JPH0735718Y2 - Control device for swiveling automatic pallet changer - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention is mounted on a numerically controlled machine tool or the like, and transfers a pre-processed pallet from a pallet carrier and a processed pallet from a processing table, and rotates them. The present invention relates to a control device for a swivel-type automatic pallet changing device for carrying in and out the pallets.

"Conventional technology and its problems" When the pallet is transferred between the machine tool and the pallet carrier by the swivel pallet changer and the pallet before processing and the processed pallet are automatically replaced, stop. The transfer control device sends a load / unload request from the machine tool depending on the presence / absence of a pallet on the loading / unloading station (hereinafter referred to as the second station) corresponding to the pallet transporting truck, the machining status of the pallet, and the processing completion signal of the machine tool. The output is performed (see FIG. 1), and the control device (7 in FIG. 1) sends a transfer instruction to the pallet transfer carriage by optical communication (wireless). Upon receipt of the transfer instruction, the pallet transfer trolley heads to the specified machine tool, exchanges transfer signals with the swivel type automatic pallet changing device by the optical data transmission device, and executes the predetermined sequence by the sequence controller. Then, the above-mentioned pallet is automatically replaced.

In this case, the control of the turning type automatic pallet changing device is such that the pallets are transferred to both the first station corresponding to the machining table of the machine tool and the second station corresponding to the stop position of the pallet carrier, The pallet at the station was already machined, and the pallet at the second station could only be swung before it was machined. The reason for controlling in this way is that there is no point in turning because a turning operation is a wasteful operation that does not lead to the next control step when the pallet is not transferred to both stations at the same time.

However, if the swivel type automatic pallet changing device is controlled as described above, one pallet always remains in the machine tool, and the work is carried out in a state where the processed pallet is carried out and the pallet is not left in the machine tool. In order to finish, it was necessary to output a special signal such as the final palette. In addition, since the pallet is not left in the machine tool, the processed pallet is transferred to the first station and swiveled to the second station immediately after the processing is completed, and an empty pallet carrier is sent when the machine tool requests to carry it out. It is conceivable to carry out a control cycle for carrying out the processed pallet. On the other hand, when the second station of the swivel type automatic pallet changing device is vacant, a pallet carry-in request is output even during processing, and the pallet carrier carries the pallet before processing to the machine tool. At this time, before the pallet carrier arrives, processing is completed and the processed pallet is the second
When moving to the station and waiting, the unprocessed pallets are also placed on the pallet transport truck that has arrived, so even if the unloading cycle to transfer the pallets to the truck is executed, the pallets are transferred. I can't. The pallet carrier receives a transfer instruction of only the destination data from the transfer control device to the predetermined machine tool, and when it arrives at the machine tool, the transfer signal is transferred between the pallet carrier and the swing type automatic pallet changer as described above. When the pallets are present on both the second station and the trolley, the pallet transport trolley is stopped and the pallet transport trolley is stopped in the circulation path. There was an inconvenience.

This invention makes it a subject which should be solved to eliminate the said inconvenience.

"Means for Solving the Problem" Specific means for solving the above problems include a machine tool for machining a pallet and outputting a machining completion signal,
A pallet carrier that transports the pallet between the pallet stocker and the machine tool, and a pallet that rotates between a first station that faces the machine tool and a second station that faces the stop position of the pallet carrier. A rotating automatic pallet changing device for rotating, and a pallet control carriage for rotating the rotating automatic pallet changing device and carrying in and out a pallet between the machine tool and the pallet transfer carriage, the pallet transfer carriage comprising: The pallet control means comprises pallet signal output means for outputting the presence / absence of a pallet on the pallet carrier when it arrives at the second station, and the pallet control means has the swivel type automatic pallet exchange when the processing completion signal is input. The device is rotated to move the pallet on the first station to the second station. The pallet presence / absence signal of the pallet signal output means and the pallet presence / absence signal is “absent” after the execution of the first control means. The pallet is unloaded and the pallet presence / absence signal is "present".
In this case, after the pallet on the second station is moved to the first station by rotating the slewing type automatic pallet changing device, the pallet is carried from the pallet carrier to the second station, and then the pallet is transferred to the second station. The present invention is characterized in that the swivel type automatic pallet changing device is equipped with a second control means for swiveling and transferring each pallet to a machine tool and a pallet carrier.

[Operation] The control device of the swivel type automatic pallet changing device outputs a processing completion signal after the machine tool has processed the pallet located at the first station of the swiveling automatic pallet changing device.

