Conveying system

Abstract

The present application includes a conveying device (41) having a mobile stage (43), a transfer device (45) and a robot (70) disposed on the mobile stage (43), and a control device (80). The transfer device (45) has an engaging member (50) that engages with a conveyed article (W) and a feed mechanism that advances and retreats the engaging member (50). The control device (80) performs a first movement operation that moves the mobile stage (43) to a work position of a holding device (20), a second movement operation that moves the mobile stage (43) to a work position of an industrial machine (10) after performing an engaging operation that advances the engaging member (50) by the feed mechanism and engages the engaging member (50) with the conveyed article (W) and a removal operation that retreats the engaging member (50) by the feed mechanism and removes the conveyed article (W) from the holding device (20), a feed operation that advances the engaging member (50) by the feed mechanism, a carry-in operation that carries the conveyed article (W) into the industrial machine (10), and a retreat operation that retreats the engaging member (50) by the feed mechanism.

Description

Technical Field

[0001] The present invention relates to a conveying system for removing a conveyed object from a holding device and conveying it to a designated industrial machine. Background Technology

[0002] As a conveying device capable of removing the conveyed item from the holding device and conveying it to a designated industrial machine, a forklift disclosed in Japanese Patent Application Publication No. 2009-184826 is previously known.

[0003] The forklift includes forks formed to load goods, a first support shaft extending vertically and supporting the forks so as to slide vertically, a first lifting device for raising and lowering the forks along the first support shaft, an arm formed to grip goods, a second support shaft also extending vertically and supporting the arm so as to slide vertically, and a second lifting device for raising and lowering the arm along the second support shaft. Furthermore, the arm is supported so as to be able to swing relative to the second support shaft in a direction intersecting the second support shaft, and is configured to bend or flex; additionally, the arm is configured to be extendable.

[0004] According to this forklift, since it has an arm configured to hold goods, even if the goods being transported are irregularly shaped, there is no need to perform packaging or other operations. The arm can be used to load the goods onto the forks. In addition, even if the goods being transported are irregularly shaped heavy objects, there is no need to use a crane or the like. The arm can be used to load the goods onto the forks and the pallets on the forks. Therefore, it is easy to perform loading, unloading and transporting operations for irregularly shaped goods.

[0005] Furthermore, since the arm is configured to swing relative to the second support shaft, the range of motion of the front end of the arm can be expanded. For example, when loading goods diagonally in front onto the forks, it is not necessary to make minor adjustments to the orientation of the forklift, etc. The goods can be gripped simply by swinging the arm, thus enabling smooth and rapid loading and unloading operations.

[0006] Furthermore, by configuring the arm to bend or flex, it can more stably grip or hold the goods. In addition, since the position of the front end of the arm can be easily fine-tuned, it can stably grip or hold the goods, thereby enabling smooth and rapid loading and unloading operations. Moreover, by configuring the arm to be telescopic, the movement mode of the arm is more diversified, further improving the convenience of the arm.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2009-184826 Summary of the Invention

[0010] The technical problem that the invention aims to solve

[0011] However, in the field of industrial machinery, especially in the machine tool sector, higher levels of generalization and automation have been continuously developing in recent years. From the perspective of generalization, it is possible to use a single machine tool to process everything from lightweight to heavy-duty workpieces, and from small to large workpieces. Moreover, regarding the tools used in processing, a single machine tool can utilize everything from standard-sized tools that can be stored in a tool magazine to heavy-duty or large tools.

[0012] Furthermore, in order to achieve automation of general-purpose machine tools in this way, it is desirable to provide a conveying device (conveyor system) that can move a variety of workpieces into and out of the machine tool, or that can load and unload heavy or large tools that cannot be stored in the tool magazine to the tool holding part of the machine tool.

[0013] However, in order to automate such general-purpose machine tools, there has been no suitable conveying device in the past. As mentioned above, a forklift disclosed in Japanese Patent Application Publication No. 2009-184826 has been proposed in the past, but the forklift is configured to be operated by a person, and therefore cannot be automated.

[0014] The present invention was made in view of the above actual situation, and its purpose is to provide an automated conveying system capable of conveying a variety of materials to industrial machinery.

[0015] Methods for solving technical problems

[0016] The present invention relates to a conveying system for solving the above-mentioned technical problems. This system removes a conveyed object from a holding device and conveys it to a designated industrial machine. It is configured as follows: comprising: a conveying device having a movable stage, which is moved to a working position relative to the holding device and a working position relative to the industrial machine; a transfer device and a robot disposed on the movable stage; and a control device controlling the operation of the movable stage, the transfer device, and the robot. The transfer device includes: an engaging member configured to engage with the conveyed object; and a forward / backward mechanism that causes the engaging member to move forward and backward in a predetermined direction in a horizontal plane. The control device performs at least the following actions in sequence: a first movement action that moves the moving platform of the conveying device to a working position set relative to the holding device; a second movement action that sequentially performs an engagement action that moves the engaging member forward via the advance-retreat mechanism to engage with the conveyed object, a removal action that moves the engaging member backward via the advance-retreat mechanism to remove the conveyed object from the holding device, and then moves the moving platform to a working position set relative to the industrial machinery; an infeed action that moves the engaging member forward via the advance-retreat mechanism to move the conveyed object into the industrial machinery; and a retraction action that moves the engaging member backward via the advance-retreat mechanism.

[0017] According to the conveying system, under the control of the control device, as described below, the conveyed item held in the holding device is removed from the holding device and conveyed to the designated industrial machinery.

