TW201718371A - Pallet transport device - Google Patents

Abstract

A pallet transport device is provided with: a plurality of pallet rails for mounting pallets thereon; pallet feeding sections for transporting the pallets; a pallet movement section for moving a pallet mounted on one pallet rail to the other pallet rail; a rotatable plate capable of rotating about a vertical rotation axis; a short rail provided on the periphery of the rotatable plate; pallet feeding assist sections for moving a pallet from a pallet rail to the short rail or moving a pallet mounted on the short rail to a pallet rail; and lifting-lowering means for lifting and lowering the pallet feeding assist sections. The plurality of pallet rails are configured so that lines extending from the pallet rails intersect each other on the rotation axis of the rotatable plate at a predetermined angle.

Description

托板搬送裝置 Pallet conveying device

本發明係關於一種將托板能夠移動地搭載之複數個托板軌道設置於水平之同一面內之托板搬送裝置。 The present invention relates to a pallet transport apparatus in which a plurality of pallet rails that are movably mounted on a pallet are placed in the same plane of the horizontal.

有於生產線中搬送工件且於搬送目的地藉由工作機對該工件進行既定加工之搬送裝置。JP2011-93032A中揭示有如下托板搬送裝置：將用以載置工件之複數個托板，於由2根直線部分、及將直線部分彼此相連之2根曲線構成之軌道(track)形軌道上以相對於工作機循環之方式進行搬送。 A conveying device that transports a workpiece in a production line and performs predetermined processing on the workpiece by a working machine at a conveying destination. JP 2011-93032 A discloses a pallet conveying device in which a plurality of pallets for placing a workpiece are placed on a track-shaped rail composed of two straight portions and two curved lines connecting the straight portions to each other. It is transported in a manner relative to the working machine cycle.

該搬送裝置具備：第一及第二托板軌道，相互平行地延伸；第一及第二托板傳送部，使托板沿第一及第二托板軌道搬送；以及托板移動部，使複數個托板自第一或第二托板軌道之端緣移動至第二或第一托板軌道。托板移動部於與第一及第二托板軌道之各兩端部面對面之兩個位置之間以半圓狀之軌道移動。 The conveying device includes: first and second pallet rails extending in parallel with each other; first and second pallet conveying portions for transporting the pallets along the first and second pallet rails; and pallet moving portions for A plurality of pallets are moved from the end edges of the first or second pallet rails to the second or first pallet rails. The pallet moving portion moves in a semicircular orbit between two positions facing the respective end portions of the first and second pallet rails.

此種托板搬送裝置中，托板藉由第一或第二托板傳送部搭載於第一或第二托板軌道上搬送，然後，藉由托板移動部自第一或第二托板軌道之端緣以半圓狀之軌道移動。托板連接於第二或第一托板軌道之端緣，藉由第二或第一托板傳送部移動至第二或第一托板軌道而再次搭載於第二或第一托板軌道。由此，複數個托板以軌道形軌道循環。 In the pallet transport device, the pallet is transported by the first or second pallet transport unit on the first or second pallet rail, and then moved from the first or second pallet by the pallet moving portion. The end edge of the track moves in a semicircular orbit. The pallet is coupled to the end edge of the second or first pallet rail and is again mounted on the second or first pallet rail by the second or first pallet transport portion moving to the second or first pallet rail. Thus, a plurality of pallets circulate in a track-shaped track.

上述托板搬送裝置具備相互平行地延伸之第一及第二托板軌道。與此相對，有時要求將複數個托板軌道以不平行且其延長線交叉之方式設置。此種情形時，考慮使用上述托板搬送裝置中之托板移動部，使已到達一托板軌道之端部之托板移動至以與該托板軌道交叉之方式設置之另一托板軌道之端部。 The pallet conveying device includes first and second pallet rails extending in parallel with each other. On the other hand, it is sometimes required to arrange a plurality of pallet rails in such a manner that they are not parallel and their extension lines intersect. In such a case, it is conceivable to use the pallet moving portion in the pallet conveying device to move the pallet that has reached the end of one pallet rail to another pallet rail that is disposed to intersect the pallet rail. The end.

然而，上述托板搬送裝置中，托板傳送部係沿著托板軌道搬送托板者，於藉由托板移動部使已到達托板軌道之端部之托板移動之情形時，不容許與托板卡合之情況。因此，托板移動部需要能使托板自托板軌道之端部以半圓狀之軌道確實移動之構造。 However, in the above-described pallet transport apparatus, the pallet transporting portion transports the pallet along the pallet rail, and when the pallet moving portion reaches the pallet that has reached the end portion of the pallet rail, it is not allowed. The case of engagement with the pallet. Therefore, the pallet moving portion needs to have a configuration in which the pallet can be surely moved from the end portion of the pallet rail in a semicircular orbit.

即，上述托板搬送裝置中之托板傳送部使托板沿著托板軌道搬送，另一方面，於該托板到達托板軌道之端部，藉由托板移動部使該托板移動之情形時，需要解除與該托板之卡合。因此，托板傳送部無法使位於托板軌道之端部之托板移動。 That is, the pallet transporting portion of the pallet transporting device transports the pallet along the pallet rail, and the pallet is moved to the end portion of the pallet rail, and the pallet is moved by the pallet moving portion. In this case, it is necessary to release the engagement with the pallet. Therefore, the pallet conveying portion cannot move the pallet at the end portion of the pallet rail.

就無法使已到達托板軌道之端部之托板移動之托板傳送部而言，係無法使自一托板軌道移動至另一托板軌道之端緣附近之托板，再移動至另一托板軌道。由此，難以使托板迅速地自一托板軌道移動至另一托板軌道。 In the case of a pallet conveying portion that cannot move the pallet that has reached the end of the pallet rail, it is impossible to move the pallet from the one pallet rail to the pallet near the edge of the other pallet rail, and then move to another A pallet track. Thus, it is difficult to quickly move the pallet from one pallet rail to the other pallet rail.

本發明之目的在於提供如下之托板搬送裝置，即，能夠確實地進行托板自以延長線交叉之方式設置之一托板軌道之端部之移動、以及托板自另一托板軌道之端緣附近向另一托板軌道之再移動。 It is an object of the present invention to provide a pallet conveying apparatus capable of reliably moving a pallet from which an end portion of a pallet rail is disposed so as to intersect with an extension line, and a pallet from another pallet rail. Re-move to the other pallet track near the edge.

根據本發明之一形態，具備：複數個托板軌道，於水平之同 一面內將托板能夠移動地搭載；托板傳送部，將托板沿著托板軌道搬送；托板移動部，設置於複數個托板軌道之端部，使搭載於複數個托板軌道內之任一個托板軌道之托板移動至其他托板軌道，托板移動部具備：旋轉板，能夠以鉛垂方向之旋轉軸為中心而旋轉；1個或2個以上之短軌道，設置於旋轉板之周圍；托板傳送輔助部，使托板自托板軌道移動至短軌道或使托板自短軌道移動至托板軌道；以及升降部，使托板傳送輔助部升降；複數個托板軌道以其延長線彼此以既定角度於旋轉板之旋轉軸上交叉之方式設置。 According to one aspect of the present invention, there are: a plurality of pallet tracks, at the same level The pallet is movably mounted on one side; the pallet transporting portion transports the pallet along the pallet rail; and the pallet moving portion is disposed at an end of the plurality of pallet rails to be mounted in a plurality of pallet rails The pallet of any of the pallet rails is moved to the other pallet rails, and the pallet moving section includes a rotating plate that can rotate around the rotation axis in the vertical direction; one or two or more short rails are disposed on The periphery of the rotating plate; the pallet conveying auxiliary portion moves the pallet from the pallet rail to the short rail or moves the pallet from the short rail to the pallet rail; and the lifting portion enables the pallet conveying auxiliary portion to be lifted and lowered; The plate rails are disposed such that their extension lines cross each other at a predetermined angle on the rotation axis of the rotary plate.

6‧‧‧工件 6‧‧‧Workpiece

9‧‧‧座架 9‧‧‧Rack

10‧‧‧托板搬送裝置 10‧‧‧ pallet transporter

11‧‧‧托板 11‧‧‧Board

12‧‧‧直線運動塊 12‧‧‧Linear motion block

13‧‧‧台座 13‧‧‧ pedestal

13a‧‧‧卡止孔 13a‧‧‧ card hole

13b‧‧‧貫通孔 13b‧‧‧through hole

14‧‧‧卡止構件 14‧‧‧Clocking components

14a、14b、42a、42b、82a、82b‧‧‧凹凸 14a, 14b, 42a, 42b, 82a, 82b‧‧‧ bump

16‧‧‧搭載具 16‧‧‧Equipment

21‧‧‧第一托板軌道 21‧‧‧First pallet track

22‧‧‧支承板 22‧‧‧Support plate

23‧‧‧直線運動導軌 23‧‧‧Line motion guide

31‧‧‧第二托板軌道 31‧‧‧Second pallet track

41‧‧‧第一托板傳送部 41‧‧‧First Board Transfer Department

42‧‧‧循環帶 42‧‧‧Circular zone

43‧‧‧伺服馬達 43‧‧‧Servo motor

43a‧‧‧旋轉軸 43a‧‧‧Rotary axis

44‧‧‧從動滑輪 44‧‧‧driven pulley

45‧‧‧驅動滑輪 45‧‧‧ drive pulley

46‧‧‧轉向滑輪 46‧‧‧Transfer pulley

47‧‧‧支承材 47‧‧‧Support material

48‧‧‧安裝具 48‧‧‧Installation

51‧‧‧第二托板傳送部 51‧‧‧Second Board Transfer Department

61‧‧‧托板移動部 61‧‧‧Board moving department

62‧‧‧旋轉板 62‧‧‧Rotating plate

63‧‧‧短軌道 63‧‧‧Short track

64‧‧‧分度單元 64‧‧‧division unit

64a‧‧‧本體部 64a‧‧‧ Body Department

64b‧‧‧旋轉桿 64b‧‧‧Rotary rod

65‧‧‧台板 65‧‧‧ board

71‧‧‧托板卡止機構 71‧‧‧ pallet locking mechanism

72‧‧‧升降桿 72‧‧‧ lifting rod

72a‧‧‧凸緣 72a‧‧‧Flange

73‧‧‧彈性體、螺旋彈簧 73‧‧‧ Elastomers, coil springs

74‧‧‧第一氣缸 74‧‧‧First cylinder

74a、75a、95a、97a‧‧‧出沒桿 74a, 75a, 95a, 97a‧‧‧ infested

74b、75b、95b、97b‧‧‧本體 74b, 75b, 95b, 97b‧‧‧ ontology

75‧‧‧第二氣缸 75‧‧‧second cylinder

76‧‧‧支柱 76‧‧‧ pillar

77‧‧‧揺動片 77‧‧‧揺片

81‧‧‧托板傳送輔助部 81‧‧‧Board Transfer Assistant

82‧‧‧輔助循環帶 82‧‧‧Auxiliary circulation belt

83‧‧‧輔助循環機構 83‧‧‧Auxiliary circulation mechanism

83a‧‧‧旋轉軸 83a‧‧‧Rotary axis

84‧‧‧輔助驅動滑輪 84‧‧‧Auxiliary drive pulley

90‧‧‧樞軸支撐柱 90‧‧‧Pivot support column

91‧‧‧輔助板 91‧‧‧Auxiliary board

92‧‧‧導引材 92‧‧‧ Guide material

93‧‧‧輔助滑輪 93‧‧‧Auxiliary pulley

95、97‧‧‧液壓氣缸(升降部) 95, 97‧‧‧Hydraulic cylinders (lifting department)

96‧‧‧助軌道 96‧‧‧Assistance track

96a‧‧‧支點 96a‧‧‧ pivot

L‧‧‧長度 L‧‧‧ length

O‧‧‧旋轉中心 O‧‧‧ Rotation Center

R‧‧‧曲率 R‧‧‧ curvature

W‧‧‧短軌道之長度 W‧‧‧ Length of short track

L‧‧‧托板之軌道方向之長度 Length of the track direction of the L‧‧‧ pallet

X、Y、Z‧‧‧軸 X, Y, Z‧‧‧ axes

圖1係本發明之實施形態之托板搬送裝置之俯視圖。 Fig. 1 is a plan view showing a pallet conveying device according to an embodiment of the present invention.

圖2係圖1所示之托板搬送裝置之俯視圖，且表示搬送托板直至到達托板軌道之端部之狀態。 Fig. 2 is a plan view showing the pallet conveying device shown in Fig. 1 and showing a state in which the pallet is conveyed until reaching the end portion of the pallet rail.

圖3係圖1所示之托板搬送裝置之俯視圖，且表示將托板自托板軌道之端部搭載於短軌道之狀態。 Fig. 3 is a plan view showing the pallet transporting apparatus shown in Fig. 1, and showing a state in which the pallet is mounted on the short rail from the end of the pallet rail.

圖4係圖1中之A-A線剖面圖，且表示托板搬送裝置之一托板軌道之正面。 Figure 4 is a cross-sectional view taken along line A-A of Figure 1, and shows the front side of one of the pallet rails of the pallet transporting device.

圖5係圖2中之B-B線剖面圖，且表示一托板軌道之托板卡合於托板傳送輔助部之狀態。 Fig. 5 is a cross-sectional view taken along line B-B of Fig. 2, showing a state in which a pallet of a pallet rail is engaged with a pallet conveying assisting portion.

圖6係圖3之C-C線剖面圖，且表示一托板軌道之托板藉由托板傳送輔助部移動至短軌道之狀態。 Fig. 6 is a cross-sectional view taken along line C-C of Fig. 3, and shows a state in which the pallet of a pallet rail is moved to the short rail by the pallet conveying assisting portion.

圖7係圖1之D-D線剖面圖。 Figure 7 is a cross-sectional view taken along line D-D of Figure 1.

圖8係自圖4之G方向觀察本發明之實施形態之托板搬送裝置中使用之托板所得之俯視圖。 Fig. 8 is a plan view showing a pallet used in the pallet conveying apparatus according to the embodiment of the present invention as seen from the direction G in Fig. 4;

圖9係圖3之E-E線剖面圖，且表示托板移動部。 Fig. 9 is a cross-sectional view taken along line E-E of Fig. 3, showing a pallet moving portion.

圖10係與圖9對應之剖面圖，且表示搭載於短軌道之托板之移動藉由托板卡止機構而禁止之狀態。 Fig. 10 is a cross-sectional view corresponding to Fig. 9 and showing a state in which the movement of the pallet mounted on the short rail is prohibited by the pallet locking mechanism.

圖11係與圖3對應之俯視圖，且表示使旋轉板與搭載於短軌道之托板一併旋轉之狀態。 Fig. 11 is a plan view corresponding to Fig. 3, and shows a state in which the rotating plate and the pallet mounted on the short rail are rotated together.

