CN107263191B - Workpiece replacing device and workpiece replacing method - Google Patents
Workpiece replacing device and workpiece replacing method Download PDFInfo
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- CN107263191B CN107263191B CN201710193964.6A CN201710193964A CN107263191B CN 107263191 B CN107263191 B CN 107263191B CN 201710193964 A CN201710193964 A CN 201710193964A CN 107263191 B CN107263191 B CN 107263191B
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- arm
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- workpiece
- hood
- replacement mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1494—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
- B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Auxiliary Devices For Machine Tools (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The present invention relates to the workpiece replacing devices and workpiece replacing method that use manipulator to replace workpiece between the inner side and outer side of the wall of cladding lathe.In workpiece replacing device, when in position, determination unit is judged to replacing mechanism and is located at the outside of hood, the movement speed for replacing mechanism is set as First Speed by speed configuration part, when in position, determination unit is judged to replacing mechanism and is not located at the outside of hood, the movement speed for replacing mechanism is set higher than the second speed of First Speed by speed configuration part, control unit control replacement mechanism, drive the replacement mechanism with set speed, therefore, even if replacement mechanism is acted on the outside of hood, movement speed is relatively low.Therefore, the allocation position of hood can be set in the operating space of replacement mechanism, even if manipulator is abutted against with guardrail, the damaged degree of guardrail is also smaller, intensity needed for can reduce guardrail, so as to manufacture guardrail with lower price.
Description
Technical field
The present invention relates to the workpiece replacings for using manipulator to replace workpiece between the inner side and outer side of the wall of cladding lathe
Device and workpiece replacing method.
Background technique
Japanese Patent Publication the 2015-205385th discloses lathe and wall.Wall coats lathe, to prevent chip
Etc. disperse, coolant liquid etc. is splashed.Wall has shutter door.Manipulator is located at the outside of shutter door, and the opening and closing with shutter door is connected
Replace workpiece in ground.In order to which the guardrail (being equivalent to hood of the invention) of safety is located at the outside of wall.Manipulator is located at guardrail and wall
Between, the replacement operation of workpiece is carried out in the inside of guardrail.
When manipulator executes replacement operation in guardrail, with high-speed mobile.Sometimes, the footprint area of guardrail increases in order to prevent
Greatly, guardrail is set in a manner of Chong Die with the moving range of manipulator.It is set in a manner of Chong Die with the moving range of manipulator
When having determined guardrail, the manipulator of high-speed mobile collides guardrail sometimes.In order to enable even if the manipulator of high-speed mobile collides shield
Column, guardrail will not be damaged, form guardrail with the more expensive material of price.
Summary of the invention
It is an object of the present invention to provide the workpiece replacing devices and work that can cut down footprint area and be accordingly possible to ensure security
Part replacing options.
The workpiece replacing device of technical solution 1 has manipulator, which is located at configuration and is coating the outer of the wall of lathe
Between the hood of side and the wall, for replacing workpiece between the inner side and outer side of wall, manipulator has in wall
The replacement mechanism of workpiece is replaced between side and the outside of hood.Workpiece replacing device includes location determination portion, is used for replacement
Whether mechanism, which is located on the outside of hood, is determined；Speed configuration part is located at being judged to replacing mechanism using location determination portion
When the outside of hood, which is set as First Speed for the movement speed for replacing mechanism, is utilizing location determination portion
When being judged to replacing mechanism and not being located at the outside of hood, which is set higher than for the movement speed for replacing mechanism
The second speed of one speed；And control unit, it is used to control replacement mechanism, sets the replacement mechanism by speed configuration part
Speed is driven.
The replacement mechanism of manipulator replaces workpiece between the inside of wall and the outside of hood.That is, replacement mechanism is movable
Range includes the region in the outside of the range of hood cladding manipulator.When replacement mechanism is located at the outside of hood, make changing machine
The driving speed of structure reduces, and therefore, even if manipulator is abutted against with guardrail, the damaged degree of guardrail is also smaller, can reduce shield
Intensity needed for column, so as to make guardrail with lower price.When replacement mechanism is not located at the outside of hood, make more
The driving speed of structure of changing planes increases, and replaces workpiece with shorter time.
The replacement mechanism of the workpiece replacing device of technical solution 2 includes the first arm, can be revolved centered on one end
Turn；First driving source is used to that the first arm to be driven to rotate first arm；Second arm has in one end and holds
Portion, the other end are connected in such a way that second arm can rotate with the other end of the first arm；And second driving
Source is used to that the second arm to be driven to rotate second arm.Location determination portion includes the first rotation angle operational part, uses
Operation is carried out in the rotation angle to the first arm；And second rotation angle operational part, be used for the rotation angle to the second arm
Degree carries out operation, and location determination portion can rotate angle operational part based on the operation result and second of the first rotation angle operational part
Operation result, whether at least part of at least part or the second arm to the first arm, which is located on the outside of hood, is sentenced
It is fixed.
The replacement mechanism of technical solution 2 has the first arm that can be rotated and the second arm that can be rotated.Workpiece is more
Changing device can rotation angle and the second arm based on the first arm rotation angle, to replacement, whether mechanism is located at the outer of hood
Side is determined, that is, whether at least part of at least part or the second arm to the first arm is located at the outside of hood
Determined.
