CN110871367B - Door opening/closing device and machine tool - Google Patents
Door opening/closing device and machine tool Download PDFInfo
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- CN110871367B CN110871367B CN201910716296.XA CN201910716296A CN110871367B CN 110871367 B CN110871367 B CN 110871367B CN 201910716296 A CN201910716296 A CN 201910716296A CN 110871367 B CN110871367 B CN 110871367B
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- door
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- opening
- hole
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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
- 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
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- Mechanical Engineering (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention relates to a door opening and closing device and a machine tool. A door opening/closing device for a machine tool opens and closes a door in a cover. The conveyor is movable along the right side wall. The portion of the connecting mechanism provided on the door side has a connecting hole. The rod mechanism provided on the conveyor side inserts the rod into the coupling hole by moving the rod toward the door. After the door and the conveyor are coupled together, the conveyor moves to open and close the door. The connecting hole has a tapered hole portion whose diameter is increased toward the rod side, and the rod has a tapered portion whose diameter is decreased toward the tip side. When the door is moved by the conveyor in a state where the slidability of the door is reduced, the tapered portion slides toward the opening side along the tapered hole portion by a resistance against a thrust force for opening and closing the door. The rod is withdrawn from the coupling hole, and thus, the coupling between the door and the transport apparatus is released.
Description
Technical Field
The invention relates to a door opening and closing device and a machine tool.
Background
The machine tool has a cover for covering a machine tool body. The cover can prevent the lubricating oil, cutting chips and the like from splashing and flying around during the processing. A door for taking out a cutting object is provided on the front surface of the cover so as to be openable and closable. The robot for exchanging the cutting object described in japanese patent No. 3249553 is provided to be movable in the opening and closing direction of the door. The robot has a coupling mechanism that couples the door to the robot when the sensor detects the contact provided on the door. After the robot and the door are coupled together, the door is opened and closed in conjunction with the movement of the robot. The connecting mechanism includes: a connecting hole provided on the door side; and a rod provided on the robot side. The rod is driven by the cylinder and inserted into the coupling hole, thereby coupling the robot and the door together.
When chips and the like accumulate near the door, the slidability of the door is reduced. When the door is opened and closed by the robot in a state where the slidability is reduced, a force exceeding a necessary force acts on the door. Therefore, there is a problem that: the robot may damage the door.
Disclosure of Invention
An object of the present invention is to provide a door opening and closing device and a machine tool, with which the connection between the door and the door can be automatically released when the mobility of the door is reduced.
The door opening/closing device according to claim 1 includes: a coupling mechanism that can be coupled to a door of a machine tool; and a moving device for moving the coupling mechanism in an opening/closing direction of the door, the door opening/closing device being characterized in that the coupling mechanism includes: a connection hole provided on the mobile device side or the door side and extending in a predetermined direction orthogonal to the opening/closing direction of the door; a rod portion provided on the door side or the moving device side where the connection hole is not provided, the rod portion being movable in the predetermined direction and insertable into the connection hole; and a driving portion for driving the rod portion in the predetermined direction, wherein the coupling hole has a hole-side tapered portion on a side opposite to the rod portion, the rod portion has a rod-side tapered portion on a side opposite to the coupling hole, the hole-side tapered portion is gradually reduced in diameter as being apart from an opening side opposite to the rod portion, and the rod-side tapered portion is gradually increased in diameter as being apart from a distal end portion opposite to the coupling hole. The door and the moving device can be coupled together by inserting the rod portion into the coupling hole. When the door and the moving device are coupled together, the coupling mechanism is moved by the moving device to open and close the door. When the door and the moving device are connected together, the rod-side tapered portion provided in the rod portion is in contact with the hole-side tapered portion provided in the connecting hole. When the door is opened and closed by the moving device in a state where the mobility of the door is lowered, resistance against the thrust for opening and closing the door is generated. Due to the resistance, the rod-side tapered portion slides toward the opening side along the hole-side tapered portion. Therefore, the rod is withdrawn from the coupling hole, and thus, the rod is separated from the coupling hole, and the door does not move. Therefore, the door opening and closing apparatus can prevent the door from being damaged.
