JPH08252738A - Automatic transfer device for work and pallet for the device - Google Patents

Abstract

PURPOSE: To automatically transfer a work to a main pallet through a sub-pallet without direct contact with the work, when the work is loaded on a pallet. CONSTITUTION: This is the construction of a work automatic transfer device and pallet for the device, the pallet is constituted of a sub-pallet 26 directly supporting a work 22 and detachably fixing it, and a main pallet 34 supporting the sub-pallet 26 and loaded on a carrying line, and the work 22 is transferred onto the main pallet 34 through the sub-pallet 26, rotatably against the same rotary axis of an inserting hole provided on the main pallet 34.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic work transfer device and a pallet for the device.

[0002]

2. Description of the Related Art As is well known, in the production process of various products, a pallet on which a semi-finished work is attached is instructed for angular displacement, and various operations such as drilling and component mounting are performed. It is being appreciated. For example, Japanese Patent Publication No. 32038/1990 is a conventional example of this type.

Further, the work is attached to a carrier pallet to which the work is attached, a work pallet, or the like by using a hoist or the like to which the work piece is attached. Even in such a case, the work may be light in weight, but when processing a work which is a semi-finished product of the automatic transmission, for example, as shown in FIG. 12, an operator suspends the work from the automatic transmission 1. After mounting the metal fitting 2, the rail 3 is hung by a hoist 4 such as air or electric power that moves and moves, and the work after one processing is moved from the current pallet 5 to the next pallet 6 for processing. Is going.

[0004]

However, in the technique described in Japanese Patent Publication No. 1-32038, the pallet table on which one work is mounted is detachably fixed to the rotary shaft of the angular displacement drive device for the work. By changing the movable pieces of different shapes, it is possible to select the rotation angle of the rotary shaft that interlocks with the pallet base to the desired rotation angle, and the desired movable piece must be converted each time. The sex is bad.

Further, in the case where the work of the above conventional example is a semi-finished automatic transmission (hereinafter, simply referred to as an automatic transmission), the automatic transmission has a total of 100 kg and a torque on the front side. Since the housing 7 of the converter is mounted, it is difficult to balance when the hoist 4 is lifted, and since there are protrusions on the outside, work is performed by a person, but the workability is poor.

Further, since the housing of the torque converter of the automatic transmission has a different shape depending on the arrangement of the engine mounted on the vehicle, it is necessary to prepare a pallet to be mounted in conformity with the shape suitable for the vehicle, resulting in high cost. Becomes The present invention was devised in view of such problems, and paying attention to a pallet that is conveyed on a line for processing and assembling while supporting different kinds of works,
The pallet includes a sub-pallet that directly supports and fixes the work, and a main pallet that supports the sub-pallet and is placed on the line. The work is provided on the main pallet via the sub-pallet. An object of the present invention is to provide an automatic work transfer device and a device pallet for transferring the work onto the main pallet so as to be rotatable about the same rotation axis in the insertion hole.

[0007]

Therefore, an automatic work transfer device of the present invention according to claim 1 has a chuck part for mounting a work and a support shaft projecting from the back side of the chuck part. A sub pallet supplied on the transfer line of the work, a main pallet supplied on the transfer line having an insertion hole into which a support shaft of the sub pallet is fitted, and the sub pallet are attached to the work. For the sub-pallet, and the support shaft and the insertion hole are arranged on the same straight line, and the work is gripped through the sub-pallet and the work is fitted into the insertion hole of the main pallet. A main pallet robot that is transferred onto the main pallet is provided.

According to a second aspect of the present invention, there is provided the work automatic transfer apparatus according to the first aspect, wherein the sub-pallet robot is lifted or swung by a carrier mounted on a traveling rail traveling in at least one direction. A frame suspended via an actuation means for performing at least one actuation of the actuation, and a gripping unit for adjusting the width of the sub-pallet to be narrowed or narrowed, and rotatably supported by the frame via a shaft. A sub-frame, a pair of finger pieces provided on the gripping unit for sandwiching both ends of the sub-pallet so as to face each other, and a sub-frame rotating means provided on the shaft for rotating the sub-frame with respect to the frame And a rotating device having a.

According to a third aspect of the present invention, in the work automatic transfer device of the second aspect, one end of the sub-frame rotating means is connected to the shaft through a link and the other end is connected to the frame. It is characterized in that it is formed by a pressure-responsive device that is pivoted. According to a fourth aspect of the present invention, in the work automatic transfer device of the present invention, in the configuration according to any one of the first to third aspects, the sub-pallet robot is provided along a rail provided between the work and the pallet. It is characterized in that it is arranged so as to run.

According to a fifth aspect of the present invention, there is provided an automatic work transfer device, a transfer device provided on a work transfer line, a chuck part for mounting the work part, and a support projecting from the back side of the chuck part. A supply device for supplying a sub pallet having an axis to the transfer device, a supply device for supplying a main pallet having an insertion hole for fitting a support shaft of the sub pallet to the transfer device, and gripping the sub pallet, A robot having the rotating device for mounting the work on the work, a robot for gripping the sub-pallet of the work with the sub-pallet and rotatably mounting the work on the main pallet, and the work with the sub-pallet. A transfer device that transfers the attached main pallet to the processing line and a robot grips the sub-pallet of the work from the transfer device of the processing line A transfer device for dissociating the main pallet is characterized by a conveying device for dissociating the grasped the work the sub-palette of the dissociated sub-pallet with work by the robot.

According to a sixth aspect of the present invention, in the work automatic transfer apparatus according to the fifth aspect, the main pallet from which the work with the sub-pallet is separated is placed on the main pallet standby side on the work transfer line. A main pallet return transfer device for transferring, and a sub pallet return transfer device for transferring the sub pallet, which has been removed substantially horizontally by the robot having the reversing device, to the sub pallet standby side on the work transfer line. It has a feature.

According to a seventh aspect of the present invention, there is provided a work automatic transfer device according to any one of the first to sixth aspects.
The sub pallet is characterized in that the side supporting the work and the side supporting the main pallet are arranged in opposite directions. According to an eighth aspect of the present invention, there is provided the work automatic transfer device according to any one of the first to seventh aspects, wherein the work is a semi-finished automobile transmission.

