JPH09155681A - Method and device for controlling conveying device in production line - Google Patents
Method and device for controlling conveying device in production lineInfo
- Publication number
- JPH09155681A JPH09155681A JP33827795A JP33827795A JPH09155681A JP H09155681 A JPH09155681 A JP H09155681A JP 33827795 A JP33827795 A JP 33827795A JP 33827795 A JP33827795 A JP 33827795A JP H09155681 A JPH09155681 A JP H09155681A
- Authority
- JP
- Japan
- Prior art keywords
- work
- holding member
- backward
- work holding
- transfer device
- 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.)
- Granted
Links
Landscapes
- Feeding Of Workpieces (AREA)
- Multi-Process Working Machines And Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、複数の工作機械
間においてワークを搬送するようにした搬送装置の制御
方法及びその装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method of a transfer device and a device for transferring a work between a plurality of machine tools.
【０００２】[0002]
【従来の技術】従来、生産ラインにおける搬送装置に
は、各工作機械等の作業ステーション間を貫通するよう
に配設され、一つの駆動源により一斉に多数のワークを
搬送動作されるトランスファバーを用いた搬送装置と、
各ステーション間に配置され、それぞれ独立した駆動源
により個別に搬送動作される搬送装置との二つのタイプ
がある。前者の搬送装置はワークの搬送、つまりトラン
スファバーの駆動制御が容易な反面、一般的に工作機械
間のピッチが同一でないと使用することができず、この
ため作業ステーションの組み替えや、工程編成時の融通
性が悪いという難点がある。さらに、サイクルタイムの
一番長い作業ステーションのサイクルタイムに合わせ
て、全ての作業ステーションのワークを同時に搬送する
インライン型の搬送しか行えないという難点もある。
（特開昭６０−１６１０６０号公報参照）一方、後者の
搬送装置は、個別の駆動源の制御が面倒になる反面、各
工作機械間においてワークの搬出及び次に加工するワー
クの搬入を独立して個々に行うインディペンデント型の
搬送に使用でき、搬送作業の能率を向上することができ
る。又、工作機械の組み替えや、工程編成時の融通性に
適している。（特開平７−１４８６３６号公報参照）2. Description of the Related Art Conventionally, a transfer device in a production line is provided with a transfer bar which is arranged so as to penetrate between work stations such as machine tools and which is used to transfer a large number of works at once by one drive source. The transport device used,
There are two types, that is, a transporting device which is disposed between the stations and is individually transported by independent driving sources. The former transfer device facilitates work transfer, that is, drive control of the transfer bar, but generally cannot be used unless the pitch between machine tools is the same. There is a drawback that the flexibility of is poor. Further, there is a drawback that only an in-line type transfer can be performed at the same time to transfer the works of all the work stations according to the cycle time of the work station having the longest cycle time.
On the other hand, in the latter transfer device, on the other hand, control of individual drive sources is troublesome, but on the other hand, the unloading of the work and the loading of the work to be processed next are independent between the respective machine tools. It can be used for independent type conveyance performed individually and can improve the efficiency of the conveyance work. Also, it is suitable for remodeling machine tools and flexibility in process organization. (See Japanese Laid-Open Patent Publication No. 7-148636)
【０００３】[0003]
【発明が解決しようとする課題】ところが、後者の独立
した搬送装置を使用した生産ラインにおいては、次のよ
うな問題が生じる。すなわち、各搬送装置はそれぞれ個
別に動作するため、搬送装置が相互に干渉する恐れがあ
る。However, the following problems occur in the latter production line using an independent transfer device. That is, since the respective transport devices operate individually, the transport devices may interfere with each other.
【０００４】上記の干渉を回避するため、搬送装置によ
りワークを一個一個順に搬送する制御方法が考えられ
る。例えば、ワーク搬出側の搬送装置によるワークのス
テーション間搬送が完了されたことを確認して、その前
工程の搬送装置がワークの搬送動作を開始し、これを順
次繰り返すようなことがある。ところが、制御方法で
は、搬送作業全体のサイクルタイムが延びて作業能率が
低下するという問題がある。In order to avoid the above interference, a control method is conceivable in which the work is carried by the carrying device one by one. For example, there is a case in which it is confirmed that the inter-station transfer of the work by the transfer device on the work unloading side is completed, the transfer device in the preceding process starts the work transfer operation, and this is sequentially repeated. However, the control method has a problem that the cycle time of the entire transfer work is extended and the work efficiency is reduced.
【０００５】この発明は、このような従来の技術に存在
する問題点に着目してなされたものであって、その目的
は、複数の加工ステーションの間にそれぞれ配設された
搬送装置をインライン型の搬送に使用した場合に、サイ
クルタイムを長くすることなく、搬送装置間の干渉を防
止することができる生産ラインにおける搬送装置の制御
方法及びその装置を提供することにある。The present invention has been made in view of the problems existing in such a conventional technique, and an object thereof is to provide an in-line type transfer device provided between a plurality of processing stations. It is an object of the present invention to provide a control method of a transfer device in a production line and an apparatus thereof that can prevent interference between transfer devices without increasing the cycle time when used for transfer.
【０００６】[0006]
【課題を解決するための手段】請求項１記載の発明は、
上記目的を達成するために、生産ラインにおいて、各搬
送装置のワーク保持部材を初期位置から前工程の工作機
械のワーク受へ向けてほぼ一斉に後進させて、各保持部
材にワークを受け取る工程と、上記ワーク受取工程の完
了後に搬出側の搬送装置のワーク保持部材の前進動作を
行い、その前進動作開始を確認した直後に前工程の搬送
装置のワーク保持部材の前進動作を行い、この前進・確
認・前進動作を搬入側の搬送装置へと順次行って、各保
持部材のワークを次工程の工作機械のワーク受に順次受
け渡す工程と、上記のワーク受渡工程の完了後に搬入側
の搬送装置のワーク保持部材の後進動作を行い、この後
進動作開始を確認した直後に次工程の搬送装置のワーク
保持部材の後進動作を行い、この後進・確認・後進動作
を搬出側の搬送装置へと順次行って、各保持部材を前記
初期位置に復帰する工程とを備えている。According to the first aspect of the present invention,
In order to achieve the above object, in the production line, the work holding member of each conveying device is moved backward from the initial position toward the work receiving of the machine tool in the previous step substantially at the same time, and each work holding member receives the work. After the completion of the work receiving process, the work holding member of the carrying-out side transport device is moved forward, and immediately after confirming the start of the forward motion, the work holding member of the transport device of the previous process is moved forward. A step of sequentially performing the confirmation / advance operation to the transfer device on the loading side and sequentially transferring the work of each holding member to the work receiver of the machine tool in the next process, and the transfer device on the loading side after the completion of the work transfer process described above. The work holding member is moved backward, and immediately after the start of the reverse movement is confirmed, the work holding member of the next-stage conveyance device is moved backward, and the backward movement, confirmation, and reverse movement are performed on the unloading side conveyance device. Sequentially go to, and a step of returning each holding member to the initial position.
【０００７】請求項１記載の発明では、前記各搬送装置
のワーク保持部材が初期位置から前工程の工作機械のワ
ーク受へ向けてほぼ一斉に後進され、各保持部材にワー
クが受け取られる。このワーク受取工程の完了後に搬出
側の搬送装置のワーク保持部材の前進動作が行われ、そ
の前進動作開始が確認された直後に前工程の搬送装置の
ワーク保持部材の前進動作が行われ、この前進・確認・
前進動作が搬入側の搬送装置へと順次行われ、各保持部
材のワークが次工程の工作機械のワーク受に順次受け渡
される。このため、サイクルタイムを長くすることな
く、ワーク保持部材の前進動作時の相互干渉が回避され
る。According to the first aspect of the present invention, the work holding members of each of the transfer devices are moved backward substantially simultaneously from the initial position toward the work receiving of the machine tool in the previous step, and the work is received by each holding member. After the completion of the work receiving process, the forward movement operation of the work holding member of the carrying-out side transport device is performed, and immediately after the start of the forward movement operation is confirmed, the forward movement operation of the work holding member of the previous-stage transport device is performed. Advance / Confirm /
The forward movement is sequentially performed to the transfer device on the loading side, and the works of the holding members are sequentially delivered to the work receiver of the machine tool in the next process. Therefore, mutual interference during forward movement of the work holding members is avoided without increasing the cycle time.