圖12係圖11之F-F線剖面圖，且表示解除托板卡止機構而容許搭載於短軌道之托板之移動之狀態。 Fig. 12 is a cross-sectional view taken along line F-F of Fig. 11, and shows a state in which the pallet locking mechanism is released and the movement of the pallet mounted on the short rail is allowed.

圖13係與圖12對應之剖面圖，且表示藉由升降部使托板傳送輔助部下降之狀態。 Fig. 13 is a cross-sectional view corresponding to Fig. 12, showing a state in which the pallet transfer assisting portion is lowered by the elevating portion.

圖14係與圖10對應之剖面圖，且表示藉由升降部使托板傳送輔助部下降之狀態。 Fig. 14 is a cross-sectional view corresponding to Fig. 10, showing a state in which the pallet transfer assisting portion is lowered by the elevating portion.

圖15係與圖12對應之剖面圖，且表示藉由輔助軌道升降部使輔助軌道與托板傳送輔助部一併下降之狀態。 Fig. 15 is a cross-sectional view corresponding to Fig. 12, showing a state in which the auxiliary rail is lowered by the auxiliary rail lifting portion together with the pallet conveying assisting portion.

圖16係與圖10對應之剖面圖，且表示藉由輔助軌道升降部使輔助軌道與托板傳送輔助部一併下降之狀態。 Fig. 16 is a cross-sectional view corresponding to Fig. 10, showing a state in which the auxiliary rail is lowered by the auxiliary rail lifting portion together with the pallet conveying assisting portion.

圖17係與圖1對應之俯視圖，且表示包含托板軌道之端部和與其相連之短軌道之端部之彼此相向之面受到曲面加工之狀態之放大圖者。 Fig. 17 is a plan view corresponding to Fig. 1, and shows an enlarged view of a state in which the faces of the end portions of the pallet track and the end portions of the short rails connected thereto are subjected to curved surface processing.

以下，一面參照圖式，一面對本發明之實施形態進行說明。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

圖1中表示本發明之實施形態之托板搬送裝置10。各圖中， 設定彼此正交之X、Y、Z之3軸。將X軸設為大致水平橫方向，Y軸設為大致水平前後方向，Z軸設為沿鉛垂方向延伸之方向，對托板搬送裝置10之構成進行說明。 Fig. 1 shows a pallet transporting apparatus 10 according to an embodiment of the present invention. In each figure, Set the three axes of X, Y, and Z that are orthogonal to each other. The configuration of the pallet transport device 10 will be described with the X-axis being substantially horizontal and the Y-axis being substantially horizontally oriented, and the Z-axis being oriented in the vertical direction.

托板搬送裝置10具備在水平之同一面內將托板11能夠移動地搭載之複數個托板軌道21、31。本實施形態中，作為複數個托板軌道，具備沿水平前後方向(Y軸方向)延伸而設置之第一托板軌道21、以及沿大致水平橫方向(X軸方向)延伸而設置之第二托板軌道31。 The pallet transport device 10 includes a plurality of pallet rails 21 and 31 that are mounted to move the pallet 11 in the same plane in the horizontal direction. In the present embodiment, the plurality of pallet rails include a first pallet rail 21 extending in the horizontal front-rear direction (Y-axis direction) and a second pallet rail extending in the substantially horizontal horizontal direction (X-axis direction). Pallet track 31.

第一托板軌道21及第二托板軌道31將托板11能夠移動地搭載。第一托板軌道21及第二托板軌道31之各者設置於座架9(圖4~圖6)上，使托板11移動而進行搬送。 The first pallet rail 21 and the second pallet rail 31 movably mount the pallet 11 . Each of the first pallet rail 21 and the second pallet rail 31 is provided on the mount 9 (Figs. 4 to 6), and the pallet 11 is moved and transported.

第一托板軌道21及第二托板軌道31因具有相同構造，故以第一托板軌道21為代表進行說明。第一托板軌道21以水平狀態搭載托板11。如圖7中詳細所示，第一托板軌道21具備：直接固定並設置於座架9上之支承板22，以及藉由螺固而固定於支承板22之上緣之市售之直線運動導軌23。 Since the first pallet rail 21 and the second pallet rail 31 have the same structure, the first pallet rail 21 will be described as a representative. The first pallet rail 21 is mounted with the pallet 11 in a horizontal state. As shown in detail in FIG. 7, the first pallet rail 21 is provided with a support plate 22 that is directly fixed and disposed on the mount 9, and a linear motion that is fixed to the upper edge of the support plate 22 by screwing. Guide rail 23.

搭載於第一托板軌道21及第二托板軌道31之托板11具有：能夠移動地支承於第一托板軌道21及第二托板軌道31上之直線運動塊12，螺固於直線運動塊12之台座13，以及設置於台座13之卡止構件14。直線運動塊12以跨越直線運動導軌23之方式形成。 The pallet 11 mounted on the first pallet rail 21 and the second pallet rail 31 has a linear motion block 12 movably supported on the first pallet rail 21 and the second pallet rail 31, and is screwed to a straight line. The pedestal 13 of the moving block 12 and the locking member 14 provided on the pedestal 13. The linear motion block 12 is formed to extend across the linear motion guide rail 23.

直線運動塊12與直線運動導軌23成對地出售。直線運動塊12較佳為具備輥保持器(圖示省略)。藉由使用具備輥保持器之直線運動塊12，一方面限制寬度方向之移動、以及相對於第一托板軌道21及第二托板 軌道31之傾動，一方面顯著減輕托板11於第一托板軌道21及第二托板軌道31上移動時所產生之阻力。 The linear motion block 12 is sold in pairs with the linear motion guide 23. The linear motion block 12 is preferably provided with a roller holder (not shown). By using the linear motion block 12 provided with the roller holder, on the one hand, the movement in the width direction is restricted, and relative to the first pallet rail 21 and the second pallet The tilting of the track 31, on the one hand, significantly reduces the resistance generated when the pallet 11 moves on the first pallet rail 21 and the second pallet rail 31.

於台座13之上表面設置有用以搭載工件6之搭載具16。搭載具16配置於台座13之一側部。藉由搭載具16，工件6固定於台座13。搭載具16之構造根據以搭載於托板11之狀態而加工之工件6之種類而適當變更。直線運動塊12固定於台座13之另一側部。卡止構件14設置於台座13中之直線運動塊12與搭載具16之間。 A mount 16 for mounting the workpiece 6 is provided on the upper surface of the pedestal 13. The mounting member 16 is disposed on one side of the pedestal 13. The workpiece 6 is fixed to the pedestal 13 by the mounting member 16. The structure of the mounting tool 16 is appropriately changed depending on the type of the workpiece 6 processed in the state of being mounted on the pallet 11 . The linear motion block 12 is fixed to the other side of the pedestal 13. The locking member 14 is disposed between the linear motion block 12 in the pedestal 13 and the mounting tool 16.

如此，直線運動塊12以跨越第一托板軌道21及第二托板軌道31中之直線運動導軌23之方式能夠移動地受到支承。因此，於台座13之一側部經由直線運動塊12支承於第一托板軌道21及第二托板軌道31之狀態下，托板11亦以水平狀態而能夠移動地搭載於第一托板軌道21及第二托板軌道31。 In this manner, the linear motion block 12 is movably supported so as to straddle the linear motion guide rails 23 of the first pallet rail 21 and the second pallet rail 31. Therefore, in a state where one side of the pedestal 13 is supported by the first pallet rail 21 and the second pallet rail 31 via the linear motion block 12, the pallet 11 is also movably mounted on the first pallet in a horizontal state. Track 21 and second pallet track 31.

此處，雖省略圖示，但對工件6進行加工之工作機係沿著第一托板軌道21及第二托板軌道31而設置。於沿著第一托板軌道21及第二托板軌道31設置有複數個工作機之情形時，托板11中，沿著第一托板軌道21及第二托板軌道31之長度方向之台座13之長度L(圖1)，較佳為形成得與沿著第一托板軌道21及第二托板軌道31設置之各工作機所設置的間距相同或較短。 Here, although not shown, the working machine for processing the workpiece 6 is provided along the first pallet rail 21 and the second pallet rail 31. In the case where a plurality of working machines are disposed along the first pallet rail 21 and the second pallet rail 31, the pallet 11 is along the length direction of the first pallet rail 21 and the second pallet rail 31. The length L (Fig. 1) of the pedestal 13 is preferably formed to be the same or shorter than the pitch set by each of the working machines disposed along the first pallet rail 21 and the second pallet rail 31.

據此，若複數個托板11隔開既定間距而於第一托板軌道21及第二托板軌道31上移動，則複數個托板11以水平狀態之台座13之一側部向工作機側突出之方式與各工作機面對面。因此，可藉由工作機對經由搭載具16而搭載於一側部之工件6進行加工。 Accordingly, if a plurality of pallets 11 are moved on the first pallet rail 21 and the second pallet rail 31 with a predetermined pitch, the plurality of pallets 11 are sideways of the pedestal 13 in the horizontal state to the working machine. The way the side protrudes is face to face with each working machine. Therefore, the workpiece 6 mounted on one side via the mounting tool 16 can be processed by the working machine.

另外，於台座13之另一側部，形成有供後述之托板卡止機構71中之升降桿72(圖9、圖10)進入之卡止孔13a。卡止孔13a為了使升降桿72之上端能夠進入，而具有較升降桿72之上端外徑稍大之內徑。卡止構件14之詳細情況將於以後進行敘述。 Further, on the other side portion of the pedestal 13, a locking hole 13a into which the elevating rod 72 (Figs. 9 and 10) of the pallet locking mechanism 71 to be described later enters is formed. The locking hole 13a has an inner diameter slightly larger than the outer diameter of the upper end of the lifting rod 72 in order to allow the upper end of the lifting rod 72 to enter. The details of the locking member 14 will be described later.

如圖1所示，本實施形態中之托板搬送裝置10具備：搬送搭載於第一托板軌道21之托板11之第一托板傳送部41，以及搬送搭載於第二托板軌道31之托板11之第二托板傳送部51。第一托板傳送部41將托板11沿著第一托板軌道21搬送。第二托板傳送部51將托板11沿著第二托板軌道31搬送。 As shown in FIG. 1, the pallet transport apparatus 10 of the present embodiment includes a first pallet transport unit 41 that transports the pallet 11 mounted on the first pallet rail 21, and is transported and mounted on the second pallet rail 31. The second pallet transfer portion 51 of the pallet 11. The first pallet transport unit 41 transports the pallet 11 along the first pallet rail 21. The second pallet transport unit 51 transports the pallet 11 along the second pallet rail 31.

第一托板傳送部41及第二托板傳送部51因具有相同構造，故以下以第一托板傳送部41為代表進行說明。 Since the first pallet transport unit 41 and the second pallet transport unit 51 have the same structure, the first pallet transport unit 41 will be described below as a representative.

如圖1及圖4所示，第一托板傳送部41具備：沿著第一托板軌道21而呈環形設置之循環帶42，以及作為使循環帶42循環之循環機構之伺服馬達43(圖4)。循環帶42形成為能夠與托板11卡合。 As shown in FIGS. 1 and 4, the first pallet transfer portion 41 includes an endless belt 42 that is annularly disposed along the first pallet rail 21, and a servo motor 43 that is a circulation mechanism that circulates the endless belt 42 ( Figure 4). The endless belt 42 is formed to be engageable with the pallet 11.

如圖4所示，於第一托板軌道21中之支承板22之四角設置有從動滑輪44。循環帶42以包圍該等四個從動滑輪44之方式捲繞於從動滑輪44。 As shown in FIG. 4, a driven pulley 44 is provided at four corners of the support plate 22 in the first pallet track 21. The endless belt 42 is wound around the driven pulley 44 so as to surround the four driven pulleys 44.

伺服馬達43設置於支承板22。於伺服馬達43之旋轉軸43a安裝有驅動滑輪45。驅動滑輪45與四個從動滑輪44設置於同一面上。第一托板傳送部41具有一對轉向滑輪46，該一對轉向滑輪46以將循環帶42捲繞於驅動滑輪45之方式使循環帶42轉向。一對轉向滑輪46設置於驅動滑輪之附近且樞軸支撐於支承板22。 The servo motor 43 is provided on the support plate 22. A drive pulley 45 is attached to the rotating shaft 43a of the servo motor 43. The drive pulley 45 and the four driven pulleys 44 are disposed on the same surface. The first pallet transport portion 41 has a pair of diverting pulleys 46 that steer the endless belt 42 so as to wind the endless belt 42 around the drive pulley 45. A pair of diverting pulleys 46 are disposed adjacent to the drive pulleys and pivotally supported by the support plates 22.

若伺服馬達43利用來自未圖示之控制器之指令而作動，則旋轉軸43a與驅動滑輪45一併旋轉。利用驅動滑輪45之旋轉，循環帶42以包圍四個從動滑輪44之狀態循環。 When the servo motor 43 is actuated by a command from a controller (not shown), the rotary shaft 43a rotates together with the drive pulley 45. By the rotation of the drive pulley 45, the endless belt 42 circulates in a state of surrounding the four driven pulleys 44.

循環帶42為所謂的齒形帶。循環帶42如圖4之放大圖所示，為凹凸42a、42b於長度方向交替地形成之帶。凹凸42a、42b沿循環帶42之寬度方向延伸。凹凸42a、42b形成為能夠與托板11之凹凸14a、14b卡合。凹凸14a、14b形成於托板11之卡止構件14。 The endless belt 42 is a so-called toothed belt. As shown in an enlarged view of Fig. 4, the endless belt 42 is a belt in which the unevenness portions 42a and 42b are alternately formed in the longitudinal direction. The unevenness 42a, 42b extends in the width direction of the endless belt 42. The unevenness 42a, 42b is formed so as to be engageable with the unevenness 14a, 14b of the pallet 11. The unevenness 14a, 14b is formed in the locking member 14 of the pallet 11.

卡止構件14以與直線運動塊12相同之方式設置於台座13之下側。於托板11重合於循環帶42之狀態下，卡止構件14卡合於循環帶42。具體而言，若卡止構件14重合於循環帶42，則卡止構件14之凹凸14a、14b與循環帶42之凹凸42a、42b彼此卡合。若卡止構件14離開循環帶42，則解除循環帶42之凹凸42a、42b與卡止構件14之凹凸14a、14b之卡合。 The locking member 14 is provided on the lower side of the pedestal 13 in the same manner as the linear motion block 12. The locking member 14 is engaged with the endless belt 42 in a state where the pallet 11 is superposed on the endless belt 42. Specifically, when the locking member 14 is superposed on the endless belt 42, the concavities and convexities 14a and 14b of the locking member 14 and the concavities and convexities 42a and 42b of the endless belt 42 are engaged with each other. When the locking member 14 is separated from the endless belt 42, the concavities and convexities 42a and 42b of the endless belt 42 are released from engagement with the concavities and convexities 14a and 14b of the locking member 14.