According to a ninth aspect of the present invention, there is provided the work automatic transfer device according to the first or fifth aspect, wherein the sub-pallet is provided with a plurality of types of chuck portions according to the type of the work. The support shaft is characterized in that it is formed so as to be commonly used for the above-mentioned types of works. The pallet for an automatic work transfer device of the present invention according to claim 10, wherein a sub-pallet having a chuck part for mounting the work and a support shaft projecting from the back side of the chuck part, and a support shaft for the sub-pallet. A main pallet having an insertion hole that is coaxially fitted and rotatably attached to the sub pallet is provided.

According to a pallet for an automatic work transfer device of the present invention as set forth in claim 11, in the structure of claim 10, the support shaft of the sub-pallet is removably fitted and is inserted into the insertion hole of the main pallet. A cylindrical attachment rotatably fitted coaxially, and a rotation drive means provided on the attachment so that the attachment and the support shaft can rotate about the same axis, and the rotation of the rotation drive means It is characterized in that the drive shaft end is formed so as to be exposed from the main body of the main pallet.

A pallet for an automatic work transfer device according to a twelfth aspect of the present invention is the pallet for an automatic work transfer apparatus according to the eleventh aspect, further comprising: a worm gear provided with the rotary drive means on the attachment, and a pinion gear engaging with the worm gear. And a shaft of the pinion gear is formed of the rotary drive shaft. A pallet for a workpiece automatic transfer device according to a thirteenth aspect of the present invention,
In any one of the above configurations, the sub-pallet can be rotationally displaced with respect to the main pallet by engaging with the rotary drive shaft end and manually or by power.

According to a fourteenth aspect of the present invention, there is provided a work pallet for an automatic work transfer device according to any one of the tenth to thirteenth aspects, wherein the pallet is provided on the main pallet body by engaging with the sub-pallet support shaft. It is characterized in that it is provided with a device for preventing the sub-pallet from coming off, is activated after the support shaft is inserted, and is released at the time of insertion and removal.

According to a fifteenth aspect of the present invention, in the pallet for an automatic work transfer device of the present invention, in the configuration according to any of the tenth to fourteenth aspects, at least one of the sub-pallet and the rotation drive shaft of the sub-pallet is used. The main body of the main pallet is provided with detachable brake means that engages with one side. A pallet for a workpiece automatic transfer device according to a sixteenth aspect of the present invention is characterized in that, in the configuration according to any of the tenth through fifteenth aspects, the workpiece is a semi-finished automobile transmission.

[0018]

In the work transfer device of the present invention as set forth in claim 1, there is provided a chuck part for mounting the work and a support shaft projecting on the back side of the chuck part on the work transfer line. A sub pallet to be supplied, a main pallet having an insertion hole for fitting a support shaft of the sub pallet to be supplied on the transfer line, and a sub pallet robot for attaching the sub pallet to the work. , Arranging the support shaft and the insertion hole on the same straight line, gripping the work through the sub-pallet, fitting the work into the insertion hole of the main pallet, and moving the work onto the main pallet. Since the robot for the main pallet to be mounted is provided, the robot for the sub-pallet grips the sub-pallet and approaches the work transferred to the transfer line, and fixes the sub-pallet to the work. That.

At this time, the support shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the support shaft of the sub-pallet is fitted into the insertion hole of the main pallet. Therefore, the transfer work can be performed smoothly and promptly. In the work automatic transfer device of the present invention as set forth in claim 2, the sub-pallet robot has an operating means for performing at least one operation of raising and lowering or revolving operation on a carrier mounted on a traveling rail traveling in at least one direction. A frame suspended through,
A sub-frame that has a gripping unit for adjusting the width of the sub-pallet, and is rotatably supported by the frame via a shaft, and the gripping unit that holds both ends of the sub-pallet so as to face each other. A pair of finger pieces provided on the shaft and a rotating device having a sub-frame rotating means provided on the shaft for rotating the sub-frame with respect to the frame. After operating the rotating device to rotate the gripping unit together with the subframe to a substantially horizontal position, the subpallet that has been supplied to the work transfer line is gripped, By operating the rotating device again and rotating the sub-frame, the sub-frame can be erected.

At this time, the support shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the support shaft of the sub-pallet is fitted into the insertion hole of the main pallet. Therefore, the transfer work can be performed smoothly and promptly. In the automatic work transfer device of the present invention as set forth in claim 3, the sub-frame rotating means is formed by a pressure responsive device having one end connected to the shaft via a link and the other end pivotally supported by the frame. Therefore, the rotation of the sub-frame can be continuously and smoothly performed.

Further, since the support shaft of the sub-pallet is supported in a substantially horizontal posture and can be fitted into the insertion hole of the main pallet, the transfer operation can be smoothly and promptly performed. In the automatic work transfer device of the present invention as set forth in claim 4, since the sub-pallet robot is arranged so as to travel along a rail installed between the work and the pallet, Transfer between pallets and transfer can be performed very quickly and smoothly.

According to a fifth aspect of the present invention, there is provided a work automatic transfer device, wherein the work transfer device is provided on a work transfer line.
A chuck unit for mounting the work and a supply unit for supplying a sub-pallet having a support shaft protruding from the back side of the chuck unit to the transfer device, and an insertion hole for fitting the support shaft of the sub-pallet. A supply device for supplying the main pallet to the transfer device, a supply device for supplying the sub pallet and the main pallet to the transfer device, and the rotation of the work for gripping the sub pallet and attaching it to the work. A robot having a device, a robot for gripping the sub-pallet of the work with the sub-pallet and rotatably mounting it on the main pallet, and a transfer for transporting the main pallet with the work with the sub-pallet to a processing line The device and the sub-pallet of the work from the transfer device of the processing line are gripped by the robot and the main pallet is dissociated. A transfer device that, since the sub-palette subpalettes with work that is the dissociation and a transfer device for dissociating the grasped the workpiece by the robot,
Since transfer between the work and the pallet does not come into direct contact with the work from entry to discharge of the processing line, there is no risk of damaging the work and the processing can be automatically achieved. it can.

