JPH0742625Y2 - Tool feeder - Google Patents

Description

[Detailed Description of the Invention] A. Field of Industrial Application The present invention relates to a tool supply device for supplying a tool from a tool stocker to a tool bagagin of an automatic NC machine tool.

B. Outline of the Invention The present invention is a tool magazine between a tool magazine that holds a specified small number of tools with a constant gripping force immediately before use and a tool magazine that holds an unspecified number of tools and a tool magazine. In the tool supply device consisting of a robot that moves the tool, while the extrusion means for individually pushing out the tool from the tool magazine is provided, the grip part for gripping the tool is attached to the hand body via the escape mechanism, This reduces the load on the robot when taking out tools and reduces the transportable weight of the robot.

C. Conventional Technology In an automatic NC lathe, multiple tools can be attached, but today, in high-mix low-volume production, the types of tools used are gradually increasing.

For this reason, a tool stocker that stocks a large number of unspecified tools is installed near the automatic NC lathe, and a tool buffer is provided to collect only the specific tools immediately before use closer to the automatic NC lathe. A robot is provided for moving a tool used from the tool stocker to the tool buffer and returning a used tool from the tool buffer to the tool stocker according to a machining flow of the automatic NC lathe.

The tool buffer has a plurality of tool magazines for holding the tools. On the other hand, there are various types of robot hands, such as those having a simple opening / closing structure and those having a complicated mechanism capable of self-centering when a tool is gripped. The transportable weight of the robot is a value obtained by multiplying the weight obtained by adding the weight of the hand and the weight of the tool by a safety factor, and the work must be performed within the range of the transportable weight.

D. Problem to be solved by the device However, in the tool magazine, the tool is pressed and held by the steel balls that are pressed from all sides by the biasing force of the spring (see Fig. 4). Is a value obtained by multiplying the weight obtained by adding the weight of the hand, the weight of the tool, and the pulling force of the tool by the safety factor. Therefore, a robot having a larger driving force than that of the original robot having a sufficient payload for moving the tool is required, resulting in high cost.

Then, this invention aims at providing the tool supply apparatus which solved such a subject.

E. Means for Solving the Problems The structure of the present invention for achieving such an object is installed in the vicinity of an automatic NC machine tool, and a specific small number of tools immediately before use are sandwiched with a constant gripping force and individually. A tool magazine that holds the tool magazine and a hand that has a gripping part for gripping the tool, and is composed of a tool stocker that accommodates an unspecified number of tools and a robot that moves the tool between the tool magazine. The tool supply device is characterized in that an extruding means for individually extruding the tool from the tool magazine is provided, and a gripping part is provided on the hand body of the robot through an escape mechanism.

F. Action When extracting a tool from the tool magazine, the pushing means pushes the tool out of the tool magazine when the robot grips the tool. Therefore, the robot does not need a tool pulling force.

When the tool is pushed out, the pressing force is also applied to the gripping part that grips the tool, but the gripping part can be moved relative to the hand body by the escape mechanism, and the pressing force is not applied to the hand body.

G. Embodiment Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings.

(A) First embodiment A first embodiment of the tool supply device according to the present invention is shown in FIGS.
A description will be given based on FIG. 4 and FIG.

First, the tool magazine will be described with reference to FIGS. 4 (a) and 4 (b). A U-shaped support frame 3 is attached to the fixed frame 1 via bolts 2, and a frame body 5 is attached to the support frame 3 via pins 4. A tool 6 having a V groove 6a is inserted inside the frame body 5, and the frame body 5 is provided with a means for gripping the tool 6. That is, it is configured as follows. As shown in FIG. 4 (b), guide holes 7 are provided at four locations around the tool 6.
And a steel ball 9 urged by a spring 8 is provided in each guide hole 7. Then, the unclamp pin 1 having the circumferential groove 12a in the lock hole 10 perpendicular to the one guide hole 7 is formed.
2 is slidably provided via a spring 11. Then, the fixed frame 1 has a pusher 14 for pushing the unclamp pin 12.
Are provided via the support member 13.

In addition, a jig cylinder 15 as an extruding means for pushing the tool 6 out of the frame body 5 is attached to the fixed frame 1 via a stay 16. Reference numeral 15a in the drawing is a rod for pushing out the tool 6.