In the door opening and closing device according to claim 2, the diameter of the hole-side tapered portion may be reduced in proportion to the distance from the opening side, and the outer peripheral surface of the rod-side tapered portion may be curved in an arc outward. The hole-side tapered portion is reduced in diameter in proportion to the distance from the opening side, and therefore, the processing is easy. Since the outer peripheral surface of the rod-side tapered portion is curved in an arc outward, the contact between the hole-side tapered portion and the rod-side tapered portion forms a line contact, and is less susceptible to the influence of chips and the like.
In the door opening and closing device according to claim 3, an inner peripheral surface of the hole-side tapered portion may be curved in an arc shape toward an inner side of the coupling hole, and an outer peripheral surface of the rod-side tapered portion may be curved in an arc shape toward an outer side. Therefore, when the door is moved by the moving device in a state where the mobility of the door is reduced, the lever-side tapered portion slides toward the opening side along the hole-side tapered portion by resistance against the thrust force for opening and closing the door. Therefore, the rod portion can be smoothly withdrawn from the coupling hole.
In the door opening and closing device according to claim 4, the diameter of the hole-side tapered portion may be reduced in proportion to the distance from the opening side, and the diameter of the rod-side tapered portion may be enlarged in proportion to the distance from the distal end. Therefore, when the door is moved by the moving device in a state where the mobility of the door is reduced, the rod-side tapered portion slides toward the opening side along the hole-side tapered portion by resistance against the thrust for opening and closing the door. Therefore, the rod portion can be smoothly withdrawn from the coupling hole.
The door of the door opening/closing device according to claim 5 may be configured to open and close an opening provided in a wall covering a cover of a machine tool, the door being movable along an inner surface of a wall portion of the wall that is arranged side by side with the opening, the door including: a protrusion provided at one end portion on the opposite side of the wall portion of the outer surface when the opening is closed, the protrusion protruding in a direction away from the outer surface; and a coupling portion that is bent from a distal end portion of the protruding portion toward a side where the wall portion is located, and is disposed at a position that is spaced apart from the outer surface of the door by a predetermined gap, wherein the coupling hole is provided in the coupling portion, and the predetermined gap is a gap: in a state where the door is opened, an end portion of the wall portion on the opening side can be disposed inside the gap. The door moves along the inner surface of the wall portion to open the opening. When the opening is opened, one end of the wall portion is inserted into a predetermined gap disposed between the outer surface of the door and the connecting portion. The connecting portion does not interfere with one end portion of the wall portion facing the opening. Therefore, the door opening/closing device can enlarge the opening area of the opening of the cover.
The coupling hole of the door opening/closing device according to claim 6 may penetrate the coupling portion in the predetermined direction. Since the connecting hole penetrates the connecting portion in the predetermined direction, even if chips adhere to the connecting hole, the chips fall from the opening of the connecting hole on the side opposite to the opening of the rod portion into which the chip is inserted. Therefore, the operation of the coupling mechanism is not hindered by the chips.
The moving device of the door opening/closing device according to claim 7 may include: a fixing seat for fixing the rod part; a main body portion supporting the fixed base; and a support mechanism that supports the fixed base so that the fixed base is movable in the predetermined direction with respect to the main body portion, the support mechanism including: a long hole provided in the fixed base and extending in parallel to the predetermined direction; and a screw which penetrates through the long hole to fix the fixed seat on the main body part. Even if the rod portion is displaced from the coupling hole in a predetermined direction, the position of the fixing seat can be adjusted by the operator so that the rod-side tapered portion reliably contacts the hole-side tapered portion.
The driving unit of the door opening/closing device according to claim 8 may be an air cylinder. The rod is driven by a cylinder. Therefore, when a force in a direction to retract the rod portion from the coupling hole acts on the resistance against the thrust for opening and closing the door, air in the cylinder is compressed. Therefore, the lever portion can be easily retracted.
