Pallet handling system

Abstract

We provide a pallet handling system that can expand the scope of automation that can be achieved. [Solution] The pallet handling system comprises a support base (220) extending in a first direction and a transport body (210) supported by the support base (220) for transporting pallets. In a top view of the pallet handling system, a first region (510), a second region (520), a third region (530), and a fourth region (540) are defined. The pallet handling system further comprises a machine tool (21) located in the first region (510) and on which the transport body (210) transports pallets, and a setup station (31) located in the second region (520) and on which the transport body (210) transports pallets. The transport body (210) is capable of transporting pallets to at least one of the third region (530) and the fourth region (540).

Description

Technical Field

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[0001] This invention relates to a pallet handling system.

Background Art

[0002] For example, Japanese Unexamined Patent Application Publication No. 2020-110875 (Patent Document 1) discloses a pallet transport system including a transport device for transporting a pallet, a pallet storage unit for storing the pallet, a work station where an operator performs a work attachment operation on the pallet transported from the pallet storage unit, and a machine tool for processing the work attached to the pallet at the work station.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As disclosed in the above Patent Document 1, a pallet handling system using a pallet transport device to automatically move a pallet among various facilities such as a machine tool, a pallet stocker, and a setup station is known. In such a pallet handling system, it is required to expand the range of automation realized by the pallet handling system through the installation of various facilities.

[0005] <00000Z8>An object of this invention is to provide a pallet handling system capable of expanding the range of automation to be realized.

Means for Solving the Problems

[0006] A pallet handling system according to one aspect of this invention comprises a support base extending in a first direction and a transporter supported by the support base so as to be movable in the first direction and for transporting pallets. In a top view of the pallet handling system, a first region and a second region are defined on both sides of the support base in the first direction, and a third region and a fourth region are defined on both sides of the support base in a second direction perpendicular to the first direction. The pallet handling system further comprises a machine tool provided in the first region, to which the transporter transports pallets, and one of a setup station, a pallet stocker, a pallet transfer station, a workpiece measurement station, and a pallet washing station provided in the second region, to which the transporter transports pallets. The transporter is further capable of transporting pallets to at least one of the third region and the fourth region.

[0007] A pallet handling system according to another aspect of this invention comprises a support base extending in a first direction and a transporter supported by the support base so as to be movable in the first direction and for transporting pallets. In a top view of the pallet handling system, a first region and a second region are defined on both sides of the support base in the first direction, respectively, and a third region and a fourth region are defined on both sides of the support base in the second direction perpendicular to the first direction, respectively. The transporter is capable of transporting pallets to the first region, the second region, the third region and the fourth region.

[0008] A pallet handling system according to yet another aspect of this invention comprises a support base extending in a first direction and a transport body supported by the support base so as to be movable in the first direction and for transporting pallets. In a top view of the pallet handling system, a first region and a second region are defined on both sides of the support base in the first direction, respectively, and a third region and a fourth region are defined on both sides of the support base in a second direction perpendicular to the first direction, respectively. The transport body is capable of sliding the pallet in an oblique direction with respect to the first and second directions with respect to at least one of the first, second, third, and fourth regions. [Effects of the Invention]

[0009] According to this invention, it is possible to provide a pallet handling system that can expand the scope of automation that can be achieved. [Brief explanation of the drawing]

[0010] [Figure 1] This is a top view showing a pallet handling system in which the pallet transport device according to Embodiment 1 of this invention is used. [Figure 2] This is a side view showing the pallet handling system in Figure 1. [Figure 3] This is another side view showing the pallet handling system in Figure 1. [Figure 4] Figure 1 is a perspective view showing the pallet transport device. [Figure 5] This is another perspective view showing the pallet transport device in Figure 1. [Figure 6] Figure 5 is an exploded assembly diagram showing the pallet transport device. [Figure 7] This diagram schematically illustrates the movement of the support section during the sliding and lifting movements of the fork. [Figure 8] This is a cross-sectional view showing a pallet transport device along the line VIII-VIII in Figure 4. [Figure 9]It is a cross-sectional view showing a pallet conveying device along the line IX-IX in FIG. 5. [Figure 10] It is a perspective view showing a turning mechanism for causing a rotating body to perform a turning operation. [Figure 11] It is a top view showing a turning mechanism for causing a rotating body to perform a turning operation. [Figure 12] It is a cross-sectional view showing the pallet conveying device within the range surrounded by the two-dot chain line XII in FIG. 8. [Figure 13] It is a cross-sectional view showing the pallet conveying device within the range surrounded by the two-dot chain line XIII in FIG. 9. [Figure 14] It is a perspective view showing the pallet conveying device as viewed in the direction indicated by the arrow XIV in FIG. 6. [Figure 15] It is a top view schematically showing the layout of various facilities in a pallet handling system. [Figure 16] It is a top view schematically showing another aspect of the layout of various facilities in a pallet handling system. [Figure 17] It is a top view schematically showing yet another aspect of the layout of various facilities in a pallet handling system. [Figure 18] It is a top view showing the pallet handling system in Embodiment 3 of this invention. [Figure 19] It is a side view showing the pallet handling system in FIG. 18. [Figure 20] It is another side view showing the pallet handling system in FIG. 18. [Figure 21] It is a top view schematically showing the layout of various facilities in the pallet handling system in FIG. 18. [Figure 22] It is a top view schematically showing another aspect of the layout of various facilities in a pallet handling system. [Figure 23] It is a front view showing a modification example of a setup station. [Figure 24] It is a side view showing the setup station in FIG. 23 and the pallet conveying device. [Modes for carrying out the invention]

[0011] Embodiments of this invention will be described with reference to the drawings. In the drawings referred to below, the same or equivalent components are given the same numbers.

[0012] (Embodiment 1) Figure 1 is a top view showing a pallet handling system in which the pallet transport device according to Embodiment 1 of this invention is used. Figures 2 and 3 are side views showing the pallet handling system in Figure 1.

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

[0014] Referring to Figures 1 to 3, the pallet handling system 100 includes a machine tool 21, a pallet stocker 26, a setup station 31, and a pallet transport device 200. The pallet transport device 200 transports pallets P between the machine tool 21, the pallet stocker 26, and the setup station 31.

[0015] The pallet transport device 200 comprises a transport body 210 and a support base 220. The transport body 210 transports pallets P. The support base 220 is installed on the 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 transport body 210.