On the other hand, the robot hand is constructed as shown in FIGS. 1 (a) and 1 (b). Reference numeral 20 in the figure denotes a hand body composed of plate materials 20a, 20b, 20c. The hand body 20 has a substantially L-shaped cross-sectional shape, and the surface indicated by 20d is the arm mounting surface. The hand body 20 is provided with a grip portion 22 via an escape mechanism 21.

First, the escape mechanism 21 will be described with reference to FIG. The escape mechanism 21 absorbs the pushing force so as not to be transmitted to the hand body 20 when the tool 6 is pushed out from the frame body 5 by the pushing means. As shown in FIG. 2 (b), the plate material
On the left side of 20a, there are a total of 3 at the vertices of the isosceles triangle.
The right ends of the guide rods 24 of the book are joined, and the respective guide rods 24 are inserted through the bushes 25 into the three holes formed in the moving plate 23. In this way, the right end of the jig cylinder 26 is coupled to the substantially central portion of the movable plate 23 which is movable along the guide rod 24, as shown in FIG. 2 (c), and the tip of the rod 26a of the jig cylinder 26 is washer 27. And the nut 28 to couple the plate member 20a.

The grip 22 is provided with a jig cylinder 26 as shown in FIG. 1 (b).
Mounted on the left side of. A central portion of a mounting plate 29 having a U-shaped cross section is coupled to the left side of the jig cylinder 26, and
A jig dual cylinder 32 that individually drives the left and right rods 30 and 31 in FIG. 5A is attached to a mounting plate 29 via bolts 33. On the other hand, as shown in FIG. 1 (a), a pair of rotating shafts 34 are fixed to the upper part of the moving plate 23, and the base ends of the pair of fingers 35 rotate around the rotating shafts 34 via the bushes 36, respectively. It can be attached freely. Then, as shown in FIG. 1B, the upper portion of the L-shaped link 37 is coupled to the proximal end portions of the fingers 35, while the lower portion is rotatably coupled to the distal end portions of the rods 30 and 31. It That is, the pin 39 penetrating the rods 30 and 31 at a right angle is inserted into the long hole 38 formed at the lower end of the link 37.

The operation of such a tool supply device will be described. When the rods 30 and 31 of the jig dual cylinder 32 shown in FIG. 1 (a) are pushed out, the pair of links 37 and the finger 35 rotate around the rotation shaft 34, and the tips of the pair of fingers 35 close and the tool. Hold 6 Conversely, when the rods 30 and 31 are retracted, the tips of the pair of fingers 35 are opened and the tool 6 is separated. Robot is tool 6 from tool stocker
The pusher as shown in FIGS. 4 (a) and 4 (b).
While pressing 14, the tool 6 is inserted into the frame 5 of the tool magazine. Then, one of the two steel balls 9 lined up enters the circumferential groove 12a, so that the large diameter portion 6a at the tip of the tool 6 spreads the steel ball 9 against the biasing force of the spring 8, As a result, the tool 6 is gripped by the steel ball 9.

To take out the tool 6 from the frame body 5, the jig cylinder 15 is operated while the pusher 14 is being pushed, and the tool 6 is pushed out of the frame body 5 by the rod 15a. Spring 8 to push out tool 6
The steel ball 9 must be moved in the radial direction against the urging force of, and a pulling force of about 30 kg is required. This 30 kg, tool weight 15 kg, and hand weight 10 kg are added, and a robot with a load capacity of 60 kg or more, which is the safety factor multiplied by this, is required. Become.

When the tool 6 is pushed out of the frame body 5, the grip portion 22 for gripping the tool 6 is pushed together with the tool 6 to the left in FIG. 1B, and the movable table 23 is moved to the left along the guide rod 24. Moving. At this time, since the jig cylinder 26 is in the open state, the rod 26a is easily pulled out from the inside of the cylinder,
No force is applied to the hand body 20. Then, the jig cylinder 26 is operated to return the moving No. 23 to the original position.

To open and close the finger 35, the jig dual cylinder 32, which has a simple structure and is compact in weight, is used.
Since it is configured to rotate around, the center position of the tool 6 can be brought close to the mounting surface 20d of the hand body 20, and the transportable weight of the robot becomes large.

(B) Second Embodiment Next, a second embodiment of the tool supply device is shown in FIG.
A description will be given based on (b).

