Support base

Abstract

To provide a base part which is excellent in workability when assembling a support base, and a support base which is configured using a plurality of base parts. [Solution] A plurality of base components (470) are arranged in a first direction to form a support base (220) for supporting a carrier that transports pallets. The base component (470) includes a first processed surface (481) extending in the first direction and to which a rail (411) of a linear guide mechanism is attached along the first direction, a second processed surface (482) extending in the first direction and to which the rail (411) of the linear guide mechanism is attached along the first direction and spaced apart from the first processed surface (481), a third processed surface (483) consisting of a plane perpendicular to the first direction, and a fourth processed surface (484) consisting of a plane perpendicular to the first direction and facing the third processed surface (483) in the first direction. The base component (470) is made of casting.

Description

[Technical Field]

[0001] The present invention relates to a base component and a support base. [Background technology]

[0002] For example, Japanese Patent Publication No. 2020-110875 (Patent Document 1) discloses a pallet transport system that includes a transport device for transporting pallets, a pallet storage unit for storing pallets, a work station where a worker attaches workpieces to the pallet transported from the pallet storage unit, and a machine tool that processes the workpieces attached to the pallet at the work station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-110875 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in the above-mentioned Patent Document 1, a pallet conveying device is used to automatically move pallets between various types of equipment such as machine tools, pallet stockers, and setup stations. The pallet conveying device has a support base to which rails are attached, and a conveying body that is movable along the support base and conveys the pallet.

[0005] In such a configuration, when installing the pallet transport device on the floor of a factory, etc., the support base may be assembled from multiple base parts. In this case, if the geometric precision of the rail mounting surfaces and the mating surfaces of the base parts on each base part is insufficient, the workability during assembly of the support base will be poor.

[0006] An object of the present invention is to provide a base component that allows for excellent workability when assembling a support base, and a support base that is constructed using a plurality of base components. [Means for solving the problem]

[0007] A base part according to the present invention is a support base for supporting a carrier that transports pallets, with multiple base parts lined up in a first direction. The base parts include a first processed surface extending in the first direction and to which a rail of a linear guide mechanism is attached along the first direction, a second processed surface extending in the first direction and to which the rail of the linear guide mechanism is attached along the first direction and provided at a distance from the first processed surface, a third processed surface consisting of a plane perpendicular to the first direction, and a fourth processed surface consisting of a plane perpendicular to the first direction and facing the third processed surface in the first direction. The base parts are made of casting.

[0008] A support base according to the present invention includes a plurality of the above-described base components arranged in a first direction. Between adjacent base components, the third processed surfaces and the fourth processed surfaces are in surface contact with each other, the first processed surfaces extend adjacent to each other in the first direction, and the second processed surfaces extend adjacent to each other in the first direction. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a base component that is easy to assemble into a support base, and a support base that is constructed using a plurality of base components. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a top view showing a pallet handling system in which a pallet conveying device according to a first embodiment of the present invention is used. [Figure 2] FIG. 2 is a side view showing the pallet handling system in FIG. 1. [Figure 3] FIG. 2 is another side view showing the pallet handling system in FIG. 1. [Figure 4]FIG. 2 is a perspective view showing a pallet conveying device in FIG. [Figure 5] 1. FIG. 4 is another perspective view showing the pallet conveying device in FIG. [Figure 6] FIG. 6 is an exploded view showing the pallet conveying device in FIG. 5. [Figure 7] 10A and 10B are diagrams illustrating the movement of the support part during the sliding and lifting operations of the fork. [Figure 8] 8 is a cross-sectional view showing the pallet conveying device taken along line VIII-VIII in FIG. 4. [Figure 9] 6 is a cross-sectional view showing the pallet conveying device taken along line IX-IX in FIG. 5. [Figure 10] FIG. 2 is a perspective view showing a rotation mechanism for rotating the rotating body. [Figure 11] FIG. 2 is a top view showing a rotation mechanism for rotating the rotating body. [Figure 12] 9 is a cross-sectional view showing the pallet conveying device in the area surrounded by the two-dot chain line XII in FIG. 8. [Figure 13] 10 is a cross-sectional view showing the pallet conveying device in the area surrounded by the two-dot chain line XIII in FIG. 9. [Figure 14] 7 is a perspective view showing the pallet conveying device as seen in the direction indicated by the arrow XIV in FIG. 6. FIG. [Figure 15] FIG. [Figure 16] FIG. 16 is an exploded view showing the support base in FIG. [Figure 17] FIG. 17 is a perspective view showing the base part in FIGS. 15 and 16. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or equivalent components are designated by the same reference numerals.

[0012] (Embodiment 1) Fig. 1 is a top view showing a pallet handling system in which a pallet conveying device according to a first embodiment of the present invention is used, Fig. 2 and Fig. 3 are side views showing the pallet handling system in Fig. 1.

[0013] In Figures 1 to 3 and subsequent figures, for the convenience of explaining the configuration of the pallet handling system 100 and the pallet conveying device 200, an X-axis extending horizontally, a Z-axis extending horizontally and perpendicular to the X-axis, and a Y-axis extending vertically are shown.

[0014] 1 to 3, pallet handling system 100 includes machine tool 21, pallet stocker 26, setup station 31, and pallet conveying device 200. Pallet conveying device 200 conveys pallets P between machine tool 21, pallet stocker 26, and setup station 31.

[0015] The pallet conveying device 200 has a conveying body 210 and a support base 220. The conveying body 210 conveys a pallet P. The support base 220 is installed on a floor FL of a factory or the like. The support base 220 extends in one direction parallel to the horizontal direction. The support base 220 extends in the axial direction of the Z-axis (hereinafter also referred to as the "Z-axis direction"). The support base 220 supports the conveying body 210.

[0016] The transport body 210 has a base 211, a rotating body 212, and a fork 213. The base 211 is disposed on a support base 220. The base 211 is movable in the Z-axis direction. The support base 220 supports the base 211 (transport body 210) which moves in the Z-axis direction. The rotating body 212 is mounted on the base 211. The rotating body 212 is capable of rotating about a rotation center axis 110. The rotation center axis 110 extends in the Y-axis direction (corresponding to the up-down direction, hereinafter also referred to as the "Y-axis direction"). The fork 213 is mounted on the rotating body 212. The fork 213 is capable of sliding in the horizontal direction. The fork 213 is capable of moving up and down in the Y-axis direction (up-down direction) together with the rotating body 212.

[0017] When the pallet handling system 100 is viewed from above, the machine tool 21, the pallet stocker 26 and the setup station 31 are provided along the support base 220.

[0018] The machine tool 21 is a facility for machining a workpiece. The machine tool 21 is an NC (Numerical Control) machine tool in which various operations for machining a workpiece are automated by computer numerical control. The machine tool 21 is a machining center that performs workpiece machining (milling) by bringing a rotating tool into contact with the workpiece.

[0019] The machine tool 21 has a pallet mounting table 22. The pallet mounting table 22 is installed outside the machining area (the area where the workpiece is machined). A pallet P, on which a workpiece is attached before or after machining, is placed on the pallet mounting table 22. When the pallet handling system 100 is viewed from above, the pallet mounting table 22 faces the support base 220 in the Z-axis direction. The pallet mounting table 22 may be equipped with a clamping mechanism for holding the pallet P. The same applies to pallet mounting tables equipped in equipment other than machine tools.

