Tray posture changing device

Abstract

A tray posture changing device (42) for changing the posture of a tray (76) in a manner including between a horizontal state and an upright state, the tray (76) having an upper surface (76a), two engaging side surfaces (76e), and an abutting side surface (76d) therebetween, wherein the tray posture changing device (42) is provided with: a base (60); a drive section (62) mounted to the base (60) and configured to be able to rotate the tray (76); a pair of arms (64) rotatably mounted to the drive section (62), extending in parallel with the engaging side surfaces (76e) when facing them, and holding the tray (76); a receiving section (74) disposed on the base (60) side of the arms (64) and having a first tray receiving surface (74a) facing the abutting side surface (76d); and a finger section (72) slidably disposed on the arms (64) and engaging the tray (76).

Description

Technical Field

[0001] This invention relates to a tray posture changing device. Background Technology

[0002] In machine tools, if a pallet is to be mounted upright on a worktable, a device for changing the pallet's posture is required. Patent Documents 1 and 2 disclose pallet changing devices for C-axis worktables. However, in the pallet posture changing device (preparation stand) disclosed in Patent Document 1, the structure that clamps the lower surface of the pallet makes it easy for the clamping mechanism to pick up chips generated during machining. Furthermore, when preparing a pallet, since the lower surface of the pallet is clamped, it is difficult to configure equipment for supplying media such as oil, air, or cutting fluid.

[0003] Furthermore, in the pallet posture changing device disclosed in Patent Document 2, the posture change is achieved not by clamping the lower surface of the pallet, but by engaging the sides through a clamping mechanism. However, in the pallet posture changing device disclosed in Patent Document 2, since the clamping mechanism engages with three sides of the pallet, the clamping arm requires both a rotation axis and a linear axis in its structure. As a result, it is difficult to construct the pallet posture changing device compactly, and space needs to be ensured in both the height and depth directions for arranging the pallet posture changing device.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2000-237927

[0007] Patent Document 2: Japanese Patent Application Publication No. 2006-082164 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] In view of the above, the object of the present invention is to provide a pallet posture changing device that can perform stable pallet transport by using a simple structure to maintain the pallet while changing its posture.

[0010] Methods for solving problems

[0011] According to one aspect of the present invention, a pallet posture changing device is provided for changing the posture of a pallet in a manner including a horizontal state and an upright state. The pallet has: an upper surface for assembling workpieces and fixtures, a lower surface, two engaging sides contacting the upper and lower surfaces, and an abutting side located between the two engaging sides. The horizontal state is a state in which the upper surface of the pallet is moved to a horizontal plane side, and the upright state is a state in which the upper surface of the pallet is moved to a vertical plane side. The pallet posture changing device includes: a base; a drive unit mounted on the base and configured to rotate the pallet about a rotation center axis to change the posture; a pair of arms rotatably mounted on the drive unit, extending parallel to the engaging sides when facing them, and holding the pallet; a receiving portion disposed on the base side of the arm, having a first pallet receiving surface facing the abutting side; and a finger portion slidably disposed on the arm, moving from a pallet disengagement position to a pallet engagement position and engaging with the pallet.

[0012] According to one aspect of the present invention, a machine tool is provided, comprising: a spindle on which a cutting tool is mounted; a worktable capable of mounting a pallet with a workpiece assembled thereon in an upright position; a pallet posture changing device of the present invention; and a pallet exchange device having a rotating arm and a rotation drive unit, the rotating arm having at both ends a first pallet holding portion for receiving a first pallet in an upright position between the pallet posture changing device side and the spindle side, and a second pallet holding portion for receiving a second pallet in an upright position between the pallet posture changing device side and the spindle side, the rotation drive unit causing the rotating arm to rotate about a rotation axis parallel to the vertical direction.

[0013] The effects of the invention

[0014] One aspect of the pallet posture changing device of the present invention includes: a pair of arms rotatably mounted on a drive unit, which extend parallel to the engaging sides when facing them and hold the pallet; and fingers slidably disposed on the arms, which move from a pallet disengagement position to a pallet engaging position and engage with the pallet. Therefore, the pallet posture changing device, by rotating the pallet-holding arms via the drive unit, can change the pallet posture in a manner including a horizontal state and an upright state. Furthermore, the pair of arms can stably hold the pallet by engaging with the two sides of the pallet, i.e., the engaging sides, via the fingers. Such arms ensure the effectiveness of arm movement and simplify the device structure. The pallet posture changing device also includes a receiving portion disposed on the base side of the arm, having a first pallet receiving surface facing the abutting side located between the two engaging sides. Therefore, by rotating the arm to change its posture, the upper surface is tilted relative to the horizontal plane. Thus, when the pallet applies its own weight to the rotation axis of the arm, i.e., the base side, the pallet's contact side can abut against the receiving part, stably maintaining the pallet in a posture that can change between horizontal and vertical states. Based on the above, the pallet posture changing device can use a simple structure to maintain the pallet while changing its posture, enabling stable pallet transport.

[0015] According to one aspect of the present invention, a machine tool includes a pallet posture changing device comprising: a pair of arms rotatably mounted to a drive unit, extending parallel to the engaging sides when facing them, and holding the pallet; and fingers slidably disposed on the arms, moving from a pallet disengagement position to a pallet engaging position and engaging with the pallet. Therefore, the pallet posture changing device, by rotating the pallet-holding arms via the drive unit, can change the pallet posture in a manner including a horizontal state and an upright state. Furthermore, the pair of arms, by engaging with the two sides of the pallet, i.e., the engaging sides, via the fingers, can stably hold the pallet. Such arms ensure the effectiveness of arm movement and simplify the device structure. Additionally, the pallet posture changing device includes a receiving portion disposed on the base side of the arm, having a first pallet receiving surface facing the abutting side located between the two engaging sides. Therefore, by rotating the arm to change its posture, the upper surface is inclined relative to the horizontal plane. Thus, when the pallet applies its own weight to the rotation center axis side of the arm, i.e., the base side, the abutting side of the pallet can abut against the receiving part, stably holding the pallet in a posture change manner, including between a horizontal and an upright state. Furthermore, the machine tool is equipped with a pallet exchange device, which has a rotating arm with a first pallet holding part at each end for exchanging a first pallet in an upright state and a second pallet holding part for exchanging a second pallet in an upright state. Therefore, the pallet whose posture has been changed by the pallet posture change device can be stably transported to the spindle side. Thus, a machine tool equipped with a pallet posture change device and a pallet exchange device can use a simple structure to hold the pallet while changing its posture, enabling stable pallet transport. Attached Figure Description

[0016] Figure 1 A top view of a machine tool equipped with the pallet posture changing device of this embodiment.

[0017] Figure 2 A perspective view showing the tray posture changing device of this embodiment.

[0018] Figure 3 This diagram shows the fingers that engage with the pin at the tray engagement position, viewed from the length of the arm.

[0019] Figure 4 A side view showing a tray being fed into the machine tool from the outside.

[0020] Figure 5 A side view showing the arm rotated to the engaged position and positioned relative to the tray.

[0021] Figure 6 A side view of the tray in which the fingers that move to engage the tray position are engaged with the pins.

[0022] Figure 7 A side view showing the tray having changed its posture to an upright position.

[0023] Figure 8 This shows a side view of the tray held in place by the APC arm.