[0018] That is, the control device first drives the moving stage to move it to a working position set relative to the holding device (first movement action). Next, the control device drives the forward and backward mechanism to advance the engaging member, engaging it with the target conveyed object, then retracts the engaging member to remove the target conveyed object from the holding device, and then drives the moving stage to move it to a working position set relative to the industrial machinery (second movement action). Then, the control device drives the forward and backward mechanism to advance the engaging member, moving the conveyed object into the industrial machinery (moving in action), and then retracts the engaging member (retraction action).

[0019] In this conveying system, the above actions enable the conveyed object held in the holding device to be removed from the holding device and automatically conveyed to the industrial machinery. Furthermore, in this conveying system, the conveyed object is transported by a transfer device mounted on a moving platform. Therefore, by appropriately setting the load-bearing capacity of the moving platform and the transfer device, large and heavy conveyed objects can also be appropriately transported.

[0020] On the other hand, the robot can be used to transport small and lightweight items held in a holding device to industrial machinery. For example, the robot can drive the mobile stage to a working position set relative to the holding device, then drive the robot to remove the target item from the holding position. Next, the robot can drive the mobile stage to a working position set relative to the industrial machinery, then drive the robot to move the transported item into the industrial machinery.

[0021] Furthermore, when the holding device and the industrial machinery are configured such that the access direction to the holding device and the access direction to the industrial machinery are the same, the conveying system with this structure can be preferred.

[0022] In addition to the machine tools, the industrial machinery also includes, as commonly defined, mining machinery, chemical machinery, environmental devices, power transmission devices, tanks, commercial washing machines, boilers / prime movers, plastic machinery, wind or water power machinery, material handling machinery, and ironmaking machinery, etc., and the conveying system can be applied in these machines as needed.

[0023] In the above-mentioned conveying system, it can also be configured as follows: the forward and backward mechanism of the transfer device is configured to perform the action of moving the engaging member forward in the direction stated and the action of retracting back to the original position, and is configured to perform the action of moving the engaging member forward in the opposite direction and the action of retracting back to the original position. In the loading action, the control device moves the engaging member forward in the opposite direction by means of the forward and backward mechanism to move the conveyed material into the industrial machinery.

[0024] When the holding device and the industrial machinery are configured in opposite directions and facing each other, a conveying system configured in this way is preferred.

[0025] Alternatively, the conveying system can be configured as follows: the transfer device further includes a rotary mechanism that causes the engaging member to rotate around a vertical axis; when the control device performs the second movement action after performing the take-out action, it performs a rotary action by rotating the engaging member through the rotary mechanism in a manner that forms the advancing and retracting direction of the engaging member toward the industrial machinery, and performs the actions after the second movement action.

[0026] According to the conveying system configured in this way, even if the holding device and the industrial machine are arranged in a manner where the access direction to the holding device and the access direction to the industrial machine intersect at any angle, the engaging member can be rotated by means of a rotary mechanism to form a state in which the forward and backward direction of the engaging member is facing the industrial machine, so that the loading action can be performed relative to the industrial machine.

[0027] Alternatively, the conveying system can be configured such that the control device performs the rotary motion and the second moving motion in parallel. This reduces the operating time of the conveying system.

[0028] Alternatively, the conveying system can also be configured as follows: the transfer device further includes a lifting mechanism for raising and lowering the engaging component; the control device is configured such that, during the engaging action, the engaging component is advanced via the forward / backward mechanism, and then raised via the lifting mechanism, thereby engaging the engaging component with the conveyed object; and the control device is configured such that, during the loading action, the engaging component is advanced via the forward / backward mechanism, and after the conveyed object is loaded into the industrial machinery, the engaging component is lowered via the lifting mechanism.

[0029] Alternatively, the conveying system can be configured such that the control device performs at least a portion of the actions of the conveying device, the transfer device, and the robot in parallel.

[0030] The conveying system can also be configured such that the conveying device enables the moving platform to move to a retractable position, which is away from the working position set relative to the industrial machinery.

[0031] The conveying system can also be configured such that the conveying device can move the moving platform to a retreat position, which is away from the working position set relative to the holding device.

[0032] [Invention Effects]

[0033] As described above, the conveying system according to the present invention can automatically remove a conveyed item held in a holding device from the holding device and convey it to industrial machinery. Furthermore, in this conveying system, the conveyed item is conveyed by a transfer device mounted on a moving platform; therefore, by appropriately setting the load-bearing capacity of the moving platform and the transfer device, large and heavy conveyed items can be appropriately conveyed. Additionally, when conveying smaller and lighter conveyed items held in a holding device to industrial machinery, this can be performed by the robot. In this way, the conveying system according to the present invention can automatically convey a wide variety of conveyed items to industrial machinery. Attached Figure Description

[0034] Figure 1 This is a front view of a processing system according to an embodiment of the present invention.

[0035] Figure 2 This is a top view showing the processing system involved in this embodiment.

[0036] Figure 3 yes Figure 2 The diagram shows the direction of arrow AA.

[0037] Figure 4 This diagram illustrates the mobile station and transfer device involved in this embodiment, and is equivalent to... Figure 2 The cross-sectional view of the figure observed in the direction of arrow BB.

[0038] Figure 5 This is a diagram showing the machine tool involved in this embodiment. Figure 2 The diagram shows the direction of the arrow CC.

[0039] Figure 6 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0040] Figure 7 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0041] Figure 8 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0042] Figure 9 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0043] Figure 10 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0044] Figure 11 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0045] Figure 12 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0046] Figure 13 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0047] Figure 14 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0048] Figure 15 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0049] Figure 16 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0050] Figure 17 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0051] Figure 18 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0052] Figure 19 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0053] Figure 20 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0054] Figure 21 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0055] Figure 22 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0056] Figure 23 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0057] Figure 24 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0058] Figure 25 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0059] Figure 26 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0060] Figure 27 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0061] Figure 28 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0062] Figure 29 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0063] Figure 30 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0064] Figure 31 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0065] Figure 32 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment.