[0020] As a representative example, machine tool 21 is a horizontal machining center in which the central axis of rotation of the tool extends horizontally. Machine tool 21 has a tool spindle that is arranged inside a machining area and that holds a tool and can rotate the held tool, a table that is arranged inside the machining area and that detachably holds a pallet P and that can rotate the pallet P around a central axis of rotation that extends in the vertical direction, an automatic tool changer (ATC) for changing the tool held by the tool spindle, a tool magazine that stores multiple tools, and an automatic pallet changer (APC) for changing the pallet P between the table and workpiece mounting table 22.

[0021] The setup station 31 is a facility mainly used for attaching and detaching workpieces to and from the pallet P. The setup station 31 has a pallet mounting table 32 and a door 33. The pallet P is mounted on the pallet mounting table 32. The door 33 is provided on a cover that surrounds the pallet mounting table 32. The door 33 is opened and closed when an operator attaches or detaches a workpiece to or from the pallet P.

[0022] When the pallet handling system 100 is viewed from above, the pallet placing table 32 faces the support base 220 in the Z-axis direction. The machine tool 21 and the setup station 31 are arranged opposite each other in the Z-axis direction, with the pallet conveying device 200 (support base 220) in between.

[0023] The pallet stocker 26 is a facility for storing pallets P. The pallet stocker 26 has a pallet mounting table 27. The pallet P is mounted on the pallet mounting table 27. When the pallet handling system 100 is viewed from above, the pallet mounting table 27 faces the support base 220 in the axial direction of the X-axis (hereinafter also referred to as the "X-axis direction").

[0024] Pallet stocker 26 has multiple pallet placement tables 27 (27A, 27B, 27C, 27D, 27E). Pallet placement tables 27A and 27B are aligned in the Z-axis direction along support base 220. Pallet placement tables 27C, pallet placement tables 27D, and pallet placement tables 27E are aligned in the Z-axis direction along support base 220. Pallet placement tables 27A and pallet placement tables 27D face each other in the X-axis direction, with support base 220 in between. Pallet placement tables 27B and pallet placement tables 27E face each other in the X-axis direction, with support base 220 in between.

[0025] The space through which the pallet P is transported is surrounded by a fence 12. The fence 12 is provided with an openable and closable door 13. The door 13 faces the pallet placement table 27C in the X-axis direction, with the support base 220 in between. When performing maintenance on the pallet handling system 100, for example, a worker can open the door 13 to enter the space inside the fence 12.

[0026] Next, the configuration of the pallet conveying device 200 will be described in more detail. Figures 4 and 5 are perspective views showing the pallet conveying device in Figure 1. Figure 6 is an exploded assembly view showing the pallet conveying device in Figure 5. Figure 7 is a diagram schematically showing the movement of the support parts during the sliding and lifting operations of the forks.

[0027] 4 and 5 show the pallet transport device 200 when transporting a pallet P to the pallet placement table 27D of the pallet stocker 26 in FIG.

[0028] 4 to 7, the fork 213 has a support portion 317. The support portion 317 is capable of supporting a pallet P. The fork 213 performs a sliding operation so that the support portion 317 moves between a first position Pa directly above the revolving body 212 (base 211) and a second position Pb shifted from directly above the revolving body 212 (base 211). The fork 213 performs a lifting operation so that the support portion 317 moves between a third position Pc and a fourth position Pd higher than the third position Pc. In FIG. 4, the support portion 317 is positioned at both the first position Pa and the third position Pc. In FIG. 5, the support portion 317 is positioned at both the second position Pb and the fourth position Pd.

[0029] For example, when pallet P is to be loaded onto pallet loading platform 27D of pallet stocker 26, first, conveying body 210 moves in the Z-axis direction so that fork 213 faces pallet loading platform 27D in the X-axis direction, and rotating body 212 rotates around rotation center axis 110.

[0030] Next, with the support portions 317 positioned at the fourth position Pd, the forks 213 perform a sliding operation to move from the first position Pa toward the second position Pb. As a result, the forks 213 enter the pallet stocker 26, and the pallet P supported by the support portions 317 is placed directly above the pallet placement table 27D. Next, the forks 213 perform a downward operation to move the support portions 317 from the fourth position Pd toward the third position Pc. As a result, the pallet P supported by the support portions 317 is placed on the pallet placement table 27D. Next, the forks 213 perform a sliding operation to move the support portions 317 from the second position Pb toward the first position Pa. As a result, the forks 213 retreat from the pallet stocker 26.

[0031] When pallet P is to be removed from pallet placement table 27D, the above-described operation of fork 213 can be performed in the opposite direction. Fork 213 moves forward and backward in only one direction relative to revolving body 212. For example, when pallet P is to be moved from setup station 31 to machine tool 21, revolving body 212 must be rotated 180°.

[0032] Fig. 8 is a cross-sectional view showing the pallet conveying device taken along line VIII-VIII in Fig. 4. Fig. 9 is a cross-sectional view showing the pallet conveying device taken along line IX-IX in Fig. 5.

[0033] Fig. 10 is a perspective view showing a turning mechanism for turning the turning body. Fig. 11 is a top view showing the turning mechanism for turning the turning body. Fig. 12 is a cross-sectional view showing the pallet conveying device in the area surrounded by the two-dot chain line XII in Fig. 8. Fig. 13 is a cross-sectional view showing the pallet conveying device in the area surrounded by the two-dot chain line XIII in Fig. 9. Fig. 14 is a perspective view showing the pallet conveying device as seen in the direction indicated by the arrow XIV in Fig. 6.

[0034] 4 to 14, when the pallet conveying device 200 is viewed from above, the support base 220 has a rectangular shape in which the Z-axis direction corresponds to the longitudinal direction and the X-axis direction corresponds to the lateral direction. The support base 220 is fixed to the floor surface FL by fixing means such as anchor bolts.

[0035] The base 211 is disposed directly above the support base 220. The length of the base 211 in the Z-axis direction is shorter than the length of the support base 220 in the Z-axis direction.

[0036] The base 211 has a base body 231 and a plurality of divided plates 236. The base body 231 forms the main part of the base 211. The base body 231 supports the rotating body 212 and the forks 213. The base body 231 bears the weight of the rotating body 212 and the forks 213.

[0037] The base body 231 has a bottom portion 232 and a rising portion 233. The bottom portion 232 has a plate shape extending parallel to the horizontal plane (X-axis-Z-axis plane), with the Y-axis direction corresponding to the thickness direction. The rising portion 233 rises from the peripheral edge of the bottom portion 232. The rising portion 233 extends in the circumferential direction around the central pivot axis 110.

[0038] Divided plates 236 are made of a plate material extending in an arc shape. The divided plates 236 are arranged in a circumferential direction centered on the central axis of rotation 110, thereby forming a ring shape. The divided plates 236 are attached to base main body 231. The divided plates 236 are attached to top surfaces 233a of rising portions 233 (see FIGS. 12 and 13). The divided plates 236 are provided so as to protrude radially inward from rising portions 233 (top surfaces 233a) centered on the central axis of rotation 110.