若托板11之凹凸14a、14b與循環帶42之凹凸42a、42b卡合，則托板11無法沿著第一托板軌道21及第二托板軌道31自如地移動。由此，若對伺服馬達43進行驅動而使卡合於托板11之循環帶42循環，則托板11與循環帶42一併移動。因循環帶42沿著第一托板軌道而設置，故托板11沿著第一托板軌道搬送。同樣地，因第二托板傳送部51之循環帶42沿著第二托板軌道而設置，故托板11沿著第二托板軌道31搬送。 When the unevenness 14a, 14b of the pallet 11 is engaged with the unevenness 42a, 42b of the endless belt 42, the pallet 11 cannot move freely along the first pallet rail 21 and the second pallet rail 31. Accordingly, when the servo motor 43 is driven to circulate the endless belt 42 that is engaged with the pallet 11, the pallet 11 moves together with the endless belt 42. Since the endless belt 42 is disposed along the first pallet track, the pallet 11 is conveyed along the first pallet rail. Similarly, since the endless belt 42 of the second pallet conveying portion 51 is provided along the second pallet rail, the pallet 11 is conveyed along the second pallet rail 31.

此處，卡止構件14設置於台座13之移動方向之兩側。又，圖中之由符號47所示之構件為於從動滑輪44間支承循環帶42之支承材。支承材47防止繞從動滑輪44之循環帶42之鬆弛，且防止循環帶42離開卡止構件14。由符號48表示之構件為將支承材47安裝於支承板22之安裝具。 Here, the locking members 14 are provided on both sides of the moving direction of the pedestal 13. Further, the member indicated by reference numeral 47 in the figure is a support member for supporting the endless belt 42 between the driven pulleys 44. The support material 47 prevents slack around the endless belt 42 of the driven pulley 44 and prevents the endless belt 42 from leaving the locking member 14. The member indicated by reference numeral 48 is a fixture for mounting the support member 47 to the support plate 22.

如圖1所示，於第一托板軌道21及第二托板軌道31之端部附近，設置有托板移動部61。 As shown in FIG. 1, a pallet moving portion 61 is provided in the vicinity of the end portions of the first pallet rail 21 and the second pallet rail 31.

托板移動部61使托板11自第一托板軌道21、第二托板軌道31中之其中一者移動至另一者。 The pallet moving portion 61 moves the pallet 11 from one of the first pallet rail 21 and the second pallet rail 31 to the other.

本實施形態中，托板移動部61使托板11自第一托板軌道21移動至第二托板軌道31，並且使托板11自第二托板軌道31移動至第一托板軌道21。 In the present embodiment, the pallet moving portion 61 moves the pallet 11 from the first pallet rail 21 to the second pallet rail 31, and moves the pallet 11 from the second pallet rail 31 to the first pallet rail 21 .

又，該托板移動部61具備：以鉛垂方向之旋轉軸為中心而能夠旋轉之旋轉板62，設置於旋轉板62之周圍之1個或2個以上之短軌道63，以及使旋轉板62旋轉之分度單元64(圖9、圖10、圖12)。 Further, the pallet moving portion 61 includes a rotating plate 62 that is rotatable about a rotation axis in the vertical direction, one or two or more short rails 63 provided around the rotating plate 62, and a rotating plate. 62 indexing unit 64 (Figs. 9, 10, 12).

本實施形態中，短軌道63於旋轉板62之旋轉圓周上以等角度間隔設置有偶數個。 In the present embodiment, the short rails 63 are provided in an even number at equal angular intervals on the rotation circumference of the rotary plate 62.

如圖9、圖10及圖12所示，分度單元64具有：設置於座架9之本體部64a，以及自本體部64a之上表面大致中央部分以鉛垂線為旋轉中心O而向上方突出之旋轉桿64b。旋轉桿64b以鉛垂線為旋轉中心O而能夠旋轉地設置於本體部64a。如圖1~圖3所示，旋轉桿64b之旋轉中心O位於第一托板軌道21及第二托板軌道31之延長線交叉之點。 As shown in FIG. 9, FIG. 10 and FIG. 12, the indexing unit 64 has a main body portion 64a provided on the mount 9, and a substantially central portion from the upper surface of the main body portion 64a protrudes upward with a vertical line as a rotation center O. Rotating rod 64b. The rotating lever 64b is rotatably provided in the main body portion 64a with the vertical line as the center of rotation O. As shown in FIGS. 1 to 3, the rotation center O of the rotating lever 64b is located at a point where the extension lines of the first pallet rail 21 and the second pallet rail 31 intersect.

旋轉板62為圓板，其中央以水平狀態螺固於旋轉桿64b之上端。分度單元64中，若旋轉桿64b利用來自未圖示之控制器之指令而旋轉，則如圖11之實線箭頭所示，旋轉板62以既定之角度旋轉。 The rotating plate 62 is a circular plate whose center is screwed to the upper end of the rotating rod 64b in a horizontal state. In the indexing unit 64, when the rotating lever 64b is rotated by a command from a controller (not shown), the rotating plate 62 is rotated at a predetermined angle as indicated by a solid arrow in FIG.

如圖1所示，於旋轉板62之周圍設置有1個或2個以上之短軌道63。短軌道63以複數個托板軌道21、31之延長線於旋轉板62之旋 轉軸上彼此交叉之角度為單位，或基於該角度於旋轉板62之旋轉圓周上設置有複數個。本實施形態中，以等角度間隔，4個短軌道63呈放射狀設置於旋轉板62之旋轉圓周上。 As shown in FIG. 1, one or two or more short rails 63 are provided around the rotating plate 62. The short track 63 is rotated by the extension line of the plurality of pallet rails 21, 31 on the rotating plate 62. The angles on which the rotating shafts cross each other are provided, or a plurality of them are provided on the rotating circumference of the rotating plate 62 based on the angle. In the present embodiment, the four short rails 63 are radially provided on the rotation circumference of the rotary plate 62 at equal angular intervals.

於使用了4根短軌道63之本實施形態中，台板65以自旋轉板62之旋轉中心O算起之位置相等之方式向徑向延伸而設置於旋轉板62。台板65以外端俯視時與圓形之旋轉板62之外周一致之方式設置。於第一托板軌道21及第二托板軌道31以90度交叉之本實施形態中，於旋轉板62中之以旋轉圓周方向之90度為單位之4處設置有台板65。 In the present embodiment in which the four short rails 63 are used, the platen 65 is provided in the rotating plate 62 so as to extend in the radial direction so as to be equal to the position from the rotation center O of the rotating plate 62. The outer end of the platen 65 is disposed so as to be aligned with the outer circumference of the circular rotating plate 62 when viewed from above. In the present embodiment in which the first pallet rail 21 and the second pallet rail 31 intersect at 90 degrees, the platen 65 is provided at four places in the rotating plate 62 at 90 degrees in the circumferential direction of rotation.

4根短軌道63經由台板65，以自旋轉中心O算起之位置相等之方式向徑向延伸而設置於旋轉板62之周圍。短軌道63之外端自旋轉板62之外周突出，以旋轉板62之旋轉圓周方向之90度為單位而設置有4處。 The four short rails 63 are radially extended and provided around the rotating plate 62 via the platen 65 so as to be equal in position from the center of rotation O. The outer end of the short rail 63 protrudes from the outer circumference of the rotating plate 62, and four places are provided in units of 90 degrees in the circumferential direction of rotation of the rotating plate 62.

短軌道63具有與第一托板軌道21及第二托板軌道31中之直線運動導軌23相同之剖面形狀。短軌道63之長度W(圖1)與托板11之軌道方向之長度L相同或更長。 The short rail 63 has the same cross-sectional shape as the linear motion guide 23 in the first pallet rail 21 and the second pallet rail 31. The length W (Fig. 1) of the short track 63 is the same as or longer than the length L of the track direction of the pallet 11.

若使短軌道63自與第一托板軌道21中之直線運動導軌23相連之狀態起，以旋轉板62之旋轉中心O為中心而轉動90度，則該短軌道63與第二托板軌道31中之直線運動導軌23相連。 If the short track 63 is rotated from the state in which the short track 63 is connected to the linear motion guide 23 in the first pallet track 21, and rotated 90 degrees around the rotation center O of the rotary plate 62, the short track 63 and the second pallet track are rotated. The linear motion guides 23 of 31 are connected.

而且，於短軌道63與第一托板軌道21及第二托板軌道31之直線運動導軌23相連之狀態下，托板11能夠自直線運動導軌23移動至短軌道63而搭載於短軌道63，又，能夠自短軌道63移動至直線運動導軌23而搭載於直線運動導軌23。 Further, in a state where the short rail 63 is connected to the linear motion guide rails 23 of the first pallet rail 21 and the second pallet rail 31, the pallet 11 can be moved from the linear motion guide 23 to the short rail 63 and mounted on the short rail 63. Further, the linear guide rail 23 can be mounted on the linear motion guide 23 by moving from the short rail 63 to the linear motion guide 23 .

如圖9、圖10及圖12所示，於旋轉板62，針對每個短軌道 63而設置有托板卡止機構71。托板卡止機構71於使托板11搭載於呈放射狀設置於旋轉板62之周圍之短軌道63之狀態下，限制托板11相對於短軌道63之相對移動。 As shown in FIG. 9, FIG. 10 and FIG. 12, on the rotating plate 62, for each short track 63 is provided with a pallet locking mechanism 71. The pallet locking mechanism 71 restricts the relative movement of the pallet 11 with respect to the short rail 63 in a state where the pallet 11 is mounted on the short rail 63 radially provided around the rotating plate 62.

本實施形態中，托板卡止機構71具備：設置於旋轉板62之升降桿72，對升降桿72賦予勢能之彈性體73，以及使升降桿72移動之第一氣缸74及第二氣缸75。升降桿72具有上端，該上端形成為能夠進入至搭載於短軌道63之托板11之卡止孔13a。彈性體73於升降桿72之上端進入至卡止孔13a之方向對升降桿72賦予勢能。第一氣缸74及第二氣缸75於升降桿72之上端脫離卡止孔13a之方向抵抗彈性體73之彈壓力而使升降桿72移動。 In the present embodiment, the pallet locking mechanism 71 includes an elevating rod 72 provided on the rotating plate 62, an elastic body 73 that imparts potential energy to the elevating rod 72, and a first cylinder 74 and a second cylinder 75 that move the elevating rod 72. . The lifting rod 72 has an upper end formed to be able to enter the locking hole 13a of the pallet 11 mounted on the short rail 63. The elastic body 73 imparts potential energy to the lifting rod 72 in the direction in which the upper end of the lifting rod 72 enters the locking hole 13a. The first cylinder 74 and the second cylinder 75 move the lifting rod 72 against the elastic pressure of the elastic body 73 in a direction in which the upper end of the lifting rod 72 is separated from the locking hole 13a.

於旋轉板62形成有貫通孔13b，升降桿72設置成貫通貫通孔13b而於鉛垂方向能夠移動。升降桿72中設置有凸緣72a。凸緣72a以升降桿72之上端進入至卡止孔13a之狀態，自下方與卡止孔13a之周圍之台座13之下表面接觸(圖10)。 A through hole 13b is formed in the rotating plate 62, and the lifting rod 72 is provided to penetrate the through hole 13b and is movable in the vertical direction. A flange 72a is provided in the lifting rod 72. The flange 72a comes into contact with the locking hole 13a at the upper end of the lifting rod 72, and comes into contact with the lower surface of the pedestal 13 around the locking hole 13a from below (Fig. 10).

作為彈性體之螺旋彈簧73以被壓縮於凸緣72a與旋轉板62之間之狀態而安裝。利用螺旋彈簧73之恢復力，將升降桿72向上方賦予勢能。 The coil spring 73 as an elastic body is attached in a state of being compressed between the flange 72a and the rotating plate 62. The potential of the lifting rod 72 is given upward by the restoring force of the coil spring 73.

於旋轉板62之下表面，支柱76朝向下方突出設置。揺動片77之大致中央樞軸支撐於支柱76之下端。揺動片77沿旋轉板62之圓周方向延伸而樞軸支撐，揺動片77之一端部樞軸支撐於升降桿72之下端。 On the lower surface of the rotating plate 62, the stay 76 protrudes downward. The substantially central pivot of the flap 77 is supported at the lower end of the post 76. The swaying piece 77 is pivotally supported along the circumferential direction of the rotating plate 62, and one end of the swaying piece 77 is pivotally supported at the lower end of the lifting rod 72.

座架9中設置有第一氣缸74及第二氣缸75。第一氣缸74於短軌道63與第一托板軌道21相連時，以出沒桿74a之上端與揺動片77 之另一端部相向之方式將本體74b安裝於座架9。第二氣缸75於短軌道63與第二托板軌道31相連時，以出沒桿75a之上端與揺動片77之另一端部相向之方式將本體75b安裝於座架9。 The first cylinder 74 and the second cylinder 75 are disposed in the mount 9. When the first cylinder 74 is connected to the first pallet rail 21 at the short rail 63, the upper end of the mast 74a and the flap 77 are attached. The other end portion is attached to the mount 9 in such a manner as to face the body 74b. When the short rail 63 is connected to the second pallet rail 31, the second cylinder 75 attaches the body 75b to the mount 9 such that the upper end of the mast 75a faces the other end of the flap 77.

如圖9及圖12所示，若於出沒桿74a、75a與揺動片77之另一端部相向之狀態下第一氣缸74、第二氣缸75使出沒桿74a、75a突出，則揺動片77揺動。因升降桿72之下端樞軸支撐於揺動片77之一端部，故升降桿72抵抗作為彈性體之螺旋彈簧73之彈壓力而向下方移動。升降桿72之上端脫離設置於托板11之卡止孔13a，從而搭載於短軌道63之托板11之自由移動成為可能。 As shown in FIG. 9 and FIG. 12, when the first cylinder 74 and the second cylinder 75 protrude from the outer rods 74a and 75a in a state in which the other ends of the ejector rods 74a and 75a and the swaying piece 77 are opposed to each other, the swaying piece is protruded. 77 swaying. Since the lower end of the lifting rod 72 is pivotally supported at one end of the swaying piece 77, the lifting rod 72 moves downward against the elastic pressure of the coil spring 73 as the elastic body. The upper end of the lifting rod 72 is separated from the locking hole 13a provided in the pallet 11, so that the free movement of the pallet 11 mounted on the short rail 63 becomes possible.

另一方面，如圖10所示，若第一氣缸74、第二氣缸75使出沒桿74a、75a沒入至本體74b、75b之內部，則升降桿72利用螺旋彈簧73之彈壓力而向上方移動。升降桿72之上端進入至設置於托板11之卡止孔13a。由此，限制搭載於短軌道63之托板11之自由移動。 On the other hand, as shown in FIG. 10, when the first cylinder 74 and the second cylinder 75 have the exit bars 74a and 75a immersed inside the main bodies 74b and 75b, the lift lever 72 is upward by the elastic pressure of the coil spring 73. mobile. The upper end of the lifting rod 72 enters the locking hole 13a provided in the pallet 11. Thereby, the free movement of the pallet 11 mounted on the short rail 63 is restricted.