【０００８】次に、ワーク受渡工程の完了後に搬入側の
搬送装置のワーク保持部材の後進動作が行われ、この後
進動作開始が確認された直後に次工程の搬送装置のワー
ク保持部材の後進動作が行われる。この後進・確認・後
進動作が搬出側の搬送装置へと順次行われ、各保持部材
が前記初期位置に復帰される。このため、サイクルタイ
ムを長くすることなく、ワーク保持部材の後進動作時の
相互干渉が回避される。Next, after the completion of the work transfer process, the backward movement operation of the work holding member of the carrying-in side conveyance device is performed, and immediately after the start of the backward movement operation is confirmed, the backward movement operation of the work holding member of the conveyance device of the next step is performed. Is done. This backward movement / confirmation / reverse movement is sequentially performed to the carry-out side transport device, and each holding member is returned to the initial position. Therefore, mutual interference during backward movement of the work holding members is avoided without increasing the cycle time.
【０００９】請求項２記載の発明においては、請求項１
において、搬送装置のワーク保持部材の前進動作開始の
確認は各搬送装置に設けられた搬送用サーボモータの前
進起動信号の有無により行われ、ワーク保持部材の後進
動作開始の確認は各搬送用サーボモータの後進起動信号
の有無により行われる。According to the invention of claim 2, claim 1
In the above, confirmation of the start of the forward movement operation of the work holding member of the transfer device is performed by the presence / absence of the forward start signal of the transfer servo motor provided in each transfer device. This is performed depending on the presence / absence of a reverse drive signal for the motor.
【００１０】請求項２記載の発明では、搬送用サーボモ
ータの前進又は後進起動信号によりワーク保持部材の前
進又は後進動作開始が確認されるので、その確認が確実
かつ迅速に行われる。According to the second aspect of the present invention, the start of the forward or backward movement of the work holding member is confirmed by the forward or backward activation signal of the conveying servomotor, so that confirmation can be performed reliably and promptly.
【００１１】請求項３記載の発明においては、請求項２
において、各搬送用サーボモータの前進起動信号が有り
の場合に生産ラインの制御装置の記憶手段にフラグがた
てられ、このフラグの確認により前工程の搬送装置のワ
ークの前進動作が開始され、各搬送用サーボモータの後
進起動信号が有りの場合に前記記憶手段に各フラグがた
てられ、このフラグの確認により次工程の搬送装置のワ
ークの後進動作が開始される。According to the invention of claim 3, claim 2
In, in the case where there is a forward drive start signal of each transport servo motor, a flag is set in the storage means of the control device of the production line, the forward movement operation of the work of the transport device in the previous process is started by confirmation of this flag, When there is a backward drive signal for each of the servomotors for conveyance, each flag is set in the storage means, and by confirming this flag, the backward movement operation of the work of the conveying device in the next step is started.
【００１２】請求項３記載の発明では、搬送用サーボモ
ータの起動信号によりワーク保持部材の前進又は後進動
作開始が確認されてフラグがたてられるので、ワーク保
持部材の前進又は後進動作開始の確認が確実かつ迅速に
行われる。According to the third aspect of the invention, since the start or the backward movement of the work holding member is confirmed by the start signal of the conveying servomotor and a flag is set, the start or backward movement of the work holding member is confirmed. Is done reliably and quickly.
【００１３】請求項４記載の発明においては、請求項１
〜３のいずれかにおいて、前記ワーク保持部材の初期位
置からの後進動作は、該初期位置から所定距離上昇した
後、前工程の工作機械のワーク受下方まで後進され、そ
の後に該ワーク受上方のワーク受取位置まで上昇される
工程からなり、ワーク保持部材の前進動作は、該受取位
置から次工程の工作機械のワーク受上方まで前進され、
その後に該ワーク受下方のワーク受渡位置まで下降され
る工程からなり、ワーク保持部材のワーク受渡位置から
の後進動作は、該受渡位置から初期位置の上方まで後進
され、その後に初期位置の高さまで下降される工程から
なる。According to the invention of claim 4, claim 1
In any one of 3 to 3, the backward movement operation of the work holding member from the initial position is moved up from the initial position by a predetermined distance, then is moved backward to the lower side of the work receiving part of the machine tool in the previous step, and then the upper part of the work receiving part is moved upward. The work holding member is moved up to the work receiving position, and the work holding member is moved forward from the receiving position to above the work receiving device of the machine tool in the next process.
After that, it comprises a step of descending to the work delivery position below the work delivery, and the backward movement of the work holding member from the work delivery position is performed from the delivery position to above the initial position and then to the height of the initial position. It consists of a step of descending.
【００１４】請求項４記載の発明では、ワーク保持部材
が初期位置から上昇、後進、上昇、前進、下降、後進、
下降のサイクル動作によって初期位置に復帰されるの
で、ワーク保持部材が初期位置において、工作機械との
距離を大きく設定することができる。このためワーク保
持部材のクーラントや切削屑を回避する対策を容易に行
うことができる。According to the fourth aspect of the present invention, the work holding member is raised, moved backward, raised, moved forward, lowered, moved backward from the initial position.
Since the work holding member is returned to the initial position by the descending cycle operation, the distance between the work holding member and the machine tool can be set large at the initial position. Therefore, it is possible to easily take measures to avoid the coolant and cutting waste of the work holding member.
【００１５】請求項５記載の発明においては、所定間隔
をおいて配設された複数の工作機械の中間位置に、前工
程の工作機械から次工程の工作機械にワークを搬送する
搬送装置をそれぞれ配設した生産ラインにおいて、上記
各搬送装置を統括して制御する主制御装置と、上記各搬
送装置の搬送動作をそれぞれ制御する複数の副制御装置
とを備え、前記主制御装置は、それぞれの搬送装置に対
する次工程の搬送装置の前進動作開始を確認する手段
と、上記前進動作開始の確認手段により次工程の搬送装
置の前進動作開始が確認された場合に、前工程の搬送装
置の前進動作を順次指令する前進指令手段と、それぞれ
の搬送装置に対する前工程の搬送装置の後進動作開始を
確認する手段と、上記後進動作開始の確認手段により前
工程の搬送装置の後進動作開始が確認された場合に、次
工程の搬送装置の後進動作を順次指令する後進指令手段
とを具備する。In a fifth aspect of the present invention, a transfer device for transferring a work from a machine tool in a previous process to a machine tool in a next process is provided at an intermediate position of a plurality of machine tools arranged at predetermined intervals. In the arranged production line, a main control device that controls the above-mentioned transfer devices in a centralized manner and a plurality of sub-control devices that control the transfer operation of each transfer device are provided, and the main control devices are A means for confirming the start of the forward movement operation of the transport apparatus of the next process with respect to the transport apparatus, and a forward movement operation of the transport apparatus of the previous step when the forward movement start of the transport apparatus of the next process is confirmed by the confirmation means of the forward operation start Forward command means for sequentially instructing each of the conveying devices, means for confirming the start of the backward movement operation of the conveying apparatus in the preceding step, and confirmation means for confirming the backward movement start of the conveying apparatus in the preceding step. When the operation start is confirmed, it includes a backward command means for sequentially commanding the reverse operation of the transport device of the next step.
【００１６】[0016]
【発明の実施の形態】以下、この発明の生産ラインにお
ける搬送装置の制御方法を具体化した一実施形態を図面
に従って説明する。BEST MODE FOR CARRYING OUT THE INVENTION An embodiment embodying a method for controlling a conveyor in a production line according to the present invention will be described below with reference to the drawings.
【００１７】最初に図１により生産ラインの概略を説明
すると、例えばエンジンのシリンダブロック等のワーク
Ｗに孔開け等の各種の加工を行うための第１〜第３工作
機械１１〜１３は所定の間隔をおいて直列に配設されて
いる。第１工作機械１１のワーク搬入側には所定の間隔
をおいてワークＷを搬入待機させるコンベア１５を備え
たローダ１４が配設されている。第３工作機械１３のワ
ーク搬出側には所定間隔をおいて加工されたワークＷを
次のラインへ搬出するコンベア１７を有するアンローダ
１６が配設されている。この実施形態では前記ローダ１
４、工作機械１１〜１３及びアンローダ１６を、第１〜
第５の作業ステーションＳ１〜Ｓ５と言う。First, the outline of the production line will be described with reference to FIG. 1. For example, first to third machine tools 11 to 13 for performing various kinds of processing such as drilling a work W such as a cylinder block of an engine are predetermined. They are arranged in series at intervals. A loader 14 provided with a conveyor 15 that waits for the work W to be loaded is provided on the work loading side of the first machine tool 11 at a predetermined interval. An unloader 16 having a conveyor 17 for unloading the work W processed at a predetermined interval to the next line is disposed on the work unloading side of the third machine tool 13. In this embodiment, the loader 1
4, machine tools 11-13 and unloader 16 are
Called fifth work stations S1 to S5.