[0024] Figure 9 A side view of a tray in an upright position, showing the finger moving towards the tray engagement / disengagement position.

[0025] Figure 10 A side view showing the arm rotated to the standby position.

[0026] Figure 11 This is a side view showing the second tray that was swapped via the APC arm.

[0027] Figure 12 This is a side view of the arm used to position the fingers to engage with the second tray, which is in an upright position.

[0028] Figure 13 A side view of the second tray, showing the finger engaging with the pin to move it to the tray engagement position.

[0029] Figure 14 This is a side view of the second tray, showing how the APC arm lowers to release the second tray holder.

[0030] Figure 15 A side view showing the second tray moved to a horizontal position.

[0031] Figure 16 The side view of the second tray, indicating that the finger has moved to the tray engagement release position, has released the engagement with the pin.

[0032] Figure 17 A side view showing the arm that has moved to the retreat position.

[0033] Figure 18 This is a side view showing the second tray being delivered to the outside of the machine tool.

[0034] Figure 19 A side view showing the media supply section connected to the second tray.

[0035] Figure 20A This is a side view showing the media supply unit located on the lower side of the track.

[0036] Figure 20B A side view showing the media supply section that rises and connects to the tray.

[0037] Figure 20C A side view showing the media supply section descending as it is disconnected from the tray.

[0038] Figure 20D This shows a side view of the arm that holds the tray.

[0039] Figure 21 A side view showing a modified pallet posture changing device. Detailed Implementation

[0040] Hereinafter, a machine tool equipped with the pallet posture changing device according to the embodiments will be described with reference to the accompanying drawings. The same or corresponding elements are labeled with the same reference numerals, and repeated descriptions are omitted. For ease of understanding, the scale of the changing drawings is sometimes used for illustration.

[0041] Figure 1 This is a schematic top view of a machine tool 10 equipped with the pallet position changing device 42 of this embodiment. The machine tool 10 is covered by a splash guard 16 to prevent the scattering of chips and the like during processing. Furthermore, the interior of the splash guard 16 is configured to rotate around a rotation axis R1 parallel to the vertical direction (see reference). Figure 4 A rotating (able to turn) revolving door 46 divides the processing chamber 12 and the preparation chamber 14. Furthermore, an operator door 12a and a preparation chamber door 14a are respectively installed on the splash guard 16 so that the operator (not shown) can access the interior of the processing chamber 12 and the preparation chamber 14 from the outside.

[0042] The machining chamber 12 is equipped with workpieces W1 and W2 (see reference) for machining the workpieces. Figure 4 as well as Figure 11 The machine tool 10 includes a spindle 26, a C-axis rotary table 36, and other equipment. On the upper surface of the bed 18, located on the floor of a factory or similar facility where the machine tool 10 is installed, there is a pair of X-axis linear guides 30 extending in the left-right direction (X-axis direction). A column 22, capable of reciprocating along the X-axis linear guides 30, is erected on each X-axis linear guide 30. Furthermore, the machine tool 10 has a section on the front surface of the column 22 extending in the vertical direction (Y-axis direction, relative to...). Figure 1 A pair of Y-axis linear guides (not shown) extending in the direction perpendicular to the paper plane are provided, and a slide saddle 24 capable of reciprocating along the Y-axis linear guides is arranged on the Y-axis linear guides. A spindle 26 configured to rotate about a central axis in the horizontal direction is arranged in front of the slide saddle 24. Furthermore, cutting tools 28 for machining workpieces W1 and W2 are detachably mounted in front of the spindle 26 (on the preparation chamber 14 side). The machine tool 10 is equipped with an NC device (not shown) electrically connected to the spindle 26 for controlling machining, configured to control the machining of workpieces W1 and W2 using the cutting tools 28.

[0043] On the front side of the spindle 26 of the machine tool 10, a pair of Z-axis linear guides 38 extending along the front-rear direction, i.e., the Z-axis direction, are provided on the upper surface of the bed 18. A Z-axis worktable 32 capable of reciprocating along the Z-axis linear guides 38 is disposed on the Z-axis linear guides 38. Furthermore, a B-axis rotary worktable 34 configured to rotate about a rotation axis parallel to the vertical direction (about the B-axis) is disposed on the Z-axis worktable 32. A C-axis rotary worktable 36 serving as a worktable is disposed on the B-axis rotary worktable 34. This C-axis rotary worktable 36 is configured as the upper surface 76a (see reference) of the mounted tray 76 (first tray). Figure 2 The C-axis rotary table 36 is configured to allow the mounted workpieces W1 and W2, as well as the pallet 76, to rotate about a central axis (about the C-axis) in the horizontal direction. Thus, the Z-axis table 32, B-axis rotary table 34, and C-axis rotary table 36 enable the alignment of workpieces W1 and W2 and the cutting tool 28. Furthermore, the machine tool 10 includes: an X-axis feed device for driving the column 22 along the X-axis linear guide 30; a Y-axis feed device for driving the slide saddle 24 along the Y-axis linear guide; and a Z-axis feed device for driving the Z-axis table 32 along the Z-axis linear guide 38 (all figures omitted).

[0044] A preparation station 40 is provided in the preparation chamber 14. This preparation station 40 is used for preparing workpieces W1 (pre-processing) to be mounted (assembled) on the tray 76 and workpieces W2 (after processing) to be unmounted. The preparation station 40 is equipped with a tray posture changing device 42 for changing the posture of workpieces W1 and W2 mounted on the tray 76. In addition, the preparation station 40 is equipped with a media supply unit 80, which supplies media including oil, air, and cutting fluid to the tray 76 and any of the workpieces W1 and W2 mounted on the tray 76 and / or the fixtures. The media supply unit 80 is configured to be mounted on the lower surface 76b of the tray 76 (see reference). Figure 2 Connector 100 (refer to) Figure 20A Supply medium.

[0045] A rotating door 46, separating the processing chamber 12 and the preparation chamber 14, extends vertically between the side walls of the splash guard 16 and is mounted on a rotating door retaining portion 48 disposed below the side wall of the splash guard 16. Specifically, it is mounted in a state where the fitting portions (not shown) formed on both the rotating door 46 and the rotating door retaining portion 48 are engaged. Furthermore, when viewed from the front of the machine, the left-right direction, i.e., the X-axis direction, is the width direction of the rotating door 46. A tray exchange device 44 is disposed below the rotating door 46, and this tray exchange device 44 is configured to rotate independently of or in conjunction with the rotating door 46 about a rotation axis R1 parallel to the vertical direction (Y-axis direction). The pallet exchange device 44 includes: an APC arm 50 as a rotating arm, configured to rotate (or be able to rotate) about a rotation axis RA2 parallel to the vertical direction (Y-axis direction) for transferring workpiece W1 before processing and workpiece W2 after processing between the preparation chamber 14 and the processing chamber 12; and an APC arm drive mechanism 56 as a rotation drive unit for rotating the APC arm 50. Furthermore, the APC arm 50 is configured to be able to rotate along the vertical direction (Y-axis direction) via the APC arm drive mechanism 56. Figure 2 The APC arm drive mechanism 56 has an actuator (not shown) such as a hydraulic cylinder, pneumatic cylinder, or servo motor capable of fine motion setting and adjustment. The actuator rotates the APC arm 50, causing it to move up and down. Furthermore, the actuator is configured to be controllable by a control device (not shown) located on the machine tool 10. It should be noted that "APC" is short for "Automatic Pallet Change". It should be noted that the description focuses on the case where the rotating door retainer 48 is located below the side wall of the splash guard 16, but this is not a limitation; the rotating door retainer can also be directly mounted on the machine bed or the ground. Furthermore, when the APC arm descends and is not engaged with the rotating door, the rotating door retainer can replace the APC arm in restricting the rotation direction and gravity direction of the rotating door. Therefore, the rotating door can also be held in a manner other than the engaging part.