[0039] The pallet conveying device 200 further has a pair of linear guide mechanisms 410. The base 211 is supported by the support base 220 via the pair of linear guide mechanisms 410. The pair of linear guide mechanisms 410 are provided spaced apart from each other in the X-axis direction. The conveying body 210 (base 211) is guided by the pair of linear guide mechanisms 410, and is therefore movable in the Z-axis direction relative to the support base 220.

[0040] Each linear motion guide mechanism 410 has a rail 411 and a slider 412. The rail 411 extends in the Z-axis direction. The rail 411 is attached to the support base 220. The slider 412 is engaged with the rail 411 via a plurality of balls that are capable of infinite circulation. The slider 412 is slidable along the rail 411. The slider 412 is attached to the base 211. The slider 412 is attached to the base main body 231 (the bottom surface of the bottom part 232).

[0041] The revolving body 212 is disposed directly above the base 211. The revolving body 212 has a top plate 271, an outer cylinder 272, and an inner cylinder 261.

[0042] The top plate 271 has a plate shape extending parallel to the horizontal plane (X-axis-Z-axis plane), with the Y-axis direction corresponding to the thickness direction. When the pallet conveying device 200 is viewed from above, the top plate 271 has a circular shape centered on the central rotation axis 110. An oil pan 276 is attached to the top plate 271. The oil pan 276 forms a saucer shape around the top plate 271.

[0043] The outer cylinder 272 is attached to the bottom surface of the top plate 271. The outer cylinder 272 has a cylindrical portion 273 and an extending portion 274.

[0044] The tubular portion 273 extends in a tubular shape from the top plate 271 along the swivel central axis 110. The tubular portion 273 extends from the top plate 271 toward the base 211. A lower end of the tubular portion 273 is disposed inside the rising portion 233 of the base main body 231. The extending portion 274 extends from the lower end of the tubular portion 273 toward the radially outward direction centered on the swivel central axis 110. The extending portion 274 extends from the lower end of the tubular portion 273 toward the rising portion 233. The extending portion 274 faces the divided plate 236 in the Y-axis direction.

[0045] The inner cylinder 261 is disposed inside the outer cylinder 272. The inner cylinder 261 has a bottom portion 262 and a cylindrical portion 263.

[0046] The bottom portion 262 has a plate shape extending parallel to a horizontal plane (X-axis-Z-axis plane), with the Y-axis direction corresponding to the thickness direction. The bottom portion 262 is disposed inside the rising portion 233. A through-hole 264 is provided in the bottom portion 262. The through-hole 264 extends along the central axis of rotation 110 and penetrates the bottom portion 262. The cylindrical portion 263 extends in a cylindrical shape from the peripheral edge of the bottom portion 262 along the central axis of rotation 110. The cylindrical portion 263 extends from the peripheral edge of the bottom portion 262 toward the top plate 271.

[0047] The pallet conveying device 200 further has a plurality of linear guide mechanisms 266. The configuration of the linear guide mechanisms 266 is the same as the configuration of the linear guide mechanism 410. The outer cylinder 272 is connected to the inner cylinder 261 via the plurality of linear guide mechanisms 266. The rails of the linear guide mechanisms 266 are attached to the inner cylinder 261 (cylinder portion 263) (see FIG. 6). The rails of the linear guide mechanisms 266 extend in the Y-axis direction. The slider of the linear guide mechanism 266 is attached to the outer cylinder 272 (cylinder portion 273). The outer cylinder 272 is guided by the plurality of linear guide mechanisms 266, so that it can slide (move up and down) in the Y-axis direction relative to the inner cylinder 261.

[0048] The pallet conveying device 200 further has a first piston cylinder 281 and a second piston cylinder 286. The first piston cylinder 281 and the second piston cylinder 286 are attached to the rotating body 212. The first piston cylinder 281 and the second piston cylinder 286 move in the circumferential direction around the rotation central axis 110 as the rotating body 212 rotates.

[0049] The first piston cylinder 281 and the second piston cylinder 286 are actuators capable of outputting a stroke in the Y-axis direction. The first piston cylinder 281 and the second piston cylinder 286, together with the above-described plurality of linear motion guide mechanisms 266, constitute an elevation mechanism for raising and lowering the fork 213.

[0050] The first piston cylinder 281 is disposed radially outward of the outer cylinder 272 (cylinder portion 273) with respect to the central axis of rotation 110. The first piston cylinder 281 has a first cylinder body 282 and a first piston 283. The first cylinder body 282 is attached to the top plate 271. The first piston 283 is supported by the first cylinder body 282 so as to be slidable in the Y-axis direction. The first piston 283 extends downward from the first cylinder body 282 and abuts against the divided plate 236 at its end. The first cylinder body 282 is provided with a fluid chamber to which a fluid such as hydraulic oil is supplied for stroking the first piston 283 in the Y-axis direction.

[0051] The second piston cylinder 286 is disposed radially inward of the inner cylinder 261 (cylinder portion 263) with respect to the central axis of rotation 110. The second piston cylinder 286 has a second cylinder body 287 and a second piston 288. The second cylinder body 287 is attached to the bottom portion 262 of the inner cylinder 261. The second piston 288 is supported by the second cylinder body 287 so as to be slidable in the Y-axis direction. The second piston 288 extends upward from the second cylinder body 287 and abuts against the top plate 271 at its end. The second cylinder body 287 is provided with a fluid chamber to which a fluid such as hydraulic oil is supplied for stroking the second piston 288 in the Y-axis direction.

[0052] 8 and 9, the second piston cylinder 286 is provided between the turning central axis 110 and the first piston cylinder 281 in the radial direction centered on the turning central axis 110. When the pallet conveying device 200 is viewed from above, the center of the second piston 288 and the center of the first piston 283 are arranged on an imaginary line that intersects with the turning central axis 110 and extends in the sliding direction of the fork 213.

[0053] The length between the swivel center axis 110 and the first piston cylinder 281 in the radial direction centered on the swivel center axis 110 is longer than the length between the swivel center axis 110 and the second piston cylinder 286 in the radial direction centered on the swivel center axis 110.

[0054] The length between the first piston cylinder 281 and the second piston cylinder 286 in the radial direction centered on the swivel central axis 110 is longer than the length between the swivel central axis 110 and the second piston cylinder 286 in the radial direction centered on the swivel central axis 110. The length between the first piston cylinder 281 and the second piston cylinder 286 in the radial direction centered on the swivel central axis 110 may be equal to or shorter than the length between the swivel central axis 110 and the second piston cylinder 286 in the radial direction centered on the swivel central axis 110.

[0055] The length between the swivel center axis 110 and the extension portion 274 in the radial direction centered on the swivel center axis 110 is longer than the length between the swivel center axis 110 and the second piston 288 in the radial direction centered on the swivel center axis 110, and is shorter than the length between the swivel center axis 110 and the first piston 283 in the radial direction centered on the swivel center axis 110.

[0056] The first piston cylinder 281 (first piston 283) and the second piston cylinder 286 (second piston 288) are provided on the opposite side of the turning center axis 110 from the extension part 274 in the sliding direction of the fork 213 (the X-axis direction in the drawing). When the pallet conveying device 200 is viewed from above, the first piston cylinder 281 (first piston 283), the second piston cylinder 286 (second piston 288) and the extension part 274 are arranged on an imaginary straight line that intersects with the turning center axis 110 and extends in the sliding direction of the fork 213.