According to a sixth aspect of the present invention, there is provided a main pallet returning / conveying device for conveying the main pallet from which the sub-pallet-attached work has been separated to the main pallet standby side on the work conveying line. Since the sub-pallet returning and conveying device conveys the sub-pallet that has been removed substantially horizontally by the robot having the reversing device to the sub-pallet standby side on the work conveying line, after finishing the machining of the work, Since the sub-pallet and the main pallet dissociated as described above are automatically returned to the pallet standby side by the return / conveyance device, the work can be transferred quickly and smoothly.

In the automatic work transfer device of the present invention as set forth in claim 7, the sub-pallet is arranged such that the side supporting the work and the side supporting the main pallet are in mutually opposite directions. Therefore, the work and the pallet can be moved linearly. In the work automatic transfer device of the present invention according to claim 8, the work is a semi-finished automobile transmission and a heavy object, but since the transfer device can be automated, the work can be performed very safely and promptly. Transfer work can be performed.

In the pallet for the automatic work transfer device of the present invention as defined in claim 9, the sub-pallet is provided with a plurality of kinds of chuck portions according to the kind of the work, and the support shaft is provided for the kind of the work. Since it is formed so as to be commonly used, only one support shaft is required for the plurality of types of chuck portions, and thus the cost of the sub pallet can be reduced.

According to a tenth aspect of the present invention, there is provided a pallet for an automatic work transfer device, a sub-pallet having a chuck part for mounting a work and a support shaft projecting from the back side of the chuck part, and the sub-pallet. Since the main pallet having an insertion hole coaxially fitted with the support shaft and rotatably attached to the sub pallet is provided, the work can be easily inserted into the insertion hole of the main pallet via the sub pallet. Can be transferred to.

In the pallet for an automatic work transfer device of the present invention as defined in claim 11, the support shaft of the sub-pallet is removably fitted and is coaxially rotatably fitted in the insertion hole of the main pallet. And a rotary drive means provided on the attachment so that the attachment and the support shaft can rotate about the same axis, and the rotary drive shaft end of the rotary drive means is connected to the main pallet. Since it is formed so as to be exposed from the main body, the rotary drive shaft can be operated from outside the main body of the main pallet as necessary, and the attachment to the main pallet main body can be rotated.

In the pallet for the automatic work transfer device according to the twelfth aspect of the present invention, the rotation driving means includes a worm gear provided in the attachment and a pinion gear engaging with the worm gear, and the shaft of the pinion gear is Since it is formed of the rotary drive shaft, the rotary drive shaft can be operated from outside the main body of the main pallet as necessary, and the attachment to the main pallet main body can be rotated.

In the pallet for the automatic work transfer device of the present invention, the sub-pallet can be rotationally displaced with respect to the main pallet by engaging with the rotary drive shaft end and manually or by power. Therefore, manual operation or power operation can be switched as needed. Claim 1
In the pallet for the automatic work transfer device of the present invention described in 4,
A sub-pallet fall prevention device provided on the main body of the main pallet, which is engaged with the sub-pallet support shaft;
Since the drop-out prevention means operates after the support shaft is inserted and is released when the support shaft is inserted and removed, the support shaft can be extremely easily inserted into and removed from the main pallet during insertion and removal.

According to a fifteenth aspect of the present invention, there is provided a pallet for a workpiece automatic transfer device, wherein the main pallet has a detachable brake means which is engaged with at least one of the sub-pallet and a rotation drive shaft of the sub-pallet. Since it is provided in the main body, the rotation drive shaft can be stopped and held at a desired appropriate position. In the work automatic transfer device pallet of the present invention according to claim 16, the work is a semi-finished automobile transmission and a heavy load,
Since the transfer device can be automated, the transfer work can be performed very safely and promptly.

[0031]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a schematic explanatory view of a work transfer device when the present invention is applied to a processing line of an automatic transmission, FIG. 2 is a schematic vertical sectional view of a sub-pallet attached to a work, and FIG. 3 is a line 2A-2A of FIG. 4 is a schematic explanatory view showing a longitudinal section along the line, FIG. 4 is a schematic explanatory view showing a partial fractured surface along the line 4A-4A in FIG.
FIG. 5 is an explanatory view of the sub-pallet dropout prevention device as viewed in the direction of arrow X in FIG. 1, and FIG. 6 illustrates the sub-pallet dropout prevention device. (A) is a view taken along line 6A-6A of FIG. It is explanatory drawing which shows a fragmentary cross section, (B) is a schematic diagram explaining the engagement sequence of the fall-out prevention means, FIG. 7 is an explanatory view showing a single fall-out prevention device, and FIG. 8 is an explanatory view of the sub-pallet robot. , Fig. 9
Is an explanatory view taken along the line 9A-9A in FIG. 8, and FIG. 10 is an explanatory view schematically showing the inlet side of the transfer line of the work transfer device.
FIG. 11 is an explanatory diagram showing the exit side of the transport line of FIG.

First, the outline of the structure of the work transfer apparatus of the present invention will be described with reference to FIG. Torque converter housing 2 of automatic transmission 22 conveyed by conveyor 174
4, the sub-pallet 26 supplied onto the carrying device 170 is grasped by the sub-pallet robot R1, is erected, and is detachably mounted by the clamp 28. By the main pallet robot R2, the support shaft 30 for the sub pallet 26 is provided.
Is rotatably inserted and fixed in an insertion hole 36 provided in the main pallet 34 of the transfer device 172.
The sub-pallet 26 that penetrates through the back surface of the main body 38 of the
The end portion of the support shaft 30 of the
The automatic transmission 22 is transferred onto the transfer device 172.

As shown in FIG. 2, the sub-pallet 26 is provided with a clamp 28 for fixing the outer peripheral flange 24A of the torque converter housing 24, which is a work, on the work attachment / detachment side 42. Clamp 28
Is pivotally supported on the main body 26A of the sub-pallet 26 via the pin 44 in the elongated hole 46 of the clamp 28, while the clamp 28
Adjustment bottle 5 with pin 50 engaging another slot 48
2 by the extension / contraction means 54, the clamp 28 is rotated about the pin 44 as shown by the chain double-dashed line in FIG.
The flange 24A of the torque converter 24 is connected to and detached from the attachment / detachment side 42 of the sub-pallet 26 by the claw 28A at the tip of 8.