[0046] When workpieces W1 and W2 are not being exchanged, the APC arm 50 is positioned and stored in a storage location, with its length direction along the width direction of the rotary door 46, i.e., the X-axis direction. Additionally, a chip shield 52 is formed on the lower side of the rotary door 46. This chip shield 52 has an inclined surface extending towards the lower side (vertical lower side) of the rotary door 46 and towards the preparation station 40 and the machining chamber 12 (front and rear sides in the Z-axis direction). The chip shield 52 is formed to cover the APC arm 50, which engages with the rotary door 46, from above, preventing or suppressing chips and other debris generated during processing in the machining chamber 12 from adhering to the APC arm 50.

[0047] like Figure 2 As shown, the APC arm 50 has a first tray holding portion 82 and a second tray holding portion 84 at both ends in the longitudinal direction for holding the tray 76. The first tray holding portion 82 and the second tray holding portion 84 have columnar members at both ends in the width direction of the APC arm 50, and are concave in shape when viewed from the longitudinal direction of the APC arm 50. A holding member 76f is mounted on the abutting side 76d of the tray 76, which is the side facing the APC arm 50. The holding member 76f is formed as a plate with dimensions capable of embedding the concave portions of the first tray holding portion 82 and the second tray holding portion 84. Therefore, when the tray 76 is in an upright state, the holding member 76f embeds into the concave portions of the first tray holding portion 82 and the second tray holding portion 84, and the upper surfaces of the columnar members at both ends of the first tray holding portion 82 and the second tray holding portion 84 abut against the abutting side 76d of the tray 76. Thus, the APC arm 50 supports the tray 76, holding the tray 76 in an upright state, as well as the clamp 96 and workpieces W1 and W2 (see reference 1) assembled thereon. Figure 4 as well as Figure 11 ).

[0048] It should be noted that, here, the first tray holding portion 82 and the second tray holding portion 84 of the APC arm 50 are described in the case where the holding member 76f is embedded in the concave-shaped portion and the upper surface of the columnar members at both ends abuts against the abutting side 76d of the tray 76, but this is not a limitation. For example, the holding portion of the APC arm may also be constituted by a mechanism that clamps the upper and lower surfaces of the tray.

[0049] In addition, such as Figure 1As shown, the APC arm 50 and the revolving door 46 can be engaged by the engaging mechanism 54. The engaging mechanism 54 is configured to include an engaging pin 54a on the APC arm 50 side and a guide hole 46a on the revolving door 46 side. The engaging pin 54a extends upward from the upper surface of the APC arm 50. Therefore, the engaging pin 54a is configured to move up and down with the up and down movement of the APC arm 50. In addition, the guide hole 46a is formed at the bottom of the revolving door 46 to engage with the inserted engaging pin 54a. Here, two engaging pins 54a are arranged in a 180° equally spaced configuration centered on the rotation axis RA2 of the APC arm 50, and four guide holes 46a are formed in a 90° equally spaced configuration centered on the rotation axis RA2 of the APC arm 50, corresponding to the engaging pins 54a. It should be noted that at least one pair of engaging pins 54a and guide holes 46a is required. The engaging mechanism 54 is configured to engage or disengage the engaging pin 54a with the guide hole 46a, thereby enabling the APC arm 50 to engage with the revolving door 46. Therefore, when the APC arm 50 is engaged with the revolving door 46, the APC arm 50 and the revolving door 46 can rotate together. Furthermore, when the engagement between the APC arm 50 and the revolving door 46 is disengaged, the APC arm 50 can rotate independently to facilitate the transfer of trays 76 and 94, or to store the untransferred APC arm 50 in its stowed position. It should be noted that this description focuses on the case where the APC arm 50 has the engaging pin 54a and the guide hole 46a is formed at the bottom of the revolving door 46, but the description is not limited to this. For example, the revolving door may also have an engaging pin extending from the bottom, and the guide hole may also be formed on the APC arm. Furthermore, the combination of the engaging pin 54a and the guide hole 46a can be configured not only to engage / disengage the claws disposed on both sides of the APC arm and the revolving door. Moreover, the engaging pin is not limited to a rod or column shape; for example, it can be configured to move up and down using a drive mechanism disposed on the engaging mechanism.

[0050] Specifically, the pallet exchange device 44 operates as follows: In the machine tool 10, when the exchange of pallets 76 begins, the APC arm drive mechanism 56 lowers the APC arm 50, which is in the storage position. At this time, by releasing the engagement of the engagement pin 54a of the engagement mechanism 54 with the guide hole 46a, the engagement between the rotating door 46 and the APC arm 50 is released, and the rotating door 46 is fitted and mounted in the rotating door holding part 48. When the APC arm 50 lowers, the APC arm drive mechanism 56 rotates the APC arm 50 by 90 degrees (or 270 degrees). Therefore, the first pallet holding part 82 and the second pallet holding part 84 of the APC arm 50 move along the rotation trajectory TR1 (see reference 84). Figure 1 The APC arm 50 moves towards the C-axis rotary table 36 and the pallet posture changing device 42, so that the length direction of the APC arm 50 is along the Z-axis.

[0051] When the first pallet holding part 82 and the second pallet holding part 84 move toward the C-axis rotary table 36 and the pallet posture changing device 42, the APC arm drive mechanism 56 raises the APC arm 50. By raising the APC arm 50, the engaging pin 54a of the engaging mechanism 54 is inserted into the guide hole 46a, and engagement is achieved. As a result, the rotating door 46 engages with the APC arm 50, and the rotating door 46 is mounted on the APC arm 50 instead of being mounted on the rotating door holding part 48.

[0052] When the APC arm 50 is loaded with the rotating door 46, the APC arm drive mechanism 56 raises both the rotating door 46 and the APC arm 50. This allows the tray 76 to be held in place by embedding the holding member 76f of the tray 76 into the concave portions of the first tray holding portion 82 and the second tray holding portion 84, and by having the columnar members at both ends abut against the contact side 76d of the tray 76. Here, the tray 76 is transferred from the C-axis rotary table 36 and the tray posture changing device 42 to the APC arm 50. After transferring the tray 76 to the APC arm 50, the C-axis rotary table 36 and the tray posture changing device 42 retract to a standby position that does not interfere with the rotating APC arm 50 and the rotating door 46. Then, the APC arm 50 rotates them together by 180 degrees. This allows the tray 76 held by the APC arm 50 to be interchanged between the processing chamber 12 side and the preparation chamber 14 side. When tray 76 is swapped, the arm 64 of the C-axis rotary table 36 and / or the tray posture changing device 42 moves from the standby position to the tray handover position, holding the swapped trays 76 and 94. Then, the APC arm drive mechanism 56 lowers the rotating door 46 and the APC arm 50 holding the tray 76, so that only the rotating door 46 loaded onto the APC arm 50 is positioned in a state of engagement with the rotating door holding part 48. Additionally, the engaging pin 54a of the engaging mechanism 54 is pulled out from the guide hole 46a, and the engagement is released. After lowering the APC arm 50, the APC arm drive mechanism 56 rotates 90 degrees, causing the first tray holding part 82 and the second tray holding part 84 to move towards the lower side of the rotating door 46. As the first tray holding part 82 and the second tray holding part 84 move towards the lower side of the rotating door 46, the APC arm drive mechanism 56 raises the APC arm 50, and the rotating door 46 is loaded onto the APC arm 50 instead of being placed in the rotating door holding part 48. Furthermore, the engaging pin 54a of the engaging mechanism 54 is inserted into the guide hole 46a, and they engage. Thus, the APC arm 50 is stored in the storage position on the lower side of the revolving door 46.