[0057] 9, first piston cylinder 281 (first piston 283) and second piston cylinder 286 (second piston 288) are provided between rotation central axis 110 and support portion 317 positioned at second position Pb in the radial direction centered on rotation central axis 110. Extension portion 274 is provided on the opposite side of rotation central axis 110 from support portion 317 positioned at second position Pb in the radial direction centered on rotation central axis 110.

[0058] The supply of hydraulic oil and the like to the first cylinder body 282 and the second cylinder body 287 is synchronously controlled, thereby causing the first piston 283 and the second piston 288 to simultaneously perform an extension stroke. The outer cylinder 272 moves upward relative to the inner cylinder 261 while being guided by the multiple linear motion guide mechanisms 266. As a result, the fork 213 mounted on the rotating body 212 performs an upward operation such that the support portion 317 moves from the third position Pc toward the fourth position Pd.

[0059] The supply of hydraulic oil and the like to the first cylinder body 282 and the second cylinder body 287 is synchronously controlled, thereby simultaneously shortening the stroke of the first piston 283 and the second piston 288. The outer cylinder 272 moves downward relative to the inner cylinder 261 while being guided by the multiple linear motion guide mechanisms 266. As a result, the fork 213 mounted on the revolving body 212 moves downward such that the support portion 317 moves from the fourth position Pd toward the third position Pc.

[0060] 8 to 11, the pallet conveying device 200 further includes a servo motor 431, a reducer 432, a pinion 433, and an integrated gear bearing 241. The servo motor 431, the reducer 432, the pinion 433, and the integrated gear bearing 241 form a turning mechanism 430 for turning the turning body 212 about the turning central axis 110.

[0061] The gear-integrated bearing 241 is disposed in the Y-axis direction between the bottom 262 of the inner cylinder 261 and the bottom 232 of the base main body 231. The gear-integrated bearing 241 supports the rotating body 212 so as to enable the rotating movement around the rotation central axis 110 relative to the base 211, and transmits the rotation from the servo motor 431 to the rotating body 212.

[0062] The gear-integrated bearing 241 has a bearing portion 242 and a gear portion 243. The bearing portion 242 has a ring shape centered on the central axis of rotation 110. The gear portion 243 is made up of gear teeth formed on the outer peripheral surface of the outer ring of the bearing portion 242. The outer diameter of the gear portion 243 is smaller than the inner diameter of the multiple divided plates 236 forming the ring shape. The inner ring of the bearing portion 242 is attached to the base main body 231 (bottom portion 232). The outer ring of the bearing portion 242 is attached to the inner cylinder 261 (bottom portion 262). The bearing portion 242 is configured to allow the gear portion 243 to rotate relative to the base main body 231.

[0063] The servo motor 431, the reducer 432, and the pinion 433 are attached to the base 211 (base main body 231). The servo motor 431 can selectively output rotation in a forward direction or a reverse direction about a rotation center axis 121 via its output shaft. The rotation center axis 121 extends in the Z-axis direction. The reducer 432 is provided on a power transmission path from the servo motor 431 to the pinion 433. The reducer 432 reduces the speed of the rotation from the servo motor 431, converts the rotation about the rotation center axis 121 by 90° into rotation about the rotation center axis 122, and transmits the rotation to the pinion 433. The pinion 433 can rotate about the rotation center axis 122. The rotation center axis 122 extends in the Y-axis direction. The pinion 433 meshes with the gear portion 243.

[0064] 10, the servo motor 431 has an encoder 436. The encoder 436 converts the rotation angle of the servo motor 431 into an electric signal and outputs it to the servo driver 437 as a feedback signal.

[0065] The servo driver 437 controls the power supply to the servo motor 431 so that the servo motor 431 rotates in accordance with a command including a target position from the control device. More specifically, the servo driver 437 sequentially calculates the actual rotation position of the servo motor 431 based on the output from the encoder 436, and controls the power supply to the servo motor 431 based on the calculation result.

[0066] The pinion 433 rotates in a forward or reverse direction around the rotation central axis 122 by receiving rotation from the servo motor 431. When the gear portion 243 meshes with the pinion 433 that rotates around the rotation central axis 122, a rotational force around the rotation central axis 110 is applied to the inner cylinder 261 (the rotating body 212).

[0067] The rotating unit 212 rotates in a forward or reverse direction around the rotation central axis 110. The rotating unit 212 can rotate within an angular range of 0° to 360° based on a predetermined angular position in the circumferential direction about the rotation central axis 110. In other words, the rotating unit 212 does not rotate beyond an angle of 360° in one direction in the circumferential direction about the rotation central axis 110. The rotating unit 212 is positioned at a predetermined angular position by rotating in a forward or reverse direction within an angular range of 0° to 360°.

[0068] 1 shows an example of angular positions of 0° to 360° at which the rotating unit 212 is positioned. When the pallet P is transported to the pallet mount table 22 of the machine tool 21, the rotating unit 212 is positioned at an angular position of 0° (360°). When the pallet P is transported to the pallet mount tables 27C, 27D, and 27E of the pallet stocker 26, the rotating unit 212 is positioned at an angular position of 90°. When the pallet P is transported to the pallet mount table 32 of the setup station 31, the rotating unit 212 is positioned at an angular position of 180°. When the pallet P is transported to the pallet mount tables 27A and 27B of the pallet stocker 26, the rotating unit 212 is positioned at an angular position of 270°.

[0069] When a stepping motor is used as the driving source in the rotation mechanism 430, in order to position the rotating body 212 with precision, it becomes necessary to provide a stopper against which the rotating body 212 abuts, or to provide an actuator for inserting a pin into the rotating body 212.

[0070] In contrast to this, in this embodiment, by using a servo motor 431 as the drive source in the turning mechanism 430, it is possible to accurately position the turning body 212 at any angular position centered on the turning central axis 110. Therefore, there is no need to provide various mechanisms such as the stoppers or actuators described above, and the configuration of the pallet conveying device 200 can be simplified.

[0071] As shown in Figures 8, 9 and 11, the pallet conveying device 200 further includes a cylindrical body 291 and a cable duct 292. The cylindrical body 291 has a cylindrical shape centered on the central pivot axis 110. The cylindrical body 291 is attached to the base 211. The cylindrical body 291 rises from the bottom 232 of the base main body 231, passes through the through-hole 264, and enters the space inside the inner cylinder 261.

[0072] The cable duct 292 is made of a flexible duct body. The cable duct 292 is wound around the outer circumferential surface of the cylindrical body 291. One end of the cable duct 292 is fixed to the cylindrical body 291. The other end of the cable duct 292 is fixed to the rotating body 212. The cable duct 292 accommodates various wires, pipes, and the like that extend between the base 211 on the fixed side and the rotating body 212 on the movable side.

[0073] As the revolving body 212 revolves, the other end of the cable duct 292 fixed to the revolving body 212 moves in the circumferential direction around the revolving central axis 110. At this time, the cable duct 292 deforms while changing the winding length of the cable duct 292 around the cylindrical body 291.

[0074] 14, the pallet conveying device 200 further includes a servo motor 451, a reducer 452, a pinion 422, and a rack 421. The servo motor 451, the reducer 452, the pinion 422, and the rack 421 form a linear feed mechanism for moving the conveying body 210 in the Z-axis direction.