Further, the support shaft 30 is fixed to the main body 26A by a bolt 59 so as to be provided coaxially with the rotation axis 56 of the sub-pallet 26 and on the back side 57 of the attaching / detaching side 42. Further, the end of the support shaft 30 has a small diameter portion 62, and a spring washer 6 provided between two washers 64.
6 is fixed by a nut 68, and a recess 70 is formed.

Further, in the middle of the support shaft 30, there is provided a support portion 72 which engages with an attachment fitted into an insertion hole 36 of a main pallet 38 which will be described later. As shown in FIGS. 3 to 4, the main pallet 34 has an engaging portion 74 that engages with the back side 57 of the sub pallet 26, and the rotation axis 5
An attachment 78 having a cylindrical shaft 76 that rotates about the coaxial line 6 is rotatably mounted in the insertion hole 36 of the main pallet 34 via a thrust bearing 80.

The boss portion 84 of the circular worm gear 82 is provided on the outer periphery of the end small diameter portion 75 of the cylindrical shaft 76 of the attachment 78.
Are fitted and attached by bolts 86. Both ends of the rotary drive shaft 100 of the pinion gear 88, which is arranged so as to be substantially orthogonal to the rotation axis 56 of the worm gear 82 and fits with the worm gear 82, have the main body 38 of the main pallet 34.
It is rotatably provided on the main body 38 through a bearing 99 so as to pass through.

It should be noted that the rotary drive shaft 100 does not have to project to the outside as long as it can transmit power from the outside. A brake member 102 of a brake operating means 103 is attached to one end of the rotation drive shaft 100, and brake shoes 104 are provided on both sides of the brake member 102 as shown in FIG.
4 is provided with the brake operating means 103 (not shown), and when the link 110 is lowered, the link 10 in FIG.
8 actuate in the direction in which the right and left are separated from each other, and the brake shoe 10
4 is removed from the brake member 102 to release the brake, and the brake operating means 103 is operated in the braking direction so that the return spring 112 always urges the link 110 upward to move the brake shoe 104 to the brake member 102. When engaged, the rotary drive shaft 100 is acted on by a brake.

When releasing the brake, if the link 110 is lowered downward by the brake operating means 103 (not shown) against the urging force of the return spring 112, the link 108 moves to the left and right via the link 106 as described above. When the brake shoe 104 is opened, the brake is released. Further, the brake operating means 103 composed of the above-mentioned brake member 102 and the like can also be provided in the above-mentioned attachment 78 to achieve the same effect.

A manual handle 116 that engages with the engaging portion 114 at the other end of the rotary drive shaft 100 of the pinion 88 is provided. Further, as shown in FIG. 1, the tip portion of the support shaft 30 of the sub pallet 26 is arranged so as to project from the main pallet body 38, and is formed by the fall prevention device means 40 so as not to fall off from the body 38. There is.

As shown in FIGS. 5 to 6, the fall-off prevention device 40 is formed of a substantially H-shaped plate 120, and as shown by the chain double-dashed line in FIG. 7, for example, fluid pressure responsive means 122 such as air and hydraulic pressure. This pushes down the plate 120 against the urging force of the return spring 123,
6 (A) after removing the shaft pressing portion 124 having a gap t having a width slightly larger than the diameter of the small diameter portion 62 of the support shaft 30 of the sub pallet 26 from the position reached by the small diameter portion 62.
When the support shaft 30 is inserted to the position shown by the chain double-dashed line in FIG.
As shown in (B), the arm 126 of the robot operates and the grip chuck clamp 128 opens and closes to grasp the recess 70 at the tip of the support shaft 30 as shown by the chain double-dashed line.
6 is retracted, the support shaft 30 is pulled out to the position shown by the solid line in FIG. 6 (A), and thereafter, when the fluid pressure of the fluid pressure responsive means 122 is acted in the upward direction, the return spring 123 is biased to the position shown by the solid line. Returning to this, the shaft pressing portion 124 enters the concave portion 70 against the urging force of the washer spring 66 as shown in FIG. 2 and clamps the small diameter portion 62 to prevent the sub pallet from falling off.

At this time, since the plate 120 is attached to the outer side surface of the main body 38 of the main pallet 34, the outer side surface and the plate 120 cooperate to firmly prevent the support shaft 30 from falling off. it can. Also, the main palette 3
4 of attachment 78 and sub-pallet 26
2 is adapted to be engaged by attaching and detaching the knock pin by means not shown.

Next, a sub-pallet robot for attaching the sub-pallet 26 to the torque converter 24 will be described. As shown in FIG. 8, rails 132 are provided on the upper parts of the left and right columns 130 so as to extend in a direction perpendicular to the paper surface of FIG. 8, and are bridged on the left and right rails 132 via rollers 134. Further, a horizontal frame 131 that rotates on the rail 132, and a carrier 136 that is rotatably provided by a roller 136a are provided on the horizontal frame 131 (which also serves as a rail of the carrier 136).

The carrier 136 is provided with a gate type frame 142 which is suspended via an operating means 140 for performing at least one of lifting and rotating operations. In addition, as shown by a chain double-dashed line in FIG. 8, the gate-shaped frame 142 has a gripping unit 144 for adjusting the width of the main body 26A of the sub-pallet 26 to be narrowed.
A sub-frame 146 pivotally supported by 42 is provided.

Further, the gripping unit 144 corresponds to the main body 2 described above.
6A has at least a pair of finger pieces 148 that sandwich the opposite end faces of each other. Further, a pivot shaft 149 at the lower end of the sub-frame 146 is supported by the lower end of the frame 142 via a bearing 150, one end is connected to an end projecting from the frame 142 via a link 152, and the other end is a gate. The subframe 146 is pivotally supported by a bracket 154 on the front surface of the mold frame 142, and the subframe 146 is provided with a reversing device 160 including a fluid pressure responsive means 156 by air, hydraulic pressure, or the like. .