The workpiece replacing device of technical solution 3 wall be equipped with shutter door, the opening and closing of manipulator and shutter door be connected more
Change workpiece.Workpiece is replaced in the opening and closing of manipulator and shutter door with being connected, and workpiece, therefore, workpiece replacing are swimmingly replaced in realization
Device is not necessarily to newly set for making a driving mechanism for opening and closing.
The workpiece replacing method of technical solution 4 is that manipulator replaces workpiece between the inner side and outer side of the wall of cladding lathe
Method, wherein manipulator be located at configuration between the hood and the wall in the outside of wall.Manipulator has in wall
The replacement mechanism of workpiece is replaced between side and the outside of hood.Workpiece replacing method is as follows: to replacement, whether mechanism is located at hood
Outside determined；When being judged to replacing mechanism and being located at the outside of hood, the movement speed for replacing mechanism is set as
One speed；When being judged to replacing mechanism and not being located at the outside of hood, the movement speed for replacing mechanism is set higher than first
The second speed of speed；Control replacement mechanism, drives the replacement mechanism with set speed.
Detailed description of the invention
Fig. 1 is the perspective view for indicating lathe, wall, door component, manipulator and hood.
Fig. 2 is the perspective view for indicating lathe, wall and door component.
Fig. 3 is the enlarged partial isometric view for indicating plunger and block.
Fig. 4 is the longitudinal section view for indicating plunger.
Fig. 5 is the partial cross section's right view for indicating manipulator.
Fig. 6 is the amplification longitudinal section view indicated near handle part.
Fig. 7 is the perspective view for indicating replacement mechanism.
Fig. 8 is the partial elevational elevation view for indicating arc sections when the first arm tilts to the right.
Fig. 9 is the partial elevational elevation view for the arc sections for indicating that the first arm fastens with shutter door when parallel, with ball.
Figure 10 is the partial elevational elevation view of the arc sections to fasten when indicating that the first arm tilts to the left, with ball.
Figure 11 is the block diagram for indicating the structure of control device of the driving for controlling manipulator.
Figure 12 is the benchmark of the first rotation angle for indicating the first arm of measurement and the second rotation angle of the second arm
Partial elevational elevation view.
Figure 13 is the flow chart for the speed setting processing for illustrating that control device carries out.
Figure 14 is the flow chart for the workpiece replacing processing for illustrating that control device carries out.
Figure 15 is the top view of manipulator when indicating original state.
Figure 16 is the main view of manipulator when indicating original state.
Figure 17 is the top view of manipulator when indicating shutter door is closed and ball and engaging slot fasten state.
Figure 18 is partial cross section's main view of manipulator when indicating shutter door is closed and ball and engaging slot fasten state
Figure.
The top view of manipulator when Figure 19 is the state for the inside for indicating that shutter door is opened and replacement mechanism enters wall.
Figure 20 is to indicate that the part of manipulator when shutter door is opened and replaces the state for the inside that mechanism enters wall is cut
Face main view.
Figure 21 is the top view for indicating manipulator of the replacement mechanism in the state of the outside of hood replacement workpiece.
Figure 22 is the front section view for indicating manipulator of the replacement mechanism in the state of the outside of hood replacement workpiece.
Specific embodiment
In the following, being based on Detailed description of the invention workpiece replacing device.In the following description, using it is shown in the drawings up and down before
Afterwards.The wall 101 for coating lathe 100 is set to around lathe 100.The right part of wall 101 has opening (illustration omitted), and door component 4 is set
In the right side of opening.The right side of door component 4 is set to when vertical view in the hood 2 of letter U shape.Hood 2 has to be extended in left-right direction
Front panel portion 2a and the back plate portion 2b and right panel portion 2c extended along the longitudinal direction.The right end of front panel portion 2a and the right side of back plate portion 2b
End is connected with right panel portion 2c.The 2d that is open is set to right panel portion 2c.Hood 2, wall 101 and door component 4 fence up manipulator 1.For
The platform 90 that workpiece 91 configures is set to the right side of hood 2, and platform 90 is located at the right side of opening 2d and is the side of opening 2d.Manipulator 1,
Hood 2 and door component 4 constitute workpiece replacing device.
As shown in Fig. 2, door component 4 has in a rectangular parallelepiped shape and relatively thin shell 41.Shell 41 is along the vertical direction and front and back
Direction extends, and has opening 42.Opening 42 runs through the right side and left side of shell 41 in left-right direction.Opening 42 is in and wall
The corresponding position of 101 opening.Shell 41 is accommodated with the shutter door 43 that can be moved along the longitudinal direction.Shutter door 43 and shell
41 is substantially parallel, and 42 opening and closing of opening is made by moving shutter door 43 along the longitudinal direction.The opening and closing direction of shutter door 43 is with before
Rear direction is corresponding.