When the processing completion signal is output, the turning type automatic pallet changing device is turned by the first control means of the control means, and the pallet is moved from the first station to the second station. Thereafter, the second control means carries out the pallet from the second station to the pallet carrier when the pallet presence / absence signal of the inputted pallet presence / absence signal is "absent", and carries out the pallet. When the pallet presence / absence signal of the carrier truck is “present”, the automatic pallet changing device is rotated to move the pallet from the second station to the first station, and then the pallet carrier truck transfers the pallet to the second station. Then, it is rotated again to transfer the pallet from the second station, carry it out to the pallet carrier, and transfer the pallet from the first pallet station to the machine tool.

[Embodiment] An embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a block diagram showing the configuration of a transfer machine provided with a numerically controlled machine tool additionally provided with the turning type automatic pallet changing device of the present invention. Reference numeral 1 is a host computer that controls the entire machine, and its control program is stored in the magnetic disk device 3. The host computer 1 and each of the numerically controlled machine tools MT1, MT2, MT3 are connected via an interface 2 by a control bus or the like. Reference numeral 4 denotes a turning type automatic pallet changing device, which is attached to each of the numerically controlled machine tools MT1 to MT3. The swivel type automatic pallet changing device 4 includes a first station (I) corresponding to a machining table of each of the machine tools MT1 to MT3 and a second station (I) corresponding to a stop position of a pallet carrier 5 described later.
I), the two transfer tables 4a, 4a are alternately moved to the first and second stations (I), (II) by turning 180 °. The loader 4 for transferring the pallet P to the transfer tables 4a, 4a
Provide b and 4b. The pallet carrier 5 has a circulating carrier path 6
In accordance with the instruction of the transfer control device 7 which receives the carry-out / carry-in request from each machine tool, the pallet P before being processed is placed and moved from the pallet stocker 8 and the pallet is moved by the swiveling automatic pallet changing device 4 instructed. P is carried in or the processed pallet P is carried out. The processed pallet P that has been carried out is placed on the unloading station 9.

FIG. 2 is a schematic block diagram showing the relationship between the swing type automatic pallet changing device 4 and the machine tool main body, and the pallet carrier 5.

The swivel type automatic pallet changing device 4 and the machine tool main body have a sequence controller 10 and are connected to an input device 11 and an output device 12, respectively. A detection signal for detecting the presence or absence of the pallet P is input from the input device 11 by turning on / off the limit switch SW1. The sequence controller 10 receives the detection signal, the machining completion signal from the machine tool main body, various signals such as the machining state of the pallet P, and outputs a pallet loading / unloading request to the transport controller 7 via the multiplex transmission device 15. To do. Upon receiving the request, the transfer control device 7 wirelessly outputs a transfer instruction to the pallet transfer carriage 5.

On the other hand, the pallet carrier 5 is a sequence controller.
20 and has an input device 21 and an output device 22 respectively connected. Turn ON the limit switch SW2 from the input device 21.
When turned off, a detection signal for detecting the presence or absence of the pallet P is input. Furthermore, both sequence controllers 10 and 20 have
Optical data transmission equipment 13 and 23 are connected, and pallet carrier 5
The pallet transfer signal and the pallet transfer signal are exchanged, and by exchanging the signals, the sequence type controller 10 and 20 control the swivel type automatic pallet changing device 4 and the machine tool main body, and further, between the pallet transfer carriages. Transfer of the pre-processed and processed pallets P is controlled respectively.

Next, the operation of the swing type automatic pallet changing device 4 of the present invention will be described with reference to the flow chart of FIG.

In step S301 (hereinafter abbreviated as step), it is determined whether or not there is a pallet in the first station, and if there is (P30)
Proceed to 2) to determine whether the pallet has been processed. If processed (YES in S302), it is determined whether or not there is a pallet in the second station in the following (S303), and if there is (S3).
In 04), determine whether the pallet has been processed.
If not processed (NO in S304), the swivel type automatic pallet change is performed to transfer the processed pallet in the first station to the second station and the unprocessed pallet in the second station to the first station. The device 4 is turned (S305). If it is determined in the above (S301) that there is no pallet in the first station, it is determined in the following (S306) whether or not there is a pallet in the second station. If there is, the process proceeds to (S307) and the pallet is processed. It is judged whether or not it has been finished, and if it is not processed, it turns and moves to the first station (S305). If there is no pallet in either the first or second station (NO in S301 and S306), if the pallet in the first station has not been processed (NO in S302),
When all the pallets in both the second stations have been processed (YES in S301 to S304), the turning operation is not performed. In addition, the pallet at the first station has been processed,
And if there is no pallet in the 2nd station (N in S303
O) moves the pallet of the first station to the second station so as not to leave the pallet in the machine tool and carries out the pallet (S305), and turns the turning automatic pallet changing device 4.