As indicated by the chain double-dashed line in FIG. 8, the sub-pallet 26 is supplied substantially horizontally by a carrying device (not shown) so that the support shaft 30 is on the lower side. Next, a case where the sub-pallet 26 is attached to the torque converter housing 24 will be described. First, the fluid pressure responsive device 156 shown in FIG. 9 is operated to rotate the piston rod 157 downward from the position indicated by the solid line to the position indicated by the chain double-dashed line.
Since it is also pivotally supported by the rod 157, it is pivoted about the pivot shaft 149 to pivot the sub-frame 146 to the position shown by the chain double-dashed line in FIG.

At this time, although not shown, since the main body 24A of the sub-frame 26 and the finger piece 148 are separated from each other, the electric motor 161 is operated, and the horizontal frame 131 turns the rail 132 to approach it, as shown in FIG. As described above, the main body 26A is held between the pair of finger pieces 148. At this time, although not shown, it is needless to say that the gripping unit 148 is operated to move the finger piece 148 to an arbitrary position and grip it accurately.

Thereafter, when the fluid pressure responsive device 156 is operated to move the rod 157 upward, the link 152 also moves upward contrary to the above, and the sub-frame 146 moves the pivot shaft 149 to the position shown by the solid line in FIG. The sub-pallet 26 rotates about 90 degrees upward from the horizontal position as shown in FIGS.
It stands up as shown in. In addition, 162,164
Is a stopper for positioning the link 152.

From this state, the electric motor 161 is operated to rotate the horizontal frame 131 on the rail 132, and the horizontal frame 131 is rotated as shown in FIGS.
Attachment 7 of main pallet 34 as shown in
It is inserted and fixed to the cylindrical shaft 76 of No. 8. Next, the entire transfer line of the automatic transfer apparatus of the above embodiment will be described with reference to FIGS.

On the transfer line, the sub-pallet 26, which is supplied from the stocker (not shown) of the sub-pallet 26 by the transfer device 170 and which is horizontally arranged as shown by the alternate long and two short dashes line in FIG. 8, stands by at the waiting place P1. ing. On the other hand, the automatic transmission 22 which is the work is moved to the standby position P3 by the transfer device 174.
Is supplied to.

When it is detected that the automatic transmission 22 has been supplied to the standby station P3, an output signal is input to the sub-pallet robot R1 shown in FIGS. 8 and 9, and as described above, the sub-pallet robot R1 operates. The fluid responsive means 156 of the reversing device is actuated, the sub-frame 146 is rotated to the position shown by the chain double-dashed line in FIG. 9, and the main body 24A of the sub-pallet 26 is clamped by the finger piece 148 as described above, and again. In contrast to the above, the fluid responsive device 156 is rotated upward to hold the sub-pallet 26 in an upright state.

Next, the robot R1 is moved along the rails 132, the torque converter housing 24 is brought into contact with the attachment / detachment side 42 of the main body 26A of the sub-pallet 26, and the bolt 52 of the clamp 28 is drawn by the nut runner of the robot (not shown). The robot 28 is retracted to its original position by expanding and contracting as shown in FIG. 2 to move the clamp 28 from the position indicated by the chain double-dashed line to the position indicated by the solid line and fix it.

The automatic transmission with the sub-pallet 26 is formed in the same manner as the sub-pallet robot R1 by operating the main pallet robot R2 (not shown) by the output of the sensor when the transport device 174 reaches the position of the waiting place P4. The gripping unit 144 is activated and the finger piece 148
Inserts the support shaft 30 into the cylindrical shaft 76 so that the main pallet robot R2 operates and contacts the attachment 78 of the main pallet 34 at the waiting place P2 by sandwiching the main body 26A of the sub pallet 26. To do.

The support shaft 30 is fitted and fixed by engagement between the engagement portion 72 and the inner circumference of the cylindrical shaft 76 of the attachment 78, and engagement between the hole of the attachment body 74 and the boss portion 30A of the support shaft 30. Then, the concave portion 70 at the end of the support shaft 30 is locked by the plate 120 of the fall prevention device as shown in FIG.

When the main pallet robot R2 grips the main body 26A of the sub pallet 26 and moves up, the carrier pallet is left on the carrier device 174 and is circulated to the carrier line via the stocker (not shown) and used. It has become so. The main pallet to which the automatic transmission 22 is rotatably attached via the sub pallet 26 is conveyed to the conveying device 176, and the brake operating means 103 is loosened as described with reference to FIGS. The rotary shaft of a robot conversion machine (not shown) is fitted into the hole 101 at the end of the brake member 102, and the worm gear 82 is rotated via the pinion gear 88, and the attachment 7
After appropriately displacing 8 with respect to the main body 38 of the main pallet 34, the brake operating means 103 can be operated to suppress rotation and various processing operations can be performed.

When the mounting angle of the work is displaced in this way and various processing is completed, the work is conveyed onto the conveying device 178. Next, after the reference zero point of the main pallet 34 and the main body 38 is set, the plate 120 is lowered and released as described above, and then the arm 126 of the robot is operated, as shown in FIG. The support shaft 30 is pressed by the chuck clamp 128 shown in FIG.

Then, when a robot (not shown) holds the main body 26A of the sub-pallet 26 by the finger pieces 148 and lifts it up, the automatic transmission 22 with the sub-pallet rises and the main pallet 34 is conveyed. It remains in the device 178 and is lifter 1 as it is.
At 80, it is mounted on the return transportation device 182 on the second floor and returned to the waiting place P2 via the stocker on the transportation line side.

Further, the automatic transmission with the sub-pallet 26 has the carrying pallet returned, so it is mounted on the carrying pallet and clamped by the nut runner (not shown) at the waiting place P5.
When 8 is removed and the main body 26A of the sub-pallet 26 is gripped and lifted as described above, the automatic transmission mounted on the transport pallet is transported to the next step by the transport device 184, and the sub-pallet 26 is returned to the transport device. It is conveyed to the waiting place P6 by 184.

In the waiting place P6, the robot R1 having the reversing device described in FIG. 8 displaces the sub-pallet 26 from the standing state to the horizontal state, contrary to the case described above.
The lifter 186 raises it to the second floor, the return transport device 188 conveys it, the lifter 200 lowers it to the first floor, and supplies it to the waiting place P1 via a stocker and a transport device 170 (not shown).