當將托板11搭載於短軌道63時，托板卡止機構71如圖9所示，使第一氣缸74之出沒桿74a突出，使升降桿72抵抗螺旋彈簧73之彈壓力而向下方移動。該狀態下，因升降桿72不妨礙托板11之移動，故托板11自第一托板軌道21移動至與第一托板軌道21相連之短軌道63，並搭載於短軌道63。 When the pallet 11 is mounted on the short rail 63, the pallet locking mechanism 71 projects the exit rail 74a of the first cylinder 74 as shown in FIG. 9, and moves the lifter 72 downward against the elastic pressure of the coil spring 73. . In this state, since the lifter 72 does not interfere with the movement of the pallet 11, the pallet 11 moves from the first pallet rail 21 to the short rail 63 connected to the first pallet rail 21, and is mounted on the short rail 63.

之後，托板移動部61如圖10所示，使第一氣缸74之出沒桿74a沒入，使升降桿72利用螺旋彈簧73之彈壓力而向上方移動。該狀態下，升降桿72之上端進入至設置於托板11之卡止孔13a。由此，可限制托板11相對於短軌道63之相對移動。 Thereafter, as shown in FIG. 10, the pallet moving portion 61 causes the exit lever 74a of the first cylinder 74 to be immersed, and the lift lever 72 is moved upward by the elastic pressure of the coil spring 73. In this state, the upper end of the lifting rod 72 enters the locking hole 13a provided in the pallet 11. Thereby, the relative movement of the pallet 11 with respect to the short rail 63 can be restricted.

該狀態下，托板移動部61使旋轉板62與托板11一併旋轉。由此，可使搭載著托板11之短軌道63離開與第一托板軌道21相連之第一位置，並旋轉至與第二托板軌道31相連之第二位置。 In this state, the pallet moving portion 61 rotates the rotary plate 62 together with the pallet 11. Thereby, the short rail 63 on which the pallet 11 is mounted can be separated from the first position connected to the first pallet rail 21 and rotated to the second position connected to the second pallet rail 31.

於搭載著托板11之短軌道63旋轉至第二位置之狀態下，如圖11所示，該短軌道63與第二托板軌道31相連。 In a state where the short rail 63 on which the pallet 11 is mounted is rotated to the second position, as shown in FIG. 11, the short rail 63 is connected to the second pallet rail 31.

之後，如圖12所示，托板移動部61使第二氣缸75之出沒桿75a突出，使升降桿72抵抗螺旋彈簧73之彈壓力而再次向下方移動。由此，容許搭載於短軌道63之托板11之移動，可使托板11移動至第二托板軌道31。 Thereafter, as shown in FIG. 12, the pallet moving portion 61 causes the exit lever 75a of the second cylinder 75 to protrude, and the lift lever 72 moves downward again against the elastic pressure of the coil spring 73. Thereby, the movement of the pallet 11 mounted on the short rail 63 is allowed, and the pallet 11 can be moved to the 2nd pallet rail 31.

如圖1及圖4所示，托板搬送裝置10具備托板傳送輔助部81。托板傳送輔助部81使托板11自第一托板軌道21移動至與第一托板軌道21相連之短軌道63，或者使托板11自短軌道63移動至與短軌道63相連之第一托板軌道21。又，托板傳送輔助部81使托板11自第二托板軌道31移動至與第二托板軌道31相連之短軌道63，或使托板11自短軌道63移動至與短軌道63相連之第二托板軌道31。 As shown in FIGS. 1 and 4, the pallet transfer device 10 includes a pallet transfer assisting portion 81. The pallet transport assisting portion 81 moves the pallet 11 from the first pallet rail 21 to the short rail 63 connected to the first pallet rail 21, or moves the pallet 11 from the short rail 63 to the short rail 63. A pallet track 21. Further, the pallet transfer assisting portion 81 moves the pallet 11 from the second pallet rail 31 to the short rail 63 connected to the second pallet rail 31, or moves the pallet 11 from the short rail 63 to the short rail 63. The second pallet track 31.

托板傳送輔助部81分別設置於第一托板軌道21及第二托板軌道31之延長線交叉之側之端部附近。該等托板傳送輔助部81具有相同構造。由此，以其中之一為代表進行說明。 The pallet transfer assisting portions 81 are respectively provided in the vicinity of the end portions on the side where the extension lines of the first pallet rail 21 and the second pallet rail 31 intersect. These pallet transfer assisting portions 81 have the same configuration. Therefore, one of them will be described as a representative.

本實施形態中之托板傳送輔助部81具備與循環帶42相連設置之輔助循環帶82、及使輔助循環帶82循環之輔助循環機構83。輔助循環帶82沿著第一托板軌道21及第二托板軌道31之端部、以及與第一托板軌道21及第二托板軌道31之端部相連且自旋轉板62之外周突出之短軌道63 循環。 The pallet conveyance assisting unit 81 in the present embodiment includes an auxiliary circulation belt 82 provided in series with the endless belt 42, and an auxiliary circulation mechanism 83 that circulates the auxiliary circulation belt 82. The auxiliary endless belt 82 is connected to the ends of the first pallet rail 21 and the second pallet rail 31, and to the ends of the first pallet rail 21 and the second pallet rail 31, and protrudes from the outer periphery of the rotating plate 62. Short track 63 cycle.

如圖5所示，輔助循環帶82與循環帶42同樣地為所謂的齒形帶。輔助循環帶82亦具有沿寬度方向延伸之凹凸82a、82b。凹凸82a、82b於長度方向交替連續地形成(圖5之放大圖)。托板11之卡止構件14之凹凸14a、14b形成為亦能夠卡合於凹凸82a、82b。 As shown in FIG. 5, the auxiliary endless belt 82 is a so-called toothed belt like the endless belt 42. The auxiliary endless belt 82 also has irregularities 82a, 82b extending in the width direction. The irregularities 82a and 82b are alternately formed continuously in the longitudinal direction (enlarged view of Fig. 5). The concavities and convexities 14a and 14b of the locking member 14 of the pallet 11 are formed so as to be engageable with the concavities and convexities 82a and 82b.

本實施形態中，托板傳送輔助部81具有：設置於靠近第一托板傳送部41及第二托板傳送部51之側之端部的支點，以及以支點為中心旋轉而升降的另一端。托板傳送輔助部81不限於此，亦可為水平升降者。 In the present embodiment, the pallet transfer assisting portion 81 has a fulcrum provided at an end portion on the side close to the first pallet transport portion 41 and the second pallet transport portion 51, and the other end that is rotated up and down about the fulcrum . The pallet transport assisting portion 81 is not limited thereto, and may be a horizontal lifter.

如圖9、圖10及圖12所示，輔助板91中之靠近第一托板傳送部41及第二托板傳送部51之側之一端為第一托板軌道21及第二托板軌道31中之支承板22之旋轉板62側端部，且樞軸支撐於靠近直線運動導軌23之上部。 As shown in FIG. 9, FIG. 10 and FIG. 12, one of the sides of the auxiliary plate 91 adjacent to the first pallet conveying portion 41 and the second pallet conveying portion 51 is the first pallet rail 21 and the second pallet rail. The side end portion of the rotating plate 62 of the support plate 22 in 31 is pivotally supported near the upper portion of the linear motion guide 23.

直線運動導軌23自支承板22之旋轉板62側端部突出而設置。直線導軌23之端緣與設置於旋轉板62之短軌道63之外端緣隔開微小間隙而面對面。由此，直線運動導軌23以與短軌道63相連之方式構成。 The linear motion guide 23 is provided to protrude from the end portion of the support plate 22 on the side of the rotary plate 62. The end edge of the linear guide 23 faces the outer edge of the short rail 63 provided on the rotary plate 62 with a slight gap therebetween. Thereby, the linear motion guide 23 is configured to be connected to the short rail 63.

於輔助板91之上端水平地設置有導引材92。導引材92沿著第一托板軌道21及第二托板軌道31之端部、以及與第一托板軌道21及第二托板軌道31相連之短軌道63，而於第一托板軌道21及第二托板軌道31之長度方向延伸。 A guide member 92 is horizontally disposed at an upper end of the auxiliary plate 91. The guiding member 92 is along the end portions of the first pallet rail 21 and the second pallet rail 31, and the short rail 63 connected to the first pallet rail 21 and the second pallet rail 31, and is on the first pallet The rail 21 and the second pallet rail 31 extend in the longitudinal direction.

導引材92以輔助循環帶82沿著第一托板軌道21及第二托板軌道31之端部、以及與第一托板軌道21及第二托板軌道31相連之短軌道63之方式，自下方支承輔助循環帶82。 The guide member 92 is in the manner of assisting the endless belt 82 along the ends of the first pallet rail 21 and the second pallet rail 31, and the short rails 63 connected to the first pallet rail 21 and the second pallet rail 31. The auxiliary circulation belt 82 is supported from below.

又，輔助板91對輔助滑輪93進行樞軸支撐，所述輔助滑輪93係使於導引材92之上表面沿第一托板軌道21及第二托板軌道31之長度方向移動之輔助循環帶82轉向。輔助滑輪93配置於導引材92之兩側。 Further, the auxiliary plate 91 pivotally supports the auxiliary pulley 93 which is an auxiliary circulation for moving the upper surface of the guide member 92 along the longitudinal direction of the first pallet rail 21 and the second pallet rail 31. Belt 82 turns. The auxiliary pulleys 93 are disposed on both sides of the guide member 92.

輔助板91中設置有作為輔助循環機構之伺服馬達83。伺服馬達83使輔助循環帶82循環。於伺服馬達83之旋轉軸83a安裝有輔助驅動滑輪84。 A servo motor 83 as an auxiliary circulation mechanism is provided in the auxiliary plate 91. The servo motor 83 circulates the auxiliary circulating belt 82. An auxiliary drive pulley 84 is attached to the rotating shaft 83a of the servo motor 83.

輔助驅動滑輪84與2個輔助滑輪93設置於同一面上。輔助循環帶82捲繞於輔助驅動滑輪84與輔助滑輪93。 The auxiliary drive pulley 84 and the two auxiliary pulleys 93 are disposed on the same surface. The auxiliary circulation belt 82 is wound around the auxiliary drive pulley 84 and the auxiliary pulley 93.

若伺服馬達83利用來自未圖示之控制器之指令而作動，則捲繞於輔助驅動滑輪84之輔助循環帶82循環。兩個輔助滑輪93間輔助循環帶82於水平之導引材92之上表面移動。即，輔助循環帶82以沿著第一托板軌道21及第二托板軌道31之端部、以及與第一托板軌道21及第二托板軌道31相連而自旋轉板62之外周突出之短軌道63之方式移動。 When the servo motor 83 is actuated by a command from a controller (not shown), the auxiliary circulating belt 82 wound around the auxiliary drive pulley 84 circulates. The auxiliary circulation belt 82 between the two auxiliary pulleys 93 moves on the upper surface of the horizontal guide member 92. That is, the auxiliary endless belt 82 is extended from the outer periphery of the rotating plate 62 by being connected to the end portions of the first pallet rail 21 and the second pallet rail 31, and to the first pallet rail 21 and the second pallet rail 31. The short track 63 moves in a manner.

如圖5所示，輔助循環帶82與循環帶42同樣地，具有沿寬度方向延伸且於長度方向交替連續地形成之凹凸82a、82b。因此，若卡止構件14重合於輔助循環帶82，則輔助循環帶82之凹凸82a、82b卡合於卡止構件14之凹凸14a、14b。 As shown in FIG. 5, the auxiliary endless belt 82 has irregularities 82a and 82b which extend in the width direction and are alternately formed continuously in the longitudinal direction, similarly to the endless belt 42. Therefore, when the locking member 14 is superposed on the auxiliary endless belt 82, the unevenness 82a, 82b of the auxiliary endless belt 82 is engaged with the unevenness 14a, 14b of the locking member 14.

因此，若以輔助循環帶82之凹凸82a、82b與循環帶42之凹凸42a、42b(圖4)相連之方式，使輔助循環帶82以與循環帶42相同之速度循環，則托板11使第一托板軌道21移動，並且於第一托板軌道21之端部自循環帶42移動至輔助循環帶82，並卡合於輔助循環帶82(參照圖4及圖5)。 Therefore, if the auxiliary endless belts 82 are circulated at the same speed as the endless belt 42 by the concavities and convexities 82a, 82b of the auxiliary endless belt 82 being connected to the concavities and convexities 42a, 42b (Fig. 4) of the endless belt 42, the pallet 11 is made The first pallet rail 21 moves, and moves from the endless belt 42 to the auxiliary endless belt 82 at the end of the first pallet rail 21, and is engaged with the auxiliary endless belt 82 (refer to Figs. 4 and 5).

如圖5所示，若托板11中之凹凸14a、14b卡合於輔助循環帶82之凹凸82a、82b，則托板11限制第一托板軌道21及第二托板軌道31之向長度方向之自如移動(與輔助循環帶82之相對移動)。因此，若使卡合於托板11之輔助循環帶82循環，則托板11與輔助循環帶82一併移動，沿著沿輔助循環帶82之短軌道63或第一托板軌道21及第二托板軌道31而搬送。 As shown in FIG. 5, if the unevenness 14a, 14b in the pallet 11 is engaged with the unevenness 82a, 82b of the auxiliary endless belt 82, the pallet 11 limits the length of the first pallet rail 21 and the second pallet rail 31. The direction moves freely (relative to the auxiliary loop belt 82). Therefore, if the auxiliary circulation belt 82 engaged with the pallet 11 is circulated, the pallet 11 moves together with the auxiliary circulation belt 82 along the short rail 63 along the auxiliary circulation belt 82 or the first pallet rail 21 and the The two pallet rails 31 are transported.

若使已卡合於卡止構件14之輔助循環帶82進一步循環，則如圖6所示，托板11自第一托板軌道21之端部移動至與第一托板軌道21相連之短軌道63。若使輔助循環帶82相反地循環，則托板11自短軌道63移動至第一托板軌道21或第二托板軌道31。 If the auxiliary endless belt 82 that has been engaged with the locking member 14 is further circulated, as shown in FIG. 6, the pallet 11 is moved from the end of the first pallet rail 21 to the short connection with the first pallet rail 21. Track 63. If the auxiliary circulation belt 82 is reversely circulated, the pallet 11 is moved from the short rail 63 to the first pallet rail 21 or the second pallet rail 31.

又，托板搬送裝置10如圖9、圖10及圖12所示，具備使托板傳送輔助部81升降之液壓氣缸(升降部)95。液壓氣缸95之本體95b使出沒桿95a朝向上方而固定於座架9。輔助板91之另一端樞軸支撐於出沒桿95a之上端。 Moreover, as shown in FIG. 9, FIG. 10, and FIG. 12, the pallet conveyance apparatus 10 is equipped with the hydraulic cylinder (lifting part) 95 which raises and raises the pallet conveyance support part 81. The body 95b of the hydraulic cylinder 95 is fixed to the mount 9 with the exit lever 95a facing upward. The other end of the auxiliary plate 91 is pivotally supported at the upper end of the ejector rod 95a.