[0066] Figure 33 This is an explanatory diagram used to illustrate the operation of the conveying system involved in this embodiment. Detailed Implementation

[0067] Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. Figures 1-5 As shown, the processing system 1 involved in this embodiment consists of a machine tool 10, a holding device 20, and a conveying system 40, which are industrial machines.

[0068] The machine tool 10 has a conventionally known structure, and its detailed description is omitted, but its general structure is described, such as... Figure 1 as well as Figure 5 As shown, the device includes a fixture 11 mounted on a spindle (not shown), a tool spindle 12 for holding tools, a vibration damping device 13, a door 15 for opening and closing the machining area, an operation panel 16, and a CNC device 17. The fixture 11 holds one end of the workpiece W (described later). While held by the fixture 11, the workpiece W rotates around the axis center at a predetermined speed through the rotation of the spindle (not shown). In addition, through the indexing action of the spindle (not shown), it is indexed around the axis of the spindle at a predetermined angle.

[0069] Furthermore, the tool spindle 12 can hold turning tools in a fixed state and can rotatably hold rotating tools for punching and milling, moving along the X, Y, and Z axes via a suitable feed mechanism (not shown). Additionally, the machine tool 10 includes a tool changing device (not shown) with a tool magazine (not shown) containing commonly used tools, through which tools mounted on the tool spindle 12 are changed.

[0070] The X-axis is a vertical axis, the Z-axis is a horizontal axis orthogonal to the X-axis and parallel to the axis of the main spindle (not shown), and the Y-axis is a horizontal axis orthogonal to both the X-axis and the Z-axis. Furthermore, in the following description, these three axes—X-axis, Y-axis, and Z-axis—are used as reference axes in the three-dimensional space of the machining system 1 configured in this example.

[0071] The vibration damping device 13 is configured to move along the Z-axis via a suitable drive mechanism (not shown), and to support the outer circumferential surface of the workpiece W held in the fixture 11 from below in a rotatable manner via two support members 14, which are raised to an elevated support position and lowered retracted position. Additionally, the door 15 moves along the Z-axis via a suitable drive mechanism (not shown) to open and close the processing area.

[0072] Thus, in this machine tool 10, under the control of the CNC device 17, the workpiece W held in the fixture 11 can be turned by a fixed tool mounted on the tool spindle 12 while rotating at a predetermined speed. Alternatively, the workpiece W can be punched or milled by a rotating tool mounted on the tool spindle 12 while the workpiece W is stopped in the fixture 11 or while the spindle (not shown) rotates around its axis at a predetermined feed rate. In this way, the machine tool 10 in this example can perform complex machining operations such as turning, punching, and milling.

[0073] like Figure 2 As shown, the holding device 20 is configured at a predetermined interval from the machine tool 10 in the Y-axis direction, from... Figure 1 When viewed from the front, it includes a workpiece holding device 21 disposed on the left side in the Z-axis direction and a tool holding device 30 disposed on the right side.

[0074] The workpiece holding device 21 includes a base 22 arranged along the Z-axis, a first worktable 23 arranged on the right side of the Z-axis direction when viewed from the front, and a second worktable 26 arranged on the left side of the base 22. Furthermore, in this example, the workpiece W is a fork end, consisting of a cylindrical portion and two forks protruding parallel to the cylindrical portion along the axial direction. Additionally, the workpiece W is supplied from the outside to the first worktable 23 and the second worktable 26 via a suitable supply unit.

[0075] The first worktable 23 includes a support platform 24 disposed on the base 22, and two workpiece support frames 25, 25 erected on the support platform 24 at predetermined intervals along the Z-axis direction, which support the cylindrical portion of the workpiece W. Similarly, the second worktable 26 includes a support platform 27 disposed on the base 22, and two workpiece support frames 28, 28 erected on the support platform 27 at predetermined intervals along the Z-axis direction, which support the cylindrical portion of the workpiece W. Furthermore, these workpiece support frames 25, 25 and 28, 28 each have two support portions formed at predetermined intervals along the Y-axis direction, which support the workpiece W at two points respectively.

[0076] The tool holding device 30 includes a base 31 and a tool holding frame 32 erected on the base 31. The tool holding frame 32 is formed in the shape of a door. In this example, three tools T (T1, T2, T3) are held vertically at predetermined intervals in the horizontal portion of the tool holding frame 32. In addition, the tool holding device 30 holds tools T that are not of the specified size and cannot be stored in the tool magazine (not shown). These tools are heavy, long tools.

[0077] The conveying system 40 includes a conveying device 41, a transfer device 45, a robot 70, and a hand storage device 75 disposed above the workpiece holding device 21, which are arranged between the machine tool 10 and the holding device 20.

[0078] The conveying device 41 comprises a conveying base 42 arranged along the Z-axis, a movable stage 43 arranged on the conveying base 42 and configured to move along the Z-axis, and a drive device (not shown) for moving the movable stage 43. A guide rail arranged along the Z-axis is provided on the conveying base 42, and the movable stage 43 is guided by the guide rail to move along the Z-axis direction.