The main pallet 34 transported by the return transport device 182 is lowered to the first floor by the lifter 202,
A U-turn is made under the return transport device 188, and the product is supplied to the waiting place P2 via a stocker (not shown) and the transport device 172. Also, the main body 2 of the sub-pallet 26
The reference position of the attachment position of the work with respect to 6A is, for example, not shown, but a knock pin or a sensor may be attached to the main body 26A to rotate the work and automatically stop the work.

The reference position of the main pallet 34 with respect to the main body 38 can be similarly adjusted, and it is necessary to attach and detach both pallets after setting the reference positions of both. Is. A plurality of types of main bodies 26A of the sub-pallets 26 of the above embodiment are prepared according to the type of work, and the support shaft 30 can be commonly used for each type of work. By replacing the nut 59 shown in FIG. 2 so that the nut can be used, the cost can be reduced and the operation can be easily performed.

When the work is transferred between the lines, since the transfer device does not directly contact the work, there is no fear of damaging the work, and a dedicated gripping portion for transfer is formed on the work. It became unnecessary to do it. Further, since the side supporting the work and the side supporting the main pallet of the sub pallet 26 are in mutually opposite directions, the transfer between the lines can be performed by linear movement, and The structure can be simplified.

Further, in the above embodiment, the case where the driving means of the reversing device of the sub-pallet robot R1 is the fluid pressure responding means has been described, but the one in which the gears are fitted by the electric motor or the cog belt and the cog belt pulley are used, Further, a chain drive mechanism may be used.

[0063]

According to the automatic work transfer apparatus of the present invention as set forth in claim 1, the work has a chuck part for mounting the work and a support shaft projecting from the back side of the chuck part. A sub pallet supplied on the transfer line, a main pallet supplied on the transfer line having an insertion hole for fitting a support shaft of the sub pallet, and a sub pallet for attaching the sub pallet to the work. The pallet robot is arranged such that the support shaft and the insertion hole are on the same straight line, the work is gripped through the sub-pallet, and the work is fitted into the insertion hole of the main pallet. Since the main pallet robot is mounted on the pallet, the sub-pallet robot grips the sub-pallet and approaches the work conveyed to the above-mentioned transfer line to move the sub-pallet to the work line. When fixed to the rack, the support shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the support shaft of the sub-pallet is fitted into the insertion hole of the main pallet. It is possible,
As a result, the transfer operation can be performed smoothly and promptly.

Further, when the work is transferred, the transfer device does not come into direct contact with the work, so there is no risk of damaging the work, and a dedicated gripping portion for transfer is provided on the work. No need. According to a second aspect of the present invention, in the automatic work transfer apparatus of the present invention, in the configuration according to the first aspect, the sub-pallet robot is at least lifted or swung by a carrier mounted on a traveling rail traveling in at least one direction. A frame suspended via an actuation means for performing one operation; a subframe having a gripping unit for adjusting the width of the subpallet to be rotatably supported by the frame via a shaft. A pair of finger pieces provided on the gripping unit for holding both ends of the sub-pallet facing each other and a sub-frame rotating means provided on the shaft for rotating the sub-frame with respect to the frame. Since the sub-pallet is supplied to the work transfer line, the sub-pallet is operated by operating the rotating device. By rotating the grasping unit in a substantially horizontal position with arm, after gripping the sub pallet has been supplied to the conveying line of the workpiece,
By operating the rotating device again and rotating the sub-frame, the sub-frame can be erected.

At this time, the supporting shaft of the sub-pallet is supported in a substantially horizontal posture, the work is conveyed through the sub-pallet, and the supporting shaft of the sub-pallet is fitted into the insertion hole of the main pallet. Therefore, the transfer work can be performed smoothly and promptly. Further, when the work is transferred, the transfer device does not come into direct contact with the work, so there is no risk of damaging the work, and there is no need to provide a dedicated gripped portion for transfer on the work. .

According to the work automatic transfer device of the present invention as defined in claim 3, in the construction of claim 2, one end of the sub-frame rotating means is connected to the shaft through a link and the other end is the frame. Since it is formed of a pressure responsive device pivotally supported on the subframe, the subframe can be continuously and smoothly rotated. Further, since the support shaft of the sub-pallet is supported in a substantially horizontal posture, the work can be conveyed through the sub-pallet and the support shaft of the sub-pallet can be fitted into the insertion hole of the main pallet. The transfer work can be performed smoothly and promptly.

According to the work automatic transfer device of the present invention as defined in claim 4, in the structure as defined in any one of claims 1 to 3, the sub-pallet robot is installed between the work and the pallet. Since it is arranged so as to run along the rails, the transfer and transfer between the work and the pallet can be carried out extremely quickly and smoothly. According to the automatic work transfer device of the present invention as set forth in claim 5, a transfer device provided on the transfer line of the work, a chuck part for mounting the work, and a support shaft protruding from the back side of the chuck part. A supply device for supplying a sub-pallet having a sub-pallet to the transfer device, a supply device for supplying a main pallet having an insertion hole for fitting a support shaft of the sub-pallet to the transfer device, the sub-pallet and the main pallet. A supply device for supplying to the transfer device, a robot having the rotating device for holding the sub-pallet to attach it to the work, and a main pallet for holding the sub-pallet of the work with the sub-pallet A robot for rotatably mounting the main pallet to which the work with the sub-pallet is mounted, and a machining line. And a transfer device for gripping the sub-pallet of the work from the transfer device by a robot to dissociate the main pallet, and a transfer device for gripping the sub-pallet of the disassembled work with a sub-pallet by a robot to dissociate the work. Since it is equipped with, the transfer between the work and the pallet from the entry to the discharge of the processing line,
Since the transfer device does not come into direct contact with the work, there is no risk of damaging the work and the above processing can be automatically achieved, and a dedicated gripped portion for transfer needs to be provided on the work. There is no.

According to the work automatic transfer apparatus of the present invention described in claim 6, in the structure of claim 5, the main pallet from which the work with the sub-pallet is disengaged is placed on standby for the main pallet on the work transfer line. And a main pallet returning and conveying device for conveying to the side, and a sub pallet returning and conveying device for conveying the sub pallet, which is removed substantially horizontally by the robot having the reversing device, to the sub pallet standby side on the work conveying line. Since the sub-pallets and the main pallet dissociated as described above are automatically returned to the standby side of each pallet by the above-mentioned return / conveyance device after the processing of the above-mentioned work, the transfer of the work is promptly performed. And, it can be performed smoothly.