[0016] The transporter 210 comprises a base 211, a swivel body 212, and a fork 213. The base 211 is positioned on a support base 220. The base 211 is movable in the Z-axis direction. The support base 220 supports the base 211 (transporter 210) as it moves in the Z-axis direction. The swivel body 212 is mounted on the base 211. The swivel body 212 is capable of swiveling around a pivot axis 110. The pivot axis 110 extends in the Y-axis direction (corresponding to the vertical direction, and hereinafter also referred to as the "Y-axis direction"). The fork 213 is mounted on the swivel body 212. The fork 213 is capable of sliding horizontally. The fork 213, together with the swivel body 212, is capable of moving up and down in the Y-axis direction (vertical direction).

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

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

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

[0020] As a typical example, machine tool 21 is a horizontal machining center in which the rotation axis of the tool extends horizontally. Machine tool 21 has a tool spindle located inside the machining area that holds and rotates the held tool, a table located inside the machining area that detachably holds a pallet P and can rotate the pallet P around a pivot axis that extends vertically, an automatic tool changer (ATC) for changing the tool held on the tool spindle, a tool magazine for storing multiple tools, and an automatic pallet changer (APC) for changing the pallet P between the table and the workpiece tray 22.

[0021] The setup station 31 is primarily equipment for loading and unloading workpieces onto pallets P. The setup station 31 has a pallet mounting table 32 and a door 33. Pallets P are placed on the pallet mounting table 32. The door 33 is provided in a cover surrounding the pallet mounting table 32. The door 33 is opened and closed when an operator loads or unloads workpieces onto pallets P.

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

[0023] The pallet stocker 26 is equipment for storing pallets P. The pallet stocker 26 has a pallet mounting table 27. Pallets P are placed 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] The pallet stocker 26 has a plurality of pallet mounting platforms 27 (27A, 27B, 27C, 27D, 27E). Pallet mounting platforms 27A and 27B are aligned along the support base 220 in the Z-axis direction. Pallet mounting platforms 27C, 27D, and 27E are aligned along the support base 220 in the Z-axis direction. Pallet mounting platforms 27A and 27D face each other in the X-axis direction with the support base 220 in between. Pallet mounting platforms 27B and 27E face each other in the X-axis direction with the support base 220 in between.

[0025] The space in which pallets P are transported is enclosed by a fence 12. The fence 12 is equipped with a door 13 that can be opened and closed. The door 13 faces the pallet mounting platform 27C in the X-axis direction, with a support base 220 in between. Workers can enter the space inside the fence 12 by opening the door 13, for example, when performing maintenance on the pallet handling system 100.

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

[0027] Figures 4 and 5 show the pallet transport device 200 when transporting pallets P to the pallet mounting table 27D of the pallet stocker 26 in Figure 1.

[0028] Referring to Figures 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 slides so that the support portion 317 moves between a first position Pa directly above the slewing body 212 (base 211) and a second position Pb offset from directly above the slewing body 212 (base 211). The fork 213 moves up and down so that the support portion 317 moves between a third position Pc and a fourth position Pd above the third position Pc. In Figure 4, the support portion 317 is positioned at the first position Pa and the third position Pc. In Figure 5, the support portion 317 is positioned at the second position Pb and the fourth position Pd.

[0029] For example, if we consider the case where pallet P is being loaded onto the pallet mounting platform 27D of the pallet stocker 26, first the transporter 210 moves in the Z-axis direction so that the forks 213 face the pallet mounting platform 27D in the X-axis direction, and the swivel body 212 rotates around the pivot axis 110.

[0030] Next, the fork 213 slides so that the support portion 317 is positioned at the fourth position Pd, moving from the first position Pa to the second position Pb. As a result, the fork 213 enters the pallet stocker 26, and the pallet P supported by the support portion 317 is placed directly above the pallet mounting table 27D. Next, the fork 213 descends so that the support portion 317 moves from the fourth position Pd to the third position Pc. As a result, the pallet P supported by the support portion 317 is placed on the pallet mounting table 27D. Next, the fork 213 slides so that the support portion 317 moves from the second position Pb to the first position Pa. As a result, the fork 213 exits the pallet stocker 26.

[0031] When removing pallet P from pallet mounting base 27D, the above operation of fork 213 should be performed in the reverse direction. The fork 213 moves forward and backward on only one side relative to the slewing body 212. For example, when moving pallet P from setup station 31 to machine tool 21, the slewing body 212 needs to be rotated 180°.

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

[0033] Figure 10 is a perspective view showing the slewing mechanism for rotating the slewing body. Figure 11 is a top view showing the slewing mechanism for rotating the slewing body. Figure 12 is a cross-sectional view showing the pallet transport device within the area enclosed by the dashed-dot line XII in Figure 8. Figure 13 is a cross-sectional view showing the pallet transport device within the area enclosed by the dashed-dot line XIII in Figure 9. Figure 14 is a perspective view showing the pallet transport device as seen in the direction indicated by arrow XIV in Figure 6.

[0034] Referring to Figures 4 to 14, when the pallet transport 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 short direction. The support base 220 is fixed to the floor surface FL by fixing means such as anchor bolts.

[0035] The base 211 is positioned 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 segmented plates 236. The base body 231 forms the main part of the base 211. The base body 231 supports the swivel body 212 and the fork 213. The base body 231 bears the weight of the swivel body 212 and the fork 213.

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

[0038] The segmented plate 236 is made of a plate material that extends in an arc shape. Multiple segmented plates 236 are arranged in the circumferential direction around the pivot axis 110 to form a ring shape. Multiple segmented plates 236 are attached to the base body 231. Multiple segmented plates 236 are attached to the top surface 233a of the rising portion 233 (see Figures 12 and 13). Multiple segmented plates 236 are provided to protrude radially inward from the rising portion 233 (top surface 233a) around the pivot axis 110.

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

[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 mounted on a 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 mounted on a base 211. The slider 412 is mounted on the base body 231 (the bottom surface of the bottom 232).

[0041] The rotating body 212 is positioned directly above the base 211. The rotating 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 with the Y-axis direction corresponding to the thickness direction and extending parallel to the horizontal plane (X-axis-Z-axis plane). When the pallet transport device 200 is viewed from above, the top plate 271 has a circular shape centered on the pivot axis 110. An oil pan 276 is attached to the top plate 271. The oil pan 276 forms a tray 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 extended portion 274.

[0044] The cylindrical portion 273 extends cylindrically from the top plate 271 along the pivot axis 110. The cylindrical portion 273 extends from the top plate 271 toward the base 211. The lower end of the cylindrical portion 273 is positioned inside the rising portion 233 of the base body 231. The extension portion 274 extends radially outward from the lower end of the cylindrical portion 273 with respect to the pivot axis 110. The extension portion 274 extends from the lower end of the cylindrical portion 273 toward the rising portion 233. The extension portion 274 faces the dividing plate 236 in the Y-axis direction.