液壓氣缸95構成為於使出沒桿95a朝向上方突出之狀態下，使輔助板91中之輔助循環帶82重合於搭載在短軌道63之托板11之自旋轉板62之外周突出的卡止構件14(圖6)。 The hydraulic cylinder 95 is configured such that the auxiliary circulating belt 82 of the auxiliary plate 91 is superposed on the outer periphery of the rotating plate 62 mounted on the pallet 11 of the short rail 63 in a state in which the cutting rod 95a is protruded upward. 14 (Figure 6).

另一方面，如圖13及圖14所示，卡止構件14設置於托板11中之台座13之下表面。輔助板91之另一端樞軸支撐於出沒桿95a之另一端，因而若使液壓氣缸95之出沒桿95a沒入至本體95b，則包含輔助板91之托板傳送輔助部81下降。其結果，輔助板91中之輔助循環帶82亦下降。 On the other hand, as shown in FIGS. 13 and 14, the locking member 14 is provided on the lower surface of the pedestal 13 in the pallet 11. The other end of the auxiliary plate 91 is pivotally supported at the other end of the exiting lever 95a. Therefore, if the exiting lever 95a of the hydraulic cylinder 95 is immersed in the main body 95b, the pallet conveying assisting portion 81 including the auxiliary plate 91 is lowered. As a result, the auxiliary circulation belt 82 in the auxiliary plate 91 also descends.

於與旋轉板62一併旋轉之短軌道63與輔助循環帶82接觸等，而旋轉板62之自由旋轉變得困難之情形時，使托板傳送輔助部81下降。 When the short rail 63 that rotates together with the rotating plate 62 is in contact with the auxiliary circulating belt 82 or the like, and the free rotation of the rotating plate 62 becomes difficult, the pallet conveying assisting portion 81 is lowered.

圖13及圖14表示於輔助循環帶82重合於卡止構件14之狀態下托板11移動至短軌道63之狀態。若在該狀態下使輔助板91之另一端下降而使托板傳送輔助部81下降，則輔助循環帶82之凹凸82a、82b(圖5)離開卡止構件14中之凹凸14a、14b。 FIGS. 13 and 14 show a state in which the pallet 11 is moved to the short rail 63 in a state where the auxiliary endless belt 82 is superposed on the locking member 14. When the other end of the auxiliary plate 91 is lowered in this state and the pallet conveyance assisting portion 81 is lowered, the unevenness 82a, 82b (FIG. 5) of the auxiliary endless belt 82 is separated from the unevenness 14a, 14b in the locking member 14.

由此，解除輔助循環帶82之凹凸82a、82b與卡止構件14之凹凸14a、14b之卡合。其結果，可確實地進行設置著搭載有托板11之短軌道63之旋轉板62之水平旋轉。 Thereby, the concavities and convexities 82a and 82b of the auxiliary endless belt 82 are released from engagement with the concavities and convexities 14a and 14b of the locking member 14. As a result, the horizontal rotation of the rotary plate 62 on which the short rail 63 on which the pallet 11 is mounted can be surely performed.

如圖10及圖12所示，若使液壓氣缸95之出沒桿95再次向上方突出，而使已下降之輔助板91之另一端上升，則輔助循環帶82重合於搭載在短軌道63之托板11中之卡止構件14。其結果，輔助循環帶82之凹凸82a、82b再次卡合於卡止構件14之凹凸14a、14b。 As shown in FIG. 10 and FIG. 12, when the exiting lever 95 of the hydraulic cylinder 95 is again protruded upward and the other end of the lowered auxiliary plate 91 is raised, the auxiliary endless belt 82 is superposed on the short rail 63. The locking member 14 in the plate 11. As a result, the concavities and convexities 82a and 82b of the auxiliary endless belt 82 are again engaged with the concavities and convexities 14a and 14b of the locking member 14.

其次，對使用了上述托板搬送裝置之托板搬送方法進行說明。 Next, a pallet transport method using the pallet transport device will be described.

使用了托板搬送裝置10之托板搬送方法具備：第一托板搬送步驟，將托板11沿著第一托板軌道21搬送；托板移動步驟，使托板11自第一托板軌道21之端部移動至第二托板軌道31；以及第二托板搬送步驟，將托板11沿著第二托板軌道31搬送。第一托板搬送步驟中，托板11搭載於第一托板軌道21。第二托板搬送步驟中，托板11搭載於第二托板軌道31。 The pallet transport method using the pallet transport apparatus 10 includes a first pallet transport step of transporting the pallet 11 along the first pallet rail 21, and a pallet moving step of causing the pallet 11 from the first pallet rail The end portion of 21 moves to the second pallet rail 31; and the second pallet transport step transports the pallet 11 along the second pallet rail 31. In the first pallet transfer step, the pallet 11 is mounted on the first pallet rail 21. In the second pallet transfer step, the pallet 11 is mounted on the second pallet rail 31.

以下對各步驟進行說明。 Each step will be described below.

<第一托板搬送步驟> <First pallet transfer step>

該步驟中，搬送搭載於第一托板軌道21之托板11。 In this step, the pallet 11 mounted on the first pallet rail 21 is conveyed.

於本實施形態之托板11中搭載有需要進行既定加工之工件6。此處，說明在搭載於第一導軌21之托板11搭載有工件6之例。進而，說明托板11具備用以搭載工件6之搭載具16，且工件6經由搭載具16搭載於托板11之例。 A workpiece 6 that requires a predetermined process is mounted on the pallet 11 of the present embodiment. Here, an example in which the workpiece 6 is mounted on the pallet 11 mounted on the first rail 21 will be described. Furthermore, the pallet 11 is provided with the mounting tool 16 for mounting the workpiece 6, and the workpiece 6 is mounted on the pallet 11 via the mounting tool 16.

為了將托板11搭載於第一導軌21，向托板11之直線運動塊12***第一導軌21中之直線運動導軌23之端部，將直線運動塊21搭載於直線運動導軌23。 In order to mount the pallet 11 on the first rail 21, the linear motion block 12 of the pallet 11 is inserted into the end portion of the linear motion guide 23 in the first rail 21, and the linear motion block 21 is mounted on the linear motion guide 23.

若將托板11搭載於第一導軌21，則如圖4所示，托板11中之凹凸14a、14b卡合於沿著第一導軌21設置之循環帶42之凹凸42a、42b。對作為驅動機構之伺服馬達43進行驅動而使循環帶42循環，藉此能夠沿著第一導軌21搬送該等托板11。 When the pallet 11 is mounted on the first rail 21, as shown in FIG. 4, the unevenness 14a, 14b in the pallet 11 is engaged with the unevenness 42a, 42b of the endless belt 42 provided along the first rail 21. The servo motor 43 as a drive mechanism is driven to circulate the endless belt 42, whereby the pallets 11 can be transported along the first rails 21.

托板11搬送至與沿著第一托板軌道21設置之未圖示之各工作機面對面為止。托板11與各工作機面對面後，使伺服馬達43a停止。搭載於托板11之工件6藉由該等各工作機而加工。此時，藉由以與未圖示之各工作機之間距相同之間距搬送複數個托板11，而能夠利用複數個工作機同時進行加工。 The pallet 11 is conveyed to face each of the working machines (not shown) provided along the first pallet rail 21. After the pallet 11 faces each of the working machines, the servo motor 43a is stopped. The workpiece 6 mounted on the pallet 11 is processed by the respective working machines. At this time, by feeding a plurality of pallets 11 at the same distance from each of the working machines (not shown), it is possible to simultaneously perform processing using a plurality of working machines.

<托板移動步驟> <Board moving step>

該步驟中，使托板11自第一托板軌道21之端部移動至第二托板軌道31。該移動藉由設置於第一托板軌道21及第二托板軌道31之端部附近之托板移動部61而進行。 In this step, the pallet 11 is moved from the end of the first pallet rail 21 to the second pallet rail 31. This movement is performed by the pallet moving portion 61 provided near the end portions of the first pallet rail 21 and the second pallet rail 31.

本實施形態中，與循環帶42相連而設置有輔助循環帶82。托板11於上述第一托板搬送步驟中，沿著第一托板軌道21移動。此時，若以循環帶42之凹凸42a、42b(圖4)與輔助循環帶82之凹凸82a、82b相連之方式，使輔助循環帶82以與循環帶42相同之速度循環，則托板11於即將到達第一托板軌道21之端部前，如圖2及圖5所示，自循環帶42移動至與其相連之輔助循環帶82。其結果，托板11卡合於輔助循環帶82。 In the present embodiment, an auxiliary circulation belt 82 is provided in connection with the endless belt 42. The pallet 11 moves along the first pallet rail 21 in the first pallet transport step. At this time, if the auxiliary endless belts 82 are circulated at the same speed as the endless belt 42 in such a manner that the concavo-convex portions 42a, 42b (Fig. 4) of the endless belt 42 are connected to the concavities and convexities 82a, 82b of the auxiliary endless belt 82, the pallet 11 is Immediately before reaching the end of the first pallet track 21, as shown in Figs. 2 and 5, the self-circulating belt 42 is moved to the auxiliary circulating belt 82 connected thereto. As a result, the pallet 11 is engaged with the auxiliary circulation belt 82.

即，若使輔助循環帶82之凹凸82a、82b與循環帶42之凹凸42a、42b相連，使輔助循環帶82以與循環帶42相同之速度循環，則托板11自循環帶42迅速地移動至輔助循環帶82並卡合。之後，托板11到達第一托板軌道21之端部。 That is, when the concavities and convexities 82a, 82b of the auxiliary endless belt 82 are connected to the concavities and convexities 42a, 42b of the endless belt 42, and the auxiliary endless belt 82 is circulated at the same speed as the endless belt 42, the pallet 11 is rapidly moved from the endless belt 42 The auxiliary circulation belt 82 is engaged and engaged. Thereafter, the pallet 11 reaches the end of the first pallet rail 21.

此處，本實施形態中，沿著第一托板軌道21之端部、以及與第一托板軌道21之端部相連之短軌道63循環之輔助循環帶82係與循環帶42相連地設置。因此，於托板11卡合於輔助循環帶82後，使輔助循環帶82之循環停止，藉此可無關於循環帶42之循環，而將已卡合於輔助循環帶82之托板11留在第一托板軌道21之端部。又，若使循環帶42循環，則可無關於輔助循環帶82之循環，而使與留在第一托板軌道21之端部之托板11不同之另一托板11沿著第一托板軌道21移動。即，藉由使輔助循環帶82與循環帶42相連而設置，可使與托板移動步驟中移動之托板11不同之另一托板11，沿著第一托板軌道21搬送。 Here, in the present embodiment, the auxiliary circulation belt 82 which is circulated along the end portion of the first pallet rail 21 and the short rail 63 connected to the end portion of the first pallet rail 21 is provided in series with the endless belt 42. . Therefore, after the pallet 11 is engaged with the auxiliary circulation belt 82, the circulation of the auxiliary circulation belt 82 is stopped, whereby the pallet 11 that has been engaged with the auxiliary circulation belt 82 can be left without the circulation of the endless belt 42. At the end of the first pallet track 21. Further, if the endless belt 42 is circulated, the other pallet 11 different from the pallet 11 remaining at the end portion of the first pallet rail 21 can be made along the first tray without the circulation of the auxiliary circulation belt 82. The board track 21 moves. That is, by providing the auxiliary endless belt 82 in connection with the endless belt 42, another pallet 11 different from the pallet 11 moved in the pallet moving step can be transported along the first pallet rail 21.

托板移動步驟中，藉由托板移動部61中之分度單元64使旋轉板62旋轉，而使短軌道63與第一托板軌道21相連。於該狀態下使輔助循環帶82循環，而使托板11自第一托板軌道21之端部移動至短軌道63。 其結果，如圖3及圖6所示，托板11搭載於短軌道63。 In the pallet moving step, the rotating plate 62 is rotated by the indexing unit 64 in the pallet moving portion 61, and the short rail 63 is connected to the first pallet rail 21. In this state, the auxiliary circulation belt 82 is circulated, and the pallet 11 is moved from the end portion of the first pallet rail 21 to the short rail 63. As a result, as shown in FIGS. 3 and 6, the pallet 11 is mounted on the short rail 63.

此時，如圖9所示，使第一氣缸74之出沒桿74a自本體部74b突出。和與第一托板軌道21相連之短軌道63相向之升降桿72，抵抗螺旋彈簧73之彈壓力而向下方移動。該狀態下，使托板11自第一托板軌道21移動至與第一托板軌道21相連之短軌道63，而將托板11搭載於短軌道63。 At this time, as shown in FIG. 9, the exiting rod 74a of the first cylinder 74 is caused to protrude from the body portion 74b. The elevating rod 72 opposed to the short rail 63 connected to the first pallet rail 21 moves downward against the elastic pressure of the coil spring 73. In this state, the pallet 11 is moved from the first pallet rail 21 to the short rail 63 connected to the first pallet rail 21, and the pallet 11 is mounted on the short rail 63.

之後，如圖10所示，使第一氣缸74之出沒桿74a沒入至本體74b。升降桿72利用螺旋彈簧73之彈壓力而向上方移動，升降桿72之上端進入至設置於托板11之卡止孔13a。由此，當使旋轉板62旋轉而使托板11移動時，可防止托板11相對於短軌道63相對地移動。 Thereafter, as shown in FIG. 10, the exiting rod 74a of the first cylinder 74 is immersed in the body 74b. The lifting rod 72 is moved upward by the elastic pressure of the coil spring 73, and the upper end of the lifting rod 72 enters the locking hole 13a provided in the pallet 11. Thereby, when the rotating plate 62 is rotated to move the pallet 11, the pallet 11 can be prevented from relatively moving relative to the short rail 63.

之後，分度單元64如圖11之實線箭頭所示，使旋轉板62旋轉。搭載有托板11之短軌道63自與第一托板軌道21相連之第一位置移動，並旋轉至與第二托板軌道31相連之第二位置。 Thereafter, the indexing unit 64 rotates the rotary plate 62 as indicated by the solid arrows in FIG. The short rail 63 on which the pallet 11 is mounted is moved from the first position connected to the first pallet rail 21 and rotated to the second position connected to the second pallet rail 31.