[0053] like Figure 2 As shown, a pallet posture changing device 42 is configured at the preparation station 40. This pallet posture changing device 42 is used to transfer the pre-processed workpiece W1 and the processed workpiece W2 (see reference) between the preparation station 40 and the APC arm 50. Figure 4 as well as Figure 11 The tray 76 is formed having a lower surface 76b and assembled workpieces W1, W2, and a fixture 96 (see reference). Figure 4 The upper surface 76a of the tray 76 is plate-shaped. Additionally, the tray 76 has: two engaging sides 76e, which are in contact with the upper surface 76a and the lower surface 76b and are located on the outer side of the tray 76 in the X-axis direction; an abutting side 76d, which is located between the two engaging sides 76e and on the rear side of the tray 76 in the Z-axis direction, facing the APC arm 50; and a front side 76c, which is located on the front side of the tray 76 in the Z-axis direction and faces the preparation chamber door 14a. Furthermore, each engaging side 76e has a pin 78 integrally formed with the tray 76 and extending outwards, i.e., outwards in the X-axis direction. Here, each engaging side 76e has two cylindrical pins 78 extending along the surface direction of the engaging side 76e. The two pins 78 are spaced apart at each end of the engaging side 76e in the length direction (Z-axis direction). It should be noted that the pin can also be formed on each of the engaging sides, or it can be formed in shapes other than cylindrical shapes, such as prism or triangular prism.

[0054] The operator, who arranges the tray 76 at the preparation station 40 in the preparation chamber 14 and assembles the workpiece W1 and fixture 96 thereon, places the tray 76 on the media supply unit 80 with the upper surface 76a of the tray 76 facing the horizontal plane. In order to transfer the tray 76 between the preparation station 40 and the C-axis rotary table 36, which is mounted in an upright position, the tray posture changing device 42 is configured to hold the tray 76 and perform posture changes in a manner that includes both a horizontal and an upright position. Specifically, the tray posture changing device 42 includes: a base 60 disposed along the X-axis direction in front of the revolving door 46 and the APC arm 50 in the Z-axis direction; a drive unit 62 mounted on the base 60 and configured to rotate a rotation axis extending along the X-axis direction (horizontal direction) about a rotation center axis RA1 (R1 direction); and a pair of arms 64 rotatably mounted on the drive unit 62, extending parallel to the two engaging sides 76e when facing them, and capable of holding the tray 76. Figure 4 As shown, the base 60 extends from the outer periphery of the APC arm drive mechanism 56, which is located at the rotation center of the APC arm 50, toward the front side in the Z-axis direction (towards the preparation chamber door 14a). Therefore, the base 60 can be positioned inside the rotation trajectory TR1 of the APC arm 50 when viewed from above, and when the APC arm 50 is rotated while holding the tray 76 with the assembled workpieces W1 and W2 at its end, it is possible to prevent chips from falling directly onto the base 60.

[0055] The drive unit 62 has an actuator (not shown) such as a hydraulic cylinder, a pneumatic cylinder, or a servo motor capable of fine motion setting and adjustment, which rotates the rotary axis. Furthermore, the actuator is configured to be controllable by a control device (not shown) located on the machine tool 10. Also, as described later, the pallet posture changing device 42 is configured to rotate the arm 64 from an upright position in the upright state to a retracted position beyond the engaged position in the horizontal state, and then position it (remain stationary) in that retracted position. Additionally, the pallet posture changing device 42 is configured to also be able to position (remain stationary) in an intermediate position such as a standby position between the upright and engaged positions.

[0056] It should be noted that the following description refers to the case where the tray 76 is square when viewed from above, and the two parallel engaging sides 76e are held by a pair of parallel arms 64, but it is not limited to this. For example, the tray may also include cases where the corners are chamfered, or where the tray is octagonal or circular when viewed from above, and other shapes besides a square. Furthermore, even if the two engaging sides are not parallel due to the tray being a shape other than a square, the pair of arms may also be non-parallel, for example, extending in a V-shape when viewed from above in a manner parallel to the two engaging sides. In the case of a circular tray, the arms may also be curved and designed to follow the shape of the tray.

[0057] like Figure 2 As shown, the arm 64 has an arm base end 66 connected to the rotation axis of the drive unit 62 and an arm engaging portion 68 extending linearly from the outer X-axis portion of the arm base end 66 in a manner that can face the engaging side 76e. On the inner X-axis side of the arm base end 66 of the arm 64 located on the base 60 side, a receiving portion 74 is formed at a position facing the abutting side 76d when the pallet 76 is held by the arm 64. When viewed from the side (outer X-axis direction) of the machine tool 10 in a horizontal state, the receiving portion 74 is formed in an L-shape or an inverted L-shape. The receiving portion 74 has a planar first pallet receiving surface 74a extending in a direction perpendicular to the arm 64 and a planar second pallet receiving surface 74b extending along the length direction of the arm 64. The dimensions of the receiving portion 74 are determined such that the abutting side 76d abuts against the first pallet receiving surface 74a, and the lower surface 76b abuts against the second pallet receiving surface 74b. It should be noted that the dimensions of the first and second pallet bearing surfaces do not need to be strictly defined, as long as they are formed to a degree that reliably supports the weight of the pallet when in contact with it. Therefore, the first and second pallet bearing surfaces are not limited to flat surfaces; for example, they can also be formed into curved or pyramidal shapes, thereby supporting the pallet in either point or line contact.