[0045] The inner cylinder 261 is positioned 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 with the Y-axis direction corresponding to the thickness direction and extending parallel to the horizontal plane (X-axis-Z-axis plane). The bottom portion 262 is located inside the rising portion 233. A through hole 264 is provided in the bottom portion 262. The through hole 264 extends along the pivot axis 110 and penetrates the bottom portion 262. The cylindrical portion 263 extends cylindrically from the periphery of the bottom portion 262 along the pivot axis 110. The cylindrical portion 263 extends from the periphery of the bottom portion 262 toward the top plate 271.

[0047] The pallet transport device 200 further includes a plurality of linear motion guide mechanisms 266. The configuration of the linear motion guide mechanisms 266 is the same as that of the linear motion guide mechanism 410. The outer cylinder 272 is connected to the inner cylinder 261 via the plurality of linear motion guide mechanisms 266. The rails of the linear motion guide mechanisms 266 are attached to the inner cylinder 261 (cylindrical section 263) (see Figure 6). The rails of the linear motion guide mechanisms 266 extend in the Y-axis direction. The sliders of the linear motion guide mechanisms 266 are attached to the outer cylinder 272 (cylindrical section 273). The outer cylinder 272 is slidable (up and down) in the Y-axis direction relative to the inner cylinder 261 by being guided by the plurality of linear motion guide mechanisms 266.

[0048] The pallet transport device 200 further includes 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 slewing body 212. The first piston cylinder 281 and the second piston cylinder 286 move in a circumferential direction about the pivot axis 110 as the slewing 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. Together with the multiple linear guide mechanisms 266 described above, the first piston cylinder 281 and the second piston cylinder 286 constitute a lifting mechanism for raising and lowering the fork 213.

[0050] The first piston cylinder 281 is positioned radially outward from the outer cylinder 272 (cylindrical portion 273) with respect to the pivot axis 110. The first piston cylinder 281 comprises 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 split plate 236 at its end. The first cylinder body 282 is provided with a fluid chamber to which a fluid such as hydraulic fluid is supplied to stroke the first piston 283 in the Y-axis direction.

[0051] The second piston cylinder 286 is positioned radially inward from the inner cylinder 261 (cylindrical portion 263) with respect to the pivot axis 110. The second piston cylinder 286 comprises a second cylinder body 287 and a second piston 288. The second cylinder body 287 is attached to the bottom 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 fluid is supplied to stroke the second piston 288 in the Y-axis direction.

[0052] As shown in Figures 8 and 9, the second piston cylinder 286 is located radially between the pivot axis 110 and the first piston cylinder 281, with the pivot axis 110 as the central axis. When the pallet transport device 200 is viewed from above, the centers of the second piston 288 and the first piston 283 intersect the pivot axis 110 and are positioned on a virtual straight line extending in the sliding direction of the fork 213.

[0053] The length between the pivot axis 110 and the first piston cylinder 281 in the radial direction with respect to the pivot axis 110 is longer than the length between the pivot axis 110 and the second piston cylinder 286 in the radial direction with respect to the pivot axis 110.

[0054] The length between the first piston cylinder 281 and the second piston cylinder 286 in the radial direction around the pivot axis 110 is longer than the length between the pivot axis 110 and the second piston cylinder 286 in the radial direction around the pivot axis 110. The length between the first piston cylinder 281 and the second piston cylinder 286 in the radial direction around the pivot axis 110 may be less than or equal to the length between the pivot axis 110 and the second piston cylinder 286 in the radial direction around the pivot axis 110.

[0055] The length between the pivot axis 110 and the extension 274 in the radial direction around the pivot axis 110 is longer than the length between the pivot axis 110 and the second piston 288 in the radial direction around the pivot axis 110, and shorter than the length between the pivot axis 110 and the first piston 283 in the radial direction around the pivot axis 110.

[0056] The first piston cylinder 281 (first piston 283) and the second piston cylinder 286 (second piston 288) are located on the opposite side of the extension 274 from the pivot axis 110 in the sliding direction of the fork 213 (in the X-axis direction in the figure). When the pallet transport 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 274 are arranged on a virtual straight line that intersects the pivot axis 110 and extends in the sliding direction of the fork 213.

[0057] As shown in Figure 9, the first piston cylinder 281 (first piston 283) and the second piston cylinder 286 (second piston 288) are provided in the radial direction with respect to the pivot axis 110, between the pivot axis 110 and the support portion 317 positioned at the second position Pb. The extension portion 274 is provided in the radial direction with respect to the pivot axis 110, on the opposite side of the support portion 317 positioned at the second position Pb, with respect to the pivot axis 110.

[0058] By synchronously controlling the supply of hydraulic fluid, etc., to the first cylinder body 282 and the second cylinder body 287, the first piston 283 and the second piston 288 are simultaneously extended. The outer cylinder 272 moves upward relative to the inner cylinder 261 while being guided by a plurality of linear motion guide mechanisms 266. As a result, the fork 213 mounted on the slewing body 212 moves upward so that the support portion 317 moves from the third position Pc to the fourth position Pd.

[0059] By synchronously controlling the supply of hydraulic fluid, etc., to the first cylinder body 282 and the second cylinder body 287, the first piston 283 and the second piston 288 are simultaneously shortened. The outer cylinder 272 moves downward relative to the inner cylinder 261 while being guided by a plurality of linear motion guide mechanisms 266. As a result, the fork 213 mounted on the slewing body 212 moves downward so that the support portion 317 moves from the fourth position Pd to the third position Pc.

[0060] As shown in Figures 8 to 11, the pallet transport device 200 further comprises a servo motor 431, a reduction gear 432, a pinion 433, and a gear-integrated bearing 241. The servo motor 431, reduction gear 432, pinion 433, and gear-integrated bearing 241 constitute a slewing mechanism 430 for rotating the slewing body 212 around the pivot axis 110.

[0061] The gear-integrated bearing 241 is positioned in the Y-axis direction between the bottom 262 of the inner cylinder 261 and the bottom 232 of the base body 231. The gear-integrated bearing 241 supports the slewing body 212 so that it can rotate around the pivot axis 110 relative to the base 211, and also transmits rotation from the servo motor 431 to the slewing 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 pivot axis 110. The gear portion 243 consists of gear tooth surfaces formed on the outer circumferential 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 ring-shaped divided plates 236. The inner ring of the bearing portion 242 is attached to the base 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 body 231.