FIG. 4 is a flowchart of transfer control.

In (S401), it is determined whether or not the pallet-carrying dolly (hereinafter referred to as pallet-carrying dolly) has arrived at the second station. If NO, the process continues (S402) in which no pallet-carrying dolly (hereinafter pallet-carrying car). It is determined whether or not a pallet has arrived, and if it arrives, a pallet unloading cycle for transferring pallets from the swing type automatic pallet changing device to the trolley is executed (S403). When the pallet-equipped vehicle arrives at (S401), it is determined at (S404) whether or not there is a pallet at the second station of the swing type automatic pallet changing device 4. If there is, the device 4 is turned (S405), the second station is emptied, and a pallet loading cycle for transferring the pallet on the trolley is executed (S406). If there is no pallet in the second station, the pallet loading cycle is executed as it is.

In the above-mentioned embodiment, the pallet signal output means of the present invention corresponds to the limit switch SW2, the first control means, the second control means and the pallet control means correspond to the sequence controller 10, and the first controller means The function is achieved in step S302 of the flowchart of FIG. The function of the second control means is achieved by steps S301 to S304 of the flowchart of FIG. 3 and steps S401 and S402 of the flowchart of FIG.

[Advantage of the Invention] The present invention has the above-mentioned configuration, and when processing is completed, the pallet is moved to the second station by the swivel type automatic pallet changing device, and in this state, whether or not there is a pallet on the pallet carrier. The pallets are unloaded from the second station to the pallet carrier by turning the automatic pallet changing device from the second station to the first station, and then the pallet is carried from the pallet carrier to the second station. Since the automatic pallet changer is turned to control whether each pallet is transferred to the machine tool and the pallet carrier, it can be turned only when there is a pallet at the 1st and 2nd stations as in the past. Unlike the above, the pallet can be swung with or without the pallets of other stations, and the final pallet Without a specialized output such as No., pallets in the machine tool can be unloaded, even if the further pallet is in the both of the second station and carriage,
There is an effect that it is possible to avoid the inconvenience that the pallet carrier is stopped in the circulation path due to the failure to transfer the pallet as in the conventional case.

[Brief description of drawings]

The attached drawings show an embodiment of the present invention, FIG. 1 is a block diagram, FIG. 2 is a schematic block diagram showing the relationship between a swing type automatic pallet changing device 4 and a machine tool main body and a pallet carrier, and FIG. FIG. 4 is a flowchart showing the operation of the automatic pallet changing device 4, and FIG. 4 is a flowchart of transfer control. 4 ... Swivel type automatic pallet changer, (I) ... First station, (II) ... Second station, 5 ... Pallet carrier, 8 ... Pallet stocker, 10 ... Sequence controller (first control Means, second control means and control means), MT1 to MT3 ... Numerically controlled machine tool, P ... pallet, SW2 ... Limit switch (pallet signal output means), step 302 ... Function of first control means, step 3
01 to step 304 and steps 401, 402 ... Functions of second control means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Hisashi Suzuki 1st Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. Examiner Koji Okubo

Claims (1)

[Scope of utility model registration request] 1. A machine tool for machining a pallet and outputting a machining completion signal, a pallet carrier for transporting the pallet between a pallet stocker and the machine tool, and a first station facing the machine tool. A swivel type automatic pallet exchanging device for swiveling a pallet between the swivel type automatic pallet exchanging device and a second station facing the stop position of the pallet conveying trolley; And a pallet control means for carrying in and out pallets between the pallets, the pallet carrier is provided with pallet signal output means for outputting the presence or absence of pallets on the pallet carrier when it arrives at the second station, The pallet control means is configured to rotate the automatic pallet when the processing completion signal is input. First control means for rotating the changer to move the pallet on the first station to the second station, and a pallet presence / absence signal of the pallet signal output means are input, and the pallet is executed after the first control means is executed. When the presence / absence signal is “absent”, the pallet is unloaded from the second station to the pallet carrier, and when the pallet presence / absence signal is “present”, the swiveling automatic pallet changing device is swung to move the pallet. Two
After moving the pallet on the station to the first station, the pallet is carried from the pallet carrier to the second station, and then the slewing automatic pallet changing device is swung to move each pallet to a machine tool. A control device for a swiveling type automatic pallet changing device, comprising: a second control means for transferring the pallet to a pallet carrier.