[0058] Each arm 64 has two sliding portions 70 at both ends of the arm engaging portion 68 along its length, i.e., at both ends along the Z-axis. These portions are configured to slide along the length of the arm engaging portion 68. Additionally, each sliding portion 70 is equipped with a finger 72 for engaging with the tray 76. The spacing between the two fingers 72 corresponds to the spacing between the two pins 78. A rod disposed within the arm engaging portion 68 is integrally connected to each sliding portion 70. This rod is connected to an actuator such as a hydraulic cylinder, a pneumatic cylinder, or a servo motor capable of fine motion setting and adjustment (all figures omitted). Therefore, based on the rod's movement by the actuator, the sliding portions 70 and the fingers 72 can move in the same direction between the tray engaging position and the tray disengaged position. Here, the tray engaging position is configured to be closer to the arm base end 66 than the tray disengaged position. Furthermore, the actuators that actuate the sliding portions 70 and the fingers 72 are configured to be controllable by a control device (figure omitted) disposed on the machine tool 10. Figure 3 As shown, the finger portion 72 has: a central portion 72c, which faces the engaging side 76e when the arm engaging portion 68 moves laterally toward the tray 76 to hold the tray 76; an upper surface side limiting portion 72a, which is formed above the central portion 72c (on the upper surface 76a side); and a lower surface side limiting portion 72b, which is formed below the central portion 72c (on the lower surface 76b side). Therefore, a groove 72d is formed by the central portion 72c, the upper surface side limiting portion 72a, and the lower surface side limiting portion 72b. When the finger portion 72 is viewed from the length direction of the arm 64, the groove 72d is concave toward the tray 76 side. The groove 72d is formed such that its depth direction coincides with the extension direction of the pin 78. Therefore, by moving the arm engaging portion 68 laterally toward the engaging side 76e of the tray 76, from the position where the finger 72 and pin 78 are not facing each other along the X-axis (tray engagement release position) to the position where the finger 72 and pin 78 face each other along the X-axis (tray engagement position) (sliding along the XF1 direction), the finger 72 can be engaged with the tray 76. Thus, the arm 64 can stably hold the tray 76. Furthermore, since the concave groove 72d is open relative to the outer side of the finger 72, it is possible to prevent or suppress the accumulation of chips generated during machining between the finger 72 and pin 78.

[0059] It should be noted that, here we are describing the case where the finger 72 is concave towards the tray 76 when viewed from the length direction of the arm 64, but it is not limited to this. It can be any shape that can engage with the pin. For example, the finger can also be formed by other shapes such as an open V-shape that faces the pin when viewed from the length direction of the arm.

[0060] Furthermore, on the inner side of the arm engaging portion 68 in the width direction facing the engaging side 76e, i.e., the inner side in the X-axis direction, an arm protrusion 86 extending toward the engaging side 76e is formed (see reference). Figure 4 Furthermore, a tray groove 88 is formed on the engaging side 76e, recessed inwards towards the tray 76, allowing the arm protrusion 86 to be inserted. Thus, the arm 64 can hold the tray 76 using both the finger 72 and the arm protrusion 86, thereby stably holding the tray 76. It should be noted that, as another embodiment, forming a tray protrusion on the engaging side of the tray and an arm groove on the arm, creating a reversed relationship between the protrusion and concavity, also achieves the same effect.

[0061] It should be noted that, here, the finger portion 72 of the arm engaging portion 68 is configured to be able to move along the length direction of the arm engaging portion 68, i.e., the Z-axis direction ( Figure 3 The description focuses on the case where the finger slides between the tray engagement / disengagement position and the tray engagement position in the XF1 direction, but it is not limited to this. It can also be configured such that the finger slides in the X-axis direction, i.e., in the direction facing the tray ( Figure 3 The tray is held in place by sliding along the XF2 direction. In this configuration, since the fingers do not shift along the length of the arm, space can be saved in the length direction, allowing for a compact arm configuration.

[0062] pass Figures 4 to 2 The following describes the preparation of the tray 76 shown in Figure 0, and the effects of the tray posture changing device 42 of the machine tool 10 in this embodiment will be explained. It should be noted that... Figures 4 to 2 The side view of the tray posture changing device 42, etc. shown in Figure 0 is a schematic diagram used to illustrate the function of these devices. From the point of view of easy observation of the figure, it should be noted that the parts that cannot be directly seen when actually viewed from the side due to being blocked by the arm 64 (finger part 72, receiving part 74, arm protrusion 86, etc.) are also depicted with solid lines.

[0063] Figure 4 This indicates the state in which the tray 76, equipped with the fixture 96 and the workpiece W1 to be processed, is fed in from the outside of the machine tool 10. Here, the tray 76, with its lower surface 76b resting on the track 90 positioned on the upper surface of the bed 18 directly below the tray posture changing device 42, is placed on the track 90. Figure 4The pallet 76 is fed horizontally from the outside of the machine tool 10 through the preparation chamber door 14a to the preparation station 40 side, i.e., the pallet posture changing device 42 side. It should be noted that the method of feeding the pallet 76 is not limited to the track 90. ​​The horizontal pallet can also be fed in the vertical direction by a conveyor provided on the upper part of the machine tool, or by the fork arm of a conveyor with a fork arm. The fed pallet 76 stops sliding by abutting against the stop 92 formed at the end of the track 90 and is positioned in the horizontal preparation position. At this time, the arm 64 is positioned (rotated) to a retracted position below the engagement position in the horizontal state, and the finger 72 is positioned in the pallet engagement release position. The pallet posture changing device 42 is configured such that, in the retracted position, the arm 64 and the finger 72, the receiving part 74, and the arm protrusion 86, which are components of the arm 64, do not interfere with the feeding of the pallet 76. On the other hand, the C-axis rotary table 36 on the machining chamber 12 side (not shown) Figure 2 On the first tray, a second tray 94 is held as a tray on which the (processed) workpiece W2 and the fixture 96 are assembled.

[0064] Figure 5 This indicates the state in which the arm 64 is rotated by the drive unit 62 to an engaged position facing the engaging side 76e of the tray 76, and positioned relative to the tray 76. In this state, the arm protrusion 86 and the second tray receiving surface 74b of the receiving part 74 can be configured to either not contact the tray 76 or to contact the tray 76. When not in contact with the tray 76, the tray 76 is held on the track 90. ​​When in contact with the tray 76, the arm protrusion 86 contacts the upper surface of the inner wall of the tray groove 88, and the second tray receiving surface 74b contacts the lower surface 76b of the tray 76. Therefore, the tray 76 moves away from the track 90 and is held by the arm 64. In this case, since the arm protrusion 86 is inserted into the tray groove 88, even if an unpredictable external force is applied to the tray 76, it is possible to prevent the tray 76 from accidentally moving outwards from the machine tool 10.

[0065] Figure 6 This indicates that the finger 72 moves from the tray disengagement position to the tray engagement position (arrow in the figure), engaging the finger 72 with the pin 78. Here, the dimensions of the finger 72 and the pin 78 are determined such that a gap (playback) is created between the finger 72 and the pin 78 to the extent that the pin 78 will not fall off.

[0066] Figure 7This indicates that the drive unit 62 rotates the arm 64 to an upright position, changing the posture of the tray 76 to an upright state. During the posture change, since the finger 72 engages with the pin 78, the movement of the tray 76 in the rotational direction (R1 direction) is restricted. Furthermore, since the second tray bearing surface 74b abuts against the lower surface 76b of the tray 76, and the first tray bearing surface 74a abuts against the abutting side 76d of the tray 76, the weight of the tray 76 can be supported, restricting movement in the direction of gravity. Thus, the arm 64 can stably hold the tray 76 and can change its posture from a horizontal state to an upright state.

[0067] Figure 8 This indicates that the APC arm 50 of the tray exchange device 44 is raised, and the tray 76 is held by the first tray holding part 82. Specifically, by raising the APC arm 50, the holding member 76f is inserted into the concave portion of the first tray holding part 82, and the upper surfaces of the columnar members at both ends of the first tray holding part 82 abut against the abutting side 76d of the tray 76. Thus, the APC arm 50 is able to hold the tray 76. At this time, since the finger 72 only restricts the movement of the pin 78 in the tray 76 unit in the rotational direction (R1 direction), the APC arm 50 can lift the tray 76 without interfering with the arm 64.