When the work is carried to the carrying line, the pellets processed by the transfer device are supplied to the work carry-in side, respectively.
The transfer of the work can be automatically performed smoothly. According to the work automatic transfer apparatus of the present invention described in claim 7, in the configuration according to any one of claims 1 to 6, the sub-pallet is a side supporting the work and a side supported by the main pallet. Since and are arranged so as to be opposite to each other, the work and the pallet can be moved by linear movement.

Therefore, the transfer work can be performed promptly and the structure of the transfer device can be simplified, so that the cost can be reduced. According to the work automatic transfer device of the present invention described in claim 8, in the structure according to any one of claims 1 to 7, the work is a semi-finished automobile transmission and a heavy object, Since the transfer device can be automated, the transfer work can be performed very safely and promptly.

According to the work automatic transfer apparatus of the present invention described in claim 9, in the construction of claim 1 or 5, a plurality of kinds of chuck parts are prepared for the sub-pallet according to the kind of the work. , Since the support shaft is formed so as to be commonly used for the types of work,
Since only one support shaft is required for the plurality of types of chuck parts, the cost of the sub-pallet can be reduced.

According to the pallet for an automatic work transfer device of the present invention as set forth in claim 10, a sub-pallet having a chuck part for mounting a work and a support shaft projecting from the back side of the chuck part, and the sub-pallet. Since the main pallet has an insertion hole that is coaxially fitted to the support shaft of the pallet and is rotatably attached to the sub pallet, the work is inserted through the sub pallet into the insertion hole of the main pallet. Can be easily transferred to.

Further, since the sub-pallet can be rotated through the main pallet to change the rotational position of the work, the pallet in which the work can be easily processed can be obtained. According to the pallet for the automatic work transfer device of the present invention as set forth in claim 11. The structure according to claim 10, wherein a cylindrical attachment in which the support shaft of the sub-pallet is removably fitted and which is rotatably fitted in the insertion hole of the main pallet coaxially, and the attachment. Since the support shaft is provided so that it can rotate about the same axis, the rotation drive means is provided on the attachment, and the rotation drive shaft end of the rotation drive means is formed so as to be exposed from the main body of the main pallet. From the outside of the main pallet body, the rotary drive shaft can be operated as necessary, and the attachment to the main pallet body can be rotated.

Therefore, the rotational position of the sub pallet with respect to the main pallet can be easily and arbitrarily selected. According to the work automatic transfer device pallet of the present invention as set forth in claim 12, in the structure of claim 11,
The rotation driving means includes a worm gear provided on the attachment and a pinion gear engaging with the worm gear, and the shaft of the pinion gear is formed by the rotation driving shaft, so that it is necessary from the outside of the main pallet body. Accordingly, the rotary drive shaft can be operated, and the attachment to the main pallet body can be rotated.

According to the pallet for an automatic work transfer device of the present invention as set forth in claim 13, in the structure as set forth in any one of claims 10 to 12, the pallet for rotary transfer shaft is engaged with the pallet either manually or by power. Since the sub pallet can be rotationally displaced with respect to the main pallet,
It can be switched manually or powered as required. Further, when the work is heavy, the work can be performed promptly without depending on human power.

According to the pallet for the automatic work transfer device of the present invention as set forth in claim 14, in the structure as set forth in any one of claims 10 to 13, the main pallet main body is engaged with the sub-pallet support shaft. Is provided with a device for preventing the sub-pallet from falling off, and the device for preventing fall-off is configured to operate after the support shaft is inserted and to be released when the support shaft is inserted and removed. The main pallet can be inserted / removed very easily, and the work can be performed while safely preventing the sub-pallet from falling off during the work transfer, the transfer and the work processing.

According to the pallet for an automatic work transfer device of the present invention as set forth in claim 15, in the structure as set forth in any one of claims 10 to 14, at least the sub-pallet and the rotary drive shaft of the sub-pallet. Since the detachable brake means that engages with either one of them is provided in the main body of the main pallet, the rotation drive shaft can be stopped and held at a desired appropriate position.

According to the pallet for an automatic work transfer device of the present invention as set forth in claim 16, in the structure as set forth in any one of claims 10 to 15, the work is a semi-finished automobile transmission and a weight. However, since the transfer device can be automated, the transfer work can be performed very safely and promptly.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view of a work transfer device when applied to a processing line of a work automatic transmission showing an embodiment of the present invention.

FIG. 2 is a schematic explanatory view showing a vertical cross section of the sub-pallet of FIG.

FIG. 3 is a schematic explanatory view showing a vertical section taken along line 2A-2A in FIG.

FIG. 4 is a schematic explanatory view showing a partial vertical section taken along line 4A-4A in FIG.

5 is a schematic explanatory view taken along the arrow X in FIG. 1. FIG.

6 is a view for explaining the fall-out prevention means shown in FIG.
(A) is an explanatory view showing a partial fractured surface taken along the line 6A-6A in FIG. 5, and (B) is a schematic view for explaining the engagement order of the dropout prevention means.

FIG. 7 is a schematic explanatory view showing a single plate of the fall prevention device of FIG.

FIG. 8 is an explanatory diagram of the sub-pallet robot of FIG.

9 is a schematic explanatory view taken along the line 9A-9A in FIG.

FIG. 10 is an explanatory view schematically showing the entrance side of the transfer line of the work transfer device of the present invention.

11 is an explanatory diagram showing an outlet side of the transport line of FIG.

FIG. 12 is an explanatory diagram showing a conventional transfer device.