A machine tool according to claim 9 is characterized by comprising: a cover that covers a machine tool body of the machine tool; and the door opening/closing device according to any one of claims 1 to 8, which is capable of opening/closing an opening provided in a wall of the cover. Since the machine tool has the door opening/closing device according to any one of claims 1 to 8, the effects described in any one of claims 1 to 8 can be obtained.
Drawings
Fig. 1 is a perspective view of a machine tool 1 as viewed from diagonally right ahead.
Fig. 2 is a perspective view of the machine tool 1 viewed from diagonally right and rearward.
Fig. 3 is a perspective view of the machine tool 1 as viewed from diagonally right behind (the gripping arm portion 12 is omitted).
Fig. 4 is a partially enlarged view of the area W1 shown in fig. 3.
Fig. 5 is a right side view of the machine tool 1 (door 6: closed state of closing the opening 511).
Fig. 6 is a sectional view taken along the line I-I in fig. 5.
Fig. 7 is a partially enlarged view of the engaging portion between the body 11 and the door 6 shown in fig. 6 and its peripheral portion.
Fig. 8 is a partial enlarged view of the area W2 shown in fig. 7.
Fig. 9 is a view showing a state in which the rod 35 is retracted from the coupling hole 65.
Fig. 10 is a view showing a state in which the lever 35 is disengaged from the coupling hole 65 by resistance against the pushing force of the door 6, and the engagement is released.
Fig. 11 is a right side view of the machine tool 1 (door 6: open state with the opening 511 opened).
Fig. 12 is a sectional view taken along line II-II in fig. 11.
Fig. 13 is a partial enlarged view of the area W3 shown in fig. 12.
Fig. 14 is a view of a first modification example in which the rod 35 is disposed to face the coupling hole 165.
Fig. 15 is a diagram of a second modification example in which the rod 135 is disposed to face the coupling hole 65.
Detailed Description
Embodiments of the present invention will be described. The following description uses the left-right, front-back, and up-down directions indicated by arrows in the drawings. The left-right direction of the machine tool 1 shown in fig. 1 is the X-axis direction of the machine tool 1, the front-back direction of the machine tool 1 shown in fig. 1 is the Y-axis direction of the machine tool 1, and the up-down direction of the machine tool 1 shown in fig. 1 is the Z-axis direction of the machine tool 1.
Referring to fig. 1 and 2, the structure of the machine tool 1 is explained. The machine tool 1 is a vertical machine tool in which a main spindle (not shown) extends in the Z-axis direction. The machine tool 1 includes a base 2, a machine tool body 3, and a cover 5. The base part 2 is an iron base. The machine tool body 3 is provided on the upper portion of the base portion 2. The machine tool body 3 can perform cutting processing or the like on a cutting target (not shown) fixed to an upper surface of a table (not shown). The table is provided on the upper surface of the base 2. The cover 5 is fixed to the upper portion of the base portion 2, the cover 5 surrounds the machine tool body 3, and the cover 5 is a box body having a substantially rectangular parallelepiped shape. A numerical controller (not shown) controls the operation of the machine tool 1.
The right side wall 51 of the cover 5 has an opening 511, a wall 512, and a door 6. The opening 511 is provided in the rear portion of the right side wall 51, and is formed in a substantially rectangular shape in right view. The wall portion 512 is provided on the front side of the opening 511, and is formed in a substantially rectangular shape in right view. The door 6 is arranged to: the wall 512 is movable in the front-rear direction along the inner surface thereof. The door 6 is used to open and close the opening 511. The opening and closing mechanism of the door 6 includes a guide rail (not shown), a plurality of bearings, and the like. The guide rail is provided above and below the opening 511 of the right side wall 51 and extends in the front-rear direction. Bearings are provided at upper and lower portions of the door 6. The plurality of bearings provided on the door 6 side are slidable along the guide rail, and the door 6 moves in the front-rear direction. The machine tool 1 is also mounted with a conveyor 10 on the outside of the right side wall 51. The conveying device 10 is used for conveying the cutting object and opening and closing the door 6.