【００１８】前記第１〜第５のステーションＳ１〜Ｓ５
の間には、それぞれ独立してワークＷを搬送するための
第１〜第４搬送装置２１〜２４が配設され、ワークＷを
ワーク搬入側のステーションからワーク搬出側のステー
ションへと搬送可能である。The first to fifth stations S1 to S5
Between them, first to fourth transfer devices 21 to 24 for independently transferring the work W are arranged, and the work W can be transferred from the work loading side station to the work unloading side station. is there.
【００１９】前記第１〜第３工作機械１１〜１３におけ
るワーク取付治具１１ａ〜１３ａはほぼ同様に構成され
ている。このワーク取付治具１１ａ〜１３ａの構成を簡
単に説明すると、機台２５には外形をほぼ同一にする固
定テーブル２６ａ又はインデックステーブル２６ｂが支
持され、インデックステーブル２６ｂは水平回転用サー
ボモータ２７により水平面内で割出回転される。該テー
ブル２６ａ，２６ｂの上面には支持台２８が支持され、
該支持台２８には外形をほぼ同一にする固定テーブル２
９ａ又はチルトテーブル２９ｂが支持され、チルトテー
ブル２９ｂは垂直回転用サーボモータ３０により垂直面
内で位置決め可能に支持されている。該チルトテーブル
２９ｂの上面にはワーク受３１ａを有するとともにワー
ク受３１ａの上のワークＷを位置決めクランプする把持
具３１が取着されている。The work mounting jigs 11a to 13a in the first to third machine tools 11 to 13 have substantially the same structure. The structure of the workpiece mounting jigs 11a to 13a will be briefly described. A fixed table 26a or an index table 26b having the same outer shape is supported on the machine base 25, and the index table 26b is supported by a horizontal rotation servomotor 27 on a horizontal plane. It is indexed and rotated inside. A support base 28 is supported on the upper surfaces of the tables 26a and 26b,
The fixed table 2 whose outer shape is almost the same on the support base 28
9a or a tilt table 29b is supported, and the tilt table 29b is supported by a vertical rotation servomotor 30 so as to be positionable in a vertical plane. A work holder 31a is attached to the upper surface of the tilt table 29b, and a gripper 31 for positioning and clamping the work W on the work holder 31a is attached.
【００２０】前記ワーク把持具３１は各ステーションで
の加工に応じて前記インデックステーブル２６ｂやチル
トテーブル２９ｂにより所望する位置に姿勢の変更が可
能であり、ワークに対し孔開け等の所定の加工が行われ
る。このワークに対する加工が終了すると、把持具３１
は原位置に復帰停止される。The work gripping tool 31 can be changed in posture to a desired position by the index table 26b and the tilt table 29b according to the processing at each station, and a predetermined processing such as punching is performed on the work. Be seen. When the processing for this work is completed, the gripper 31
Is returned to its original position and stopped.
【００２１】前記第１〜第４の搬送装置２１〜２４は同
様に構成されている。この搬送装置の構成を図２〜図５
に基づいて説明すると、ベース４１の上部にはＴ字状を
なす昇降フレーム４２が昇降ガイド４１ａに沿って上下
方向の往復動可能に装着されている。この昇降フレーム
４２はナット部材４２ａを有し、基盤４１側に設けた昇
降用サーボモータ４３とボールねじ４４により昇降動作
される。The first to fourth transfer devices 21 to 24 are similarly constructed. 2 to 5 show the structure of this carrying device.
In the following description, a T-shaped lifting frame 42 is mounted on the upper part of the base 41 so as to be vertically reciprocable along the lifting guide 41a. The elevating frame 42 has a nut member 42a and is moved up and down by a lifting servomotor 43 and a ball screw 44 provided on the base 41 side.
【００２２】前記昇降フレーム４２の上部には第１テー
ブル４５が図示しない案内機構により前後方向（図２，
３，４において左方向を前方向、右方向を後方向とい
う）に移動可能に支持されている。第１テーブル４５の
下部には第１ラック４６が形成され、該ラック４６には
前記昇降フレーム４２に軸支された第１ピニオン４７が
噛み合わされている。又、昇降フレーム４２には搬送用
サーボモータ４８が固定され、該モータ４８の出力軸に
は駆動ギヤ４９が連結され、該ギヤ４９は前記第１ピニ
オン４７に噛合されている。従って、モータ４８により
駆動ギヤ４９が正回転（図２の矢印）されると、第１ピ
ニオン４７が回転されて、この第１ピニオン４７と第１
ラック４６を介して第１テーブル４５が後方向（図２の
右方）に移動される。なお、第１〜第４の搬送装置２１
〜２４の各サーボモータ４８を個別にいう場合には、４
８Ａ，４８Ｂ，４８Ｃ，４８Ｄとする。A first table 45 is provided on the upper and lower parts of the elevating frame 42 in the front-back direction by a guide mechanism (not shown) (see FIG.
3 and 4, the left side is movably supported in the front direction and the right direction is referred to as the rear direction. A first rack 46 is formed below the first table 45, and a first pinion 47 pivotally supported by the elevating frame 42 is meshed with the rack 46. A transport servomotor 48 is fixed to the lifting frame 42, a drive gear 49 is connected to the output shaft of the motor 48, and the gear 49 is meshed with the first pinion 47. Therefore, when the drive gear 49 is normally rotated by the motor 48 (arrow in FIG. 2), the first pinion 47 is rotated, and the first pinion 47 and the first pinion 47 are rotated.
The first table 45 is moved rearward (to the right in FIG. 2) via the rack 46. In addition, the 1st-4th conveyance apparatus 21
If each of the servo motors 48 to 24 is individually referred to, 4
8A, 48B, 48C and 48D.
【００２３】前記第１テーブル４５の上部には第２テー
ブル５０が第１テーブル４５に設けられた図示しない案
内機構により往復動可能に設けられている。又、第２テ
ーブル５０の下部には第２ラック５１が設けられ、昇降
フレーム４２の所定位置には固定ラック５２が取り付け
られている。前記第１テーブル４５には前記固定ラック
５２に噛み合わされたピニオン５３が支持されている。
同じく、テーブル４５には前記第２ラック５１に噛み合
わされたピニオン５４が支持されている。前記ピニオン
５３には図４に示すように同期回転可能にピニオン５３
ａが連結され、該ピニオン５３ａは前記ピニオン５４に
噛み合わされている。そして、サーボモータ４８の回転
とギヤ４９、ピニオン４７を介して前記第１テーブル４
５が後方向（図２の右方）に移動されると、一方のピニ
オン５３，５３ａは固定ラック５２により回転され、こ
の回転が他方のピニオン５４に伝達される。このため、
ピニオン５４と噛合する第２ラック５１が後方向に移動
されて、第２テーブル５０が第１テーブル４５の移動速
度の２倍の速度で後方向に移動される。前記第２テーブ
ル５０の上面にはワークＷを保持する保持部材５５が設
けられている。第１〜第４の搬送装置２１〜２４の各ワ
ーク保持部材５５を個別にいう場合には、５５Ａ，５５
Ｂ，５５Ｃ，５５Ｄとする。A second table 50 is provided on the first table 45 so as to be reciprocally movable by a guide mechanism (not shown) provided on the first table 45. A second rack 51 is provided below the second table 50, and a fixed rack 52 is attached to a predetermined position of the elevating frame 42. A pinion 53 meshed with the fixed rack 52 is supported on the first table 45.
Similarly, a pinion 54 meshed with the second rack 51 is supported on the table 45. As shown in FIG. 4, the pinion 53 is rotatably synchronized with the pinion 53.
a is connected, and the pinion 53a is meshed with the pinion 54. Then, the first table 4 is rotated through the rotation of the servo motor 48, the gear 49, and the pinion 47.
When 5 is moved backward (to the right in FIG. 2), one pinion 53, 53a is rotated by the fixed rack 52, and this rotation is transmitted to the other pinion 54. For this reason,
The second rack 51 meshing with the pinion 54 is moved backward, and the second table 50 is moved backward at a speed twice the moving speed of the first table 45. A holding member 55 that holds the work W is provided on the upper surface of the second table 50. When the respective work holding members 55 of the first to fourth transfer devices 21 to 24 are individually referred to, 55A, 55
B, 55C, 55D.