[0068] Figure 9 This indicates the state where, with the APC arm 50 holding the tray 76, the finger 72 moves from the tray engaging position to the tray disengaged position. As shown by the arrow in the figure, by moving the finger 72 from the tray engaging position to the tray disengaged position, only the APC arm 50 holds the tray 76. At this time, the second tray 94 on the machining chamber 12 side (not shown) is also unloaded from the C-axis rotary table 36. Thus, the tray 76 on the preparation chamber 14 side and the second tray 94 on the machining chamber 12 side (see reference) are both unloaded. Figure 11 Both sides are held together by only APC arm 50.

[0069] Figure 10 The arm 64, which moves the finger 72 to the tray engagement release position, is rotated to the standby position by the drive unit 62. The tray posture changing device 42 can position (rotate) the arm 64 to a standby position between the upright position (upright state) and the engagement position (horizontal state). Therefore, when the APC arm 50 and the rotating door 46 are rotated to exchange the tray 76 on the preparation chamber 14 side and the second tray 94 on the processing chamber 12 side, interference between the APC arm 50 and the rotating door 46 and the tray posture changing device 42 or other components within the machine tool 10 can be prevented. Furthermore, since the arm 64 can be positioned in the standby position without returning to the engagement position, the time required to rotate the arm 64 can be minimized, thereby reducing the time required for changing the posture of the tray 76 and exchanging it.

[0070] Figure 11 This indicates that the tray 76 on the side of the preparation chamber 14 was swapped (exchanged) by rotating the APC arm 50 (see reference). Figure 10 The state of the second tray 94 on the side of the processing chamber 12. By rotating the APC arm 50 holding the tray 76 and the second tray 94 by 180 degrees, the tray 76 with the workpiece W1 before processing can be moved to the processing chamber 12 and handed over to the C-axis rotary table 36, and the second tray 94 with the workpiece W2 after processing can be moved to the preparation chamber 14.

[0071] Figure 12 This indicates that the arm 64 is rotated to an upright position by the drive unit 62, and is positioned to engage the finger part 72 with the second tray 94, which is in the upright position. Additionally, Figure 13 The arrow in the diagram indicates that the finger 72 moves from the tray engagement release position to the tray engagement position and engages with the pin 78. This allows the arm 64 to hold the second tray 94, which has been moved to the preparation chamber 14 side. In this case, if the tray engagement release position is located closer to the arm base end 66 than the tray engagement position, and there is no arm protrusion 86 or tray groove 88, the finger 72 moves from the tray engagement release position to the tray engagement position against gravity. Therefore, if the finger 72 interferes with the pin 78 due to factors such as chips, the tray may be lifted, posing a risk of the tray falling off. In this embodiment, the tray engagement position is located closer to the arm base end 66 than the tray engagement release position. That is, since the finger 72 moves from the tray engagement release position to the tray engagement position along with gravity, even if the finger 72 interferes with the pin 78, the tray 76 will not fall off, and thus, it can be safely engaged with the pin 78 (tray 94).

[0072] Figure 14 This indicates the state in which the APC arm 50 is lowered to release the second pallet holding part 84 from the second pallet 94. As shown by the arrow in the figure, by lowering the APC arm 50, the second pallet holding part 84 disengages from the second pallet 94. Therefore, the second pallet 94 is no longer held by the second pallet holding part 84, and the first pallet receiving surface 74a of the receiving part 74 abuts against the abutting side 94d of the second pallet 94, supporting the second pallet 94. Thus, the second pallet 94, which is handed over to the pallet posture changing device 42, is supported by the finger part 72 and the receiving part 74. On the other hand, the C-axis rotary table 36 (see reference) on the machining chamber 12 side (not shown) Figure 2 On the pallet 76, which holds the workpiece W1 before processing and the fixture 96, the workpiece is assembled.

[0073] Figure 15This indicates that the arm 64 is rotated to the engaging position by the drive unit 62, moving the second tray 94 to a horizontal position (ready position). Additionally, Figure 16 The arrow in the figure indicates that the finger 72 has moved from the tray engaging position to the tray disengaged position, releasing the engagement between the finger 72 and the pin 78. In this state, the arm protrusion 86 and the second tray receiving surface 74b of the receiving part 74 can be configured to either not contact the second tray 94 or to contact the second tray 94. When not in contact with the second tray 94, the second tray 94 is held on the track 90. ​​When in contact with the second tray 94, the arm protrusion 86 contacts the upper surface of the inner wall of the tray groove 88, and the second tray receiving surface 74b contacts the lower surface 94b of the second tray 94. Therefore, the second tray 94 moves away from the track 90 and is held by the arm 64.

[0074] Figure 17 This indicates that the drive unit 62 rotates the arm 64 and positions it in the retracted position. As a result, the second tray 94 is transferred from the arm 64 to the track 90, making it ready to be delivered towards the outside of the machine tool 10. Furthermore, Figure 18 This indicates the state in which the second tray 94 is sent out to the outside of the machine tool 10. In this way, the tray 76, which is equipped with the workpiece W1 before processing, and the second tray 94, which is equipped with the workpiece W2 after processing, can be exchanged after changing their posture between a horizontal state and an upright state.

[0075] Figure 19 A side view showing the media supply unit 80 connected to the second tray 94 in a horizontal position (ready position). In this embodiment, the tray posture changing device 42 is configured such that the arm 64 holds the tray 76 (see reference). Figure 2 The arm 64 does not interfere with the lower surfaces 76b and 94b of the trays 76 and 94, respectively, on the engaging sides 76e and 94e of the second tray 94. Therefore, space can be ensured on the lower side of the ready position, allowing the media supply unit 80 to be positioned. Thus, the media supply unit 80 can hold the trays 76 and 94 fed into the ready position and can connect to them. The media supply unit 80 includes a clamping mechanism (not shown) that clamps the trays 76 and 94. Furthermore, it connects to the connector 100 (see reference 100) located on the lower surfaces 76b and 94b of the trays 76 and 94. Figure 20AThe connection allows for the supply of hydraulic or pneumatic media through the connected flow path. This enables the supply of hydraulic pressure or other fluids to the trays 76 and 94 to actuate the clamping components, which are used to hold workpieces W1 and W2 in the clamp 96. When the supply of media ceases, the media supply unit 80 is configured to release the clamping and connection between the trays 76 and 94, and the tray posture changing device 42 is configured to rotate the arm 64 to the engaging position, causing the finger 72 to move towards the tray engaging position, thus holding the trays 76 and 94. At this time, the clamp 96 on the trays 76 and 94 is configured to have a pressure-retaining part such as a pressure accumulator (not shown), so that pressure can be maintained within the clamp 96 even when the engagement between the trays 76 and 94 and the media supply unit 80 is released.