[0079] Furthermore, the drive device (not shown) comprises, for example, a rack (not shown) arranged along the Z-axis on the transport base 42, a pinion (not shown) disposed on the movable stage 43, and a motor (not shown) driving the pinion (not shown). The pinion (not shown) meshes with the rack (not shown), and by rotating the pinion (not shown) with the motor (not shown), the movable stage 43 moves along the Z-axis due to the meshing relationship between the pinion (not shown) and the rack (not shown). Additionally, the position of the movable stage 43 can be detected, for example, by a position detection device (not shown), which comprises a scale (not shown) arranged along the Z-axis on the transport base 42, and a reader (not shown) disposed on the movable stage 43 and reading the position of the scale (not shown). The movable stage 43 can be moved to a working position set relative to the machine tool 10, a working position set relative to the workpiece holding device 21, and a working position set relative to the tool 30.

[0080] like Figure 2 as well as Figure 4 As shown, the transfer device 45 includes a transfer base 46 disposed on the moving stage 43 of the conveying device 41, a first transfer stage 47, a second transfer stage 48, and a third transfer stage 49 disposed on the transfer base 46, two pairs of support members 50, 50 disposed on the third transfer stage 49, a forward / backward mechanism 51 for moving the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 along a common H-axis direction that serves as a horizontal axis, a swivel mechanism 58 for rotating the transfer base 46, and a lifting mechanism 60 for raising and lowering the transfer base 46. Furthermore, the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 are each guided by guide rails and are capable of moving forward and backward along the H-axis direction.

[0081] Furthermore, the transfer base 46 is composed of a lower first structure 46a and an upper second structure 46b, and the first transfer stage 47 is disposed on the second structure 46b. Additionally, the first structure 46a is connected to the second structure 46b in a state where its upper part is inserted into the second structure 46b, and the second structure 46b is movable relative to the first structure 46a.

[0082] The forward / backward mechanism 51 comprises three pinions: a first pinion 52 and a second pinion 53 disposed on the first transfer platform 47, a third pinion 54 disposed on the second transfer platform 48, a motor (not shown) driving these three pinions, a rack 55 disposed on the conveying base 46, a rack 56 disposed on the second transfer platform 48, and a rack (not shown) disposed on the third transfer platform 49. Furthermore, the first pinion 52 meshes with the rack 55, the second pinion 53 meshes with the rack 56, and the third pinion 54 meshes with the rack (not shown) disposed on the third transfer platform 49.

[0083] Thus, in the forward and backward mechanism 51, the first transfer table 47 moves forward and backward along the H-axis by utilizing the meshing relationship between the first pinion 52 and the rack 55; the second transfer table 48 moves forward and backward along the H-axis by utilizing the meshing relationship between the second pinion 53 and the rack 56; and the third transfer table 49 moves forward and backward along the H-axis by utilizing the meshing relationship between the third pinion 54 and the rack (not shown).

[0084] Furthermore, the position of the first transfer stage 47 relative to the transfer base 46 can be detected by a first position detection device (not shown). The first position detection device consists of a first scale (not shown) arranged along the H-axis on the transfer base 46 and a first reader (not shown) set on the first transfer stage 47 and reading the position of the first scale (not shown). Similarly, the position of the second transfer stage 48 relative to the first transfer stage 47 can be detected by a second position detection device (not shown). The second position detection device consists of a second scale (not shown) arranged along the H-axis on the first transfer stage 47 and a second reader (not shown) set on the second transfer stage 48 to read the position of the second scale (not shown). In addition, the position of the third transfer stage 49 relative to the second transfer stage 48 can be detected by a third position detection device (not shown). The third position detection device consists of a third scale (not shown) arranged along the H-axis on the second transfer stage 48 and a third reader (not shown) set on the third transfer stage 49 to read the position of the third scale (not shown).

[0085] The support members 50 are arranged at predetermined intervals on the third transfer table 49 along the forward and backward directions, and can support the cylindrical portion of the workpiece W by two support portions 50a, 50a respectively provided along the forward and backward directions. In addition, the third transfer table 49 has a notch 49a formed from the front end in the forward direction toward the inward side (reverse direction) between the support members 50, 50.

[0086] The rotary mechanism 58 is a mechanism that causes the transfer base 46 to rotate around the vertical axis, i.e., the V-axis. It consists of a spur gear 59 connected to the lower end of the transfer base 46, a pinion gear (not shown) disposed on the moving stage 43 and meshing with the spur gear 59, and a motor (not shown) that drives the pinion gear (not shown). The spur gear 59 is rotated by the pinion gear (not shown) driven by the motor (not shown), and through the rotation of the spur gear 59, the transfer base 46 rotates around the V-axis. Figure 2 The arrow DE shown rotates in the direction of rotation.

[0087] The lifting mechanism 60 is a mechanism for raising and lowering the second structure 46b of the transfer base 46. It consists of a hydraulic cylinder 61 disposed in the first structure 46a, a piston 62 inserted into the cylinder chamber of the hydraulic cylinder 61, and a pressure oil supply source (not shown) that supplies pressure oil to the cylinder chamber of the hydraulic cylinder 61 via supply pipes 63 and 64. The axis of the hydraulic cylinder 61 is arranged along the V-axis, and the upper end of the piston 62 is connected to the second structure 46b. Thus, by supplying pressure oil from the pressure oil supply source (not shown) to the lower cylinder chamber via the supply pipe 64, the second structure 46b rises under the action of the piston 62; conversely, by supplying pressure oil from the pressure oil supply source (not shown) to the upper cylinder chamber via the supply pipe 63, the second structure 46b descends under the action of the piston 62.

[0088] The robot 70 is a 6-axis articulated robot with a hand holding part 71 at the front end of its arm, which can hold the hand held in the hand storage device 75. Furthermore, the robot 70 can move the hand to any position in three-dimensional space, and can also adopt any posture.