【００２４】なお、前記第１テーブル４５及び第２テー
ブル５０の前方向の移動はサーボモータ４８により駆動
ギヤ４９を逆回転（図２の反矢印方向）することによ
り、前述した後方向への移動と逆の動作により行われ
る。The first table 45 and the second table 50 can be moved in the forward direction by rotating the drive gear 49 in the reverse direction (the direction opposite to the arrow in FIG. 2) by the servo motor 48. It is performed by the reverse operation.
【００２５】前述した第１〜第４搬送装置２１〜２４の
ワーク保持部材５５は、昇降用サーボモータ４３及び搬
送用サーボモータ４８により図５に示すように動作され
ワークを搬送する。すなわち、図５に実線で示す初期位
置Ｐ１は、例えば第３ステーションＳ３と第４ステーシ
ョンＳ４との中間位置であって、この初期位置Ｐ１から
所定高さ位置に上昇した後、所定距離、つまり前工程の
第３ステーションＳ３のワーク受３１ａの下方まで後進
し、さらに所定距離上昇してステーションＳ３のワーク
受３１ａからワークＷを受け取ってワーク受３１ａの上
方のワーク受取位置Ｐ２の上方に移動される。その後、
保持部材５５がワークＷとともに、所定距離、つまり次
工程の第４ステーションＳ４のワーク受３１ａの上方ま
で前進された後、さらに所定距離下降してステーション
Ｓ４のワーク受３１ａへワークＷを受け渡し、ワーク受
３１ａ下方のワーク受渡位置Ｐ３に下降される。その
後、保持部材５５は初期位置Ｐ１の上方まで後進された
後、初期位置Ｐ１の高さまで下降されて復帰停止され
る。なお、保持部材５５は一サイクルで前進動作は一回
行われるが、上昇、後進、下降はそれぞれ二回行われる
ので、図５，７において一回目の動作に「１」、二回目
の動作に「２」を付している。The work holding member 55 of the above-mentioned first to fourth transfer devices 21 to 24 is operated as shown in FIG. 5 by the lifting servomotor 43 and the transfer servomotor 48 to transfer the work. That is, the initial position P1 shown by the solid line in FIG. 5 is, for example, an intermediate position between the third station S3 and the fourth station S4, and after rising from the initial position P1 to the predetermined height position, a predetermined distance, that is, the front position. The process moves backward to below the work receiver 31a of the third station S3, further rises a predetermined distance to receive the work W from the work receiver 31a of the station S3, and is moved above the work receiving position P2 above the work receiver 31a. . afterwards,
The holding member 55 is advanced together with the work W for a predetermined distance, that is, above the work receiver 31a of the fourth station S4 of the next process, and then further lowered for a predetermined distance to transfer the work W to the work receiver 31a of the station S4. It is moved down to the work transfer position P3 below the receiver 31a. After that, the holding member 55 is moved backward to a position above the initial position P1, then lowered to the height of the initial position P1, and stopped to return. It should be noted that the holding member 55 performs the forward movement once in one cycle, but ascends, moves backward, and lowers twice. Therefore, in FIGS. 5 and 7, the first movement is “1” and the second movement is "2" is attached.
【００２６】次に、図６により前述した生産ラインにお
ける搬送装置の制御装置について説明する。主制御装置
６０は生産ライン全体の制御を行うものであって、該主
制御装置６０はローダ１４及び第１搬送装置２１の動作
を単独で制御する第１副制御装置６１の機能も備えてい
る。工作機械１１と第２搬送装置２２は、第２副制御装
置６２により単独で動作が制御される。同様に、工作機
械１２と第３搬送装置２３は、第３副制御装置６３によ
り、工作機械１３と第４搬送装置２４は、第４副制御装
置６４によりそれぞれ単独で動作が制御される。第２〜
第４の副制御装置６２〜６４は、例えばシーケンサによ
り構成され、対応する工作機械及び搬送装置の各種動作
を予め設定したプログラムに基づいて行うことができ
る。前記第２〜第４の副制御装置６２〜６４は主制御装
置６０に接続され、該主制御装置６０からの信号により
搬送装置２１〜２４全体の搬送動作が制御されるように
している。又、アンローダ１６の制御機能はローダ１４
の第１副制御装置と同様に主制御装置６０が分担してい
る。Next, the control device of the transfer device in the above-mentioned production line will be described with reference to FIG. The main controller 60 controls the entire production line, and the main controller 60 also has a function of a first sub controller 61 that independently controls the operations of the loader 14 and the first transfer device 21. . The operations of the machine tool 11 and the second transfer device 22 are independently controlled by the second sub control device 62. Similarly, the operation of the machine tool 12 and the third transfer device 23 is independently controlled by the third sub control device 63, and the operation of the machine tool 13 and the fourth transfer device 24 is independently controlled by the fourth sub control device 64. 2nd
The fourth sub-control devices 62 to 64 are configured by, for example, a sequencer, and can perform various operations of the corresponding machine tool and transport device based on a preset program. The second to fourth sub-control units 62 to 64 are connected to the main control unit 60, and a signal from the main control unit 60 controls the transport operation of the transport units 21 to 24 as a whole. Further, the control function of the unloader 16 is the loader 14
The main control device 60 shares the same role as the first sub control device.
【００２７】前記主制御装置６０は中央演算処理回路
（ＣＰＵ）６５、動作制御プログラムを予め記憶したリ
ードオンリメモリ（ＲＯＭ）６６、各種データを一時的
に記憶するとともに、読み出し可能なランダム・アクセ
ス・メモリ（ＲＡＭ）６７を備えている。前記ＣＰＵ６
５は入出力インターフェース６８を介して前記ローダ１
４、第１搬送装置２１、第２〜第４の副制御装置６２〜
６４及びアンローダ１６に接続されている。The main controller 60 has a central processing unit (CPU) 65, a read-only memory (ROM) 66 in which an operation control program is stored in advance, various data temporarily stored, and a readable random access memory. A memory (RAM) 67 is provided. CPU 6
5 is the loader 1 via the input / output interface 68
4, 1st conveyance apparatus 21, 2nd-4th sub-control apparatus 62-
64 and the unloader 16.
【００２８】前記ＣＰＵ６５には第１〜第４の搬送装置
２１〜２４の搬送用サーボモータ４８Ａ〜４８Ｄの正回
転（ワーク前進）起動信号の有無を確認する前進動作開
始の確認手段を構成する判別回路６９と、サーボモータ
４８Ａ〜４８Ｄの逆回転（ワーク後進）起動信号の有無
を確認する後進動作開始の確認手段を構成する判別回路
７０が接続されている。又、前記ＲＡＭ６７には各搬送
装置の前進動作開始又は後進動作開始が確認された場合
に、各々フラグをたてる記憶手段としての前進用フラグ
レジスタ７１，後進用フラグレジスタ７２が設けられて
いる。The CPU 65 is provided with a determination means for confirming the forward movement start for confirming the presence or absence of the forward rotation (work forward) start signal of the servo motors 48A-48D for conveyance of the first to fourth conveyors 21-24. The circuit 69 is connected to a discrimination circuit 70 that constitutes a backward movement start confirmation means for confirming the presence or absence of a reverse rotation (work backward movement) start signal of the servo motors 48A to 48D. Further, the RAM 67 is provided with a forward drive flag register 71 and a reverse drive flag register 72 as storage means for setting flags when it is confirmed that the forward movement operation or the backward movement operation of each conveying device is started.
【００２９】前記ＣＰＵ６５は、前進（又は後進）用フ
ラグレジスタ７１（又は７２）にフラグがあるか否かを
判断して、前進（又は後進）動作開始を確認するととも
に、前工程（又は次工程）の搬送装置の前進（又は後
進）動作を順次指令する前進（又は後進）指令手段とし
ての機能を備えている。The CPU 65 determines whether or not there is a flag in the forward (or reverse) flag register 71 (or 72), confirms the start of the forward (or reverse) operation, and performs the previous step (or the next step). ) Has a function as forward (or backward) command means for sequentially instructing forward (or backward) operation of the transport device.
