WORKING STATION AND AN ADJACENT PALLET LOADING / UNLOADING STATION. |
| JPH04152044A (en) * | 1990-10-09 | 1992-05-26 | Hamai Sangyo Kk | Pallet exchanger for machine tool |
| KR101023688B1 (en) * | 2003-12-27 | 2011-03-25 | 두산인프라코어 주식회사 | Pallet Position Fixing Unit for Merchine Center |
| JP4609215B2 (en) * | 2005-07-14 | 2011-01-12 | オークマ株式会社 | Pallet changer for machine tools |
| JP5287334B2 (en) * | 2009-02-23 | 2013-09-11 | 日本精工株式会社 | Work supply / discharge device |
-
1984
- 1984-07-13 JP JP14574284A patent/JPS6125745A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6125745A (en) | 1986-02-04 |
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