[0089] The hand storage device 75 is disposed above the workpiece holding device 21 and includes a support frame 79 supported by a support unit (not shown) along the Z-axis direction and three hand holding frames 76, 77, and 78 supported by the support frame 79 along the Z-axis direction at predetermined intervals. Hands are respectively stored in the hand holding frames 76, 77, and 78.

[0090] The control device 80, comprised of a computer including a CPU, RAM, ROM, etc., controls the operation of the conveying device 41, the transfer device 45, and the robot 70, performing workpiece conveying actions to transport the workpiece W held in the workpiece holding device 21 to the machine tool 10, and tool conveying actions to transport the tool T held in the tool holding device 30 and assemble it onto the tool spindle 12 of the machine tool 10. The operation control performed by this control device 80 will be described below.

[0091] [Workpiece transport action]

[0092] The following is based on Figures 6 to 20 The workpiece conveying operation, in which the workpiece W held in the workpiece holding device 21 is conveyed by the transfer device 45 of the conveying system 40 and supplied to the machine tool 10, will be described. Furthermore, in Figures 6 to 20 In this text, except where the description is made for clarity, reference numerals in the accompanying drawings are omitted. Figures 6 to 20 Also applicable (refer to) Figures 1-5 The reference numerals used in the accompanying drawings are as follows: Figures 1-5 The reference numerals shown in the accompanying drawings are explained.

[0093] Additionally, assuming that the moving stage 43 of the conveyor 41 is positioned at the location set before the operation begins. Figure 2 The original position (retreat position) of the right end in the Z-axis direction. Additionally, assuming that the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 of the transfer device 45 are as follows... Figure 4 The retracting end, located above the transfer base 46, has its forward / reverse direction (H-axis) parallel to the Z-axis, and the second structure 46b is in a lowered state. Alternatively, it is assumed that the front door 15 of the machine tool 10 is open, and that the vibration damping device 13 is located at the retracting end on the right side of the Z-axis.

[0094] Furthermore, the following describes the method of supplying the workpiece W held on the first worktable 23 of the workpiece holding device 21 to the machine tool 10, and the same method is adopted for supplying the workpiece W held on the first worktable 26.

[0095] The control device 80 first drives the forward / backward mechanism 51, causing the first transfer table 47 to advance along the H-axis direction, and drives the drive device (not shown) of the conveying device 41, causing the moving table 43 to move to the left in the Z-axis direction, and after positioning itself at the working position set relative to the first worktable 23 of the workpiece holding device 21 (refer to the relevant documentation for this state)... Figure 2 The drive mechanism 58 rotates the transfer base 46 90° in the direction of arrow D (see reference). Figure 6 , Figure 7 In addition, the working position is also set for the second workbench 26 in the same way.

[0096] Next, the control device 80 drives the forward / backward mechanism 51, causing the second transfer table 48 and the third transfer table 49 to advance along the H-axis direction, so that the support members 50, 50 mounted on the third transfer table 49 are positioned below the workpiece W supported by the workpiece support frames 25, 25 (see reference). Figure 8 as well as Figure 9 Furthermore, at this time, such as Figure 9As shown, the support components 50, 50 are located at the position of the workpiece support frame 25 on the right side of the clamp, and the workpiece support frame 25 on the right side is located in the notch 49a, which is formed on the third transfer table 49.

[0097] Next, the control device 80 drives the lifting mechanism 60 to raise the second structure 46b of the transfer base 46 (see reference). Figure 10 Therefore, the workpiece W, supported by the workpiece support frames 25, 25, moves upward while supported by the support components 50, 50, releasing the support state formed by the workpiece support frames 25, 25. Next, the control device 80 drives the forward / backward mechanism 51, as follows... Figure 11 As shown, the second transfer stage 48 and the third transfer stage 49 are moved backward. After the second transfer stage 48 and the third transfer stage 49 have moved to the backward end, the rotary mechanism 58 is driven, as follows. Figure 12 As shown, rotate the transfer base 46 90° in the direction of arrow E.

[0098] Next, the control device 80 drives the drive unit (not shown) of the conveyor device 41, causing the moving table 43 to move to the left in the Z-axis direction, and position it at the working position set relative to the machine tool 10 (see reference). Figure 13 ), drive rotary mechanism 58, such as Figure 14 As shown, the transfer base 46 is rotated 90° in the direction of arrow E. Next, the control device 80 drives the forward / backward mechanism 51, as shown... Figure 15 As shown, the second transfer stage 48 and the third transfer stage 49 are moved forward along the H-axis. As a result, the axis of the workpiece W supported by the support components 50 is coaxial with the axis of the spindle (not shown) and the axis of the fixture 11.

[0099] Next, the control device 80 drives the drive unit (not shown) of the conveyor 41, causing the moving table 43 to move to the left in the Z-axis direction, positioning the workpiece W in the gripping position of the fixture 11 (see reference). Figure 16 The machine tool 10 sends a signal indicating the completion of workpiece W installation. Upon receiving the installation completion signal, the machine tool 10 grips the workpiece W using the clamp 11, moves the anti-vibration device 13 along the Z-axis toward the clamp 11, positions the support member 14 below the right end of the workpiece W, and then raises the support member 14 to support the right end of the workpiece W (see reference). Figure 17 Then, a workpiece holding end signal is sent to the control device 80.