[0063] The servo motor 431, the reducer 432, and the pinion 433 are mounted on the base 211 (base body 231). The servo motor 431 can selectively output rotation in the forward direction and rotation in the reverse direction around the rotation center axis 121 through its output shaft. The rotation center axis 121 extends in the Z-axis direction. The reducer 432 is located on the power transmission path from the servo motor 431 to the pinion 433. The reducer 432 reduces the rotation from the servo motor 431 and converts the rotation around the rotation center axis 121 to rotation around the rotation center axis 122 by 90° before transmitting it to the pinion 433. The pinion 433 is rotatable around the rotation center axis 122. The rotation center axis 122 extends in the Y-axis direction. The pinion 433 meshes with the gear section 243.

[0064] As shown in Figure 10, the servo motor 431 has an encoder 436. The encoder 436 converts the rotation angle of the servo motor 431 into an electrical 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 according to a command from the control device, including a target position. More specifically, the servo driver 437 sequentially calculates the actual rotational 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 either the forward or reverse direction around the rotation center axis 122 by receiving rotation from the servo motor 431. The gear section 243 meshes with the pinion 433, which rotates around the rotation center axis 122, thereby applying a rotational force to the inner cylinder 261 (slewing body 212) around the slewing center axis 110.

[0067] The slewing body 212 rotates in either the forward or reverse direction around the pivot axis 110. The slewing body 212 can rotate within an angular range of 0° to 360°, with respect to a predetermined angular position in the circumferential direction around the pivot axis 110. In other words, the slewing body 212 will not rotate beyond an angle of 360° in any one direction in the circumferential direction around the pivot axis 110. The slewing body 212 is positioned at a predetermined angular position by rotating in either the forward or reverse direction within an angular range of 0° to 360°.

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

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

[0070] In contrast, in this embodiment, by using a servo motor 431 as the drive source in the slewing mechanism 430, the slewing body 212 can be accurately positioned at any angular position around the slewing center axis 110. Therefore, since there is no need to provide various mechanisms such as stoppers or actuators, the configuration of the pallet transport device 200 can be simplified.

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

[0072] The cable duct 292 is made of a flexible duct body. The cable duct 292 is wrapped around the outer 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 swivel body 212. The cable duct 292 houses various wiring and piping that extend between the fixed base 211 and the movable swivel body 212.

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

[0074] As shown in Figure 14, the pallet transport device 200 further includes a servo motor 451, a reduction gear 452, a pinion 422, and a rack 421. The servo motor 451, reduction gear 452, pinion 422, and rack 421 constitute a linear feed mechanism for moving the transport body 210 in the Z-axis direction.

[0075] Rack 421 is mounted on support base 220. Rack 421 extends in the Z-axis direction.

[0076] The servo motor 451, the gearbox 452, and the pinion 422 are mounted on the base 211 (on the base body 231). The servo motor 451 can selectively output forward rotation and reverse rotation around the rotation axis 131 through its output shaft. The rotation axis 131 extends in the X-axis direction. The gearbox 452 is located on the power transmission path from the servo motor 451 to the pinion 422. The gearbox 452 reduces the rotation from the servo motor 451 and converts the rotation around the rotation axis 131 to rotation around the rotation axis 132 by 90° before transmitting it to the pinion 422. The pinion 422 is rotatable around the rotation axis 132. The rotation axis 132 extends in the Y-axis direction. The pinion 422 meshes with the rack 421.

[0077] The pinion 422 rotates in either the forward or reverse direction around the rotation axis 132 by receiving rotation from the servo motor 451. The rack 421 and the pinion 422, which rotates around the rotation axis 132, mesh together to apply a driving force in the Z-axis direction to the base 211. The transporter 210 moves in one direction or the other along the Z-axis direction while being guided by the aforementioned linear motion guide mechanism 410.

[0078] As shown in Figures 4 to 7, the fork 213 further comprises 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 slewing body 212 (top plate 271) via a pair of linear motion guide mechanisms 321. The configuration of the linear motion guide mechanism 321 is the same as that of the linear motion guide mechanism 410. The pair of linear motion guide mechanisms 321 are spaced apart from each other in a direction perpendicular to the sliding direction of the fork 213 (in the Z-axis direction in the figure). Guided by the pair of linear motion guide mechanisms 321, the first movable part 311 is movable in one direction along the horizontal direction relative to the slewing body 212 (in the X-axis direction in the figure).

[0080] The second movable part 312 is connected to the first movable part 311 via a pair of linear motion guide mechanisms 322. The configuration of the linear motion guide mechanisms 322 is the same as that of the linear motion guide mechanism 410. The pair of linear motion guide mechanisms 322 are spaced apart from each other in a direction perpendicular to the sliding direction of the fork 213 (in the Z-axis direction in the figure). Guided by the pair of linear motion guide mechanisms 322, the second movable part 312 is movable in one direction along the horizontal direction relative to the first movable part 311 (in 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 double-speed mechanism (not shown). The first movable part 311 and the second movable part 312 move in conjunction with each other in one direction along the horizontal (in the figure, the X-axis direction) via the double-speed mechanism.

[0082] The second movable part 312 has a pair of support parts 317. The pair of support parts 317 are spaced apart from each other in a direction perpendicular to the sliding direction of the fork 213 (the Z-axis direction in the figure). Each support part 317 extends rib-like along the sliding direction of the fork 213 (the X-axis direction in the figure). The pallet P is supported by the pair of support parts 317 by having both edges of the pallet P in the Z-axis direction rest on the pair of support parts 317.

[0083] The structure in which the fork 213 supports the pallet P is not particularly limited. For example, the fork 213 may be configured to support the central part of the pallet P in the Z-axis direction, or the pallet P may be provided with a grip, and the fork 213 may be provided with an actuator for gripping that grip.

[0084] When the pair of support parts 317 are positioned at the first position Pa, in a top view of the pallet transport device 200, the pair of support parts 317 (pallet P supported by the pair of support parts 317) overlap with the slewing 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 pivot axis 110.

[0085] When the pair of support parts 317 are positioned at the second position Pb, in a top view of the pallet transport device 200, the pair of support parts 317 (the pallet P supported by the pair of support parts 317) do not overlap with the swivel body 212 (top plate 271), the base 211, and the support base 220.

[0086] As shown in Figures 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 workpiece 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, and it may not be possible to smoothly transfer the pallet P to various equipment. The following describes a configuration to suppress such deformation of the fork 213.