As shown in Figure 2 and Figure 3, plunger 44 and block 45a are by the installation part 46 in letter L shape set on shutter door 43
Front end.Plunger 44 is located at the upside of block 45a.As shown in figure 4, plunger 44 has shell 44a, elastic component 44c, ball
The receiving room 44b of 44d and tubular.Shell 44aIt is protruded to the right from shutter door 43.Receiving room 44b is in shell 44aIt is interior along right and left
To extension, elastic component 44cIt is accommodated in receiving room 44b.Ball 44d is set to elastic component 44cRight end.Receiving room 44b runs through shell
44aRight side, the diameter of the other parts of the diameter of the right end of receiving room 44b less than receiving room 44b.The diameter of ball 44d is big
In the diameter of the right end of receiving room 44b, and the diameter of the other parts less than receiving room 44b.Therefore, ball 44d can stored
It moves and will not be run out of from receiving room 44b in left-right direction in the 44b of room.Elastic component 44c to the right exerts a force to ball 44d.Bullet
Property component 44c is, for example, spring or rubber.Block 45a is the component that can be detected by aftermentioned proximity sensor 45b, block
Shape object 45a is the box-like component formed by metals such as iron.
Manipulator 1 has replacement mechanism 70, pedestal 12 and mobile mechanism 10.Replacement mechanism 70 is indicated with longitudinal section in Fig. 5.
Pedestal 12 in a rectangular parallelepiped shape, and extends along the longitudinal direction.Mobile mechanism 10 have screw rod 14, the first motor 11, nut 16, along preceding
Two tracks 13 that rear direction extends.Two tracks 13 are set to the right side of pedestal 12, and are separated with interval in the up-down direction.Edge
The screw rod 14 that front-rear direction extends is set between two tracks 13.The front and rear of two 15 supporting screws 14 of bearing.First
Motor 11 is set to the rear end of screw rod 14.Nut 16 is connected by rolling element (illustration omitted) and the middle portion of screw rod 14.
Mobile mechanism 10 is additionally provided with pedestal 18 and mounting plate 17, and pedestal 18 is set to the right side of nut 16, and observes from the front
When be in inverted L shape.Pedestal 18 have along the vertical direction with front-rear direction extend right panel portion 18a and from the upper end of right panel portion 18a to
Left upper plate portion 18b outstanding.Right panel portion 18a is fixed on mounting plate 17, and mounting plate 17 is connected with nut 16.Nut 16 and bottom
Seat 18 can be moved along the longitudinal direction by the rotation of the first motor 11.As shown in Figure 5, Figure 7, proximity sensor 45b is set to upper
Plate portion 18b is opposite with wall 101.Proximity sensor 45b is, for example, Hall sensor, optical sensor or ultrasonic sensor, can
Object proximity is detected.
Replacing mechanism 70 has front support body 20, rear support body 21, the first arm 31 and the second arm 32.Front support body 20
It is separated with interval in the longitudinal direction with rear support body 21, is fixed on the upper surface of upper plate portion 18b.Rear support body 21 is along front and back
To the tubular of extension, the second motor 22 (the first driving source) is set to the rear portion of rear support body 21.The transmission extended along the longitudinal direction
Cylinder 24 is set to the inside of rear support body 21.The rotary shaft 22a of second motor 22 and the shaft portion of transmission cylinder 24 are connected.Before
Supporting mass 20 is the tubular extended along the longitudinal direction, and third motor 23 (the second driving source) is accommodated in front support body 20.Third horse
Rotary shaft 23a up to 23 is rearward protruded from preceding supporting mass 20.
As shown in figure 5, the first arm 31 is set between front support body 20 and rear support body 21.First arm 31 is in box-like.
The lower end of first arm 31 is in the tubular penetrated through along the longitudinal direction, and the lower end of the first arm 31 rearward protrudes.Arc sections
310 be a part part outstanding to outer peripheral side of the outer peripheral surface at the rear portion of the lower end of the first arm 31.Arc sections 310 have
Outer peripheral surface centered on rotary shaft 22a.The outer peripheral surface has the engaging along the circumferencial direction centered on rotary shaft 22a
Slot 311.Ball 44d can fasten with engaging slot 311.The lower end of first arm 31 has disk-shaped hub (day in inside
Text: Ha Block) 25.Transmission cylinder 24 is connected with hub 25.
The rotary shaft 23a of third motor 23 is inserted into the front part of the lower end of the first arm 31.Belt wheel 26 is set to first
The inside of arm 31, and be connected with rotary shaft 23a.The rotary shaft 23a of third motor 23, the second motor 22 rotary shaft 22a,
The axle center for being driven the shaft portion of cylinder 24 and the lower end of the first arm 31 is located in first axle 51 (referring to Fig. 7).With
Two motor 22 rotates, and transmission cylinder 24 is rotated around first axle 51, and the first arm 31 is centered on lower end around first axle 51
Rotation.
The transmission cylinder 33 extended along the longitudinal direction is set to the front part of the upper end of the first arm 31.It is driven cylinder 33
With in front and back axle portion 33a outstanding.The upper end of the first arm 31 is run through in the rear end of axle portion 33a, and is located at the
The inside of one arm 31.Belt wheel 33b is set to the rear end of axle portion 33a.Belt 38, which is opened, is located at belt wheel 33b and set on third motor 23
Rotary shaft 23a belt wheel 26 on.