[Explanation of symbols]

 22 Semi-completed automatic transmission 24 Torque converter housing 26 Sub pallet 28 Clamp 30 Support shaft 34 Main pallet 36 Insert hole 40 Fall prevention device 42 Work attachment / detachment side 44 pin 46 Long hole 50 pin 52 Bolt 54 Expansion / contraction means 56 Rotation axis 57 Rear side 59 Bolt 62 Small diameter portion 64 Washer 66 Spring washer 68 Nut 70 Recess 74 Engagement portion 76 Cylindrical shaft 78 Attachment 80 Thrust bearing 82 Worm gear 84 Boss portion 86 Bolt 88 Pinion gear 99 Bearing 100 Rotation drive shaft 102 Brake member 103 Brake operation means 104 brake shoe 106 link 108 link 110 link 112 return spring 114 engaging portion 116 manual handle 120 plate 122 flow Body pressure responsive means 123 Return spring 124 Shaft holding part 126 Arm 130 Strut 131 Lateral frame (rail of carrier 136) 132 Rail 134 Roller 136 Carrier 140 Actuating means 142 Frame 144 Gripping unit 146 Subframe 150 Bearing 152 Link 154 Bracket 156 Fluid pressure Response means 157 Piston rod 160 Reversing device 161 Electric motor 162 Stopper 164 Stopper 170 Conveying device 172 Conveying device 174 Conveying device 176 Conveying device 178 Conveying device 180 Lifter 182 Returning conveying device 184 Conveying device 188 Return conveying device 110 Link 120 part plate 124 128 chuck clamp 132 rail 136 carrier 142 frame 144 gripping unit 146 sub frame Over arm 154 bracket

Claims (16)

[Claims] 1. A sub-pallet having a chuck portion for mounting a work piece and a support shaft projecting from the back side of the chuck portion and being supplied on a conveying line of the work piece, and a support shaft for the sub-pallet fitting. A main pallet having matching insertion holes to be supplied on the transfer line, a sub-pallet robot for attaching the sub-pallet to the work, and the support shaft and the insertion hole are on the same straight line. And a robot for a main pallet, which is arranged on the main pallet and which holds the work through the sub-pallet, fits the work into the insertion hole of the main pallet, and transfers the work onto the main pallet. , Automatic work transfer device. 2. The sub-pallet robot comprises a frame suspended from a carrier mounted on a traveling rail traveling in at least one direction through an actuating means for performing at least one of an ascending / descending operation and a swiveling operation, and the sub-pallet. Provided on a sub-frame having a gripping unit for adjusting the width of the pallet to be adjusted, and rotatably supported on the frame via a shaft, and on the gripping unit for sandwiching both ends of the sub-pallet so as to face each other. 2. The work according to claim 1, further comprising: a pair of finger pieces provided with the sub-frame, and a rotating device having a sub-frame rotating means provided on the shaft for rotating the sub-frame with respect to the frame. Automatic transfer device. 3. The subframe rotating means is formed of a pressure responsive device having one end connected to the shaft via a link and the other end pivotally supported by the frame. Automatic transfer device for workpieces. 4. The sub-pallet robot is arranged so as to travel along a rail installed between the work and the pallet.
An automatic transfer device for a work according to any one of 1. 5. A supply device for supplying to the transfer device, a transfer device provided on a transfer line for a work, a chuck section for mounting the work, and a sub-pallet having a support shaft projecting from the back side of the chuck section. A device, a supply device for supplying a main pallet having an insertion hole for fitting a support shaft of the sub-pallet to the transfer device, and a rotating device for the work for gripping the sub-pallet and attaching it to the work. And a robot for gripping the sub-pallet of the work with the sub-pallet and rotatably mounting it to the main pallet, and a transfer device for transferring the main pallet with the work with the sub-pallet to a processing line And a transfer device that grips the sub-pallet of the work from the transfer device of the processing line by a robot and dissociates the main pallet. An automatic transfer device for the work, comprising: a transfer device that grips the sub-pallet of the separated work with the sub-pallet by a robot and separates the work. 6. A main pallet returning / conveying device for conveying the main pallet from which the work with the sub-pallet has been dissociated to the main pallet standby side on the work conveying line, and a robot having the reversing device for substantially horizontal removal. 6. The automatic work transfer device according to claim 5, further comprising: a sub-pallet return transfer device that transfers the sub-pallet to a sub-pallet standby side on the work transfer line. 7. The sub-pallet is arranged so that a side supporting the work and a side supporting the main pallet are in opposite directions to each other.
6. The automatic transfer device for the work according to any one of 6. 8. The automatic work transfer device according to claim 1, wherein the work is a semi-finished automobile transmission. 9. The sub-pallet has a plurality of types of chuck portions prepared according to the type of the work, and the support shaft is formed so as to be commonly used for the types of the work. The automatic work transfer device according to claim 1. 10. A sub-pallet having a chuck part for mounting a work and a support shaft projecting from the back side of the chuck part, and an insertion hole coaxially fitted with the support shaft of the sub-pallet. A pallet for a workpiece automatic transfer device, comprising a main pallet to which a sub pallet is rotatably attached. 11. A cylindrical attachment in which the support shaft of the sub-pallet is removably fitted and which is rotatably fitted coaxially in the insertion hole of the main pallet, and the attachment and the support shaft. Rotation attachment means provided on the attachment so as to be rotatable about the same axis, and the rotation drive shaft end of the rotation attachment means is formed to be exposed from the main body of the main pallet. A pallet for an automatic work transfer device according to claim 10. 12. The rotary drive means comprises a worm gear provided in the attachment, and a pinion gear engaging with the worm gear, and the shaft of the pinion gear is formed by the rotary drive shaft. A pallet for an automatic work transfer device according to claim 11. 13. The sub-pallet can be rotationally displaced with respect to the main pallet by engaging with the end of the rotary drive shaft and manually or by power to rotate the sub-pallet. Pallet for the automatic transfer device of the work described. 14. A device for preventing the sub-pallet from slipping off, which is provided on a main body of the main pallet and is engaged with the sub-pallet support shaft, which operates after the support shaft is inserted and is released when the sub-pallet is inserted and removed. It is comprised, It is characterized by the above-mentioned.
A pallet for an automatic transfer device for a work according to any one of 1. 15. The main body of the main pallet is provided with a detachable brake means that engages with at least one of the sub pallet and a rotary drive shaft of the sub pallet. A pallet for an automatic transfer device for a work according to any one of 1. 16. The pallet for a workpiece automatic transfer device according to claim 10, wherein the workpiece is a semi-finished automobile transmission.