[0075] The rack 421 is attached to the support base 220. The rack 421 extends in the Z-axis direction.

[0076] The servo motor 451, the reducer 452, and the pinion 422 are attached to the base 211 (base body 231). The servo motor 451 can selectively output rotation in a forward direction or a reverse direction about a rotation center axis 131 via its output shaft. The rotation center axis 131 extends in the X-axis direction. The reducer 452 is provided on a power transmission path from the servo motor 451 to the pinion 422. The reducer 452 reduces the speed of the rotation from the servo motor 451, converts the rotation about the rotation center axis 131 by 90° into rotation about the rotation center axis 132, and transmits the rotation to the pinion 422. The pinion 422 can rotate about the rotation center axis 132. The rotation center axis 132 extends in the Y-axis direction. The pinion 422 meshes with the rack 421.

[0077] The pinion 422 rotates in a forward or reverse direction around the rotation center shaft 132 by receiving rotation from the servo motor 451. The rack 421 and the pinion 422, which rotates around the rotation center shaft 132, engage with each other, thereby applying a driving force in the Z-axis direction to the base 211. The conveyor 210 moves in one direction or the other along the Z-axis direction while being guided by the linear motion guide mechanism 410 described above.

[0078] As shown in FIGS. 4 to 7, the fork 213 further includes a first movable part 311, a pair of linear guide mechanisms 321, a second movable part 312, and a pair of linear guide mechanisms 322.

[0079] The first movable part 311 is connected to the revolving body 212 (top plate 271) via a pair of linear guide mechanisms 321. The configuration of the linear guide mechanisms 321 is the same as the configuration of the linear guide mechanism 410. The pair of linear guide mechanisms 321 are provided spaced apart from each other in a direction perpendicular to the sliding direction of the fork 213 (the Z-axis direction in the drawing). The first movable part 311 is guided by the pair of linear guide mechanisms 321, and is therefore movable in one direction horizontal to the revolving body 212 (the X-axis direction in the drawing).

[0080] The second movable part 312 is connected to the first movable part 311 via a pair of linear guide mechanisms 322. The configuration of the linear guide mechanisms 322 is the same as the configuration of the linear guide mechanism 410. The pair of linear guide mechanisms 322 are provided spaced apart from each other in a direction perpendicular to the sliding direction of the fork 213 (the Z-axis direction in the figure). The second movable part 312 is guided by the pair of linear guide mechanisms 322, and is therefore movable in one direction horizontal to the first movable part 311 (the X-axis direction in the figure).

[0081] The first movable part 311 and the second movable part 312 are connected to each other via a speed-doubling mechanism (not shown). The speed-doubling mechanism causes the first movable part 311 and the second movable part 312 to move in one direction along the horizontal direction (the X-axis direction in the figure) in conjunction with each other.

[0082] The second movable part 312 has a pair of support parts 317. The pair of support parts 317 are provided at a distance from each other in a direction perpendicular to the sliding direction of the forks 213 (the Z-axis direction in the drawing). Each support part 317 extends in a rib shape along the sliding direction of the forks 213 (the X-axis direction in the drawing). Both edge parts of the pallet P in the Z-axis direction are placed on the pair of support parts 317, respectively, so that the pallet P is supported by the pair of support parts 317.

[0083] There is no particular limitation on the structure for supporting the pallet P with the forks 213. For example, the forks 213 may be configured to support the center of the pallet P in the Z-axis direction, or the pallet P may be provided with a grip, and the forks 213 may be configured to provide an actuator for grasping the grip.

[0084] When the pair of support parts 317 are positioned at the first position Pa, in a top view of the pallet conveying device 200, the pair of support parts 317 (the pallet P supported by the pair of support parts 317) overlaps with the rotating body 212 (top plate 271), the base 211, and the support base 220. The pallet center of the pallet P supported by the pair of support parts 317 intersects with the rotation central axis 110.

[0085] When the pair of support parts 317 are positioned at the second position Pb, when viewed from above the pallet conveying device 200, the pair of support parts 317 (the pallet P supported by the pair of support parts 317) do not overlap with the rotating body 212 (top plate 271), the base 211 and the support base 220.

[0086] 5 and 9, when the support portion 317 is positioned at the second position Pb and the fourth position Pd, the weight of the pallet P and the workpieces, etc. acts on the support portion 317, causing the fork 213 to deform so that the support portion 317 sinks downward. In this case, the posture of the pallet P supported by the support portion 317 becomes unstable, which may prevent the pallet P from being smoothly transferred to and from various pieces of equipment. A configuration for suppressing such deformation of the fork 213 will be described below.

[0087] 8, 9, and 11 to 13, the base 211 has a first locking portion 201. The first locking portion 201 has a ring shape centered on the central pivot axis 110. The first locking portion 201 is made up of a plurality of divided plates 236.

[0088] The rotating body 212 has a second locking portion 202. The second locking portion 202 faces the first locking portion 201 from below. The second locking portion 202 is formed by an extension portion 274 of an outer cylinder 272.

[0089] The base 211 has an abutment portion 203. The first piston 283 of the first piston cylinder 281 abuts against the abutment portion 203 from above. The abutment portion 203 is made up of a plurality of divided plates 236.

[0090] When the rotating body 212 rotates around the rotation central axis 110, the second locking portion 202 (extension portion 274) moves in the circumferential direction around the rotation central axis 110 while overlapping with the first locking portion 201 (plurality of divided plates 236) in a top view of the pallet conveying device 200. When the rotating body 212 rotates around the rotation central axis 110, the first piston 283 moves in the circumferential direction around the rotation central axis 110 while overlapping with the abutment portion 203 (plurality of divided plates 236) in a top view of the pallet conveying device 200.

[0091] As shown in Figures 8 and 12, when the support portion 317 is positioned at the third position Pc, the second locking portion 202 (extension portion 274) is positioned downward and away from the first locking portion 201 (multiple divided plates 236).

[0092] As shown in Figures 9 and 13, when the support portion 317 is positioned at the second position Pb and the fourth position Pd, the second locking portion 202 (extension portion 274) is capable of locking with the first locking portion 201 (multiple divided plates 236) in the vertical direction at a position opposite the support portion 317 across the pivot center axis 110 in the sliding direction of the fork 213 (the X-axis direction in the figure).

[0093] In this configuration, when the weight of the pallet P, workpieces, etc. acts on the support portion 317, causing the fork 213 to deform so that the support portion 317 sinks downward. This causes the second locking portion 202 (extension portion 274) to displace upward at a position on the opposite side of the support portion 317 across the pivot center axis 110 in the sliding direction of the fork 213. At this time, the second locking portion 202 (extension portion 274) is locked to the first locking portion 201 (plurality of divided plates 236) in the up-down direction, thereby suppressing deformation of the fork 213. More specifically, the second locking portion 202 (extension portion 274) abuts against the first locking portion 201 (plurality of divided plates 236) from below, thereby restricting upward displacement of the second locking portion 202 (extension portion 274), and as a result, restricting downward sinking of the support portion 317.