Referring to fig. 2 to 4, the conveyor 10 will be described. The transport apparatus 10 includes a main body 11 and a grip arm 12. The main body 11 is moved in the front-rear direction by the moving mechanism 14. The grip arm 12 is provided at an upper portion of the main body 11 and exchanges a cutting object on an upper surface of a table (not shown) held in the cover 5.
The moving mechanism 14 is provided on the right side surface of the base portion 2, and includes a frame portion 15, a drive motor 16 (see fig. 2), a ball screw 17, a pair of travel shafts, i.e., a travel shaft 18A and a travel shaft 18B, and a bellows cover 19. The frame portion 15 is formed in a substantially rectangular shape in a right view, and is fixed to the right side surface of the base portion 2. The drive motor 16 is fixed to the rear of the frame portion 15. An output shaft of the drive motor 16 projects forward in the housing portion 15. The ball screw 17 extends in the front-rear direction in the housing portion 15 and is rotatable. The ball screw 17 is coaxially connected to an output shaft of the drive motor 16.
Inside the housing portion 15, a travel shaft 18A and a travel shaft 18B extend in the front-rear direction on the upper side and the lower side of the ball screw 17, respectively, and are disposed parallel to each other. The travel shaft 18A and the travel shaft 18B support a later-described moving unit 13 provided at a lower portion of the main body 11 so as to be able to guide the moving unit 13 in the front-rear direction. The bellows cover 19 covers the right side portion of the opening of the frame portion 15, and is fixed to the frame portion 15 so as to be extendable and retractable in the front-rear direction. The bellows cover 19 has a rear end fixed to a front side of the moving part 13. The bellows cover 19 expands and contracts with the movement of the moving part 13 in the front-rear direction. A cover similar to the bellows cover 19 is provided between the moving part 13 and the rear end of the frame part 15. Therefore, the bellows cover 19 can prevent chips and the like from entering the frame body 15.
The main body 11 is vertically long and has a substantially rectangular parallelepiped shape, and has a moving portion 13 at a lower portion. The travel shaft 18A and the travel shaft 18B support the moving portion 13 so that the moving portion 13 can move in the front-rear direction. The moving portion 13 is attached to the ball screw 17. When the drive motor 16 is driven, the ball screw 17 is rotated. The moving portion 13 moves in the front-rear direction in accordance with the rotation of the ball screw 17, and therefore the main body 11 moves in the front-rear direction. As shown in fig. 3 and 4, the main body 11 has a rotation support portion 21 at an upper portion. The rotation support portion 21 rotatably supports a first arm 12A, which will be described later, that grips the arm portion 12. The main body 11 houses a motor (not shown). The motor is used to drive the first arm 12A to rotate. The rotation support portion 21 has a lever mechanism 30 of a coupling mechanism on the upper surface portion 22. The lever mechanism 30 drives the lever 35 (see fig. 7 and 8) so that the lever 35 can move in the left-right direction. The coupling member 60 (see fig. 3 and 4) of the coupling mechanism is provided at the rear end portion of the outer surface of the door 6 and has a coupling hole 65 (see fig. 7). The rod 35 can be inserted into the coupling hole 65 and engaged with the coupling hole 65. After the lever 35 is engaged with the coupling hole 65, the lever mechanism 30 and the coupling member 60 are coupled together (see fig. 7), and the main body 11 and the door 6 are integrated. Therefore, the door 6 moves in the front-rear direction integrally with the main body 11 to open and close the opening 511 of the right side wall 51 (see fig. 5 and 11).
As shown in fig. 2, the rotation support portion 21 supports the grip arm portion 12 so that the grip arm portion 12 can rotate. The grip arm portion 12 has a first arm 12A and a second arm 12B, and the first arm 12A and the second arm 12B are foldable. The rotation support portion 21 rotatably supports one end portion of the first arm 12A so that the first arm 12A can rotate. The first arm 12A has a first joint portion 121 at the other end. The first joint section 121 supports one end of the second arm 12B so that the second arm 12B can rotate. The second arm 12B has a second joint portion 122 at the other end. The second joint portion 122 supports a grip portion (not shown) so as to be rotatable. The gripping portion can grip a cutting object. The first arm 12A houses a drive motor (not shown) therein, which drives the second arm 12B via a gear (not shown) of the first joint section 121. The second arm 12B internally houses a drive motor (not shown) that drives the grip portion via a gear of the second joint portion 122.