【００３０】次に、前記のように構成した生産ラインに
おける第１〜第４の搬送装置２１〜２４の制御動作につ
いて説明する。今、主制御装置６０のＲＯＭ６６に予め
記憶された制御プログラムに基づいて、第１〜第４の副
制御装置６１〜６４に動作信号が出力されると、各副制
御装置６１〜６４により第１〜第４搬送装置２１〜２４
の搬送動作がそれぞれ開始される。そして、図７に示す
ように、第１〜第４の搬送装置２１〜２４の第１〜第４
のワーク保持部材５５Ａ〜５５Ｄは図５に示す初期位置
Ｐ１からそれぞれ一斉に所定高さまで上昇された後、後
進されてそれぞれワーク搬入側のローダや工作機械に対
応するステーション位置まで後進され、その後、所定高
さ位置に上昇されて、受取位置Ｐ２で停止され、各ワー
クＷが保持部材５５Ａ〜５５Ｄ上にそれぞれ受け取られ
る。Next, the control operation of the first to fourth transfer devices 21 to 24 in the production line configured as described above will be described. Now, when an operation signal is output to the first to fourth sub controllers 61 to 64 based on the control program stored in advance in the ROM 66 of the main controller 60, each sub controller 61 to 64 outputs the first operation signal. ~ Fourth transfer device 21-24
Each of the transport operations is started. And as shown in FIG. 7, the 1st-4th of the 1st-4th conveyance apparatus 21-24
The workpiece holding members 55A to 55D are simultaneously raised from the initial position P1 shown in FIG. 5 to a predetermined height, and then are moved backward to the station positions corresponding to the loader and the machine tool on the workpiece loading side. The work W is raised to a predetermined height position, stopped at the receiving position P2, and each work W is received on the holding members 55A to 55D.
【００３１】その後、第１〜第４の搬送装置２１〜２４
のワーク保持部材５５Ａ〜５５Ｄの前進動作は次のよう
に搬出側の第４搬送装置２４から搬入側の第１搬送装置
２１へと順次行われる。すなわち、搬出側の第４搬送装
置２４の搬送用サーボモータ４８Ｄが正回転されて、ワ
ーク保持部材５５Ｄの前進動作が開始されると、その正
転起動信号「有り」が主制御装置６０の判別回路６９に
より確認されて、ＣＰＵ６５からＲＡＭ６７の前進用フ
ラグレジスタ７１に第４のワーク保持部材５５Ｄが前進
を開始したことを示すフラグＦ1 がたてられる。このフ
ラグＦ1 の有無がＣＰＵ６５より判断され、フラグＦ1
があることが確認されると、主制御装置６０から第３搬
送装置２３の搬送用サーボモータ４８Ｃに起動信号が出
力され、第３搬送装置２３のワーク保持部材５５Ｃが前
進動作される。ここで、その正転起動信号が主制御装置
６０の判別回路６９により判別されて、ＣＰＵ６５から
ＲＡＭ６７の前進用フラグレジスタ７１に対し第３のワ
ーク保持部材５５Ｃが前進を開始したことを示すフラグ
Ｆ2 がたてられる。このフラグＦ2 の有無がＣＰＵ６５
より判断され、フラグＦ2 があることが確認されると、
主制御装置６０から第２搬送装置２２の搬送用サーボモ
ータ４８Ｂに起動信号が出力され、第２搬送装置２２の
ワーク保持部材５５Ｂが前進動作される。After that, the first to fourth transfer devices 21 to 24
The forward movement of the work holding members 55A to 55D is sequentially performed from the carry-out-side fourth transfer device 24 to the carry-in-side first transfer device 21 as follows. That is, when the conveyance servomotor 48D of the fourth conveyance device 24 on the carry-out side is rotated in the normal direction and the forward movement operation of the work holding member 55D is started, the forward rotation start signal “present” is determined by the main controller 60. Confirmed by the circuit 69, the CPU 65 sets a flag F 1 in the forward movement flag register 71 of the RAM 67, which indicates that the fourth work holding member 55D has started the forward movement. Whether or not the flag F 1 is present is determined by the CPU 65, and the flag F 1
When it is confirmed that there is such a start signal, a start signal is output from the main control device 60 to the conveyance servomotor 48C of the third conveyance device 23, and the work holding member 55C of the third conveyance device 23 is moved forward. Here, the normal rotation start signal is discriminated by the discriminating circuit 69 of the main controller 60, and the flag F indicating that the third work holding member 55C has started advancing from the CPU 65 to the advancing flag register 71 of the RAM 67. 2 is set. Whether or not this flag F 2 is present is determined by the CPU 65.
If it is judged further and it is confirmed that the flag F 2 is present,
An activation signal is output from the main controller 60 to the transfer servomotor 48B of the second transfer device 22, and the work holding member 55B of the second transfer device 22 is moved forward.
【００３２】以上のワーク保持部材５５Ｄ，５５Ｃ，５
５Ｂの前進・確認・前進動作と同様にして、第２搬送装
置２２ワーク保持部材５５Ｂの前進用フラグＦ3 が確認
されると、第１搬送装置２１のワーク保持部材５５Ａの
前進動作が開始される。そして、全ての搬送装置２１〜
２４のワークの前進動作がそれぞれ次工程のステーショ
ン位置まで行われる。さらに、各搬送装置の昇降用サー
ボモータ４３が起動されて各ワーク保持部材５５Ｄ〜５
５Ａは下降動作されてワーク３１ａへワークＷを受け渡
して受渡位置Ｐ３にそれぞれ移動される。このようにし
て各搬送装置２４〜２１のワークＷは、アンローダ１
６、工作機械１３，１２，１１の各ワーク受３１ａに順
次受け渡される。The above work holding members 55D, 55C, 5
Similarly to the forward movement / confirmation / forward movement operation of 5B, when the forward movement flag F 3 of the second transport device 22 work holding member 55B is confirmed, the forward movement operation of the work holding member 55A of the first transport device 21 is started. It And all the transport devices 21 to
The forward movement operation of the 24 workpieces is performed to the station position of the next process. Further, the raising / lowering servo motors 43 of the respective conveying devices are activated to activate the respective work holding members 55D-5D
5A is moved down to deliver the work W to the work 31a and move it to the delivery position P3. In this way, the work W of each of the transport devices 24 to 21 is loaded into the unloader 1
6. The workpieces are sequentially delivered to the workpiece receivers 31a of the machine tools 13, 12, and 11.
【００３３】第１〜第４の搬送装置２１〜２４のワーク
保持部材５５Ａ〜５５Ｄの後進動作は次のように搬入側
の第１搬送装置２１から搬出側の第４搬送装置２４へと
順次行われる。この後進動作は前進動作と同様に第１〜
第３の搬送装置２１〜２３のワーク保持部材５５Ａ〜５
５Ｃのサーボモータ４８Ａ〜４８Ｃの逆回転起動が判別
回路７０により確認されると、レジスタ７２に後進用フ
ラグＦ4 〜Ｆ6 がたてられる。このフラグを順次確認し
てワーク保持部材５５Ｂ，５５Ｃ，５５Ｄの後進動作が
順次行われる。The backward movement of the work holding members 55A to 55D of the first to fourth transfer devices 21 to 24 is sequentially performed from the first transfer device 21 on the loading side to the fourth transfer device 24 on the unloading side as follows. Be seen. This backward movement is similar to the forward movement,
Work holding members 55A to 5 of the third transfer devices 21 to 23
When the reverse rotation start of 5C servomotor 48A~48C is confirmed by the determination circuit 70, the reverse flag F 4 to F 6 are built in the register 72. By confirming this flag in sequence, the backward movement of the work holding members 55B, 55C, 55D is sequentially performed.
【００３４】ところで、図７に示すタイミングチャート
において、第１〜第３搬送装置２１〜２３によるワーク
Ｗの下降により第１〜第３工作機械１１〜１３のワーク
受３１ａにワークＷが受け渡されると、把持具３１はワ
ークＷを位置決め（ロケート）した後、クランプする。
次に、例えばステーションＳ２においては、チルトテー
ブル２９ｂを備えるため、サーボモータ３０により垂直
面内で所定の傾斜角に回転され、孔開け等の加工が行わ
れる。加工完了後、サーボモータ３０が逆回転されて、
ワークＷが原姿勢に復帰される。この後、把持具３１は
ワークＷの位置決め及びクランプを解除する。ステーシ
ョンＳ３においては、インデックステーブル２６ｂを備
えるため、サーボモータ２７により水平面内で所定の角
度回転され、孔開け等の加工が行われる。加工完了後、
サーボモータ２７が逆回転されて、ワークＷが原姿勢に
復帰（チルト戻り）される。この後、把持具３１はワー
クＷの位置決め及びクランプを解除（アンロケート、ア
ンクランプ）する。ステーションＳ４においては、ワー
クＷの姿勢変更なく、すぐに孔開け等の加工が行われ
る。加工完了後は把持具３１はワークＷの位置決め及び
クランプを解除する。以上のような動作が各ステーショ
ンＳ２，Ｓ３，Ｓ４について行われている間、ローダ１
４にワークが搬入され、アンローダ１６のワークが搬出
される。そして、全ステーションにて以上の動作が完了
すると、次のワーク搬送動作が前述したように行われ
る。By the way, in the timing chart shown in FIG. 7, the work W is transferred to the work receivers 31a of the first to third machine tools 11 to 13 as the work W is lowered by the first to third transfer devices 21 to 23. Then, the gripper 31 clamps after positioning (locating) the work W.