[0094] First piston 283 abuts against abutment portion 203 (plural divided plates 236) from above at a position between support portion 317 and pivot center axis 110 in the sliding direction of fork 213 (X-axis direction in the drawing). When support portion 317 at the tip of fork 213 tries to sink downward, first piston 283 functions like a tension rod.

[0095] Furthermore, when the support portion 317 is positioned at the second position Pb and the fourth position Pd, and the support portion 317 does not support the pallet P, a gap is provided between the first locking portion 201 (plurality of divided plates 236) and the second locking portion 202 (extension portion 274) in the vertical direction.

[0096] The size of the gap is smaller than the stroke in the Y-axis direction of first piston 283 and second piston 288. The size of the gap may be, for example, 2 mm or less, 1 mm or less, or 0.5 mm or less.

[0097] To summarize the configuration of the pallet conveying device 200 in embodiment 1 of the present invention as described above, the pallet conveying device 200 in this embodiment comprises a base 211 having a first engaging portion 201, a rotating body 212 having a second engaging portion 202 facing the first engaging portion 201 from below, mounted on the base 211, and rotating around a rotation center axis 110 parallel to the vertical direction, and a fork 213 having a support portion 317 capable of supporting a pallet P, mounted on the rotating body 212, the support portion 317 slidingly moving between a first position Pa directly above the rotating body 212 and a second position Pb shifted from directly above the rotating body 212, and the support portion 317 moving up and down to move between a third position Pc and a fourth position Pd higher than the third position Pc. When the support portion 317 is positioned at the second position Pb and the fourth position Pd, the second locking portion 202 can be locked with the first locking portion 201 in the vertical direction at a position opposite the support portion 317 across the pivot center axis 110 in the sliding direction of the fork 213.

[0098] With this configuration, second locking portion 202 is locked to first locking portion 201 in the vertical direction, thereby preventing fork 213 from deforming in such a way that support portion 317 sinks downward. This stabilizes the posture of pallet P supported by support portion 317, allowing smooth delivery of pallet P to various pieces of equipment.

[0099] The pallet conveying device 200 also includes a first piston cylinder 281 attached to the revolving body 212 for raising and lowering the fork 213. The base 211 further includes an abutment portion 203. When the support portion 317 is positioned at the second position Pb and also at the fourth position Pd, the first piston cylinder 281 includes a first piston 283 that abuts against the abutment portion 203 from above at a position between the support portion 317 and the revolving central axis 110 in the sliding direction of the fork 213.

[0100] According to this configuration, the first piston 283 functions like a tension rod, so that the above-mentioned deformation of the fork 213 can be suppressed more effectively.

[0101] The base 211 also has a plurality of divided plates 236, each extending in an arc shape and arranged in a circumferential direction around the central pivot axis 110 to form a ring shape. The first locking portion 201 and the abutting portion 203 are made up of the plurality of divided plates 236.

[0102] According to this configuration, regardless of the angular position at which the rotating body 212 is positioned, it is possible to obtain a configuration in which the first locking portion 201 and the second locking portion 202 face each other in the vertical direction, and the first piston 283 abuts against the abutment portion 203. Furthermore, since the multiple divided plates 236 are used in common as the first locking portion 201 and the abutment portion 203, the configuration of the pallet conveying device 200 can be simplified.

[0103] The pallet conveying device 200 also includes a second piston cylinder 286 attached to the base 211 for raising and lowering the fork 213. The second piston cylinder 286 has a second piston 288 that abuts against the rotating body 212 from below. When the support portion 317 is positioned at the second position Pb and also at the fourth position Pd, and when the support portion 317 does not support the pallet P, a gap is provided between the first locking portion 201 and the second locking portion 202 in the up-down direction.

[0104] With this configuration, even when the pallet P is not loaded, excessive upward force acting on the rotating body 212 from the second piston cylinder 286 can be prevented from acting on the first locking portion 201 through the second locking portion 202.

[0105] In addition, the pallet conveying device 200 in this embodiment is equipped with a rotating body 212, a rotation mechanism 430 having a servo motor 431 and transmitting the rotation output from the servo motor 431 to the rotating body 212 to rotate the rotating body 212 around a rotation center axis 110 parallel to the vertical direction, and a fork 213 having a support part 317 capable of supporting a pallet P, mounted on the rotating body 212, and sliding so that the support part 317 moves between a first position Pa directly above the rotating body 212 and a second position Pb shifted from directly above the rotating body 212.

[0106] According to this configuration, by using the servo motor 431 as the drive source in the turning mechanism 430, the turning body 212 can be accurately positioned at any angular position centered on the turning central axis 110. This makes it possible to eliminate restrictions on the angular position at which the turning body 212 is positioned, thereby increasing the degree of freedom in the layout of various facilities to which the pallet P is transported.

[0107] The pallet conveying device 200 also has a base 211 having a first engaging portion 201, a support portion 317 capable of supporting a pallet P, and is mounted on a rotating body 212, the support portion 317 slidingly moving to move between a first position Pa directly above the base 211 and a second position Pb shifted from directly above the base 211, and a fork 213 which moves up and down so that the support portion 317 moves between a third position Pc and a fourth position Pd higher than the third position Pc, and a second engaging portion 202 which moves up and down integrally with the fork 213 while facing the first engaging portion 201 from below. When the support portion 317 is positioned at the second position Pb and the fourth position Pd, the second locking portion 202 can be locked with the first locking portion 201 in the vertical direction at a position opposite the second position Pb across the first position Pa in the sliding direction of the fork 213.

[0108] (Embodiment 2) In this embodiment, the configuration of the support base 220 of the pallet conveying device 200 in the first embodiment will be described in detail.

[0109] Fig. 15 is a perspective view of the support base, and Fig. 16 is an exploded view of the support base in Fig. 15.

[0110] 15 and 16, the support base 220 has a plurality of base parts 470 (470A, 470B, 470C, 470D, 470E) and a plurality of cover parts 461 (461A, 461B, 461C, 461D, 461E).

[0111] The multiple base components 470 are arranged in the Z-axis direction. Base component 470A, base component 470B, base component 470C, base component 470D, and base component 470E are arranged in the Z-axis direction in the listed order. The multiple base components 470 are fixed to floor surface FL by fixing means such as anchor bolts.

[0112] Base component 470A, base component 470B, base component 470C, and base component 470D are made of the same component. Base component 470E is made of a different component from base components 470A, base component 470B, base component 470C, and base component 470D. The length of base component 470E in the Z-axis direction is shorter than the lengths of base components 470A, base component 470B, base component 470C, and base component 470D in the Z-axis direction.

[0113] The multiple cover parts 461 are aligned in the Z-axis direction. Cover part 461A, cover part 461B, cover part 461C, cover part 461D, and cover part 461E are provided on base part 470A, base part 470B, base part 470C, base part 470D, and base part 470E, respectively. The multiple cover parts 461 function as oil receivers and as footboards for the operator.

[0114] Figure 17 is a perspective view showing the base part in Figures 15 and 16. Figure 17 shows the base part 470 shown in Figures 15 and 16 when viewed from the opposite side in the Z-axis direction.

[0115] 15 to 17, base component 470 is made of casting. Base component 470 is made of cast iron such as FC300. Base component 470 has a first machined surface 481, a second machined surface 482, a third machined surface 483, and a fourth machined surface 484.