Second arm 32 is set to the front part of transmission cylinder 33.Second arm 32 is in box-like.It is driven cylinder 33 and second
The upper end of arm 32 is connected.Axle portion 33a is located in second axis 52 (referring to Fig. 7).As third motor 23 rotates, axle portion
33a and transmission cylinder 33 are rotated by belt 38 around second axis 52, and the second arm 32 is rotated around second axis 52.Second arm
32 lower end is accommodated with the 4th motor 34.The 32a that is open is set to the rear section of the lower end of the second arm 32.4th motor 34
Rotary shaft 34a from opening 32a rearward protrude.Belt wheel 35 is set to rotary shaft 34a.
As shown in fig. 6, the bearing cylinder 66 extended along the longitudinal direction is set to the lower surface of the lower end of the second arm 32.Bearing
Cylinder 66 is bottomed cylindrical, and the bottom of bearing cylinder 66 is located at rear side.Transmission body 65 is set to bearing cylinder 66.Transmission body 65 is in front and back
Direction is the disk-shaped of axis direction.Rotary shaft 67 is set to the center of transmission body 65.Rotary shaft 67 from transmission body 65 forwards and
Rear extends, and the rear end of rotary shaft 67 is projected into through the bottom of bearing cylinder 66 than supporting 66 rearward position of cylinder.Belt wheel 36
Set on the rear end of rotary shaft 67.Belt 37, which is opened, to be located on belt wheel 35 and belt wheel 36 this two belt wheels.
Plectane portion 68 is set to the front end of rotary shaft 67.Plectane portion 68 is set in the support plate 64 of alphabetical L shape when main view
Front part.Plectane portion 68 and the corner part 64a of support plate 64 are connected.As the 4th motor 34 and belt wheel 35 rotate, belt wheel
36, rotary shaft 67 and transmission body 65 are rotated by belt 37, and support plate 64 rotates.Support plate 64 is using front-rear direction as rotation axis
Direction is rotated centered on corner part 64a.
Handle part 60 is set to the both ends of support plate 64.Handle part 60 has cylinder portion 61, movable plate 62 and receives component 63,
Handle part 60 is for holding workpiece 91.Movable plate 62 can move under the driving in cylinder portion 61.Receive component 63 and movable plate 62
Relatively.As cylinder portion 61 is driven, movable plate 62 is close to receiving component 63 or far from receiving component 63.Workpiece 91 is located at movement
Plate 62 and receive between component 63, movable plate 62 close to receive component 63 when, movable plate 62 and receive component 63 and hold workpiece
91.When movable plate 62 is far from component 63 is received, movable plate 62 decontrols workpiece 91 with component 63 is received.
When from main view angle, arc sections 310 are set to the range of the predetermined angular θ centered on first axle 51.Rule
Determining angle, θ is following such ranges: even if crossing the rotation of shutter door 43 to the workpiece of lathe 100 in the first arm 31 dismounts area
When the maximum rotation position of domain side, engaging slot 311 still fastens with plunger 44, even if flat in the first arm 31 and shutter door 43
When row, engaging slot 311 still fastens with plunger 44, it is specified that angle, θ is, for example, 60 degree~180 degree.Arc sections 310 are from arc sections
310 left part 310a extends to right part 310b clockwise.Not engage from replacement mechanism 70 with shutter door 43
State be transformed into when making to replace the state that mechanism 70 and shutter door 43 fasten, first make the first arm 31 from big with shutter door 43
It causes parallel position to rotate to far from the direction of shutter door 43, rotates the engaging slot 311 of arc sections 310 to leaving ball 44d's
Position.Then, make to replace the movement of mechanism 70 using mobile mechanism 10, so that the engaging slot 311 of arc sections 310 and ball 44d exist
Identical position is on front-rear direction.Later, so that the first arm 31 is rotated to the position substantially parallel with shutter door 43, make card
Slot 311 is closed to engage with ball 44d.After engaging slot 311 engages with ball 44d, make to replace the movement of mechanism 70 using mobile mechanism 10,
To make shutter door 43 be opened and closed.As shown in figure 8, the first arm 31 centered on first axle 51 clockwise (around
Other direction in the direction of rotation axis) it rotates to when tilting to the right, arc sections 310 and ball 44d are in front-rear direction (opening and closing
The opening and closing direction of door 43) on it is not opposite.The left part 310a (by the end of 43 side of shutter door) of arc sections 310 is located at than ball
44d upper position.Ball 44d does not engage with engaging slot 311.As shown in figure 9, in the first arm 31 is with first axle 51
The heart counterclockwise (direction in the direction of rotation axis) rotate to along the direction parallel with shutter door 43 to
Top extend when, the engaging slot 311 of arc sections 310 engages with ball 44d, and the engaging slot 311 of arc sections 310 with ball 44d preceding
It is opposite in rear direction.The left part 310a of arc sections 310 is located at the position than ball 44d on the lower.The right part of arc sections 310
310b is located at the position more upper than ball 44d.Ball 44d fastens with engaging slot 311.