In the figure, 45 is a hand body, and the hand body 45 is a plate material 45a,
It consists of 45b and 45c. The hand body 45 has a substantially U-shaped cross section as shown in FIG.

First, the escape mechanism 49 will be described. On the plate member 45b of the hand body 45, a movable table having an L-shaped cross section via a cross roller table 46 including a table 46a and a base 46b.
48 is attached. The cross roller table is a table in which a cross roller guide is incorporated between the table and the base, and a relatively highly accurate linear motion can be obtained. The moving table 48 is composed of plate materials 48a and 48b, and the hand body 45
A jig cylinder 50 for shock absorption is attached to the plate member 45c constituting the above, and a rod 50a of the jig cylinder 50 is coupled to the plate member 48b via an L-shaped metal fitting 51 and a bolt 52.

The grip 47 is attached to the plate member 48a of the base 48. Plate material 4
A slider 60 is provided slidably in the left-right direction on the left side of 8a in FIG. 3 (a) via upper and lower cross roller tables 56, 57, and on the right side via upper and lower cross roller tables 58, 59. A slider 61 is provided on the slide in the left-right direction. The cross roller tables 56 to 59 are composed of the tables 56a to 59a and the bases 56b to 59b as described above. A pair of sliders 6 that can be opened and closed in this way
The base ends of the fingers 62, 62 are coupled to the one ends of the 0, 61 via bolts 64, respectively. Reference numeral 65 is a gripping claw. On the other hand, a jig dual cylinder 55 fixed to the plate member 48a is provided between the pair of sliders 60 and 61, and the tips of the rods 53 and 54 protruding from both ends of the jig dual cylinder 55 are slidable via an auxiliary member 66. It is connected to the middle part of 60,61.

Since such a tool supply device uses a slide table, it has the following advantages over the first embodiment. If a link mechanism is used to open and close the fingers, and if the length from the fulcrum to the point of action is constant, the distance from the fulcrum to the force point must be approximately the same as the distance from the fulcrum to the point of action, requiring a large space. However, the second embodiment does not have such a limitation. Compared to the link mechanism that transmits force in the rotational direction, the slide table transmits force in the linear direction, so the force transmission rate is approximately 100%, and the structure is simple.

H. Effects of the Invention As can be seen from the above description, the tool supply device according to the present invention has the following effects.

(1) Since the tool magazine is provided with the push-out means for pushing out the tool, the pulling out force of the tool, which was conventionally burdened by the robot at the time of exchanging the tool, becomes unnecessary, and as a result, the transportable weight of the robot can be reduced.

(2) Since the grip portion is provided in the hand body through the escape mechanism, the escape mechanism absorbs the pushing force of the tool by the pushing means and the hand does not receive it. This also reduces the transportable weight of the robot. This will prevent you from having to make it larger.

[Brief description of drawings]

1 and 2 relate to an embodiment of a tool supply device according to the present invention, and FIG. 1 shows a first embodiment of a robot hand. FIG. 1 (a) is a front view and FIG. (B) is a right side view, FIG. 2 shows a part of the robot hand of the first embodiment, FIG. 2 (a) is a front view, FIG. 2 (b) is a right side view, 2 (c) is a view as seen from the arrow I-I of FIG. 2 (a), FIG. 3 shows a second embodiment of the robot hand, and FIG. 3 (a) is a front view and FIG. 4B is a right side view, FIG. 4A is a sectional view of the tool magazine according to the first embodiment and the second embodiment, and FIG. 4B is a II-II arrow in FIG. 4A. It is a perspective view. 5 ... frame, 6 ... tool, 8,11 ... spring, 9 ... steel ball,
15,26,50 …… Jig cylinder, 20,45 …… Hand body, 21,
49 …… Escape mechanism, 22,47 …… Grip part, 32,55 …… Jig dual cylinder.

Claims (1)

[Scope of utility model registration request] 1. A hand which is installed near an automatic NC machine tool and which holds a specific small number of tools immediately before use by individually gripping them with a constant gripping force, and a hand having a gripping portion for gripping the tools. In a tool supply device comprising a tool stocker accommodating an unspecified number of tools and a robot for moving the tools between the tool magazine, and an extruding means for individually extruding the tools from the tool magazine. A tool supply device characterized in that a grip portion is provided on a hand body of a robot via an escape mechanism.