[0100] Furthermore, if a workpiece holding end signal is received, the control device 80 then drives the lifting mechanism 60, causing the second structure 46b of the transfer base 46 to descend, and then causing the second transfer stage 48 and the third transfer stage 49 to retract along the H-axis direction (see reference). Figure 18Then, the drive mechanism (not shown) of the conveyor 41 is driven to move the moving table 43 to the right in the Z-axis direction to the working position set relative to the machine tool 10 (see reference). Figure 19 Next, drive the rotary mechanism 58, as follows: Figure 20 As shown, the transfer platform 46 rotates 90° in the direction of arrow D. After the rotation is complete, an exit signal is sent to the machine tool 10. Furthermore, if the exit signal is received, the machine tool 10 closes the front door 15 and performs the prescribed machining on the workpiece W. On the other hand, the control device 80 drives the drive mechanism (not shown) of the conveyor device 41, causing the moving table 43 to move to the right in the Z-axis direction and return to its original position (retracted position).

[0101] The control device 80, through the above-mentioned action control, transports the workpiece W held in the workpiece holding device 21 via the conveying system 40 and supplies it to the machine tool 10.

[0102] [Tool delivery action]

[0103] Next, according to Figures 21-33 The tool transport operation, in which the robot 70, via the transport system 40, transports the tool T held in the tool holding device 30 and mounts it to the tool spindle 12 of the machine tool 10, will be described. Furthermore, in Figures 21-33 Except where the description is made for clarity, reference numerals in the accompanying drawings are omitted. Figures 21-33 Also applicable (refer to) Figures 1-5 The reference numerals used in the accompanying drawings are as follows: Figures 1-5 The reference numerals shown in the accompanying drawings are explained.

[0104] Additionally, assuming that the moving stage 43 of the conveyor 41 is located at the position set in the [location missing] before the operation begins. Figure 2 The original position (retreat position) of the right end in the Z-axis direction. Additionally, assume that the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 of the transfer device 45 are in the... Figure 2 The state shown. On the other hand, assume that the front door 15 of the machine tool 10 is in the open state, and the anti-vibration device 13 is located at the rear end on the right side in the Z-axis direction. Additionally, assume that the tool spindle 12 is located... Figure 1 as well as Figure 5 In the position shown, tool T is not assembled, the retaining hole faces the fixture 11 side, and the central axis is parallel to the Z-axis.

[0105] Furthermore, it is assumed that the hand-holding section 71 of the robot 70 does not hold a hand. Additionally, the following assumptions will be made regarding... Figure 2 The leftmost tool T1 is mounted on the tool spindle 12, as shown below. Figure 22As shown, assume that the hand 72 holding tool T1 is housed in the hand-holding frame 76 located on the far right. Similarly, the hand 73 holding tool T2 is housed in the hand-holding frame 77, and the hand 74 holding tool T3 is housed in the hand-holding frame 78. Furthermore, in this example, the method of mounting tool T1 to tool spindle 12 is described; tools T2 and T3 can also be mounted in the same manner.

[0106] The control device 80 first drives the drive device (not shown) of the conveying device 41, causing the moving table 43 to move to the left in the Z-axis direction. After the robot 70 is positioned at the working position set relative to the hand holding frame 76, the robot 70 moves to hold the hand 72 stored in the hand holding frame 76 through the hand holding part 71 (see reference). Figure 21 , Figure 22 The hand 72 is removed from the hand holding frame 76. Furthermore, the working position is set for the hand holding frames 76, 77, and 78 respectively.

[0107] Next, the control device 80 drives the drive unit (not shown) of the conveyor 41, causing the moving table 43 to move to the right in the Z-axis direction, positioning the robot 70 at the work position set relative to the tool T1. Then, the robot 70 moves, and the hand 72 grasps the tool T1 held in the tool holding frame 32 (see reference). Figures 23-26 Remove the tool T1 held in the tool holding frame 32 (see reference). Figure 27 , Figure 28 ).

[0108] Next, the control device 80 drives the drive unit (not shown) of the conveyor device 41, causing the moving table 43 to move to the left in the Z-axis direction, positioning the robot 70 at the working position (tool assembly position) set relative to the machine tool 10 (see reference). Figure 29 , Figure 30 The robot 70 moves to move the tool T1 held by hand 72 into the machine tool 10 in a position parallel to the Z-axis, and inserts it into the retaining hole of the tool spindle 12 (refer to...). Figure 31 , Figure 32 The machine tool 10 sends a tool insertion signal to the machine tool 10. After receiving the tool insertion signal, the machine tool 10 grips the tool T1 through the tool spindle 12 and then sends a gripping end signal to the control device 80.

[0109] Next, after receiving the gripping end signal, the control device 80 causes the robot 70 to return to the posture it was in before entering the machine tool 10 (see reference). Figure 33 Then, the drive device of the conveyor 41 (not shown) is driven to move the moving table 43 to the right in the Z-axis direction and return it to its original position (retreat position).

[0110] The control device 80 controls the above actions and transports the tool T held in the tool holding device 30 to the machine tool 10 via the conveying system 40.

[0111] As described above, according to the machining system 1 of this example, the workpiece W held in the workpiece holding device 21 and the tool T held in the tool holding device 30 can be automatically transported and assembled into the machine tool 10. In addition, in the conveying system 1 of this example, the conveying object is transported by the transfer device 45 provided on the moving table 43. Therefore, by appropriately setting the load-bearing capacity of the moving table 43 and the transfer device 45, it is also possible to appropriately transport large and heavy workpieces W.

[0112] On the other hand, when a smaller and lighter transport object held in the holding device 20, such as a tool T held in the tool holding device 30, is transported to the machine tool 10, it can be performed by the robot 70.

[0113] In this way, according to the processing system 1 (conveyor system 40) of this example, heavy large conveyors can be conveyed by the transfer device 45, and smaller and lighter conveyors can be conveyed by the robot 70, thereby enabling a variety of conveyors to be supplied to the machine tool 10.