此處，卡合於托板11之凹凸82a、82b(圖5)沿寬度方向延伸而形成於輔助循環帶82。因此，若使旋轉板62旋轉，則搭載於短軌道63之托板11沿輔助循環帶82之寬度方向移動。由此，托板11之凹凸14a、14b自輔助循環帶82之凹凸82a、82b向寬度方向偏離，而解除與輔助循環帶82之凹凸82a、82b之卡合。 Here, the irregularities 82a and 82b (FIG. 5) that are engaged with the pallet 11 extend in the width direction to be formed in the auxiliary endless belt 82. Therefore, when the rotary plate 62 is rotated, the pallet 11 mounted on the short rail 63 moves in the width direction of the auxiliary circulation belt 82. As a result, the concavities and convexities 14a and 14b of the pallet 11 are displaced from the concavities and convexities 82a and 82b of the auxiliary endless belt 82 in the width direction, and the engagement with the concavities and convexities 82a and 82b of the auxiliary endless belt 82 is released.

於與旋轉板62一併旋轉之短軌道63與輔助循環帶82發生干涉之情形時，如圖13所示，較佳為使液壓氣缸95之出沒桿95a沒入至位於其下方之本體95b。由此，可避免短軌道63與輔助循環帶82之干涉，並且可確實解除托板11與輔助循環帶82之卡合。即，另一端樞軸支撐於出沒 桿95a之上端之輔助板91與輔助循環帶82一併下降，因而可確實解除托板11與輔助循環帶82之卡合。因此，可避免與旋轉板62一併旋轉之短軌道63與輔助循環帶82發生干涉之情況。 When the short track 63 that rotates together with the rotating plate 62 interferes with the auxiliary circulating belt 82, as shown in Fig. 13, it is preferable that the exiting rod 95a of the hydraulic cylinder 95 is immersed in the body 95b located below it. Thereby, the interference of the short rail 63 and the auxiliary endless belt 82 can be avoided, and the engagement of the pallet 11 with the auxiliary endless belt 82 can be surely released. That is, the other end is pivotally supported by the infested The auxiliary plate 91 at the upper end of the rod 95a is lowered together with the auxiliary endless belt 82, so that the engagement between the pallet 11 and the auxiliary endless belt 82 can be surely released. Therefore, it is possible to avoid interference between the short track 63 that rotates together with the rotating plate 62 and the auxiliary endless belt 82.

於短軌道63上以90度為單位而設置有旋轉板62之本實施形態中，如圖11所示，藉由解除托板11與輔助循環帶82之卡合而使旋轉板62旋轉90度，下一短軌道63與第一托板軌道21相連。若如此使旋轉板62旋轉90度，則與第一托板軌道21相連之短軌道63離開該第一位置，搭載於該短軌道63之托板11移動至與第二托板軌道31相連之第二位置。 In the present embodiment in which the rotating plate 62 is provided on the short rail 63 in units of 90 degrees, as shown in FIG. 11, the rotating plate 62 is rotated by 90 degrees by releasing the engagement between the pallet 11 and the auxiliary endless belt 82. The next short track 63 is connected to the first pallet track 21. When the rotating plate 62 is rotated by 90 degrees in this manner, the short rail 63 connected to the first pallet rail 21 is separated from the first position, and the pallet 11 mounted on the short rail 63 is moved to be connected to the second pallet rail 31. Second position.

藉由將短軌道63以等角度間隔於旋轉板62之旋轉圓周上設置有偶數個，而托板移動步驟中所需之旋轉板62之旋轉角度減小。由此，托板11之迅速移動成為可能。 By arranging the short tracks 63 at equal angular intervals on the rotating circumference of the rotating plate 62, an even number is provided, and the rotation angle of the rotating plate 62 required in the pallet moving step is reduced. Thereby, the rapid movement of the pallet 11 becomes possible.

於不使輔助板91下降之情形時，若托板11移動至與第二托板軌道31相連之第二位置，則托板11之凹凸14a、14b自寬度方向進入至輔助循環帶82之凹凸82a、82b。由此，卡止構件14之凹凸14a、14b再次卡合於輔助循環帶82之凹凸82a、82b。 When the auxiliary plate 91 is not lowered, if the pallet 11 is moved to the second position connected to the second pallet rail 31, the unevenness 14a, 14b of the pallet 11 enters the unevenness of the auxiliary circulation belt 82 from the width direction. 82a, 82b. Thereby, the concavities and convexities 14a and 14b of the locking member 14 are again engaged with the concavities and convexities 82a and 82b of the auxiliary endless belt 82.

於使輔助板91下降之情形時，於搭載有托板11之短軌道63與第二托板軌道31之直線運動導軌23相連後，使液壓氣缸95之出沒桿95向上方突出，而使已下降之輔助板91之另一端上升。由此，可使輔助循環帶82重合於托板11中之卡止構件14，而使輔助循環帶82之凹凸82a、82b再次卡合於卡止構件14之凹凸14a、14b。 When the auxiliary plate 91 is lowered, the short rail 63 on which the pallet 11 is mounted is connected to the linear motion guide 23 of the second pallet rail 31, and the exiting rod 95 of the hydraulic cylinder 95 is protruded upward. The other end of the descending auxiliary plate 91 rises. Thereby, the auxiliary endless belt 82 can be superposed on the locking member 14 in the pallet 11, and the unevenness 82a, 82b of the auxiliary endless belt 82 can be engaged with the unevenness 14a, 14b of the locking member 14 again.

於旋轉板62之旋轉或輔助板91之另一端上升時，利用以托板11之卡止構件14之凹凸14a、14b與輔助循環帶82之凹凸82a、82b確實 卡合之方式預先設定的程式，控制伺服馬達83之旋轉角度。 When the rotation of the rotary plate 62 or the other end of the auxiliary plate 91 is raised, the irregularities 14a and 14b of the locking member 14 of the pallet 11 and the irregularities 82a and 82b of the auxiliary circulation belt 82 are used. The preset mode of the engagement mode controls the rotation angle of the servo motor 83.

搭載有托板11之短軌道63旋轉至第二位置而與第二托板軌道31相連後，如圖12所示，使第二氣缸75之出沒桿75a自本體75b突出。升降桿72抵抗螺旋彈簧73之彈壓力而向下方移動，升降桿72之上端脫離卡止孔13a。其結果，容許托板11相對於短軌道63之相對移動。 After the short rail 63 on which the pallet 11 is mounted is rotated to the second position and connected to the second pallet rail 31, as shown in Fig. 12, the exiting rod 75a of the second cylinder 75 is protruded from the body 75b. The lifting rod 72 moves downward against the elastic pressure of the coil spring 73, and the upper end of the lifting rod 72 is separated from the locking hole 13a. As a result, the relative movement of the pallet 11 with respect to the short rail 63 is allowed.

之後，如圖11之虛線箭頭所示般，使位於第二托板軌道31之端部附近而卡合於托板11之輔助循環帶82循環，且使托板11與輔助循環帶82一併移動。托板11自短軌道63移動至第二托板軌道31。 Thereafter, as shown by the dotted arrow in Fig. 11, the auxiliary circulation belt 82 which is located near the end of the second pallet rail 31 and is engaged with the pallet 11 is circulated, and the pallet 11 is joined together with the auxiliary circulation belt 82. mobile. The pallet 11 is moved from the short rail 63 to the second pallet rail 31.

如此，使托板11自第一托板軌道21之端部移動至第二托板軌道31。 In this manner, the pallet 11 is moved from the end of the first pallet rail 21 to the second pallet rail 31.

<第二托板搬送步驟> <Second pallet transfer step>

該步驟中，搬送搭載於第二托板軌道31之托板11。 In this step, the pallet 11 mounted on the second pallet rail 31 is conveyed.

托板移動步驟中，如圖11之虛線箭頭所示，托板11最終自短軌道63移動至第二托板軌道31。托板11於卡合於沿著第二托板軌道31之端部設置之輔助循環帶82之狀態下，移動至第二托板軌道31之端部。 In the pallet moving step, as shown by the dotted arrow in Fig. 11, the pallet 11 is finally moved from the short rail 63 to the second pallet rail 31. The pallet 11 is moved to the end of the second pallet rail 31 in a state of being engaged with the auxiliary endless belt 82 provided along the end of the second pallet rail 31.

第二托板搬送步驟中，搬送搭載於第二托板軌道31之托板11。沿著第二托板軌道31而設置之循環帶42與輔助循環帶82相連。由此，以輔助循環帶82之凹凸82a、82b與循環帶42之凹凸42a、42b相連之方式，使輔助循環帶82及循環帶42以相同之速度循環。 In the second pallet transport step, the pallet 11 mounted on the second pallet rail 31 is transported. The endless belt 42 disposed along the second pallet track 31 is connected to the auxiliary endless belt 82. Thereby, the auxiliary endless belt 82 and the endless belt 42 are circulated at the same speed so that the unevenness 82a, 82b of the auxiliary endless belt 82 is connected to the unevenness 42a, 42b of the endless belt 42.

由此，托板11自第二托板軌道31之端部如圖11之一點鏈線箭頭所示，朝向中央方向開始移動，離開第二托板軌道31之端部。其結果，托板11離開輔助循環帶82而卡合於循環帶42。藉由使循環帶42循環， 而可沿著第二托板軌道31搬送托板11。 Thereby, the end portion of the pallet 11 from the end portion of the second pallet rail 31 is moved toward the center direction as shown by a dotted arrow in FIG. 11, and is separated from the end portion of the second pallet rail 31. As a result, the pallet 11 is separated from the auxiliary endless belt 82 and is engaged with the endless belt 42. By circulating the endless belt 42, The pallet 11 can be transported along the second pallet track 31.

托板11沿著第二托板軌道31搬送，直至與沿著第二托板軌道31而設置之未圖示之各工作機面對面。托板11與各工作機面對面後，使伺服馬達43停止。由該等各工作機對搭載於托板11之工件6實施加工。 The pallet 11 is conveyed along the second pallet rail 31 until it faces the respective working machines (not shown) provided along the second pallet rail 31. After the pallet 11 faces each of the working machines, the servo motor 43 is stopped. The workpieces 6 mounted on the pallet 11 are processed by the respective working machines.

本實施形態中，沿著第二托板軌道31之端部、以及與第二托板軌道31之端部相連之短軌道63循環之輔助循環帶82，係與循環帶42相連地設置。因此，藉由使循環帶42與輔助循環帶82各別地循環，而可使托板11不重疊於循環帶42地將托板11維持於第二托板軌道31之端部。具體而言，如圖11所示，利用輔助循環帶82之循環使托板11自短軌道63移動至第二托板軌道31之端部，之後托板11到達循環帶42之前停止該循環。因托板11不卡合於循環帶42，故可無關於循環帶42之循環而將托板11維持於第二托板軌道31之端部。 In the present embodiment, the auxiliary endless belt 82 which circulates along the end portion of the second pallet rail 31 and the short rail 63 connected to the end portion of the second pallet rail 31 is provided in connection with the endless belt 42. Therefore, by circulating the endless belt 42 and the auxiliary endless belt 82 separately, the pallet 11 can be maintained at the end of the second pallet rail 31 without overlapping the endless belt 42. Specifically, as shown in FIG. 11, the pallet 11 is moved from the short rail 63 to the end of the second pallet rail 31 by the circulation of the auxiliary circulation belt 82, and then the cycle is stopped before the pallet 11 reaches the endless belt 42. Since the pallet 11 is not engaged with the endless belt 42, the pallet 11 can be maintained at the end of the second pallet rail 31 without the circulation of the endless belt 42.

又，卡合於循環帶42之托板11利用循環帶42之循環，於第二托板軌道31上搬送。即，可不使搭載於第二托板軌道31之端部且卡合於輔助循環帶82而不卡合於循環帶42之托板11移動，而使搭載於第二托板軌道31且卡合於循環帶42之托板11移動。 Further, the pallet 11 engaged with the endless belt 42 is conveyed on the second pallet rail 31 by circulation of the endless belt 42. In other words, the pallet 11 that is mounted on the end portion of the second pallet rail 31 and is engaged with the auxiliary endless belt 82 without being engaged with the endless belt 42 can be moved to the second pallet rail 31 and engaged. The pallet 11 of the endless belt 42 moves.

而且，當卡合於循環帶42之托板11與卡合於輔助循環帶82之托板11隔開既定間距時，使輔助循環帶82循環，使卡合於輔助循環帶82之托板11移動而卡合於循環帶42。由此，可使複數個托板11以既定間距於第二托板軌道31上搬送。 Further, when the pallet 11 engaged with the endless belt 42 is spaced apart from the pallet 11 engaged with the auxiliary circulation belt 82 by a predetermined interval, the auxiliary circulation belt 82 is circulated to engage the pallet 11 of the auxiliary circulation belt 82. Move to engage the endless belt 42. Thereby, a plurality of pallets 11 can be transported on the second pallet rail 31 at a predetermined pitch.

如此，若以與未圖示之各工作機之間距相同之間距搬送複數個托板11，則能夠藉由複數個工作機同時進行加工。 As described above, when a plurality of pallets 11 are conveyed at the same distance from each of the working machines (not shown), machining can be simultaneously performed by a plurality of working machines.

如上述般，本實施形態之托板搬送裝置10中，輔助循環帶82與搭載於短軌道63之托板11卡合。因此，可藉由輔助循環帶82將托板11確實地導引至短軌道63。 As described above, in the pallet transport device 10 of the present embodiment, the auxiliary endless belt 82 is engaged with the pallet 11 mounted on the short rail 63. Therefore, the pallet 11 can be surely guided to the short rail 63 by the auxiliary endless belt 82.

托板搬送裝置10如圖13及圖14所示，具備使托板傳送輔助部81升降之升降部95。藉由使托板傳送輔助部81下降，而可解除搭載於短軌道63之托板11與托板傳送輔助部81之卡合。又，於旋轉板62旋轉時，於與旋轉板62一併旋轉之短軌道63與輔助循環帶82發生干涉之情形時，可避免此種干涉。於如此解除了卡合之狀態下使旋轉板62與短軌道63一併旋轉，藉此可使托板11自第一托板軌道21之端部至第二托板軌道31之端部確實地移動。 As shown in FIGS. 13 and 14 , the pallet transport device 10 includes an elevating portion 95 that elevates and lowers the pallet transport assisting portion 81. By lowering the pallet transport assisting portion 81, the engagement between the pallet 11 mounted on the short rail 63 and the pallet transport assisting portion 81 can be released. Further, when the rotating plate 62 rotates, when the short track 63 that rotates together with the rotating plate 62 interferes with the auxiliary endless belt 82, such interference can be avoided. The rotation plate 62 is rotated together with the short rail 63 in a state in which the engagement is released, whereby the pallet 11 can be surely provided from the end of the first pallet rail 21 to the end of the second pallet rail 31. mobile.

而且，之後，若使托板傳送輔助部81上升，則輔助循環帶82再次卡合於搭載於短軌道63之托板11。因此，可使托板11自與托板11一併移動而連接於另一托板軌道31之端緣之短軌道63，確實地移動至另一托板軌道31。 Then, when the pallet conveyance assisting portion 81 is raised, the auxiliary endless belt 82 is again engaged with the pallet 11 mounted on the short rail 63. Therefore, the pallet 11 can be surely moved to the other pallet rail 31 from the short rail 63 which is moved together with the pallet 11 and connected to the edge of the other pallet rail 31.