As shown in Figure 10, it is continued around and is rotated counterclockwise to the left centered on first axle 51 in the first arm 31
When inclination, arc sections 310 and ball 44d maintain fastening state.The left part 310a of arc sections 310 in Fig. 9, Figure 10 is in upper and lower
It is located at the position than ball 44d on the lower upwards, and leaves ball 44d to the right in the lateral direction.Arc sections in Fig. 9, Figure 10
310 right part 310b is located at the position more upper than ball 44d in the up-down direction.Ball 44d fastens with engaging slot 311.I.e.
Rotate the first arm 31 counterclockwise to maximum rotation position, the right part 310b of arc sections 310 is in the up-down direction
It is still located on the position more upper than ball 44d, ball 44d still fastens with engaging slot 311.In other words, in the first arm 31
When rotating to the limit counterclockwise, the mode that ball 44d still fastens with engaging slot 311, setting arc sections 310
Position and predetermined angular θ around first axle 51.
As shown in Fig. 8~Figure 10, the range around the exterior angle of the predetermined angular θ of first axle 51 constitutes non-engagement region
312, in the non-engagement region 312, ball 44d does not engage with engaging slot 311.Non-engagement region 312 is from the left end of arc sections 310
Portion 310a (by the end of 43 side of shutter door) is formed counterclockwise.As shown in figure 8, being tilted to the right in the first arm 31
When, ball 44d and non-engagement region 312 are opposite.That is, ball 44d does not engage with engaging slot 311.
As shown in figure 11, control device 80 (location determination portion, speed configuration part, control unit) have CPU81, ROM82,
RAM83, nonvolatile memory 84, input interface 85 and output interface 86, these above-mentioned components are connected using bus.
CPU81 is by entering RAM83 for the control program read (CP read) stored in ROM82, to control the driving of lathe 100 and workpiece replacing device.
ROM82 is stored with the replacement program for replacing workpiece 91.CPU81 constitutes multiple program blocks of replacement program by successively reading in
To execute workpiece replacing processing.
First motor 11 has the first encoder 11b, and the second motor 22 has second encoder 22b, and third motor 23 has
There is third encoder 23b, the 4th motor 34 has the 4th encoder 34b.First encoder 11b is for detecting the first motor 11
Angle is rotated, inputs detected rotation angle to control device 80 by input interface 85, second encoder 22b is for examining
The rotation angle for surveying the second motor 22 inputs detected rotation angle, third to control device 80 by input interface 85
Encoder 23b is used to detect the rotation angle of third motor 23, inputs by input interface 85 to control device 80 detected
Rotation angle, the 4th encoder 34b is used to detect the rotation angle of the 4th motor 34, by input interface 85 to control device
The detected rotation angle of 80 inputs.Proximity sensor 45b can input whether to indicate replacement mechanism 70 to control device 80
Close signal.Control device 80 drives to the 11~the 4th motor 34 of the first motor, the output of cylinder portion 61 respectively by output interface 86
Dynamic signal.
Control device 80 can the rotation angle based on the first motor 11 inputted from the first encoder 11b to replacement mechanism 70
Front-rear direction position carry out operation, control device 80 can be based on the rotation of the second motor 22 inputted from second encoder 22b
Angle carries out operation to the rotation angle of the first arm 31, and control device 80 can be based on the third inputted from third encoder 23b
The rotation angle of motor 23 carries out operation to the second rotation angle of the second arm 32, and control device 80 can be based on from the 4th coding
Direction of the rotation angle of 4th motor 34 of device 34b input to support plate 64 around rotary shaft 67 carries out operation.
As shown in figure 12, first reference line of the first rotation angle of the first arm 31 to extend upwards from first axle 51
On the basis of 71 (plumb lines), the first rotation angle when rotating to the right is positive, the first rotation angle when rotating to the left
Degree is negative.Moreover, the first arm 31 is only capable of being rotated by 90 ° to positive side, it is only capable of being rotated by 90 ° to negative side.The second of second arm 32
Angle is rotated on the basis of from second reference line 72 of the first axle 51 along the longitudinal direction extension of the first arm 31, with sidespin to the right
The second rotation angle when turning is positive, and the second rotation angle when rotating to the left is negative.Moreover, the second arm 32 be only capable of to
Positive side rotates 160 degree, is only capable of rotating 160 degree to negative side.
Control device 80 rotation speed of the first arm 31 of setting, the in the aftermentioned speed setting processing (referring to Fig.1 3)
Rotation speed, the rotation speed of support plate 64 of two arms 32.