[0114] Furthermore, in the conveying system 40 of this example, the heavier transfer device 45 and robot 70 are respectively arranged on the moving table 43. Therefore, even when the workpiece W is supported by the support member 50 of the third transfer table 49, the robot 70 acts as a balancing unit when the first transfer table 47, the second transfer table 48, and the third transfer table 49 are moved forward and suspended from the moving table 43. Thus, a large eccentric load is not applied to the moving table 43, and it can move in a stable state. Similarly, if the robot 70 is suspended from the moving table 43 with its hand 72 holding the tool T, the transfer device 45 acts as a balancing unit.

[0115] In addition, in this example, when the conveying system 1 is in standby mode, the moving table 43 is pre-retracted to a retracted position, which is far from the working position set relative to the machine tool 10 and the workpiece holding device 20. Therefore, even if a bridge crane is needed to operate the machine tool 10 and the workpiece holding device 20, the transfer device 45 and the robot 70 can be prevented from becoming obstacles and hindering the operation. Furthermore, even when the operator is operating the machine tool 10 and the workpiece holding device 20, the operation can be carried out without obstruction.

[0116] The specific embodiments of the present invention have been described above, but the present invention is not limited to any of the above examples.

[0117] For example, in the above example, the first transfer platform 47, the second transfer platform 48, and the third transfer platform 49 are configured to hang from the transfer base 46 to one side via the advance and retraction mechanism 51. However, it is not limited to this structure. The advance and retraction mechanism 51 can also be configured to hang the first transfer platform 47, the second transfer platform 48, and the third transfer platform 49 from the transfer base 46 in opposite directions.

[0118] In this way, the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49, which are supporting the workpiece W by the support member 50, are moved backward, and the workpiece W is removed from the workpiece holding device 21 (see reference). Figure 11 The first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 are then moved back and stored on the transfer base 46. The moving stage 43 is then positioned at the working position of the machine tool 10. Next, by moving the first transfer stage 47, the second transfer stage 48, and the third transfer stage 49 in a suspended manner in opposite directions, the workpiece W supported by the support member 50 can be transferred into the machine tool 10. Then, by executing... Figures 14-18 The actions shown enable the workpiece W to be assembled onto the machine tool 10. Furthermore, after this action, the first transfer table 47, the second transfer table 48, and the third transfer table 49 are retracted and stored on the transfer base 46, and the moving table 43 is moved to its original position, i.e., the retracted position.

[0119] Thus, in this method, since it is not necessary to rotate the transfer base 46, the rotation mechanism 58 in the previous example is not required.

[0120] Furthermore, in the example above, the machine tool 10 and the holding device 20 (workpiece holding device 21 and tool holding device 30) are arranged facing each other, but this arrangement is not limited to this. For example, in... Figure 2 Alternatively, the machine tool 10 can be positioned to the left of the workpiece holding device 21 with the machine tool 10 rotated 180°. If configured this way, the first transfer table 47, the second transfer table 48, and the third transfer table 49, which support the workpiece W via the support member 50, are moved backward, and the workpiece W is removed from the workpiece holding device 21 (see reference). Figure 11 In this state, the moving table 43 is positioned at the working position of the machine tool 10, and then an action equivalent to... Figures 14-18 The action of the transfer base 46 can assemble the workpiece W onto the machine tool 10. Furthermore, even in this case, it is not necessary to rotate the transfer base 46, so the rotation mechanism 58 in the above example is not required.

[0121] In addition, in the above example, when the workpiece W is taken out from the workpiece holding device 21, the second transfer stage 48 and the third transfer stage 49 are moved forward so that the support members 50 and 50 are below the workpiece W. Then, the lifting mechanism 60 is driven to raise the second structure 46b of the transfer base 46, thereby supporting the workpiece W by the support members 50 and 50. However, it is not limited to this method. It is also possible to configure the workpiece support frame 25 and 25 to rise and lower, so that the support members 50 and 50 are below the workpiece W. Then, the workpiece support frame 25 and 25 is lowered so that the support members 50 and 50 support the workpiece W.

[0122] In addition, the actions in the workpiece conveying action and the tool conveying action in the example above can be executed sequentially. However, in order to shorten the action time, multiple actions can also be executed simultaneously in parallel as long as there are no obstacles such as interference.

[0123] Furthermore, in the above example, machine tool 10 was described as an example of industrial machinery. However, the industrial machinery to which the present invention can be applied is not limited to the illustrated machine tool 10. Within the scope of implementation, it includes mining machinery, chemical machinery, environmental devices, power transmission devices, tanks, commercial washing machines, boilers / prime movers, plastic machinery, wind or water power machinery, handling machinery, and ironmaking machinery, etc.

[0124] It should be reiterated that all aspects of the above-described embodiments are illustrative and not restrictive. Suitable modifications and alterations can be made by those skilled in the art. The scope of the invention is not shown by the above embodiments, but by the claims. Furthermore, the scope of the invention includes modifications made according to embodiments equivalent to those in the claims.