[0087] As shown in Figures 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 pivot axis 110. The first locking portion 201 is composed of a plurality of segmented 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 274 of the outer cylinder 272.

[0089] The base 211 has a contact portion 203. The first piston 283 of the first piston cylinder 281 is in contact with the contact portion 203 from above. The contact portion 203 is composed of a plurality of divided plates 236.

[0090] During the rotational movement of the slewing body 212 around the pivot axis 110, the second locking portion 202 (extension portion 274) moves in the circumferential direction around the pivot axis 110, overlapping with the first locking portion 201 (multiple divided plates 236) in a top view of the pallet transport device 200. During the rotational movement of the slewing body 212 around the pivot axis 110, the first piston 283 moves in the circumferential direction around the pivot axis 110, overlapping with the contact portion 203 (multiple divided plates 236) in a top view of the pallet transport 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 below 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) can be locked in the vertical direction to the first locking portion 201 (multiple divided plates 236) at a position opposite the support portion 317 across the pivot center axis 110 in the sliding direction of the fork 213 (in the X-axis direction in the figures).

[0093] In this configuration, when the weight of the pallet P and workpiece acts on the support portion 317, causing the fork 213 to deform so that the support portion 317 sinks downward, the second locking portion 202 (extension portion 274) at the position opposite the support portion 317 across the pivot axis 110 in the sliding direction of the fork 213 attempts to displace upward. At this time, the deformation of the fork 213 can be suppressed by the second locking portion 202 (extension portion 274) being locked to the first locking portion 201 (multiple divided plates 236) in the vertical direction. More specifically, the displacement of the second locking portion 202 (extension portion 274) upward is restricted by the second locking portion 202 (extension portion 274) coming into contact with the first locking portion 201 (multiple divided plates 236) from below, and as a result, the downward sinking of the support portion 317 is restricted.

[0094] The first piston 283 is in contact with the contact portion 203 (multiple segmented plates 236) from above at a position between the support portion 317 and the pivot axis 110 in the sliding direction of the fork 213 (the X-axis direction in the figure). When the support portion 317 at the tip of the fork 213 tries to sink downward, the first piston 283 acts like a bracing 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 (multiple 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 of the first piston 283 and the second piston 288 in the Y-axis direction. 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 transport device 200 in Embodiment 1 of the present invention as described above, the pallet transport device 200 in this embodiment comprises a base 211 having a first locking portion 201, a slewing body 212 mounted on the base 211 and having a second locking portion 202 facing the first locking portion 201 from below, and rotating around a pivot axis 110 parallel to the vertical direction, and a fork 213 mounted on the slewing body 212 and having a support portion 317 capable of supporting a pallet P, the support portion 317 slides to move between a first position Pa directly above the slewing body 212 and a second position Pb offset from directly above the slewing body 212, and the support portion 317 moves up and down to move between a third position Pc and a fourth position Pd above 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 to 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, the second locking portion 202 is locked to the first locking portion 201 in the vertical direction, which prevents the fork 213 from deforming so that the support portion 317 sinks downward. As a result, the posture of the pallet P supported by the support portion 317 is stabilized, and the pallet P can be smoothly transferred to various equipment.

[0099] Furthermore, the pallet transport device 200 is attached to the slewing body 212 and further includes a first piston cylinder 281 for raising and lowering the forks 213. The base 211 further has a contact portion 203. When the support portion 317 is positioned at the second position Pb and the fourth position Pd, the first piston cylinder 281 has a first piston 283 that contacts the contact portion 203 from above at a position between the support portion 317 and the pivot center axis 110 in the sliding direction of the forks 213.

[0100] With this configuration, the first piston 283 acts like a bracing rod, which further effectively suppresses the deformation of the fork 213.

[0101] Furthermore, the base 211 has a plurality of segmented plates 236, each extending in an arc shape and arranged in the circumferential direction around the pivot axis 110 to form a ring shape. The first locking portion 201 and the contact portion 203 are composed of the plurality of segmented plates 236.

[0102] With this configuration, regardless of the angular position in which the rotating body 212 is positioned, the first locking portion 201 and the second locking portion 202 face each other in the vertical direction, and the first piston 283 contacts the contact portion 203. Furthermore, since multiple divided plates 236 are shared as the first locking portion 201 and the contact portion 203, the configuration of the pallet transport device 200 can be simplified.

[0103] Furthermore, the pallet transport device 200 is attached to the base 211 and further includes a second piston cylinder 286 for raising and lowering the forks 213. The second piston cylinder 286 has a second piston 288 that contacts the slewing body 212 from below. 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 and the second locking portion 202 in the vertical direction.

[0104] With this configuration, even when the pallet P is not mounted, it is possible to prevent excessive upward force acting from the second piston cylinder 286 on the slewing body 212 from acting on the first locking part 201 through the second locking part 202.

[0105] Furthermore, the pallet transport device 200 in this embodiment includes a slewing body 212, a slewing mechanism 430 having a servo motor 431 which transmits the rotation output from the servo motor 431 to the slewing body 212 to cause the slewing body 212 to rotate around a slewing central axis 110 parallel to the vertical direction, and a fork 213 mounted on the slewing body 212 which has a support part 317 capable of supporting a pallet P, and the support part 317 slides to move between a first position Pa directly above the slewing body 212 and a second position Pb offset from directly above the slewing body 212.

[0106] With this configuration, by using a servo motor 431 as the drive source in the slewing mechanism 430, the slewing body 212 can be precisely positioned at any angular position around the slewing center axis 110. This eliminates the limitations on the angular position in which the slewing body 212 is positioned, thereby increasing the flexibility of the layout of the various equipment on which the pallet P is transported.

[0107] Furthermore, the pallet transport device 200 includes a base 211 having a first locking part 201, a support part 317 capable of supporting a pallet P, mounted on a swivel body 212, a fork 213 that slides so as to move between a first position Pa directly above the base 211 and a second position Pb offset from directly above the base 211, and the support part 317 moves up and down so as to move between a third position Pc and a fourth position Pd above the third position Pc, and a second locking part 202 that moves up and down integrally with the fork 213 while facing the first locking part 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 to the first locking portion 201 in the vertical direction at a position opposite the second position Pb, with the first position Pa in the sliding direction of the fork 213.

[0108] (Embodiment 2) This embodiment describes the layout of various equipment in the pallet handling system 100. Configurations that overlap with those in Embodiments 1 and 2 will not be repeated in the following description.