[0116] First machined surface 481, second machined surface 482, third machined surface 483, and fourth machined surface 484 are surfaces obtained by machining. First machined surface 481, second machined surface 482, third machined surface 483, and fourth machined surface 484 are surfaces obtained by performing machining such as milling on the surface of the casting (cast surface). First machined surface 481, second machined surface 482, third machined surface 483, and fourth machined surface 484 are flat surfaces.

[0117] The first processed surface 481 extends in the Z-axis direction. The first processed surface 481 has a band shape in which the Z-axis direction corresponds to the longitudinal direction and the X-axis direction corresponds to the lateral direction. The first processed surface 481 is formed of a plane (horizontal plane) perpendicular to the Y-axis direction. The first processed surface 481 faces upward.

[0118] The second processed surface 482 extends in the Z-axis direction. The second processed surface 482 has a band shape in which the Z-axis direction corresponds to the longitudinal direction and the X-axis direction corresponds to the lateral direction. The length of the second processed surface 482 in the Z-axis direction is the same as the length of the first processed surface 481 in the Z-axis direction. The length (width) of the second processed surface 482 in the X-axis direction is longer than the length (width) of the first processed surface 481 in the X-axis direction. The second processed surface 482 is made up of a plane (horizontal plane) perpendicular to the Y-axis direction. The second processed surface 482 faces upward.

[0119] The first processing surface 481 and the second processing surface 482 are provided with a gap between them. The first processing surface 481 and the second processing surface 482 are provided with a gap between them in the X-axis direction. The first processing surface 481 and the second processing surface 482 are made of planes that are parallel to each other. The first processing surface 481 and the second processing surface 482 are arranged on the same plane (horizontal plane).

[0120] A rail 411 of the linear guide mechanism 410 is attached along the Z-axis direction to the first processing surface 481. The rail 411 extends parallel to the first processing surface 481. The rail 411 is fastened to the first processing surface 481 using a plurality of bolts or the like.

[0121] A rail 411 of the linear guide mechanism 410 is attached to the second processing surface 482 along the Z-axis direction. The rail 411 extends parallel to the second processing surface 482. The rail 411 is fastened to the second processing surface 482 using a plurality of bolts or the like. A rack 421 is further attached to the second processing surface 482. The rack 421 extends in the Z-axis direction. The rack 421 extends parallel to the second processing surface 482. The rack 421 is provided adjacent to the rail 411 in the X-axis direction. The rack 421 is provided between the rail 411 and a sixth processing surface 486, which will be described later, in the X-axis direction.

[0122] The third processed surface 483 is a plane (vertical plane) perpendicular to the Z-axis direction. The third processed surface 483 faces in one direction along the Z-axis direction. The third processed surface 483 forms a corner with one end of the first processed surface 481 and one end of the second processed surface 482 in the Z-axis direction. The third processed surface 483 intersects with one end of the first processed surface 481 and one end of the second processed surface 482 in the Z-axis direction at an angle of 90°.

[0123] As shown in FIG. 17 , the third processed surface 483 has a first portion 483s, a second portion 483t, and a third portion 483u. The first portion 483s extends in the X-axis direction. The first portion 483s extends in a strip-like shape with the X-axis direction corresponding to the longitudinal direction and the Y-axis direction corresponding to the lateral direction. The second portion 483t extends upward along the Y-axis direction from one end of the first portion 483s in the X-axis direction and intersects with the second processed surface 482. The third portion 483u extends upward along the Y-axis direction from the other end of the first portion 483s in the X-axis direction and intersects with the first processed surface 481. The second portion 483t and the third portion 483u are spaced apart from each other in the X-axis direction.

[0124] The fourth processed surface 484 is a plane (vertical plane) perpendicular to the Z-axis direction. The fourth processed surface 484 faces the other direction along the Z-axis direction. The fourth processed surface 484 forms a corner with the other end portions of the first processed surface 481 and the second processed surface 482 in the Z-axis direction. The fourth processed surface 484 intersects with the other end portions of the first processed surface 481 and the second processed surface 482 in the Z-axis direction at an angle of 90°.

[0125] The fourth processed surface 484 faces the third processed surface 483 in the Z-axis direction. The fourth processed surface 484 has a shape that coincides with the third processed surface 483 when projected in the Z-axis direction.

[0126] The base component 470 further has a fifth machined surface 485 and a sixth machined surface 486. The fifth machined surface 485 and the sixth machined surface 486 are surfaces obtained by machining, similar to the above-described first machined surface 481 and the like.

[0127] The fifth processed surface 485 is located between the first processed surface 481 and the second processed surface 482 in the X-axis direction and adjacent to the first processed surface 481. The length between the first processed surface 481 and the fifth processed surface 485 in the X-axis direction is shorter than the length between the fifth processed surface 485 and the second processed surface 482 in the X-axis direction. The base component 470 has a plurality of fifth processed surfaces 485. The plurality of fifth processed surfaces 485 are located at intervals from one another in the Z-axis direction.

[0128] The sixth processed surface 486 is located between the first processed surface 481 and the second processed surface 482 in the X-axis direction and adjacent to the second processed surface 482. The length between the second processed surface 482 and the sixth processed surface 486 in the X-axis direction is shorter than the length between the sixth processed surface 486 and the first processed surface 481 in the X-axis direction. The base component 470 has a plurality of sixth processed surfaces 486. The plurality of sixth processed surfaces 486 are located at intervals from one another in the Z-axis direction.

[0129] When viewed in the Z-axis direction, the base part 470 has a concave shape recessed downward between the first machined surface 481 (fifth machined surface 485) and the second machined surface 482 (sixth machined surface 486).

[0130] 16, adjacent base parts 470 in the Z-axis direction are fastened together using a plurality of bolts or the like. Between adjacent base parts 470 in the Z-axis direction, the third processed surfaces 483 and the fourth processed surfaces 484 are in surface contact with each other. Between adjacent base parts 470 in the Z-axis direction, the first processed surfaces 481 extend adjacently in the Z-axis direction, and the second processed surfaces 482 extend adjacently in the Z-axis direction.

[0131] For example, between a base part 470C and a base part 470D that are adjacent to each other in the Z-axis direction, a fourth processed surface 484 of the base part 470C and a third processed surface 483 of the base part 470D face each other in the Z-axis direction and are in surface contact with each other. A first processed surface 481 of the base part 470C and a first processed surface 481 of the base part 480D extend continuously in a strip shape in the Z-axis direction, and a second processed surface 482 of the base part 470C and a second processed surface 482 of the base part 470D extend continuously in a strip shape in the Z-axis direction.

[0132] The rail 411 is formed by combining multiple rail segments 411p. The multiple rail segments 411p are aligned in a line in the Z-axis direction. The rail segments 411p are arranged so as to straddle the boundary between adjacent base components 470 in the Z-axis direction. For example, in FIG. 16, the rail segment 411p shown separated from the base component 470C is arranged so as to straddle the boundary between the base components 470B and 470C. The rail segment 411p shown separated from the base components 470D and 470E is arranged so as to straddle the boundary between the base components 470C and 470D and the boundary between the base components 470D and 470E. The rack 421 also has a division structure similar to that of the rail 411.