[0076] Furthermore, the media supply unit 80, located within the preparation chamber 14, is configured to move vertically. Therefore, when the posture of the tray 76 and the second tray 94 is changed via the arm 64, interference can be prevented between the clamping mechanism (not shown) and the connector mechanism (connector 100 and connector mounting part 102) located on their lower surfaces 76b and 94b and the upper surface of the media supply unit 80. Figures 20A to 20D Here's an example illustrating a specific method. For example... Figure 20A As shown, when the second tray 94 is held on the track 90, sufficient distance can be left on the lower side of the track 90 to accommodate the media supply unit 80. This prevents interference between the connector 100 and the media supply unit 80. Next, as... Figure 20B As shown, the held media supply section 80 rises (arrow in the figure), clamps the second tray 94, and connects the connector mounting section 102 on the media supply section 80 side to the connector 100 on the second tray 94 side. Thus, media including oil, air, and cutting fluid can be supplied from the media supply section 80. When the media supply is complete, as... Figure 20C As shown, the media supply unit 80 releases the clamping of the second tray 94 and the connection of the connector mechanism and descends (arrow in the figure). When the descent of the media supply unit 80 is complete, as... Figure 20D As shown, arm 64 rotates to the engaging position and holds the second tray 94. In this way, the media supply unit 80 can efficiently supply media without interfering with the tray 76 and the second tray 94.

[0077] The tray posture changing device 42 of this embodiment includes: a pair of arms 64 rotatably mounted on a drive unit 62, extending parallel to the engaging sides 76e and 94e when facing them, and holding the trays 76 and 94; and fingers 72 slidably disposed on the arms 64, moving from a tray disengagement position to a tray engaging position and engaging with the trays 76 and 94. Therefore, by rotating the arms 64 holding the trays 76 and 94 via the drive unit 62, the tray posture changing device 42 can change the posture of the trays 76 and 94 in a manner including a horizontal state and an upright state. Furthermore, the pair of arms 64, by engaging with the two sides of the trays 76 and 94, i.e., the engaging sides 76e and 94e, via the fingers 72, can stably hold the trays 76 and 94. Such arms 64 ensure the effectiveness of their operation and simplify the structure of the tray posture changing device 42. Furthermore, the pallet posture changing device 42 includes a receiving portion 74 disposed on the base 60 side of the arm 64, having a first pallet receiving surface 74a facing the abutting surfaces 76d and 94d located between the two engaging surfaces 76e and 94e. Therefore, by rotating the arm 64 to change posture, the upper surfaces 76a and 94a tilt relative to the horizontal plane. Thus, when the pallets 76 and 94 apply their own weight to the rotation center axis RA1 side of the arm 64, i.e., the base 60 side, the abutting surfaces 76d and 94d of the pallets 76 and 94 can abut against the first pallet receiving surface 74a, stably maintaining the pallets 76 and 94 in a posture changing manner, including between a horizontal and an upright state. Based on the above, the pallet posture changing device 42 can use a simple structure to maintain the pallets 76 and 94 while changing their posture, enabling stable pallet transport.

[0078] Furthermore, according to the pallet posture changing device 42 of this embodiment, cylindrical pins 78 extending outward toward the arm 64, i.e., in the X-axis direction, are formed on the two engaging sides 76e and 94e of the pallets 76 and 94. Therefore, the arm 64 can stably hold the pallet 76 by engaging the finger portion 72 with the pin 78. Additionally, the pin 78 only makes line contact with the groove portion 72d of the finger portion 72, thus suppressing the trapping of chips generated during processing.

[0079] Furthermore, in the tray posture changing device 42 of this embodiment, the depth direction of the groove 72d of the finger 72 is aligned with the extension direction of the pin 78, and the size is determined such that a gap (playback) is created between the finger 72 and the pin 78 to the extent that the pin 78 will not fall off. Therefore, when the arm 64 is rotated to the upright position and the tray 76 is changed to the upright position, since the finger 72 engages with the pin 78, the movement of the tray 76 in the rotation direction (R1 direction) can be restricted.

[0080] Furthermore, in the tray posture changing device 42 according to this embodiment, the sliding portion 70 and the finger portion 72 of the arm engaging portion 68 are configured to move between the tray engaging position and the tray engaging / disengaging position along the length direction of the arm 64. Therefore, space can be saved in the width direction of the arm 64, and the arm 64 can be compactly configured.

[0081] Furthermore, according to the tray posture changing device 42 of this embodiment, the sliding part 70 and the finger part 72 can be linked in the same direction between the tray engaging position and the tray engaging / disengaging position, and the tray engaging position is configured to be closer to the arm base end 66 side than the tray engaging / disengaging position. Therefore, the finger part 72 can be safely engaged with the pin 78.

[0082] Furthermore, according to the pallet posture changing device 42 of this embodiment, the arm 64 can be positioned in a standby position between an upright position (upright state) and a engaged position (horizontal state). Therefore, when the APC arm 50 and the rotary door 46 are rotated to exchange the pallet 76 on the preparation chamber 14 side and the second pallet 94 on the processing chamber 12 side, interference between the pallet posture changing device 42 and other components within the machine tool 10 can be prevented. In addition, since the arm 64 can be positioned in the standby position without returning to the engaged position, the time required to rotate the arm 64 can be minimized, thereby reducing the time required for posture changes and exchanges of the pallets 76 and 94.

[0083] Furthermore, according to the tray posture changing device 42 of this embodiment, the receiving portion 74 has a planar first tray receiving surface 74a extending in a direction perpendicular to the length direction of the arm 64, and a planar second tray receiving surface 74b extending in the length direction of the arm 64. Therefore, when the arm 64 is rotated to an upright position and the trays 76 and 94 are changed to an upright position, the second tray receiving surface 74b abuts against the lower surface 76b of the tray 76 to support the weight of the trays 76 and 94, thus restricting movement in the direction of gravity. As a result, the arm 64 can stably hold the trays 76 and 94 and can change posture from a horizontal state to an upright state.

[0084] Furthermore, according to the pallet posture changing device 42 of this embodiment, an arm protrusion 86 extending toward the engaging side 76e is formed on the inner side of the arm engaging portion 68 in the width direction facing the engaging side 76e. Additionally, a pallet groove 88 is formed on the engaging side 76e in a recessed manner toward the pallet 76, configured to allow the arm protrusion 86 to be inserted. Therefore, the arm 64 can be stably held in relation to the pallets 76 and 94. Furthermore, when the arm 64 is positioned in a horizontal position, even if an unpredictable external force is applied to the pallet 76, accidental movement of the pallet 76 toward the outside of the machine tool 10 can be prevented.

[0085] Furthermore, according to the tray posture changing device 42 of this embodiment, the arm 64 is configured to not only rotate between an upright state and a horizontal state, but also to rotate from an upright position in the upright state to a retracted position beyond the engaging position in the horizontal state, and to remain stationary in that retracted position. Therefore, the arm 64, as well as the finger portion 72, the receiving portion 74, and the arm protrusion 86 that are components of the arm 64, can be prevented from interfering with the inserted tray 76, thereby facilitating the insertion of the tray 76.

[0086] Furthermore, according to the machine tool 10 of this embodiment, in addition to the pallet posture changing device 42 described above, the machine tool 10 also includes a pallet exchange device 44. This pallet exchange device 44 has an APC arm 50, which has a first pallet holding portion 82 for receiving an upright pallet 76 and a second pallet holding portion 84 for receiving an upright second pallet 94 at both ends. Therefore, pallets 76 and 94, whose postures have been changed by the pallet posture changing device 42, can be stably transported to the spindle 26 side. Thus, the machine tool equipped with the pallet posture changing device 42 and the pallet exchange device 44 can perform stable pallet transport by holding pallets 76 and 94 while changing their postures using a simple structure.