[0125] [Explanation of Labels in the Attached Image]

[0126] 1. Machining system; 10. Machine tool; 11. Fixture; 12. Tool spindle; 13. Vibration damping device; 14. Support component; 15. Front door; 16. Control panel; 20. Holding device; 21. Workpiece holding device; 22. Base; 23. First worktable; 24. Support platform; 25. Workpiece support frame; 26. Second worktable; 27. Support platform; 28. Workpiece support frame; 30. Tool holding device; 31. Base; 32. Tool holding frame; 40. Conveying system; 41. Conveying device; 42. Conveying base. 43 Moving platform, 45 Transfer device, 46 Transfer base, 47 First transfer platform, 48 Second transfer platform, 49 Third transfer platform, 50 Support component, 51 Forward and backward mechanism, 52, 53, 54 Pinion, 55, 56 Rack, 58 Rotary mechanism, 60 Lifting mechanism, 61 Hydraulic cylinder, 62 Piston, 63, 64 Supply pipe, 70 Robot, 71 Hand holding part, 75 Hand storage device, 76, 77, 78 Hand holding frame, 79 Frame, 80 Control device

Claims

1. A conveying system for removing a conveyed object from a holding device and conveying it to a designated machine tool, characterized in that, The conveying system includes: A conveying device having a movable stage, and moving the movable stage to a working position relative to the holding device and a working position relative to the machine tool; A transfer device and a robot, wherein the transfer device and the robot are configured on the mobile platform; as well as The control device controls the operation of the mobile platform, the transfer device, and the robot. The transfer device includes: an engaging member configured to engage with the transported item; and a forward / reverse mechanism that causes the engaging member to move forward and backward in a predetermined direction in a horizontal plane. The control device is configured to perform at least the following actions in sequence: The system performs the following actions: a first movement to move the moving table of the conveying device to a working position set relative to the holding device; a second movement to move the moving table to a working position set relative to the machine tool; a third movement to move the moving table forward to move the engaging member forward via the advance-retreat mechanism to engage it with the target conveyed object; a fourth movement to move the engaging member backward via the advance-retreat mechanism to remove the conveyed object from the holding device; a fifth movement to move the moving table forward to move the engaging member forward via the advance-retreat mechanism to move the conveyed object into the machine tool; and a sixth movement to move the engaging member backward via the advance-retreat mechanism. Moreover, the transfer device is configured to transport workpieces of different weight or shape than those that the robot can transport.

2. The conveying system according to claim 1, characterized in that, The forward and backward mechanism of the transfer device is configured to perform an action that moves the engaging member forward in the stated direction and a action that moves it backward to its original position. Furthermore, it is configured to perform an action that moves the engaging member forward in the opposite direction and a action that moves it backward to its original position. The control device is configured to move the engaging component in the opposite direction to the conveying direction via the forward and backward mechanism during the loading action, thereby loading the conveyed material into the machine tool.

3. The conveying system according to claim 1, characterized in that, The transfer device also includes a rotary mechanism that allows the engaging component to rotate about a vertical axis. The control device is configured to, when performing the second movement action after performing the take-out action, perform a rotational action by rotating the engaging member through the rotary mechanism in such a way that the advancing and retracting direction of the engaging member is toward the machine tool, and perform actions after the second movement action.

4. The conveying system according to claim 3, characterized in that, The control device is configured to perform the rotary motion and the second movement motion in parallel.

5. The conveying system according to claim 1, characterized in that, The transfer device also includes a lifting mechanism for raising and lowering the engaging component. The control device is configured such that, during the engagement action, the engagement component is advanced via the advance-retreat mechanism, and then the engagement component is raised via the lifting mechanism, thereby engaging the engagement component with the conveyed object. Furthermore, during the loading action, the control device is configured such that, during the loading action, the engagement component is advanced via the advance-retreat mechanism to load the conveyed object into the machine tool, and then the engagement component is lowered via the lifting mechanism.

6. The conveying system according to claim 2, characterized in that, The transfer device also includes a lifting mechanism for raising and lowering the engaging component. The control device is configured such that, during the engagement action, the engagement component is advanced via the advance-retreat mechanism, and then the engagement component is raised via the lifting mechanism, thereby engaging the engagement component with the conveyed object. Furthermore, during the loading action, the control device is configured such that, during the loading action, the engagement component is advanced via the advance-retreat mechanism to load the conveyed object into the machine tool, and then the engagement component is lowered via the lifting mechanism.

7. The conveying system according to claim 3, characterized in that, The transfer device also includes a lifting mechanism for raising and lowering the engaging component. The control device is configured such that, during the engagement action, the engagement component is advanced via the advance-retreat mechanism, and then the engagement component is raised via the lifting mechanism, thereby engaging the engagement component with the conveyed object. Furthermore, during the loading action, the control device is configured such that, during the loading action, the engagement component is advanced via the advance-retreat mechanism to load the conveyed object into the machine tool, and then the engagement component is lowered via the lifting mechanism.

8. The conveying system according to claim 4, characterized in that, The transfer device also includes a lifting mechanism for raising and lowering the engaging component. The control device is configured such that, during the engagement action, the engagement component is advanced via the advance-retreat mechanism, and then the engagement component is raised via the lifting mechanism, thereby engaging the engagement component with the conveyed object. Furthermore, during the loading action, the control device is configured such that, during the loading action, the engagement component is advanced via the advance-retreat mechanism to load the conveyed object into the machine tool, and then the engagement component is lowered via the lifting mechanism.

9. The conveying system according to claim 1, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

10. The conveying system according to claim 2, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

11. The conveying system according to claim 3, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

12. The conveying system according to claim 4, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

13. The conveying system according to claim 5, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

14. The conveying system according to claim 6, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

15. The conveying system according to claim 7, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

16. The conveying system according to claim 8, characterized in that, The control device causes the conveying device, the transfer device, and the robot to move in a manner in which at least a portion of the actions of the conveying device, the transfer device, and the robot are executed in parallel.

17. The conveying system according to any one of claims 1 to 16, characterized in that, The conveying device is configured to move the moving table to a retracted position, which is away from the working position set relative to the machine tool.

18. The conveying system according to any one of claims 1 to 16, characterized in that, The conveying device is configured to move the mobile platform to a retracted position, which is away from the working position set relative to the holding device.

Images