As shown in figure 13, the CPU81 of control device 80 reads in the program block of the rotation processing for executing the first arm 31,
Operation (step S1) is carried out to the first rotation angle.CPU81 reads in the program block of the rotation processing for executing the second arm 32,
Operation (step S2) is carried out to the second rotation angle of the second arm 32.CPU81 is to the first rotation angle obtained by operation
Whether whether less than 0 degree and by the second rotation angle that operation obtains less than 0 degree (step S3) is determined.Sentence in CPU81
Be set to by operation obtain first rotation angle less than 0 degree and by operation obtain second rotation angle less than 0 degree when (walk
Rapid S3: yes), CPU81 will indicate flag that speed is high speed to RAM83 or nonvolatile memory 84 (step S4), knot
Beam processing.In the second rotation that the first rotation angle that CPU81 is judged to obtaining by operation is 0 degree or more or is obtained by operation
When gyration is 0 degree or more (step S3: no), CPU81 by indicate speed for low speed flag to RAM83 or non-volatile
Memory 84 (step S5), ends processing.In step s3, whether CPU81 is located in hood 2 first arm and the second arm
Judged.
Illustrate that workpiece replacing is handled.When for original state, shutter door 43 is closed, and manipulator 1 is located at the rear end of track 13
Portion.As shown in Figure 15, Figure 16, replacement mechanism 70 reaches outside (right side), the first rotation angle and second from the opening 2d of hood 2
Rotating angle is 0 degree or more.
As shown in figure 14, CPU81 executes speed setting processing, setting speed (step S11).CPU81 reads processing program,
The target angle (the first rotation angle) of the first arm 31 and the target angle (the second rotation angle) of the second arm 32 are read in, is held
Scanning frequency degree setting processing (referring to Fig.1 3).
CPU81 makes the first arm 31 rotate to engaging slot 311 position (step S12) when not engaging with ball 44d to the right.
CPU81 obtains the detected value of second encoder 22b, carries out feedback control to the second motor 22.CPU81 is with right in step s 11
First arm 31 will rotate to engaging slot 311 angle (the first rotation rotated when position when not engaging with ball 44d to the right
Angle) operation is carried out, and the mark (referring to Fig.1 the step S3 in 3: no) for indicating low speed is set in RAM83, therefore,
In step S12, the first arm 31 is with low speed rotation.
CPU81 makes replacement mechanism 70 advance to specified position (step S13) to 11 output drive signal of the first motor.
CPU81 obtains the detected value of the first encoder 11b, carries out feedback control to the first motor 11.Specified position is that ball 44d can be with
Position when engaging slot 311 engages.When replacement mechanism 70 reaches the above-mentioned position that can be engaged, proximity sensor 45b detection
To the block 45a for being set to shutter door 43, open signal is inputted to control device 80.It can be for ball as long as replacement mechanism 70 is in
Position when 44d engages with engaging slot 311, proximity sensor 45b just continue to input open signal to control device 80.
The signal of CPU81 acquisition proximity sensor 45b is simultaneously standby, until proximity sensor 45b inputs open signal (step
S14: no).When proximity sensor 45b has input open signal (step S14: yes), CPU81 executes speed setting processing, if
Constant speed degree (step S15).
CPU81 makes the first arm 31 rotate to engaging slot 311 position (step S16) when engaging with ball 44d to the left.
CPU81 obtains the detected value of second encoder 22b, carries out feedback control to the second motor 22.Execute step S16 processing it
Afterwards, the first rotation angle is 0 degree or more (7, Figure 18 referring to Fig.1).
In step S15, CPU81 reads in the first arm 31 and rotates to engaging slot 311 position when engaging with ball 44d to the left
The angle (referring to Fig.1 the step S3 in 3: no) of i.e. 0 degree or more of the angle (first rotation angle) rotated when setting.Therefore, exist
In step S15, speed is set as low speed (referring to Fig.1 3 in step S5) by CPU81, in step s 16, the first arm 31 with
Low speed rotation.
CPU81 makes to replace the retrogressing of mechanism 70 to the specified position (position of shutter door 43 to 11 output drive signal of the first motor
It is set to the position for the inside that can allow for replacement mechanism 70 to enter wall 101) (step S17).Due to ball 44d and 311 phase of engaging slot
Engaging, therefore, shutter door 43 is as the retrogressing of replacement mechanism 70 is to be opened.CPU81 obtains the detection of the first encoder 11b
Value carries out feedback control to the first motor 11.
CPU81 executes speed setting processing, setting speed (step S18).CPU81 makes the first arm 31 and the second arm 32
It is rotated to the left to the inside (step S19) of wall 101.The detected value and third encoder of CPU81 acquisition second encoder 22b
The detected value of 23b carries out feedback control to the second motor 22 and third motor 23.After the processing for executing step S19, first
It rotates less than 0 degree of angle (9, Figure 20 referring to Fig.1).
The angle that CPU81 is rotated when rotated to the left in step S18 to the first arm 31 to positioned at the inside of wall 101
Angle progress operation (referring to Fig.1 3 in step S3: yes) of the degree (first rotation angle) i.e. less than 0 degree, and set in RAM83
The mark of expression high speed is determined, therefore, in step S19, the first arm 31 and the second arm 32 are rotate at high speed.One holding
Portion 60 is located at the upper of the workpiece 91 being processed configured in the workpiece holding station 102 (referring to Figure 20, Figure 22) of lathe 100
Side.
The workpiece 91 and not processed workpiece 91 (step S20) that CPU81 has been processed in the exchange of the inside of wall 101.