[0109] Figure 15 is a schematic top view showing the layout of various equipment in a pallet handling system. Pallet handling systems 100A (A-1) and 100B (B-1) shown in Figure 15 correspond to the layout of various equipment in pallet handling system 100 in Figure 1.

[0110] Referring to Figure 15, the first area 510, second area 520, third area 530, and fourth area 540 are defined when the pallet handling system 100 is viewed from above. The first area 510, second area 520, third area 530, and fourth area 540 surround the support base 220 of the pallet transport device 200.

[0111] The first region 510 and the second region 520 are located on either side of the support base 220 in the Z-axis direction. The support base 220 is located between the first region 510 and the second region 520 in the Z-axis direction. The third region 530 and the fourth region 540 are located on either side of the support base 220 in the X-axis direction. The support base 220 is located between the third region 530 and the fourth region 540 in the X-axis direction.

[0112] The boundary between the first region 510 and the third and fourth regions 530 and 540 corresponds to a straight line that passes through one end of the support base 220 in the Z-axis direction and extends in the X-axis direction. The boundary between the third and fourth regions 530 and 540 and the second region 520 corresponds to a straight line that passes through the other end of the support base 220 in the Z-axis direction and extends in the X-axis direction.

[0113] A machine tool 21 is provided in the first region 510. When the pallet handling system 100 is viewed from above, the pallet mounting platform 22 faces the support base 220 in the Z-axis direction. In this configuration, the transporter 210 can transport pallets P to the first region 510. The transporter 210 can transport pallets P to the pallet mounting platform 22 by positioning the swivel body 212 at a 0° (360°) angular position and sliding the forks 213 in the Z-axis direction.

[0114] A setup station 31 is provided in the second region 520. When the pallet handling system 100 is viewed from above, the pallet mounting platform 32 faces the support base 220 in the Z-axis direction. In this configuration, the transporter 210 can transport pallets P to the second region 520. The transporter 210 can transport pallets P to the pallet mounting platform 32 by positioning the swivel body 212 at a 180° angle and sliding the forks 213 in the Z-axis direction.

[0115] The third region 530 is provided with pallet mounting tables 27C, 27D, and 27E of the pallet stocker 26. When the pallet handling system 100 is viewed from above, each of the pallet mounting tables 27C, 27D, and 27E faces the support base 220 in the X-axis direction. In this configuration, the transporter 210 can transport pallets P to the third region 530. The transporter 210 can transport pallets P to each of the pallet mounting tables 27C, 27D, and 27E by positioning the swivel body 212 at a 90° angle and sliding the forks 213 in the X-axis direction.

[0116] The fourth region 540 is provided with pallet mounting tables 27A and 27B of the pallet stocker 26. When the pallet handling system 100 is viewed from above, each pallet mounting table 27A and 27B faces the support base 220 in the X-axis direction. In this configuration, the transporter 210 can transport pallets P to the fourth region 540. The transporter 210 can transport pallets P to each pallet mounting table 27A and 27B by positioning the swivel body 212 at an angle of 270° and sliding the forks 213 in the X-axis direction.

[0117] To summarize the configuration of the pallet handling system 100A(A-1) described above, the pallet handling system 100A(A-1) comprises a support base 220 extending in the Z-axis direction as the first direction, and a transport body 210 supported by the support base 220 so as to be movable in the Z-axis direction and transporting pallets P. In a top view of the pallet handling system 100, a first region 510 and a second region 520 are defined on both sides of the support base 220 in the Z-axis direction, and a third region 530 and a fourth region 540 are defined on both sides of the support base 220 in the X-axis direction as the second direction perpendicular to the Z-axis direction. The pallet handling system 100A(A-1) further comprises a machine tool 21 provided in the first region 510, to which pallets P are transported by the transport body 210, and a setup station 31 provided in the second region 520, to which pallets P are transported by the transport body 210. The transporter 210 is further capable of transporting the pallet P to the third region 530 and the fourth region 540 as at least one of the third region 530 and the fourth region 540.

[0118] Furthermore, the pallet handling system 100B(B-1) comprises the support base 220 and the transport body 210 described above. In a top view of the pallet handling system 100, the first region 510, second region 520, third region 530, and fourth region 540 described above are defined. The transport body 210 is capable of transporting pallets P to the first region 510, second region 520, third region 530, and fourth region 540.

[0119] With this configuration, the area around the support base 220 that supports the transporter 210 can be effectively utilized to install various equipment on which the pallet P is transported by the transporter 210. This expands the scope of automation achieved by the pallet handling system 100.

[0120] Figure 16 is a schematic top view showing another configuration of the layout of various equipment in a pallet handling system. The pallet handling system 100A(A-2) shown in Figure 16 corresponds to a modified version of the pallet handling system 100A(A-1) described above.

[0121] Referring to Figure 16, the first region 510 is equipped with a machine tool 21. The third region 530 is not equipped with any equipment.

[0122] A pallet transfer station 91 is provided in the second area 520. The pallet transfer station 91 is a facility for temporarily storing pallets P that are being loaded into or removed from the pallet handling system 100.

[0123] The pallet relay station 91 includes a pallet platform 92 and a robot 93. When the pallet handling system 100 is viewed from above, the pallet platform 92 faces the support base 220 in the Z-axis direction. The robot 93 has a hand capable of gripping a pallet P and can transport the pallet P to the pallet platform 92. In this configuration, the transporter 210 can transport the pallet P to the pallet platform 92 by positioning the swivel body 212 at a 180° angle and sliding the fork 213 in the Z-axis direction.

[0124] The fourth region 540 is provided with a pallet stocker 26 and a setup station 31. When the pallet handling system 100 is viewed from above, the pallet mounting platform 27 of the pallet stocker 26 and the pallet mounting platform 32 of the setup station 31 each face the support base 220 in the X-axis direction. In this configuration, the transporter 210 can transport pallets P to the pallet mounting platform 27 and the pallet mounting platform 32 by positioning the swivel body 212 at an angle of 270° and sliding the forks 213 in the X-axis direction.

[0125] In the pallet handling system 100A, a pallet stocker, a workpiece measurement station, or a pallet washing station may be provided in the second area 520. The workpiece measurement station is mainly equipment for measuring workpieces processed by machine tools. The workpiece measurement station has various measuring instruments such as a three-dimensional shape measuring instrument and a pallet mounting platform. The pallet washing station is mainly equipment for washing workpieces processed by machine tools. The pallet washing station has a washing device capable of spraying coolant or air onto the workpiece and a pallet mounting platform. The pallet mounting platform may be equipped with a clamping mechanism for holding pallets and a tilting mechanism for tilting the pallet mounting platform.