如此，本實施形態之托板搬送裝置10中，能夠確實地使托板11搬送。 As described above, in the pallet transport apparatus 10 of the present embodiment, the pallet 11 can be reliably conveyed.

此處，托板11與托板傳送輔助部81之卡合及其解除亦能夠藉由使托板11升降而進行。然而，於工件6搭載於托板11之狀態下，托板11之重量相對較大，使托板11升降會導致動力之消耗。又，工件6亦伴隨托板11之升降而升降。搭載具16對工件之搭載必須能夠經受得住該升降，從而有搭載工件6之搭載具16之構造變得複雜之虞。 Here, the engagement of the pallet 11 with the pallet conveyance assisting portion 81 and the release thereof can also be performed by raising and lowering the pallet 11. However, in the state in which the workpiece 6 is mounted on the pallet 11, the weight of the pallet 11 is relatively large, and the lifting and lowering of the pallet 11 causes power consumption. Further, the workpiece 6 is also raised and lowered in accordance with the lifting and lowering of the pallet 11. It is necessary to be able to withstand the lifting and lowering of the mounting of the pair of workpieces, and the structure of the mounting tool 16 on which the workpiece 6 is mounted becomes complicated.

與此相對，本實施形態中，因使托板傳送輔助部81升降， 故以較少之動力便可進行托板11與托板傳送輔助部81之卡合及其解除。又，無須考慮工件6之升降，可使搭載工件6之搭載具16之構造相對簡化。 On the other hand, in the present embodiment, the pallet transfer assisting unit 81 is moved up and down. Therefore, the engagement and release of the pallet 11 and the pallet conveyance assisting portion 81 can be performed with less power. Further, it is not necessary to consider the elevation of the workpiece 6, and the structure of the mounting tool 16 on which the workpiece 6 is mounted can be relatively simplified.

而且，托板11中，工件6搭載於台座13之一側部，直線運動塊12固定於台座13之另一側部。因第一托板軌道21及第二托板軌道31支承直線運動塊12，故可使搭載有工件6之台座13之一側部一直朝向外側，而搬送托板11。 Further, in the pallet 11, the workpiece 6 is mounted on one side of the pedestal 13, and the linear motion block 12 is fixed to the other side of the pedestal 13. Since the first pallet rail 21 and the second pallet rail 31 support the linear motion block 12, the side portion of one of the pedestals 13 on which the workpiece 6 is mounted can be oriented outward, and the pallet 11 can be transported.

又，托板搬送裝置10中，托板11卡合於呈環形設置之循環帶42，且沿著第一托板軌道21及第二托板軌道31搬送。藉由使托板11與循環帶42卡合之位置發生變化，而可變更沿著第一托板軌道21或第二托板軌道31搬送之複數個托板11彼此之間隔。即，可容易變更先搬送之托板11與後搬送之托板之搬送間距。 Further, in the pallet conveying device 10, the pallet 11 is engaged with the endless belt 42 which is provided in a ring shape, and is conveyed along the first pallet rail 21 and the second pallet rail 31. By changing the position at which the pallet 11 and the endless belt 42 are engaged, the interval between the plurality of pallets 11 conveyed along the first pallet rail 21 or the second pallet rail 31 can be changed. That is, it is possible to easily change the conveyance pitch of the pallet 11 to be conveyed first and the pallet to be conveyed later.

由此，即便因發生各工作機或工件6之變更等，而需要變更工件6之搬送間距，亦無須變更托板11自身而能夠迅速地應對該間距之變更。 Thereby, even if the transfer pitch of the workpiece 6 needs to be changed due to the change of each working machine or workpiece 6, the pallet 11 itself can be changed, and the change of the pitch can be quickly dealt with.

上述實施形態中，輔助板91之一端樞軸支撐於支承板22之端部且靠近直線運動導軌23之上部。又，直線運動導軌23自支承板22之端部突出且與旋轉板62中之短軌道63相連。 In the above embodiment, one end of the auxiliary plate 91 is pivotally supported at the end of the support plate 22 and near the upper portion of the linear motion guide 23. Further, the linear motion guide 23 protrudes from the end of the support plate 22 and is connected to the short rail 63 in the rotary plate 62.

與此相對，如圖15及圖16所示，亦可於托板軌道21、31與旋轉板62之間，以與托板軌道21、31之端部相連之方式於托板軌道21、31之同一直線上設置輔助軌道96。 On the other hand, as shown in Figs. 15 and 16, the pallet rails 21, 31 may be connected to the end portions of the pallet rails 21, 31 between the pallet rails 21, 31 and the rotary plate 62. An auxiliary track 96 is provided on the same straight line.

該情形時，托板搬送裝置10進而需要使輔助軌道96升降之液壓氣缸(輔助軌道升降部)97。液壓氣缸97於圖中一點鏈線所示的輔助 軌道96與托板軌道21、31之端部相連之第一位置、和如圖中實線所示較第一位置靠下方之第二位置之間，使輔助軌道96升降。 In this case, the pallet conveying device 10 further requires a hydraulic cylinder (auxiliary rail lifting portion) 97 for raising and lowering the auxiliary rail 96. The hydraulic cylinder 97 is assisted by a little chain line in the figure. The auxiliary rail 96 is raised and lowered between a first position where the rail 96 is connected to the end portions of the pallet rails 21, 31 and a second position lower than the first position as indicated by the solid line in the figure.

圖15及圖16中表示如下情況，即，於第一托板軌道21及第二托板軌道31中之支承板22之旋轉板62側端部附近，樞軸支撐柱90立設於座架9，輔助板91之一端與輔助軌道96之一端樞軸支撐於樞軸支撐柱90之上端。液壓氣缸97使出沒桿97a朝向上方而將本體97b固定於座架9。輔助軌道96之另一端樞軸支撐於出沒桿97a之上端。 15 and FIG. 16 show a case where the pivot support column 90 is erected on the mount near the end portion of the support plate 22 on the side of the rotary plate 62 in the first pallet rail 21 and the second pallet rail 31. 9. One end of the auxiliary plate 91 and one end of the auxiliary rail 96 are pivotally supported at the upper end of the pivot support column 90. The hydraulic cylinder 97 fixes the main body 97b to the mount 9 with the exit lever 97a facing upward. The other end of the auxiliary rail 96 is pivotally supported at the upper end of the exit rod 97a.

若液壓氣缸97使出沒桿97a出沒，則輔助軌道96之另一端升降。輔助軌道96於靠近托板軌道21、31之側之端部具有支點96a，另一端以支點96a為旋轉軸而升降。由此，液壓氣缸97使輔助軌道96於與托板軌道21、31之端部相連之第一位置(圖中一點鏈線)、和較第一位置靠下方之第二位置(圖中實線)之間升降。 If the hydraulic cylinder 97 causes the exit lever 97a to exit, the other end of the auxiliary rail 96 is raised and lowered. The auxiliary rail 96 has a fulcrum 96a at an end portion on the side close to the pallet rails 21, 31, and the other end is raised and lowered with the fulcrum 96a as a rotation axis. Thereby, the hydraulic cylinder 97 causes the auxiliary rail 96 to be connected to the end of the pallet rails 21, 31 at a first position (a point chain in the figure) and a second position below the first position (solid line in the figure) ) between the rise and fall.

若將此種能夠升降之輔助軌道96設置於托板軌道21、31與旋轉板62之間，則於搭載於短軌道63之托板11與旋轉板62一併旋轉時，托板11與第一位置之輔助軌道96發生干涉之情形時有效。 When the auxiliary rail 96 capable of lifting and lowering is disposed between the pallet rails 21 and 31 and the rotating plate 62, when the pallet 11 mounted on the short rail 63 rotates together with the rotating plate 62, the pallet 11 and the It is effective when the auxiliary track 96 of one position interferes.

即，即便於搭載於旋轉板62中之短軌道63之托板11與第一位置之輔助軌道96發生干涉之情形時，亦可於使旋轉板62旋轉時使輔助軌道96下降而位於第二位置，由此可避免托板11與輔助軌道96之干涉。由此，可使托板11與旋轉板62一併確實地旋轉移動。 That is, even when the pallet 11 of the short rail 63 mounted in the rotating plate 62 interferes with the auxiliary rail 96 at the first position, the auxiliary rail 96 can be lowered to be located at the second when the rotating plate 62 is rotated. The position, thereby avoiding the interference of the pallet 11 with the auxiliary rail 96. Thereby, the pallet 11 and the rotating plate 62 can be surely rotated together.

另外，圖15及圖16之輔助軌道96於靠近托板軌道21、31之側之端部具有支點96a，另一端以支點96a為旋轉軸而升降。與此相對，輔助軌道96亦可以水平狀態升降。 Further, the auxiliary rail 96 of Figs. 15 and 16 has a fulcrum 96a at an end portion on the side close to the pallet rails 21, 31, and the other end is raised and lowered with the fulcrum 96a as a rotation axis. In contrast, the auxiliary rail 96 can also be raised and lowered in a horizontal state.

又，上述實施形態中，認為於使直線運動導軌23與旋轉板62之短軌道63隔開微小間隙而相連之情形時，當旋轉板62旋轉時直線運動導軌23與短軌道彼此干涉而無法相連。此種情形時，如圖17之放大圖所示，對直線運動導軌23之端部和與其相連之短軌道63之端部之彼此相向之面進行曲面加工即可。該情形時之曲面加工之曲率R理想為精加工為與旋轉板62之旋轉圓之曲率同等。此種變形例尤其於旋轉板62之直徑相對較小之情形時有效。 Further, in the above-described embodiment, it is considered that when the linear motion guide 23 and the short rail 63 of the rotary plate 62 are connected with a small gap therebetween, the linear motion guide 23 and the short rail interfere with each other when the rotary plate 62 rotates, and cannot be connected. . In this case, as shown in the enlarged view of Fig. 17, the curved surface of the end portion of the linear motion guide 23 and the end portion of the short rail 63 connected thereto may be curved. The curvature R of the curved surface machining in this case is preferably finished to be equal to the curvature of the rotating circle of the rotating plate 62. Such a modification is effective especially in the case where the diameter of the rotating plate 62 is relatively small.

又，上述實施形態中，對如下情形進行了說明，即，作為將托板搬送裝置中之托板能夠移動地搭載之複數個托板軌道，具備水平面內以90度之角度交叉之第一托板軌道21及第二托板軌道31。然而，不限於使托板循環之方式，作為複數個托板軌道，亦可於水平面內將彼此以直角以外之既定角度交叉。 Further, in the above-described embodiment, a plurality of pallet rails that are movably mounted on the pallet in the pallet transport apparatus are provided, and the first pallets intersecting at an angle of 90 degrees in the horizontal plane are provided. The plate rail 21 and the second pallet rail 31. However, it is not limited to the manner in which the pallet is circulated, and as a plurality of pallet rails, it is also possible to cross each other at a predetermined angle other than a right angle in a horizontal plane.

又，上述實施形態中，作為第一托板傳送部41及第二托板傳送部51，具備循環帶42及使循環帶42循環之循環機構(伺服馬達43)。與此相對，第一托板傳送部41及第二托板傳送部51不限於此，只要可將托板11沿著第一托板軌道21及第二托板軌道31搬送，則亦可為其他構成。 Further, in the above-described embodiment, the first pallet transport unit 41 and the second pallet transport unit 51 include an endless belt 42 and a circulation mechanism (servo motor 43) for circulating the endless belt 42. On the other hand, the first pallet transport unit 41 and the second pallet transport unit 51 are not limited thereto, and as long as the pallet 11 can be transported along the first pallet rail 21 and the second pallet rail 31, Other components.

又，上述實施形態中，於托板移動部61中之旋轉板62之旋轉圓周上以90度為單位設置有四根短軌道63。與此相對，短軌道63只要以第一托板軌道21及第二托板軌道31之交叉角度為單位而設置，則不限於4根。例如，亦可以若交叉角度為30度則為12根，若為60度則為6根之方式，基於交叉角度設置4根以外之複數根。 Further, in the above embodiment, four short rails 63 are provided on the rotation circumference of the rotary plate 62 in the pallet moving portion 61 at a rate of 90 degrees. On the other hand, the short rail 63 is not limited to four as long as it is provided in units of the intersection angle of the first pallet rail 21 and the second pallet rail 31. For example, if the intersection angle is 30 degrees, it is 12 pieces, and if it is 60 degrees, it is 6 pieces, and a plurality of roots other than four are provided based on the intersection angle.

又，上述實施形態中，對以使托板傳送輔助部81之單側下 降之方式旋轉而使其升降之情形進行了說明。與此相對，亦可不使托板傳送輔助部81旋轉而平行地升降。 Further, in the above embodiment, the pair is placed under the one side of the pallet transfer assisting portion 81. The case where the falling mode is rotated to raise and lower is explained. On the other hand, the pallet conveyance assisting portion 81 can be moved up and down without being rotated.

又，上述實施形態中，托板移動部61中之旋轉板62形成為俯視時為圓板形狀。旋轉板62俯視時可為多邊形狀、十字狀或棒形狀，只要1個或2個以上之短軌道63設置於托板移動部61之旋轉圓周上，則不限於旋轉板62之形狀。 Further, in the above embodiment, the rotating plate 62 of the pallet moving portion 61 is formed in a circular plate shape in plan view. The rotating plate 62 may have a polygonal shape, a cross shape, or a rod shape in plan view, and is not limited to the shape of the rotating plate 62 as long as one or two or more short rails 63 are provided on the rotating circumference of the pallet moving portion 61.

進而，上述實施之形態中，對在台座13之一側部之上表面設置有搭載工件6之搭載具16之情形進行了說明。然而，雖未圖示，但亦可於台座13形成貫通孔，於該貫通孔設置搭載具16，經由該貫通孔將工件6貫通於台座13而搭載。 Further, in the above-described embodiment, the case where the mounting member 16 on which the workpiece 6 is mounted is provided on the upper surface of one side portion of the pedestal 13 has been described. However, although not shown, a through hole may be formed in the pedestal 13, and the mounting tool 16 may be provided in the through hole, and the workpiece 6 may be inserted through the pedestal 13 through the through hole.

以下，對本實施形態之構成、作用、及效果進行總結說明。 Hereinafter, the configuration, operation, and effects of the present embodiment will be summarized.