CPU81 holds the workpiece 91 being processed to 61 output drive signal of cylinder portion, using a handle part 60.CPU81
Spend 64 high speed rotation substantially 90 of support plate.CPU81 obtains the detected value of the 4th encoder 34b, carries out instead to the 4th motor 34
Feedback control.CPU81 decontrols the not processed workpiece that hold in advance by another handle part 60 to 61 output drive signal of cylinder portion
91, which is configured in workpiece holding station 102.
CPU81 rotates the first arm 31 and the second arm 32 to the right to the outside (step S21) of wall 101.CPU81 is obtained
The detected value of second encoder 22b and the detected value of third encoder 23b are taken, the second motor 22 and third motor 23 are carried out instead
Feedback control.First arm 31 and 32 high speed rotation of the second arm are to the outside of wall 101.Such as first arm 31 the first rotation angle
Degree is 0 degree at the outside of wall 101, and the second rotation angle of the second arm 32 is 0 degree at the outside of wall 101.That is, from front
It is in the state shown in figure 18 when observation.
CPU81 makes manipulator 1 advance to position when closing shutter door 43 to 11 output drive signal of the first motor
(step S22).CPU81 obtains the detected value of the first encoder 11b, carries out feedback control to the first motor 11.It is arrived in manipulator 1
When up to position when closing shutter door 43, manipulator 1 is in the shape for the position for keeping ball 44d and engaging slot 311 that can engage
State, proximity sensor 45b continue to input open signal to control device 80.It is not holding ball 44d and engaging slot in manipulator 1
When the state of 311 positions that can be engaged, proximity sensor 45b inputs shutdown signal to control device 80, and CPU81 is identified as connecing
Nearly sensor 45b is not in correct action state, does not carry out (step S23: no) to next step.
The signal of proximity sensor 45b is got in CPU81, determines that proximity sensor 45b has input to control device 80
After open signal (step S23: yes), CPU81 executes speed setting processing, setting speed (step S24).
CPU81 makes the first arm 31 rotate to engaging slot 311 position (step S25) when not engaging with ball 44d to the right.
CPU81 obtains the detected value of second encoder 22b, carries out feedback control to the second motor 22.In step s 24, CPU81 is read in
First arm 31 rotates to the right to engaging slot 311 angle (the first rotation angle rotated when position when not engaging with ball 44d
Degree) (referring to Fig.1 the step S3 in 3: no).Therefore, in step s 24, CPU81 sets the mark for indicating low speed in RAM83
Know, therefore, in step s 25, the first arm 31 is with low speed rotation.
For CPU81 to 11 output drive signal of the first motor, retreating manipulator 1 (can will be by handle part to specified position
60 workpiece 91 being processed that hold are configured in the position of platform 90) (step S26).Due to ball 44d not with engaging slot 311
Engaging, therefore, even if manipulator 1 retreats, shutter door 43 will not be opened.CPU81 obtains the detection of the first encoder 11b
Value carries out feedback control to the first motor 11.
CPU81 executes speed setting processing, setting speed (step S27).CPU81 makes the first arm 31 and the second arm 32
Rotate to the right, make replace mechanism 70 from the opening 2d of hood 2 reach outside (right side), replacement workpiece 91 (referring to step S28,
Figure 21, Figure 22).
In step s 27, it is rotated when the first arm 31 of CPU81 reading is rotated to the right to positioned at the outside of hood 2
The angle (referring to Fig.1 the step S3 in 3: no) of i.e. 0 degree or more of angle (first rotation angle).Therefore, in step s 27,
CPU81 sets the mark for indicating low speed in RAM83, therefore, in step S28, the first arm 31 and the second arm 32 with
Low speed rotation.The handle part 60 that hold the workpiece 91 being processed is located at the upside of platform 90.
Cylinder portion 61 output drive signal of the CPU81 to a handle part 60.One handle part 60 is decontroled in the outside of hood 2
The workpiece 91 being processed configures the workpiece 91 in platform 90.CPU81 spends 64 low speed rotation substantially 90 of support plate.CPU81
The detected value for obtaining the 4th encoder 34b carries out feedback control to the 4th motor 34.CPU81 is to the cylinder portion of another handle part 60
61 output drive signals hold the not processed workpiece 91 being pre-configured on platform 90 using another handle part 60.
CPU81 terminates workpiece replacing processing.
The replacement mechanism 70 of embodiment replaces workpiece 91 between the inside of wall 101 and the outside of hood 2.That is, replacement
The movable range of mechanism 70 includes the region in the outside for the range that hood 2 coats manipulator 1.In replacement, mechanism 70 is located at hood 2
Outside when, make replace mechanism 70 driving speed reduce.Constituted using more cheap material in order to which safety is round machinery
The guardrail (hood 2) of hand 1 can also prevent from causing the situation of the breakage of hood 2 to occur because manipulator 1 collides hood 2.In changing machine
Structure 70 be located at hood 2 outside when, make replace mechanism 70 driving speed increase, therefore, workpiece replacing device can with compared with
The short time replaces workpiece.