Next, for example, in the station S2, since the tilt table 29b is provided, the servo motor 30 rotates the tilt table 29b to a predetermined tilt angle in a vertical plane to perform processing such as drilling. After processing is completed, the servo motor 30 is rotated in the reverse direction,
The work W is returned to the original posture. After that, the gripper 31 releases the positioning and clamping of the work W. In the station S3, since the index table 26b is provided, the servo motor 27 rotates it by a predetermined angle in the horizontal plane to perform processing such as punching. After processing is completed,
The servo motor 27 is reversely rotated, and the work W is returned to the original posture (tilt return). After that, the grasping tool 31 releases the positioning and clamping of the work W (unlocate, unclamp). At the station S4, processing such as punching is immediately performed without changing the posture of the work W. After the machining is completed, the gripper 31 releases the positioning and clamping of the work W. While the above operation is performed for each station S2, S3, S4, the loader 1
The work is loaded into the work 4, and the work in the unloader 16 is carried out. When the above operation is completed at all stations, the next work transfer operation is performed as described above.
【００３５】次に、前記実施形態の生産ラインにおける
搬送装置の作用効果について述べる。 （ａ）前記実施形態では搬出側の第４搬送装置２４の前
進動作の開始を示すフラグＦ1 を確認してからワーク搬
入側の第３搬送装置２３のワークＷの前進動作が行わ
れ、この前進・確認・前進動作をワーク搬入側の搬送装
置へと順次行うので、次の効果がある。Next, the function and effect of the transfer device in the production line of the above embodiment will be described. (A) In the above-described embodiment, the advancing operation of the work W of the third carrying device 23 on the work loading side is performed after the flag F 1 indicating the start of the forward operation of the fourth carrying device 24 on the unloading side is confirmed. Since the advancing / confirming / advancing operations are sequentially carried out to the conveying device on the work loading side, the following effects are obtained.
【００３６】サイクルタイムを長くすることなく、第４
〜第１搬送装置２４〜２１のワーク保持部材５５Ｄ〜５
５Ａの前進動作時の干渉を防止することができる。 （ｂ）前記実施形態では搬入側の第１搬送装置２１の後
進動作の開始を示すフラグＦ4 を確認してからワーク搬
出側の第２搬送装置２２のワークＷの後進動作が行わ
れ、この後進・確認・後進動作をワーク搬出側の搬送装
置へと順次行うので、次の効果がある。The fourth time without increasing the cycle time
~ Work holding members 55D to 5 of the first transfer devices 24 to 21
It is possible to prevent interference during forward movement of 5A. (B) In the above embodiment, the backward movement operation of the work W of the second conveyance apparatus 22 on the workpiece unloading side is performed after confirming the flag F 4 indicating the start of the backward movement operation of the first conveyance apparatus 21 on the loading side. Since the backward movement, the confirmation operation, and the backward movement are sequentially performed to the conveying device on the work unloading side, the following effects are obtained.
【００３７】サイクルタイムを長くすることなく、第１
〜第４搬送装置２１〜２４のワーク保持部材５５Ａ〜５
５Ｄの後進動作時の干渉を防止することができる。 （ｃ）前記実施形態では前記第１テーブル４５と第２テ
ーブル５０を使用して、倍速移動機構を構成したので、
ワーク保持部材５５のストロークを搬送装置の幅よりも
長くすることができる。The first time without increasing the cycle time
~ Work holding members 55A to 5 of the fourth transfer devices 21 to 24
It is possible to prevent interference during backward movement of 5D. (C) Since the double speed moving mechanism is configured by using the first table 45 and the second table 50 in the embodiment,
The stroke of the work holding member 55 can be made longer than the width of the transport device.
【００３８】（ｄ）前記実施形態ではワーク保持部材５
５を数値制御可能な搬送用サーボモータ４８により前後
進するので、保持部材５５の前後方向の移動ストローク
を任意に設定することができる。(D) In the above embodiment, the work holding member 5
Since 5 is moved forward and backward by the conveyance servomotor 48 capable of numerical control, the stroke of the holding member 55 in the front-back direction can be set arbitrarily.
【００３９】（ｅ）前記実施形態では、ワーク保持部材
５５を初期位置から上昇の後、後進、上昇する工程をと
っているので、ワーク保持部材５５が初期位置Ｐ１にあ
る状態で、工作機械１１〜１３から保持部材５５を離れ
た位置に保持でき、クーラントや切削屑を回避する対策
を容易に行うことができる。又、工作機械にインデック
ステーブル２６ｂ，２９ｂやチルトテーブル２９ｂを装
設することができ、工作機械の組み替えも容易に行うこ
とができる。(E) In the above embodiment, since the work holding member 55 is raised from the initial position and then moved backward and raised, the machine tool 11 is kept in the initial position P1. The holding member 55 can be held at a position distant from 13 to 13, and a measure for avoiding coolant and cutting chips can be easily taken. Further, the index tables 26b and 29b and the tilt table 29b can be mounted on the machine tool, and the machine tool can be easily reassembled.
【００４０】なお、各工作機械１１〜１３は単独で手動
操作することもできる。ワーク搬出側の工作機械にワー
クが無いことがワーク有無信号により確認されると、前
工程の搬送装置を手動により単独で搬送動作する。単独
操作する工作機械以降の搬送装置を作動させてから工作
機械を操作する。The machine tools 11 to 13 can also be manually operated independently. When it is confirmed by the work presence / absence signal that there is no work in the machine tool on the work unloading side, the carrying device in the previous step is manually carried by itself. The machine tool is operated after the transport device after the machine tool that operates independently is activated.
【００４１】又、異常時には単独操作と同様に次工程の
工作機械のワークＷを搬出してから調整する。この発明
は前記各実施例の構成に限定されるものではなく、例え
ば次のように各部の構成を任意に変更して具体化するこ
とも可能である。 （１）前記実施形態では第４〜第２搬送装置２４〜２２
のワークＷの前進動作の開始を確認するフラグＦ1 〜Ｆ
3 をたてるようにしたが、これに代えて、搬送用サーボ
モータ４８Ｄ〜４８Ｂの回転センサ（図示略）の回転検
出信号を主制御装置６０に入力し、この信号を検出した
所定時間後にワーク搬入側のワーク保持部材を前進動作
させること。 （２）前記実施形態では、各ワーク保持部材５５の前進
動作開始、後進動作開始の確認信号を各搬送用サーボモ
ータ４８Ａ〜４８Ｄの起動信号からそれぞれ得ている
が、これに代えて、ワーク保持部材５５側、例えば各ワ
ーク保持部材５５を支持した各第２テーブル５０にドグ
を設け、これに対向するリミットスイッチ等のセンサを
各ワーク取付治具１１ａ〜１３ａ側に設けておき、ワー
ク保持部材５５の実際の動作を検知することによって、
前進動作開始及び後進動作開始の確認信号を得るように
すること。 （３）前記実施形態のワーク保持部材５５Ａ〜５５Ｄの
上昇１、下降２を省略すること。 （４）各ステーションのワーク取付治具には全てインデ
ックステーブル２６ｂと、チルトテーブル２９ｂを設け
ること。又は、加工に応じて固定テーブル２６ａ，２９
ａと適宜組み合わせて構成すること。When an abnormality occurs, the workpiece W of the machine tool in the next step is carried out and adjusted in the same manner as the single operation. The present invention is not limited to the configuration of each of the above-described embodiments, and may be embodied by arbitrarily changing the configuration of each unit as follows, for example. (1) In the above embodiment, the fourth to second transport devices 24 to 22
Flags F 1 to F that confirm the start of the forward movement of the workpiece W
Although 3 is set, instead of this, a rotation detection signal of a rotation sensor (not shown) of the servomotors 48D to 48B for conveyance is input to the main control device 60, and a predetermined time after this signal is detected, the workpiece is detected. To move the work holding member on the loading side forward. (2) In the above-described embodiment, the confirmation signals for starting the forward movement operation and backward movement operation of each work holding member 55 are obtained from the start signals of the respective conveyance servomotors 48A to 48D, but instead of this, the work holding is performed. A dog is provided on the member 55 side, for example, each second table 50 that supports each work holding member 55, and a sensor such as a limit switch facing the dog is provided on each work mounting jig 11a to 13a side, and the work holding member is provided. By detecting the actual movement of 55,
Obtain confirmation signals for starting forward movement and backward movement. (3) Omitting the rising 1 and the falling 2 of the work holding members 55A to 55D of the above embodiment. (4) An index table 26b and a tilt table 29b should be provided on all work attachment jigs of each station. Alternatively, the fixed tables 26a, 29 are processed according to the processing.