[0087] Furthermore, according to the machine tool 10 of this embodiment, when the trays 76 and 94 are positioned in a horizontal state (in the ready position), a medium supply unit 80 can be arranged. This medium supply unit 80 is arranged on the lower side of the trays 76 and 94 and is configured to connect with the lower surfaces 76b and 94b of the trays 76 and 94. Since the arm 64 is configured to hold the engaging sides 76e and 94e of the trays 76 and 94, it will not interfere with the lower side of the trays 76 and 94. Therefore, the medium supply unit 80 can be arranged here to supply media including oil, air, and cutting fluid to the trays 76 and 94. As a result, space saving can be achieved, and the machine tool 10 can be compactly configured.

[0088] As explained above, the pallet posture changing device 42 of the machine tool 10 according to this embodiment can perform stable pallet transport by changing the posture while holding the pallets 76 and 94 using a simple structure.

[0089] (Modified example)

[0090] It should be noted that, here, the arm 64 is described with two sliding portions 70 and finger portions 72 at both ends of the arm engaging portion 68 along its length, and the receiving portion 74 has a planar first tray receiving surface 74a extending in a direction perpendicular to the arm 64 and a planar second tray receiving surface 74b extending along the length of the arm 64, but this is not a limitation. Figure 21 As shown, depending on the application, the structure can also be as follows: a finger 72 is provided at the front end of the arm engaging portion 68 in the longitudinal direction, and only a first tray receiving surface 74a is provided in the receiving portion 74. Even with such a structure, the trays 76 and 94 can be stably held when the posture of the arm 64 is changed. Furthermore, since the number of parts can be reduced, the operation time and cost during the manufacturing of the machine tool 10 can be reduced.

[0091] The embodiments of the pallet posture changing device 42 of the machine tool 10 have been described above, but the present invention is not limited to the above embodiments. Furthermore, those skilled in the art will understand that various modifications can be made to the above embodiments.

[0092] Explanation of reference numerals in the attached figures

[0093] 10 machine tools

[0094] 26 Spindle

[0095] 28 knives

[0096] 36 C-axis rotary table (worktable)

[0097] 42. Pallet posture changing device

[0098] 44. Tray exchange device

[0099] 46 Revolving door

[0100] 48 Revolving door retaining part

[0101] 50 APC arm (rotary arm)

[0102] 52 Chip Shield

[0103] 56 APC arm drive mechanism (rotary drive unit)

[0104] 60 base

[0105] 62 Drive Unit

[0106] 64 arms

[0107] 66 Arm base end

[0108] 72 fingertip

[0109] 72a Upper surface side restriction part

[0110] 72b Lower surface side restriction portion

[0111] 72c Central Department

[0112] 72d groove

[0113] 74. Contracting Department

[0114] 74a First pallet receiving surface

[0115] 74b Second pallet receiving surface

[0116] 76 pallets (first pallet)

[0117] 76a upper surface

[0118] 76b lower surface

[0119] 76d abutting the side

[0120] 76e snap-fit ​​side

[0121] 78 sales

[0122] 80 Media Supply Department

[0123] 82 First Pallet Holding Section

[0124] 84 Second tray holding section

[0125] 86 Arm protrusion

[0126] 88 Tray Slots

[0127] 94 Second pallet (pallet)

[0128] 94b lower surface

[0129] 94d abutting the side

[0130] 94e snap-fit ​​side

[0131] 96 Fixtures

[0132] BB axis rotation direction

[0133] CC axis rotation direction

[0134] RA1 drive unit rotation center shaft

[0135] Rotation direction of R1 drive unit

[0136] Rotation center axis of RA2 APC arm drive mechanism

[0137] Rotation direction of R2 APC arm drive mechanism

[0138] W1 workpiece

[0139] W2 workpiece

[0140] W3 workpiece.

Claims

1. A pallet posture changing device for changing the posture of a pallet in a manner including a horizontal state and an upright state, the pallet having: an upper surface for assembling workpieces and fixtures, a lower surface, two engaging sides contacting the upper and lower surfaces, and an abutting side located between the two engaging sides, wherein the horizontal state is a state in which the upper surface of the pallet is moved to a horizontal plane side, and the upright state is a state in which the upper surface of the pallet is moved to a vertical plane side, wherein... The tray posture changing device includes: Base; A drive unit, which is mounted on the base and configured to rotate the tray about a rotation center axis to perform the posture change; A pair of arms, rotatably mounted on the drive unit, extend parallel to the engaging side when facing it, and hold the tray. A receiving portion, the receiving portion being disposed on the base side of the arm, having a first pallet receiving surface facing the abutting side; as well as The fingers are slidably disposed on the arm and move from the tray engagement release position to the tray engagement position and engage with the tray.

2. The pallet posture changing device as described in claim 1, wherein, Each of the two engagement sides has at least one pin extending outward from the engagement side toward the outside of the tray and engaging with the finger.

3. The tray posture changing device as described in claim 2, wherein, The finger portion has: a central portion facing the engaging side, an upper surface-side limiting portion formed above the central portion, and a lower surface-side limiting portion formed below the central portion. A groove with a concave shape facing the tray is formed by the central portion, the upper surface-side limiting portion, and the lower surface-side limiting portion. The depth direction of the groove is consistent with the extension direction of the pin.

4. The pallet posture changing device as described in claim 1, wherein, The finger moves along the length of the arm between the tray engaging position and the tray disengaging position.

5. The tray posture changing device as described in claim 4, wherein, The tray engagement position of the finger is located along the length of the arm at the arm base end of the arm mounted on the base, closer to the arm base end of the arm than the tray disengagement position.

6. The tray posture changing device as described in claim 1, wherein, The finger moves between the tray engaged position and the tray disengaged position along the direction of the arm facing the tray.

7. The tray posture changing device as described in claim 1, wherein, The drive unit is configured to position the arm in a standby position between the engaged position in the horizontal state and the upright position in the upright state.

8. The tray posture changing device as described in claim 1, wherein, The receiving part has a second pallet receiving surface, which is formed to abut against the lower surface of the pallet.

9. The tray posture changing device as described in claim 1, wherein, The tray has a tray groove formed in such a way that it is recessed from the engaging side toward the inside of the tray, and the arm has an arm protrusion that can be inserted into the inside of the tray groove.

10. The tray posture changing device as claimed in claim 1, wherein, The drive unit is configured to rotate the arm from the upright position in the upright state to a retracted position that exceeds the engaging position in the horizontal state and to position the arm in the retracted position.

11. A machine tool, wherein, The machine tool includes: Spindle, on which the cutting tool is mounted; A workbench, wherein the workbench is capable of mounting the tray on which the workpiece is assembled in the upright position; The tray posture changing device according to any one of claims 1 to 10; as well as A tray exchange device has a rotating arm and a rotation drive unit. The rotating arm has a first tray holding part at both ends for receiving the first tray in an upright state on the side of the tray posture changing device and the side of the main shaft, and a second tray holding part for receiving the second tray in an upright state on the side of the tray posture changing device and the side of the main shaft. The rotation drive unit causes the rotating arm to rotate about a rotation axis parallel to the vertical direction.

12. The machine tool as claimed in claim 11, wherein, The machine tool includes a medium supply unit. When the pallet is positioned to the horizontal state by the pallet posture changing device, the medium supply unit is configured to connect with the lower surface of the pallet and supply a medium including oil, air, and cutting fluid to the pallet and any of the workpieces and / or fixtures assembled on the pallet.

Images