[0126] Figure 17 is a schematic top view showing yet another configuration of the layout of various equipment in a pallet handling system. The pallet handling system 100B(B-2) shown in Figure 17 corresponds to a modified version of the pallet handling system 100B(B-1) described with reference to Figure 15.

[0127] Referring to Figure 17, a machine tool 21 is provided in the first region 510. A conveying device 95 (95D) is provided in the second region 520. The conveying device 95 is a device for unloading pallets P from the pallet handling system 100. The conveying device 95 has a belt conveyor 96 and a cover body 97. The belt conveyor 96 has a drive shaft, a driven shaft, and an endless belt stretched between the drive shaft and the driven shaft, which moves circumferentially as the drive shaft rotates. The cover body 97 extends along the belt conveyor 96, covering the space around the belt conveyor 96. The cover body 97 has an opening 98 that opens in one direction. Pallets P are placed on the belt conveyor 96 through the opening 98.

[0128] In the conveying device 95D, the belt conveyor 96 extends in the Z-axis direction. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in the Z-axis direction. In this configuration, the conveying body 210 can transport the pallet P to the belt conveyor 96 of the conveying device 95D by positioning the swivel body 212 at a 180° angle and sliding the fork 213 in the Z-axis direction.

[0129] The third area 530 is equipped with a conveying device 95 (95E) and a setup station 31.

[0130] In the conveying device 95D, the belt conveyor 96 extends in the X-axis direction. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in the X-axis direction. When the pallet handling system 100 is viewed from above, the pallet mounting table 32 of the setup station 31 faces the support base 220 in the X-axis direction.

[0131] In this configuration, the conveyor 210 can transport the pallet P to the belt conveyor 96 of the conveying device 95E and the pallet mounting table 32 of the setup station 31 by positioning the swivel body 212 at a 90° angle and sliding the fork 213 in the X-axis direction.

[0132] Multiple conveying devices 95 (95A, 95B, 95C) are provided in the fourth region 540. In each of the conveying devices 95A, 95B, and 95C, the belt conveyor 96 extends in the X-axis direction. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in the X-axis direction.

[0133] In this configuration, the conveyor 210 can transport the pallet P to the belt conveyor 96 of each conveyor device 95, conveyor device 95A, conveyor device 95B, and conveyor device 95C, by positioning the swivel body 212 at an angle of 270° and sliding the fork 213 in the X-axis direction.

[0134] (Embodiment 3) In this embodiment as well, the layout of various equipment in the pallet handling system 100 will be described. Hereinafter, configurations that overlap with those in Embodiments 1 to 3 will not be described again.

[0135] Figure 18 is a top view showing a pallet handling system in Embodiment 3 of the present invention. Figures 19 and 20 are side views showing the pallet handling system in Figure 18. Figure 21 is a schematic top view showing the layout of various equipment in the pallet handling system in Figure 18.

[0136] Referring to Figures 18 to 21, the first region 510 is provided with a machine tool 21. The second region 520 is provided with pallet stocker 26 pallet mounting tables 27B, 27C, and 27D.

[0137] When the pallet handling system 100 is viewed from above, the pallet mounting platform 27C faces the support base 220 in the Z-axis direction. The pallet mounting platform 27B faces the support base 220 in oblique directions to both the Z-axis and X-axis directions. The pallet mounting platform 27D faces the support base 220 in oblique directions to both the Z-axis and X-axis directions. The pallet mounting platforms 27B, 27C, and 27D are arranged in an arc shape so as to surround the end of the support base 220 in the Z-axis direction.

[0138] In this configuration, the transporter 210 can transport the pallet P to the pallet mounting base 22 of the machine tool 21 by positioning the rotating body 212 at an angle of 0° (360°) and sliding the fork 213 in the Z-axis direction.

[0139] The transporter 210 can transport the pallet P to the pallet platform 27C by positioning the swivel body 212 at an angle of 180° and sliding the forks 213 in the Z-axis direction. The transporter 210 can transport the pallet P to the pallet platform 27B by positioning the swivel body 212 at an angle greater than 180° but less than 270° (for example, at an angle of 225°) and sliding the forks 213 in an oblique direction relative to the Z-axis and X-axis directions. The transporter 210 can transport the pallet P to the pallet platform 27D by positioning the swivel body 212 at an angle greater than 90° but less than 180° (for example, at an angle of 135°) and sliding the forks 213 in an oblique direction relative to the Z-axis and X-axis directions.

[0140] The third region 530 is provided with pallet mounting tables 27E, 27F, and 27G of the pallet stocker 26. When the pallet handling system 100 is viewed from above, each of the pallet mounting tables 27E, 27F, and 27G faces the support base 220 in the X-axis direction. In this configuration, the transporter 210 can transport pallets P to each of the pallet mounting tables 27E, 27F, and 27G by positioning the swivel body 212 at a 90° angle and sliding the forks 213 in the X-axis direction.

[0141] The fourth region 540 is provided with a pallet stand 27A of the pallet stocker 26 and a setup station 31. When the pallet handling system 100 is viewed from above, the pallet stand 27A of the pallet stocker 26 and the pallet stand 32 of the setup station 31 each face the support base 220 in the X-axis direction. In this configuration, the transporter 210 can transport pallets P to the pallet stand 27A and the pallet stand 32 by positioning the swivel body 212 at an angle of 270° and sliding the forks 213 in the X-axis direction.

[0142] To summarize the configuration of the pallet handling system 100C(C-1) in Embodiment 3 of the present invention described above, the pallet handling system 100C in this embodiment comprises a support base 220 and a transport body 210, as described in Embodiment 2. In a top view of the pallet handling system 100, a first region 510, a second region 520, a third region 530, and a fourth region 540 are defined. The transport body 210 is capable of sliding the pallet P in an oblique direction with respect to the Z-axis direction as the first direction and the X-axis direction as the second direction, with respect to the second region 520, which is at least one of the first region 510, second region 520, third region 530, and fourth region 540.

[0143] With this configuration, the transporter 210 can slide the pallet P diagonally in both the Z-axis and X-axis directions, thus suppressing restrictions on the layout of the equipment to which the pallet P is transported by the transporter 210. This makes it possible to install various equipment around the support base 220, thereby expanding the scope of automation achieved by the pallet handling system 100.

[0144] Figure 22 is a schematic top view showing another configuration of the layout of various equipment in a pallet handling system. The pallet handling system 100C(C-2) shown in Figure 22 corresponds to a modified version of the pallet handling system 100C(C-1) described above.