It should be configured in combination with a.
【００４２】上記実施形態から把握できる請求項以外の
技術思想について、以下にその効果とともに記載する。
請求項５において、搬送装置２１〜２４のワーク保持部
材５５は前後方向に倍速機構により動作される第２テー
ブル５０に支持されている生産ラインにおける搬送装置
の制御装置。The technical ideas other than the claims that can be understood from the above embodiment will be described below along with their effects.
6. The control device for a transfer device in a production line according to claim 5, wherein the work holding member 55 of each of the transfer devices 21 to 24 is supported by a second table 50 that is operated by a double speed mechanism in the front-rear direction.
【００４３】この装置の場合には搬送装置２１〜２４の
昇降フレーム４２を小型化することができ、その分工作
機械の設置スペースを増大することができる。In the case of this device, the elevating frame 42 of the transfer devices 21 to 24 can be downsized, and the installation space of the machine tool can be increased accordingly.
【００４４】[0044]
【発明の効果】以上説明したように、請求項１又は５の
発明は、複数の工作機械の間にそれぞれ配設された搬送
装置をインライン型の搬送に使用した場合に、サイクル
タイムを長くすることなく搬送装置間の干渉を防止する
ことができるという優れた効果を奏する。As described above, the invention according to claim 1 or 5 lengthens the cycle time when an in-line type transfer device is used for each transfer device provided between a plurality of machine tools. It is possible to prevent the interference between the transporting devices without any trouble.
【００４５】請求項２記載の発明では、請求項１記載の
発明の効果に加えて、搬送用サーボモータの前進又は後
進起動信号によりワーク保持部材の前進又は後進動作開
始が確認されるので、その確認を確実かつ迅速に行うこ
とができる。According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, the forward movement or backward movement start of the work holding member is confirmed by the forward movement or backward movement start signal of the conveying servomotor. Confirmation can be performed reliably and promptly.
【００４６】請求項３記載の発明では、請求項２記載の
発明の効果に加えて、搬送用サーボモータの起動信号に
よりワーク保持部材の前進又は後進動作開始が確認され
てフラグがたてられるので、ワーク保持部材の前進又は
後進動作開始の確認を確実かつ迅速に行うことができ
る。According to the third aspect of the invention, in addition to the effect of the second aspect of the invention, since the start of the forward or backward movement of the work holding member is confirmed by the start signal of the conveying servomotor, the flag is set. It is possible to surely and swiftly confirm the start of the forward or backward movement of the work holding member.
【００４７】請求項４記載の発明では、請求項１〜３の
いずれかに記載の発明の効果に加えて、ワーク保持部材
が初期位置から上昇、後進、上昇、前進、下降、後進、
下降のサイクル動作によって初期位置に復帰されるの
で、ワーク保持部材が初期位置において、工作機械との
距離を大きく設定することができ、ワーク保持部材のク
ーラントや切削屑を回避する対策を容易に行うことがで
きる。According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, the work holding member is raised, moved backward, raised, moved forward, lowered, moved backward from the initial position.
Since the work holding member is returned to the initial position by the descending cycle operation, the work holding member can set a large distance from the machine tool at the initial position, and the measure for avoiding the coolant and cutting chips of the work holding member can be easily performed. be able to.
【図１】 この発明を具体化した一実施形態を示す略体
正面図。FIG. 1 is a schematic front view showing an embodiment embodying the present invention.
【図２】 搬送装置の略体正面図。FIG. 2 is a schematic front view of a transport device.
【図３】 搬送装置の略体正面図。FIG. 3 is a schematic front view of a transport device.
【図４】 搬送装置の部分断面図。FIG. 4 is a partial cross-sectional view of a transfer device.
【図５】 ワークの把持具の動作を説明する図。FIG. 5 is a view for explaining the operation of a work holding tool.
【図６】 搬送装置の制御回路を示すブロック図。FIG. 6 is a block diagram showing a control circuit of the transport device.
【図７】 搬送装置の搬送動作を説明する図。FIG. 7 is a diagram illustrating a transport operation of the transport device.
１１〜１３…第１〜第３工作機械、１１ａ〜１３ａ…ワ
ーク取付治具、２１〜２４…第１〜第４搬送装置、３１
…ワーク把持具、３１ａ…ワーク受、４２…昇降フレー
ム、４３…昇降用サーボモータ、４５…第１テーブル、
４８Ａ〜４８Ｄ…搬送用サーボモータ、５０…第２テー
ブル、５５Ａ〜５５Ｄ…ワーク保持部材、６０…主制御
装置、６１〜６４…第１〜第４副制御装置、６５…前進
指令手段及び後進指令手段を構成するＣＰＵ、６９（７
０）…前進（後進）動作開始の確認手段を構成するモー
タ４８Ａ〜４８Ｄの回転起動信号の判別回路、７１（７
２）…前進（後進）動作開始の確認手段を構成する記憶
手段としての前進（後進）用フラグレジスタ、Ｐ１…初
期位置、Ｐ２…受取位置、Ｐ３…受渡位置、Ｆ1 〜Ｆ6
…フラグ。11-13 ... 1st-3rd machine tool, 11a-13a ... Work attachment jig, 21-24 ... 1st-4th conveyance apparatus, 31
... Work gripping tool, 31a ... Work receiving, 42 ... Lifting frame, 43 ... Lifting servo motor, 45 ... First table,
48A-48D ... Servo motor for conveyance, 50 ... 2nd table, 55A-55D ... Work holding member, 60 ... Main control device, 61-64 ... 1st-4th sub-control device, 65 ... Advance command means and reverse command CPU constituting the means, 69 (7
0) ... A circuit for discriminating rotation start signals of the motors 48A to 48D, which constitutes a confirming means for starting forward (reverse) operation, 71 (7)
2) ... forward (backward) the forward as a storage means constituting the means of confirming the operation start (reverse) flag register, P1 ... initial position, P2 ... receiving position, P3 ... delivery position, F 1 to F 6
…flag.
Claims (5)
機械間に、前工程の工作機械から次工程の工作機械にワ
ークを搬送する搬送装置をそれぞれ配設した生産ライン
において、 前記各搬送装置のワーク保持部材を初期位置から前工程
の工作機械のワーク受へ向けてほぼ一斉に後進させて、
各保持部材にワークを受け取る工程と、 上記ワーク受取工程の完了後に搬出側の搬送装置のワー
ク保持部材の前進動作を行い、その前進動作開始を確認
した直後に前工程の搬送装置のワーク保持部材の前進動
作を行い、この前進・確認・前進動作を搬入側の搬送装
置へと順次行って、各保持部材のワークを次工程の工作
機械のワーク受に順次受け渡す工程と、 上記のワーク受渡工程の完了後に搬入側の搬送装置のワ
ーク保持部材の後進動作を行い、この後進動作開始を確
認した直後に次工程の搬送装置のワーク保持部材の後進
動作を行い、この後進・確認・後進動作を搬出側の搬送
装置へと順次行って、各保持部材を前記初期位置に復帰
する工程とを備えることを特徴とする生産ラインにおけ
る搬送装置の制御方法。1. A production line in which a transfer device for transferring a workpiece from a machine tool in a previous process to a machine tool in a next process is provided between a plurality of machine tools arranged at a predetermined interval. Move the work holding member of the transfer device from the initial position to the work receiving of the machine tool in the previous process almost at the same time,
The process of receiving the work on each holding member, and the work holding member of the carrying device of the previous process is performed immediately after the work holding member of the carry-out side carrying device is moved forward after the completion of the work receiving process and the start of the forward moving operation is confirmed. The forward movement operation, the forward movement, the confirmation operation, and the forward movement operation are sequentially performed to the transfer device on the loading side, and the work of each holding member is sequentially passed to the work receiving of the machine tool in the next process. After the completion of the process, the work holding member of the transfer device on the loading side is moved backward. Immediately after confirming the start of this reverse motion, the work holding member of the transfer device of the next process is moved backward, and this reverse motion, confirmation, and reverse motion is performed. And the step of sequentially returning the holding members to the initial position by sequentially performing the above steps to the transfer device on the unloading side.