托板搬送裝置具備：複數個托板軌道，於水平之同一面內將托板能夠移動地搭載；托板傳送部，將托板沿著托板軌道搬送；托板移動部，設置於複數個托板軌道之端部，使搭載於複數個托板軌道內之任一個托板軌道之托板移動至其他托板軌道，托板移動部具備：旋轉板，能夠以鉛垂方向之旋轉軸為中心而旋轉；1個或2個以上之短軌道，設置於旋轉板之周圍；托板傳送輔助部，使托板自托板軌道移動至短軌道或使托板自短軌道移動至托板軌道；以及升降部，使托板傳送輔助部升降，複數個托板軌道以其延長線彼此以既定角度於旋轉板之旋轉軸上交叉之方式設置。 The pallet conveying device includes a plurality of pallet rails, and the pallets are movably mounted on the same plane in the horizontal direction; the pallet conveying section transports the pallets along the pallet rails; and the pallet moving sections are provided in plural The end of the pallet rail moves the pallet mounted on any one of the plurality of pallet rails to the other pallet rail, and the pallet moving section includes a rotating plate, and the rotating shaft in the vertical direction can be Rotating at the center; one or more short tracks are placed around the rotating plate; the plate conveying auxiliary portion moves the pallet from the pallet track to the short track or moves the pallet from the short track to the pallet track And the lifting portion, the pallet conveying auxiliary portion is raised and lowered, and the plurality of pallet rails are disposed such that the extension lines cross each other at a predetermined angle on the rotating shaft of the rotating plate.

較佳為短軌道於旋轉板之旋轉圓周上以等角度間隔設置有偶數個。托板傳送輔助部亦可構成為於靠近托板傳送部之側之端部具有支點，另一端以支點為旋轉軸而升降。 Preferably, the short track is provided with an even number at equal angular intervals on the rotating circumference of the rotating plate. The pallet transport assisting portion may be configured to have a fulcrum at an end portion on the side close to the pallet transport portion, and the other end thereof may be raised and lowered with the fulcrum as a rotation axis.

托板傳送輔助部構成為具備輔助循環帶，上述輔助循環帶係沿寬度方向延伸之凹凸於長度方向交替連續地形成，且沿著托板軌道之端部及與托板軌道之端部相連之短軌道呈環形設置而循環，於托板之下表面，形成有能夠與輔助循環帶之凹凸卡合之凹凸，構成為若托板傳送輔助部上升，則托板之凹凸卡合於輔助循環帶之凹凸，托板利用輔助循環帶之循環而能夠移動，且構成為若托板傳送輔助部下降，則輔助循環帶之凹凸離開托板之凹凸。 The pallet transfer assisting portion is configured to include an auxiliary endless belt, and the auxiliary endless belt is formed by alternately extending in the longitudinal direction in the longitudinal direction, and is connected to the end portion of the pallet rail and the end portion of the pallet rail. The short track is arranged in a ring shape and circulated, and the lower surface of the pallet is formed with a concave-convex which can be engaged with the concave-convex of the auxiliary circulating belt, and is configured such that if the pallet conveying auxiliary portion rises, the concave-convex of the pallet is engaged with the auxiliary circulating belt The unevenness and the pallet can be moved by the circulation of the auxiliary circulation belt, and if the pallet conveyance assisting portion is lowered, the unevenness of the auxiliary circulation belt is separated from the unevenness of the pallet.

又，短軌道以複數個托板軌道之延長線於旋轉板之旋轉軸上彼此交叉之角度為單位、或基於該角度而於旋轉板之旋轉圓周上設置複數個。 Further, the short track is provided in a plurality of units in which the extension lines of the plurality of pallet tracks cross each other on the rotation axis of the rotary plate, or a plurality of rotations on the rotation circumference of the rotary plate.

托板搬送裝置較佳為進而具備容許及限制搭載於短軌道之托板之移動之托板卡止機構。又，托板搬送裝置亦可進而具備：輔助軌道，於托板軌道與旋轉板之間以與托板軌道之端部相連之方式設置於托板軌道之同一直線上；以及輔助軌道升降部，使輔助軌道於與托板軌道之端部相連之第一位置和較第一位置靠下方之第二位置之間升降。該情形時，輔助軌道亦可構成為，於靠近托板軌道之側之端部具有支點，另一端以支點為旋轉軸而升降。 Preferably, the pallet transporting device further includes a pallet locking mechanism that allows and restricts movement of the pallet mounted on the short rail. Further, the pallet conveying device may further include: an auxiliary rail that is disposed on the same straight line of the pallet rail between the pallet rail and the rotating plate so as to be connected to the end portion of the pallet rail; and an auxiliary rail lifting portion, The auxiliary track is raised and lowered between a first position that is coupled to the end of the pallet track and a second position that is lower than the first position. In this case, the auxiliary rail may be configured to have a fulcrum at an end portion on the side close to the pallet rail, and the other end is raised and lowered with the fulcrum as a rotation axis.

本實施形態之托板搬送裝置中，具備：托板傳送輔助部，使托板自托板軌道移動至短軌道或使托板自短軌道移動至托板軌道；以及升降部(液壓氣缸)，使托板傳送輔助部升降。因此，即便於托板傳送輔助部與搭載於短軌道之托板卡合之情形時，亦可藉由使托板傳送輔助部下降而容許旋轉板之旋轉，從而解除托板與托板傳送輔助部之卡合。 The pallet transport apparatus according to the present embodiment includes: a pallet transport assisting unit that moves the pallet from the pallet rail to the short rail or moves the pallet from the short rail to the pallet rail; and a lifting portion (hydraulic cylinder) The pallet transfer assisting portion is raised and lowered. Therefore, even when the pallet conveyance assisting portion is engaged with the pallet mounted on the short rail, the rotation of the rotary plate can be allowed to be reduced by lowering the pallet conveyance assisting portion, thereby releasing the pallet and the pallet conveyance assist. The card is locked.

由此，藉由使旋轉板與短軌道一併旋轉，而可使搭載於短軌道之托板移動至另一托板軌道。該移動時，若設置托板卡止機構，則可限制搭載於短軌道之托板之移動。 Thereby, by rotating the rotating plate together with the short track, the pallet mounted on the short track can be moved to the other pallet track. When the movement is performed, if the pallet locking mechanism is provided, the movement of the pallet mounted on the short rail can be restricted.

又，若使托板傳送輔助部上升，則托板傳送輔助部會再次卡合於搭載於短軌道之托板。因此，可使托板自連接於另一托板軌道之端緣之短軌道再移動至另一托板軌道。由此，即便以延長線交叉之方式設置有複數個托板軌道，亦能夠確實地使托板移動。 Further, when the pallet transport assisting portion is raised, the pallet transport assisting portion is again engaged with the pallet mounted on the short rail. Therefore, the pallet can be moved from the short track connected to the edge of the other pallet track to the other pallet track. Thereby, even if a plurality of pallet rails are provided so that the extension lines intersect, the pallet can be surely moved.

以上，已對本發明之實施形態進行了說明，但上述實施形態只不過表示本發明之應用例之一部分，並非旨在將本發明之技術範圍限定於上述實施形態之具體構成。 The embodiments of the present invention have been described above, but the above embodiments are merely illustrative of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configuration of the above embodiments.

本申請案主張基於2015年10月30日於日本專利局申請之日本特願2015-214662以及2016年9月21日於日本專利局申請之日本特願2016-184003之優先權，該申請案之全部內容藉由參照而編入本說明書中。 The present application claims priority based on Japanese Patent Application No. 2015-214662, filed on Sep. 30, 2015, the Japan Patent Application, and the Japanese Patent Application No. 2016-184003, filed on Sep. The entire contents are incorporated herein by reference.

10‧‧‧托板搬送裝置 10‧‧‧ pallet transporter

11‧‧‧托板 11‧‧‧Board

12‧‧‧直線運動塊 12‧‧‧Linear motion block

13‧‧‧台座 13‧‧‧ pedestal

13a‧‧‧卡止孔 13a‧‧‧ card hole

14‧‧‧卡止構件 14‧‧‧Clocking components

16‧‧‧搭載具 16‧‧‧Equipment

21‧‧‧第一托板軌道 21‧‧‧First pallet track

22‧‧‧支承板 22‧‧‧Support plate

23‧‧‧直線運動導軌 23‧‧‧Line motion guide

31‧‧‧第二托板軌道 31‧‧‧Second pallet track

41‧‧‧第一托板傳送部 41‧‧‧First Board Transfer Department

42‧‧‧循環帶 42‧‧‧Circular zone

43‧‧‧伺服馬達 43‧‧‧Servo motor

44‧‧‧從動滑輪 44‧‧‧driven pulley

47‧‧‧支承材 47‧‧‧Support material

48‧‧‧安裝具 48‧‧‧Installation

51‧‧‧第二托板傳送部 51‧‧‧Second Board Transfer Department

61‧‧‧托板移動部 61‧‧‧Board moving department

62‧‧‧旋轉板 62‧‧‧Rotating plate

63‧‧‧短軌道 63‧‧‧Short track

64‧‧‧分度單元 64‧‧‧division unit

64a‧‧‧本體部 64a‧‧‧ Body Department

64b‧‧‧旋轉桿 64b‧‧‧Rotary rod

65‧‧‧台板 65‧‧‧ board

72‧‧‧升降桿 72‧‧‧ lifting rod

81‧‧‧托板傳送輔助部 81‧‧‧Board Transfer Assistant

82‧‧‧輔助循環帶 82‧‧‧Auxiliary circulation belt

83‧‧‧輔助循環機構 83‧‧‧Auxiliary circulation mechanism

91‧‧‧輔助板 91‧‧‧Auxiliary board

92‧‧‧導引材 92‧‧‧ Guide material

93‧‧‧輔助滑輪 93‧‧‧Auxiliary pulley

L‧‧‧長度 L‧‧‧ length

W‧‧‧短軌道之長度 W‧‧‧ Length of short track

O‧‧‧旋轉中心 O‧‧‧ Rotation Center

X、Y、Z‧‧‧軸 X, Y, Z‧‧‧ axes

Claims (7)

一種托板搬送裝置，具備：複數個托板軌道，於水平之同一面內將托板能夠移動地搭載；托板傳送部，將上述托板沿著上述托板軌道搬送；以及托板移動部，設置於上述複數個托板軌道之端部，使搭載於上述複數個托板軌道內的任一個托板軌道之上述托板移動至其他托板軌道，上述托板移動部具有：旋轉板，能夠以鉛垂方向之旋轉軸為中心而旋轉；1個或2個以上之短軌道，設置於上述旋轉板之周圍；托板傳送輔助部，使上述托板自上述托板軌道移動至上述短軌道、或使上述托板自上述短軌道移動至上述托板軌道；以及升降部，使上述托板傳送輔助部升降，上述複數個托板軌道以其延長線彼此以既定角度於上述旋轉板之旋轉軸上交叉之方式設置。 A pallet conveying device comprising: a plurality of pallet rails for movably mounting a pallet in a horizontal plane; a pallet conveying portion for transporting the pallet along the pallet rail; and a pallet moving portion Provided at an end portion of the plurality of pallet rails, wherein the pallets of any of the pallet rails mounted in the plurality of pallet rails are moved to other pallet rails, and the pallet moving portion has a rotating plate. It is rotatable about a rotation axis in the vertical direction; one or two or more short rails are provided around the rotating plate; and the pallet conveyance assisting unit moves the pallet from the pallet rail to the short a rail or a movement of the pallet from the short rail to the pallet rail; and a lifting portion for raising and lowering the pallet conveying assisting portion, wherein the plurality of pallet rails are at a predetermined angle to the rotating panel at an extension line thereof Set on the rotation axis. 如申請專利範圍第1項之托板搬送裝置，其中，上述短軌道於旋轉板之旋轉圓周上以等角度間隔設置有偶數個。 The pallet conveying apparatus of claim 1, wherein the short rails are provided in an even number at equal angular intervals on a rotation circumference of the rotating plate. 如申請專利範圍第1或2項之托板搬送裝置，其中，上述托板傳送輔助部於靠近上述托板傳送部之側之端部具有支點，另一端以上述支點為旋轉軸而升降。 The pallet conveying apparatus according to claim 1 or 2, wherein the pallet conveying assisting portion has a fulcrum at an end portion on a side close to the pallet conveying portion, and the other end is raised and lowered with the fulcrum as a rotation axis. 如申請專利範圍第1或2項之托板搬送裝置，其中，上述托板傳送輔助部具備輔助循環帶，該輔助循環帶沿寬度方向延伸之凹凸於長度方向交替連續地形成，且沿著上述托板軌道之端部及與上述 托板軌道之端部相連之上述短軌道呈環形設置而循環，於上述托板之下表面形成有能夠與上述輔助循環帶之上述凹凸卡合之凹凸，若上述托板傳送輔助部上升，則上述托板之上述凹凸卡合於上述輔助循環帶之上述凹凸，上述托板能夠利用上述輔助循環帶之循環而移動，若上述托板傳送輔助部下降，則上述輔助循環帶之上述凹凸離開上述托板之上述凹凸。 The pallet conveying device according to claim 1 or 2, wherein the pallet conveying assisting portion includes an auxiliary endless belt, and the concavities and convexities extending in the width direction are alternately and continuously formed in the longitudinal direction, and along the above The end of the pallet track and the above The short rails connected to the end portions of the pallet rails are annularly arranged to circulate, and the lower surface of the pallet is formed with irregularities that can engage with the concave and convex portions of the auxiliary circulating belt, and if the pallet conveying auxiliary portion rises, The unevenness of the pallet is engaged with the unevenness of the auxiliary circulation belt, and the pallet is movable by circulation of the auxiliary circulation belt. When the pallet conveyance assisting portion is lowered, the unevenness of the auxiliary circulation belt is separated from the The above-mentioned unevenness of the pallet. 如申請專利範圍第1或2項之托板搬送裝置，其中，上述短軌道以上述複數個托板軌道之延長線於旋轉板之旋轉軸上彼此交叉之角度為單位、或基於該角度而於上述旋轉板之旋轉圓周上設置有複數個。 The pallet conveying device according to claim 1 or 2, wherein the short rail is based on an angle at which an extension line of the plurality of pallet rails intersects with each other on a rotation axis of the rotating plate, or based on the angle A plurality of the rotating plates are provided on the circumference of the rotation. 如申請專利範圍第1或2項之托板搬送裝置，其進一步具備：輔助軌道，於上述托板軌道與上述旋轉板之間，以與上述托板軌道之端部相連之方式設置於上述托板軌道之同一直線上；以及輔助軌道升降部，使上述輔助軌道於與上述托板軌道之端部相連之第一位置、和較上述第一位置靠下方之第二位置之間升降。 The pallet conveying device according to claim 1 or 2, further comprising: an auxiliary rail provided between the pallet rail and the rotating plate so as to be connected to an end portion of the pallet rail And the auxiliary rail lifting portion, wherein the auxiliary rail is raised and lowered between a first position connected to an end portion of the pallet rail and a second position lower than the first position. 如申請專利範圍第6項之托板搬送裝置，其中，上述輔助軌道於靠近上述托板軌道之側之端部具有支點，另一端以該支點為旋轉軸而升降。 The pallet conveying device of claim 6, wherein the auxiliary rail has a fulcrum at an end portion on a side close to the pallet rail, and the other end is raised and lowered with the fulcrum as a rotation axis.