[0133] The cover part 461 is attached to the fifth machined surface 485 and the sixth machined surface 486, and extends in the Z-axis direction while forming a concave cross section between the fifth machined surface 485 and the sixth machined surface 486. The cover part 461 has a bottom plate portion 462, a first side plate portion 463, and a second side plate portion 464.

[0134] The bottom plate portion 462 has a plate shape with its thickness direction in the Y-axis direction. The bottom plate portion 462 is disposed between the first processed surface 481 (fifth processed surface 485) and the second processed surface 482 (sixth processed surface 486) in the X-axis direction. The bottom plate portion 462 is provided lower than the first processed surface 481 (fifth processed surface 485) and the second processed surface 482 (sixth processed surface 486). The first side plate portion 463 rises from one end of the bottom plate portion 462 in the X-axis direction and is fastened to the fifth processed surface 485 using bolts or the like. The second side plate portion 464 rises from the other end of the bottom plate portion 462 in the X-axis direction and is fastened to the sixth processed surface 486 using bolts or the like.

[0135] To summarize the configurations of the base component 470 and the support base 220 according to the second embodiment of the present invention, a plurality of base components 470 are arranged in the Z-axis direction, which serves as a first direction, to constitute the support base 220 for supporting the carrier 210 that transports the pallet P. The base component 470 includes a first machined surface 481 that extends in the Z-axis direction and to which the rails 411 of the linear guide mechanism 410 are attached along the Z-axis direction, a second machined surface 482 that extends in the Z-axis direction and to which the rails 411 of the linear guide mechanism 410 are attached along the Z-axis direction and that is spaced apart from the first machined surface 481, a third machined surface 483 that is a plane perpendicular to the Z-axis direction, and a fourth machined surface 484 that is a plane perpendicular to the Z-axis direction and faces the third machined surface 483 in the Z-axis direction. The base component 470 is made of casting.

[0136] According to this configuration, by machining the base component 470 made of a casting to obtain the first machined surface 481, the second machined surface 482, the third machined surface 483, and the fourth machined surface 484, the geometric accuracy of the first machined surface 481, the second machined surface 482, the third machined surface 483, and the fourth machined surface 484 (such as the flatness of each machined surface, the parallelism of the third machined surface 483 and the fourth machined surface 484, and the perpendicularity between the first machined surface 481 and the second machined surface 482 and the third machined surface 483 and the fourth machined surface 484) can be improved. Furthermore, compared to using base components made of metal, variation in shape among the multiple base components 470 can be reduced. This facilitates achieving precision when assembling the support base 220 from the multiple base components 470, thereby improving the workability of assembling the support base 220.

[0137] The support base 220 also includes a plurality of base components 470 arranged in the Z-axis direction. Between adjacent base components 470, the third processed surfaces 483 and the fourth processed surfaces 484 are in surface contact with each other, the first processed surfaces 481 extend adjacent to each other in the Z-axis direction, and the second processed surfaces 482 extend adjacent to each other in the Z-axis direction.

[0138] With this configuration, the first machined surface 481 and the second machined surface 482 to which the rail 411 of the linear guide mechanism 410 is attached, and the third machined surface 483 and the fourth machined surface 484 that form the mating surfaces between adjacent base components 470 have high geometric precision, thereby improving workability when assembling the support base 220.

[0139] The first processed surface 481 and the second processed surface 482 are spaced apart from each other in the X-axis direction, which is a second direction perpendicular to the Z-axis direction. The base component 470 further includes a fifth processed surface 485 located between the first processed surface 481 and the second processed surface 482 in the x-axis direction and adjacent to the first processed surface 481, and a sixth processed surface 486 located between the first processed surface 481 and the second processed surface 482 in the X-axis direction and adjacent to the second processed surface 482. The support base 220 further includes a plurality of cover components 461 provided on the plurality of base components 470, respectively. The cover component 461 is attached to the fifth processed surface 485 and the sixth processed surface 486 and extends in the Z-axis direction between the fifth processed surface 485 and the sixth processed surface 486 while forming a concave cross section.

[0140] According to this configuration, the geometric precision of the fifth processed surface 485 and the sixth processed surface 486 is also good, so that the workability during assembly of the support base 220 can be further improved.

[0141] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0142] 12 fence, 13, 33 door, 21 machine tool, 22, 27, 27A, 27B, 27C, 27D, 27E, 32 pallet placement table, 26 pallet stocker, 31 setup station, 100 pallet handling system, 110 swivel center axis, 121, 122, 131, 132 rotation center axis, 200 pallet conveying device, 201 first locking portion, 202 second locking portion, 203 abutment portion, 210 conveying body, 211 base, 212 swivel body, 213 fork, 220 support base, 231 base body, 232, 262 bottom portion, 233 rising portion, 233a top surface, 236 divided plate, 241 gear integrated bearing, 242 bearing portion, 243 gear portion, 261 Inner cylinder, 263, 273 Cylinder portion, 264 Through hole, 266, 321, 322, 410 Linear guide mechanism, 271 Top plate, 272 Outer cylinder, 274 Extension portion, 276 Oil pan, 281 First piston cylinder, 282 First cylinder body, 283 First piston, 286 Second piston cylinder, 287 Second cylinder body, 288 Second piston, 291 Cylinder, 292 Cable duct, 311 First moving portion, 312 Second moving portion, 317 Support portion, 411 Rail, 411p Rail division body, 412 Slider, 421 Rack, 422, 433 Pinion, 430 Swivel mechanism, 431, 451 Servo motor, 432, 452 Reducer, 436 Encoder, 437 Servo driver, 461, 461A, 461B, 461C, 461D, 461E cover parts, 462 bottom plate part, 463 first side plate part, 464 second side plate part, 470, 470A, 470B, 470C, 470D, 470E, 480D base parts, 481 first machining surface, 482 second machining surface, 483 third machining surface, 483s first part, 483t second part, 483u third part, 484 fourth machining surface, 485 fifth machining surface, 486 sixth machining surface, FL floor surface, P pallet, Pa first position, Pb second position, Pc third position, Pd fourth position.

Claims

[Claim 1] A support base for supporting a carrier that transports a pallet, the support base includes a plurality of base parts arranged in a first direction; The base part is a first processing surface extending in the first direction and to which a rail of a linear motion guide mechanism is attached along the first direction; a second processing surface extending in the first direction, to which a rail of a linear motion guide mechanism is attached along the first direction, and which is provided at an interval from the first processing surface; a third processing surface formed by a plane perpendicular to the first direction; a fourth processed surface that is a plane perpendicular to the first direction and faces the third processed surface in the first direction; and the fourth processed surface is made of a casting. Between the base parts adjacent to each other, the third processed surface and the fourth processed surface are in surface contact with each other, the first processed surfaces extend continuously in the first direction, and the second processed surfaces extend continuously in the first direction, the first processing surface and the second processing surface are spaced apart from each other in a second direction perpendicular to the first direction, The base part is a fifth processing surface provided adjacent to the first processing surface between the first processing surface and the second processing surface in the second direction; a sixth processing surface provided adjacent to the second processing surface between the first processing surface and the second processing surface in the second direction, the support base further includes a plurality of cover parts respectively provided on the plurality of base parts; The cover part is attached to the fifth processing surface and the sixth processing surface, and extends in the first direction while forming a concave cross section between the fifth processing surface and the sixth processing surface.

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