Replace the second arm 32 that mechanism 70 arm 31 with can rotate first and can rotate.It can be based on the first arm
The rotation angle of the rotation angle in portion 31 and the second arm 32, to replacement mechanism 70 whether be located at hood 2 outside determine,
That is, the outside whether at least part of at least part or the second arm 32 to the first arm 31 is located at hood 2 is sentenced
It is fixed.Workpiece 91 is replaced in the opening and closing of manipulator 1 and the shutter door 43 for being set to wall 101 with being connected, and workpiece is swimmingly replaced in realization.
Proximity sensor 45b can also be set to shutter door 43, block 45a is set to upper plate portion 18b.
Claims (4)
1. a kind of workpiece replacing device, which has manipulator (1), which is located at configuration in cladding lathe
(100) between the hood (2) and the wall in the outside of wall (101), for replacing work between the inner side and outer side of the wall
Part (91),
The workpiece replacing device is characterized in that,
The manipulator has the replacement mechanism for replacing workpiece between the inside of the wall and the outside of the hood
(70),
The workpiece replacing device includes
Location determination portion is used to determine whether the replacement mechanism is located on the outside of the hood；
It speed configuration part should when being determined as that the replacement mechanism is located at the outside of the hood using the location determination portion
The movement speed of the replacement mechanism is set as First Speed by speed configuration part, is being determined as institute using the location determination portion
Replacement mechanism is stated when not being located at the outside of the hood, which is set as high for the movement speed of the replacement mechanism
In the second speed of the First Speed；And
Control unit is used to control the replacement mechanism, makes speed of the replacement mechanism to be set by the speed configuration part
It is driven.
2. workpiece replacing device according to claim 1, which is characterized in that
The replacement mechanism includes
First arm (31) can be rotated centered on one end；
First driving source (22) is used to that first arm to be driven to rotate first arm；
Second arm (32) has handle part (60) in one end, the side that the other end can be rotated with second arm
Formula is connected with the other end of first arm；And
Second driving source (23) is used to that second arm to be driven to rotate second arm,
The location determination portion includes
First rotation angle operational part is used to carry out operation to the rotation angle of first arm；And
Second rotation angle operational part is used to carry out operation to the rotation angle of second arm,
It the location determination portion can operation result and the second rotation angle operational part based on the first rotation angle operational part
Operation result, whether at least part of at least part or the second arm to first arm be located at the hood
Outside is determined.
3. workpiece replacing device according to claim 1 or 2, which is characterized in that
Shutter door (43) are equipped in the wall,
The workpiece is replaced in the opening and closing of the manipulator and the shutter door with being connected.
4. a kind of workpiece replacing method, the workpiece replacing method be manipulator between the inner side and outer side of the wall of cladding lathe more
The method for changing workpiece, wherein manipulator is located at configuration between the hood and the wall in the outside of the wall,
The workpiece replacing method is characterized in that,
The manipulator has the replacement mechanism for replacing workpiece between the inside of the wall and the outside of the hood,
The workpiece replacing method is as follows:
Determine whether the replacement mechanism is located on the outside of the hood；
When being determined as that the replacement mechanism is located at the outside of the hood, the movement speed of the replacement mechanism is set as the
One speed；
When being determined as that the replacement mechanism is not located at the outside of the hood, the movement speed of the replacement mechanism is set as
Higher than the second speed of the First Speed；
The replacement mechanism is controlled, drives the replacement mechanism with set speed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-069117 | 2016-03-30 | ||
| JP2016069117A JP6693229B2 (en) | 2016-03-30 | 2016-03-30 | Work exchange device, work exchange method, and computer program |
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| Publication Number | Publication Date |
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| CN107263191A CN107263191A (en) | 2017-10-20 |
| CN107263191B true CN107263191B (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710193964.6A Active CN107263191B (en) | 2016-03-30 | 2017-03-28 | Workpiece replacing device and workpiece replacing method |
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| JP7124391B2 (en) * | 2018-03-30 | 2022-08-24 | ブラザー工業株式会社 | Machine tool system and transport equipment |
| JP6697046B2 (en) * | 2018-09-18 | 2020-05-20 | Dmg森精機株式会社 | Processing system |
| JP7067418B2 (en) * | 2018-10-30 | 2022-05-16 | ブラザー工業株式会社 | Transport device |
| JP7035963B2 (en) * | 2018-10-31 | 2022-03-15 | ブラザー工業株式会社 | Conveyors and machine tools |
| JP7003895B2 (en) * | 2018-10-31 | 2022-01-21 | ブラザー工業株式会社 | Door switchgear and machine tools |
| JP7003894B2 (en) * | 2018-10-31 | 2022-01-21 | ブラザー工業株式会社 | Door switchgear and machine tools |
| JP7400300B2 (en) * | 2019-09-27 | 2023-12-19 | ブラザー工業株式会社 | Conveyance equipment and machine tools |
| KR20230171711A (en) * | 2022-06-14 | 2023-12-21 | 주식회사 디엔솔루션즈 | Auto tool changer of machine tool and method for controlling thereof |
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| Publication number | Publication date |
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| JP2017177286A (en) | 2017-10-05 |
| JP6693229B2 (en) | 2020-05-13 |
| CN107263191A (en) | 2017-10-20 |
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