[0145] Referring to Figure 22, a machine tool 21 is provided in the first region 510. A conveying device 95 (95C) is provided in the second region 520. In the conveying device 95C, the belt conveyor 96 extends in the Z-axis direction. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in the Z-axis direction. In this configuration, the conveying body 210 can convey the pallet P to the belt conveyor 96 of the conveying device 95C by positioning the swivel body 212 at an angular position of 180° and sliding the fork 213 in the Z-axis direction.

[0146] The third area 530 is equipped with a conveying device 95 (95D) and a setup station 31.

[0147] In the conveying device 95D, the belt conveyor 96 extends in the X-axis direction. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in the X-axis direction. When the pallet handling system 100 is viewed from above, the pallet mounting table 32 of the setup station 31 faces the support base 220 in the X-axis direction.

[0148] In this configuration, the conveyor 210 can transport the pallet P to the belt conveyor 96 of the conveying device 95E and to the pallet mounting table 32 of the setup station 31 by positioning the swivel body 212 at a 90° angle and sliding the fork 213 in the X-axis direction.

[0149] Multiple conveying devices 95 (95A, 95B) are provided in the fourth region 540. In each conveying device 95A and conveying device 95B, the belt conveyor 96 extends diagonally with respect to the Z-axis and X-axis directions. When the pallet handling system 100 is viewed from above, the opening surface of the opening 98 of the cover body 97 faces the support base 220 in diagonal directions with respect to the Z-axis and X-axis directions.

[0150] In this configuration, the conveyor 210 can transport the pallet P to the belt conveyor 96 of each conveyor device 95 of conveyor devices 95A and 95B by positioning the swivel body 212 at an angular position greater than 180° but less than 270° (for example, at an angular position of 240°) and sliding the fork 213 in an oblique direction relative to the Z-axis and X-axis directions.

[0151] Furthermore, the pallet handling system 100C(C-2) also corresponds to a modified version of the pallet handling system 100B described in Embodiment 2.

[0152] (Embodiment 4) In this embodiment, a modified example of the setup station 31 described in Embodiment 1 and the like will be described.

[0153] Figure 23 is a front view showing a modified example of the setup station. Figure 24 is a side view showing the setup station and pallet transport device from Figure 23.

[0154] Referring to Figures 23 and 24, the setup station 610 in this embodiment has a cover 621. The cover 621 partitions a space 650 for housing pallets P. The pallet mounting platform 32 is installed in the space 650. The cover 621 has a ceiling portion 622, a floor portion 623, the aforementioned door 33, and a shutter 624.

[0155] The ceiling section 622 and the floor section 623 face each other in the vertical direction. The floor section 623 is inclined to shift downward as it approaches the pallet transport device 200 (support base 220) in the sliding direction of the fork 213 (X-axis direction in the figure). The floor section 623 has a lower end portion 623q located outside the space 650. The shutter 624 faces the door 33. The shutter 624 is operable between a closed state and an open state by an actuator (not shown), such as an air cylinder. The shutter 624 is operated from the closed state to the open state when the fork 213 moves back and forth relative to the space 650.

[0156] The setup station 610 further includes an overhead coolant nozzle 631 and a base coolant nozzle 636. The overhead coolant nozzle 631 and the base coolant nozzle 636 are capable of spraying coolant. The overhead coolant nozzle 631 is mounted on the cover 621 so as to be able to spray coolant from the ceiling 622. The base coolant nozzle 636 is mounted on the cover 621 so as to be able to spray coolant toward the floor 623.

[0157] The pallet handling system 100 further includes a chip conveyor 641. The chip conveyor 641 is installed on the floor surface FL. The chip conveyor 641 is located between the setup station 610 (cover 621) and the pallet transport device 200 (support base 220) in the sliding direction of the fork 213 (X-axis direction in the figure). The lower end 623q of the floor section 623 is positioned directly above the chip conveyor 641.

[0158] Coolant sprayed from the ceiling coolant nozzle 631 washes away chips adhering to the workpiece on the pallet P onto the floor 623. Coolant sprayed from the base coolant nozzle 636 further washes away the chips accumulating on the floor 623 towards the chip conveyor 641. This configuration allows the setup station 610 to have an automatic workpiece cleaning function.

[0159] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0160] 12 Fence, 13, 33 Door, 21 Machine tool, 22, 27, 27A, 27B, 27C, 27D, 27E, 27F, 27G, 32, 92 Pallet mounting platform, 26 Pallet stocker, 31, 610 Setup station, 91 Pallet relay station, 93 Robot, 95, 95A, 95B, 95C, 95D, 95E Conveying device, 96 Belt conveyor, 97 Cover body, 98 Opening, 100, 100A, 100B, 100C Pallet handling system, 110 Swivel central axis, 121, 122, 131, 132 Rotation central axis, 200 Pallet conveying device, 201 First locking part, 202 Second locking part, 203 Contact part, 210 Conveyor body, 211 Base, 212 213 Swivel body, 220 Fork, 231 Support base, 231 Base body, 232, 262 Bottom, 233 Rising part, 233a Top surface, 236 Split plate, 241 Gear-integrated bearing, 242 Bearing part, 243 Gear part, 261 Inner cylinder, 263, 273 Cylinder part, 264 Through hole, 266, 321, 322, 410 Linear motion guide mechanism, 271 Top plate, 272 Outer cylinder, 274 Extension part, 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 Cylindrical body, 292 Cable duct, 311 First movable part, 312 Second movable part, 317 Support part, 411 Rail, 412 Slider, 421 Rack, 422, 433 Pinion, 430 Swivel mechanism, 431, 451 Servo motor, 432, 452 Reducer, 436 Encoder, 437 Servo driver, 510 First area, 520 Second area, 530 Third area, 540 Fourth area, 621 Cover, 622 Ceiling section, 623 Floor section, 623q Lower end, 624 Shutter, 631 Ceiling coolant nozzle, 636 Base coolant nozzle, 641 Chip conveyor, 650 Space, FL Floor surface, P Pallet, Pa First position, Pb Second position, Pc Third position, Pd Fourth position.

Claims

[Claim 1] A pallet handling system, A support base extending in the first direction, The transporter is supported by the support base so as to be movable in the first direction and transports a pallet, In a top view of the pallet handling system, a first region and a second region are defined on both sides of the support base in the first direction, and a third region and a fourth region are defined on both sides of the support base in the second direction perpendicular to the first direction. A pallet handling system in which the transporter is capable of sliding a pallet in an oblique direction with respect to the first and second directions with respect to at least one of the first, second, third, and fourth regions.

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