持部材の前進動作開始の確認は各搬送装置に設けられた
搬送用サーボモータの前進起動信号の有無により行わ
れ、ワーク保持部材の後進動作開始の確認は各搬送用サ
ーボモータの後進起動信号の有無により行われることを
特徴とする生産ラインにおける搬送装置の制御方法。2. The backward movement operation of the work holding member according to claim 1, wherein the start of the forward movement operation of the work holding member of the conveyance device is confirmed by the presence or absence of the forward movement start signal of the servomotor for conveyance provided in each of the transportation devices. The start confirmation is performed by the presence / absence of a backward drive signal of each transfer servo motor, which is a method for controlling a transfer device in a production line.
タの前進起動信号が有りの場合に生産ラインの制御装置
の記憶手段に各フラグがたてられ、このフラグの確認に
より前工程の搬送装置のワークの前進動作が開始され、
各搬送用サーボモータの後進起動信号が有りの場合に前
記記憶手段に各フラグがたてられ、このフラグの確認に
より次工程の搬送装置のワークの後進動作が開始される
ことを特徴とする生産ラインにおける搬送装置の制御方
法。3. The transport device of the preceding step according to claim 2, wherein each flag is set in the storage means of the control device of the production line when there is a forward drive signal for each transport servo motor. The forward movement of the workpiece is started,
Each flag is set in the storage means when there is a backward drive signal for each conveying servomotor, and the backward movement of the work of the conveying device in the next step is started by checking the flag. A method of controlling a carrier device in a line.
ワーク保持部材の初期位置からの後進動作は、該初期位
置から所定距離上昇した後、前工程の工作機械のワーク
受下方まで後進され、その後に該ワーク受上方のワーク
受取位置まで上昇される工程からなり、ワーク保持部材
の前進動作は、該受取位置から次工程の工作機械のワー
ク受上方まで前進され、その後に該ワーク受下方のワー
ク受渡位置まで下降される工程からなり、ワーク保持部
材のワーク受渡位置からの後進動作は、該受渡位置から
初期位置の上方まで後進され、その後に初期位置の高さ
まで下降される工程からなることを特徴とする生産ライ
ンにおける搬送装置の制御方法。4. The backward motion of the work holding member according to claim 1, wherein the work holding member is moved backward from the initial position by a predetermined distance, and then is moved backward to a position below the work receiving part of the machine tool in the previous step. Then, the work holding member is moved upward to the work receiving position above the work receiving position, and the advancing operation of the work holding member is advanced from the receiving position to above the work receiving position of the machine tool in the next process, and thereafter the work receiving position is lowered. Of the work holding member, and the backward movement of the work holding member from the work delivering position includes the step of moving backward from the delivery position to above the initial position and then descending to the height of the initial position. A method for controlling a transfer device in a production line, comprising:
機械の中間位置に、前工程の工作機械から次工程の工作
機械にワークを搬送する搬送装置をそれぞれ配設した生
産ラインにおいて、 上記各搬送装置を統括して制御する主制御装置と、 上記各搬送装置の搬送動作をそれぞれ制御する複数の副
制御装置とを備え、 前記主制御装置は、それぞれの搬送装置に対する次工程
の搬送装置の前進動作開始を確認する手段と、 上記前進動作開始の確認手段により次工程の搬送装置の
前進動作開始が確認された場合に、前工程の搬送装置の
前進動作を順次指令する前進指令手段と、 それぞれの搬送装置に対する前工程の搬送装置の後進動
作開始を確認する手段と、 上記後進動作開始の確認手段により前工程の搬送装置の
後進動作開始が確認された場合に、次工程の搬送装置の
後進動作を順次指令する後進指令手段とを具備すること
を特徴とする生産ラインにおける搬送装置の制御装置。5. A production line in which a transfer device for transferring a work from a machine tool in a previous process to a machine tool in a next process is provided at an intermediate position of a plurality of machine tools arranged at predetermined intervals, A main controller that controls each of the transfer devices in an integrated manner, and a plurality of sub-control devices that respectively control the transfer operation of each of the transfer devices, wherein the main control device transfers the next step to each transfer device. A means for confirming the start of the forward movement of the apparatus, and a forward instruction means for sequentially instructing the forward movement of the conveying apparatus in the previous process when the forward movement start confirmation means confirms the start of the forward movement of the conveying apparatus in the next step. And a means for confirming the backward movement start of the preceding step conveyance apparatus for each conveying apparatus, and a case where the backward movement start of the preceding step conveyance apparatus is confirmed by the above-mentioned backward movement start confirmation means And a reverse drive command means for sequentially instructing the reverse operation of the transfer device in the next step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07338277A JP3134046B2 (en) | 1995-11-30 | 1995-11-30 | Control method of transport device in production line and its device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP07338277A JP3134046B2 (en) | 1995-11-30 | 1995-11-30 | Control method of transport device in production line and its device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09155681A true JPH09155681A (en) | 1997-06-17 |
| JP3134046B2 JP3134046B2 (en) | 2001-02-13 |
Family
ID=18316615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP07338277A Expired - Fee Related JP3134046B2 (en) | 1995-11-30 | 1995-11-30 | Control method of transport device in production line and its device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3134046B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000107988A (en) * | 1998-09-30 | 2000-04-18 | Toyoda Mach Works Ltd | Conveyer device |
| JP2000107989A (en) * | 1998-09-30 | 2000-04-18 | Toyoda Mach Works Ltd | Conveying device and conveying method |
| JP2003039285A (en) * | 2001-07-30 | 2003-02-12 | Howa Mach Ltd | Carrying control device for transfer line |
| WO2013035693A1 (en) * | 2011-09-05 | 2013-03-14 | コマツＮｔｃ株式会社 | Machine tool line |
| CN104096858A (en) * | 2014-06-23 | 2014-10-15 | 浙江陀曼精密机械有限公司 | Full-automatic production line for processing miniature bearing rings |
| JP2018118329A (en) * | 2017-01-23 | 2018-08-02 | オークマ株式会社 | Production line and opening/closing control method of intermediate shutter in production line |
| CN108620605A (en) * | 2018-07-17 | 2018-10-09 | 浙江信石轴承有限公司 | A kind of bearing internal external circle synchronizes automatic production line and production technology |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7123620B2 (en) | 2017-06-16 | 2022-08-23 | キヤノン株式会社 | Production system, production equipment, production system control method, control program, recording medium |
-
1995
- 1995-11-30 JP JP07338277A patent/JP3134046B2/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000107988A (en) * | 1998-09-30 | 2000-04-18 | Toyoda Mach Works Ltd | Conveyer device |
| JP2000107989A (en) * | 1998-09-30 | 2000-04-18 | Toyoda Mach Works Ltd | Conveying device and conveying method |
| JP2003039285A (en) * | 2001-07-30 | 2003-02-12 | Howa Mach Ltd | Carrying control device for transfer line |
| WO2013035693A1 (en) * | 2011-09-05 | 2013-03-14 | コマツＮｔｃ株式会社 | Machine tool line |
| JP2013052474A (en) * | 2011-09-05 | 2013-03-21 | Komatsu Ntc Ltd | Machine tool line |
| CN103717350A (en) * | 2011-09-05 | 2014-04-09 | 小松Ntc株式会社 | Machine tool line |
| CN103717350B (en) * | 2011-09-05 | 2015-06-10 | 小松Ntc株式会社 | Machine tool line |
| CN104096858A (en) * | 2014-06-23 | 2014-10-15 | 浙江陀曼精密机械有限公司 | Full-automatic production line for processing miniature bearing rings |
| JP2018118329A (en) * | 2017-01-23 | 2018-08-02 | オークマ株式会社 | Production line and opening/closing control method of intermediate shutter in production line |
| CN108620605A (en) * | 2018-07-17 | 2018-10-09 | 浙江信石轴承有限公司 | A kind of bearing internal external circle synchronizes automatic production line and production technology |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3134046B2 (en) | 2001-02-13 |
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