Referring to fig. 7, the configuration of the lever mechanism 30 is explained. The lever mechanism 30 is fixed to the upper surface portion 22 of the rotation support portion 21 so as to be adjustable in position in the left-right direction. The lever mechanism 30 includes a fixed base 31, an air cylinder 33, a connecting rod 34, a lever 35, a cover 38 (see fig. 3), and the like. The fixing base 31 is formed as follows: the fixing base 31 has a substantially rectangular shape in plan view, is long in the left-right direction, and has a pair of ribs 31A protruding upward at both ends in the front-rear direction. The holder 31 has a set of elongated holes 311 and a set of elongated holes 312. The long holes 311 are provided on the left side of the center portion of the fixed base 31 in the left-right direction and are spaced apart in the front-rear direction. The long holes 312 are provided on the right side of the center portion of the fixed base 31 in the left-right direction and are spaced apart in the front-rear direction. The long holes 311 and 312 are long in the left-right direction and have the same shape. The upper surface 22 has four screw holes (not shown). The four screw holes are provided at positions corresponding to the set of long holes 311 and the set of long holes 312 of the holder 31, respectively. Four screws 93 are inserted into the one set of long holes 311 and the one set of long holes 312 of the holder 31 from above and fastened at four screw holes provided in the upper surface portion 22. Therefore, the fixing base 31 is fixed to the upper surface portion 22.
The cylinder 33 is fixed to the right side portion of the upper surface of the fixed base 31 at the position of the front-rear direction center portion by the fixing member 41 and the fixing member 42. The cylinder 33 is formed in a tubular shape, and is disposed on the upper surface of the fixed base 31 such that the open distal end side faces leftward. The cylinder 33 has a cylinder rod 331, and the cylinder rod 331 is movable in the left-right direction through a tip end portion of the cylinder 33. The fixing member 41 is a plate member having a substantially L-shape in front view, and is fixed to a position near the right end portion of the upper surface of the fixing base 31 and at the center portion in the front-rear direction by two screws 94. A rear end portion (right end portion in fig. 7) of the cylinder 33 is fixed to the fixing member 41 by a screw 95. The shape of the fixing member 42 and the shape of the fixing member 41 are symmetrical to each other, and the fixing member 42 is a plate member having a substantially inverted letter L shape in front view, and is fixed to the center portion of the fixing base 31 by two screws 94. The fixing member 42 has a wall portion protruding upward. The wall portion has a hole 421 penetrating in the left-right direction. The cylinder rod 331 is movably inserted into the hole portion 421. The connecting rod 34 is fixed to the distal end of the cylinder rod 331 so as to be coaxial with the cylinder rod 331, and projects leftward.
The rod 35 is fixed to the distal end of the connecting rod 34 coaxially with the connecting rod 34, and is formed in a rod shape. The rod 35 has a tapered portion 351 at a distal end portion (see fig. 8). The outer peripheral surface of the tapered portion 351 is a curved surface bulging outward, and the tapered portion 351 gradually expands in diameter as it goes away from the tip end facing the connection hole 65. The distal end is formed in a planar shape orthogonal to the axial direction of the rod 35. The rod 35 is supported by a support member 43. The support member 43 is fixed to the vicinity of the left end portion of the upper surface of the fixed base 31 and at a position in the center portion in the front-rear direction. The support member 43 has a through hole 431. The through hole 431 penetrates the support member 43 in the left-right direction. The rod 35 is movably inserted into the through hole 431 and protrudes toward the door 6. The material of the rod 35 is not limited, but is preferably metal. The rod 35 is coaxially connected to the cylinder rod 331 of the cylinder 33 via the connecting rod 34. Therefore, the rod 35 can move in the left-right direction (predetermined direction) in accordance with the left-right movement of the cylinder rod 331.
The cover 38 is formed in a substantially trapezoidal shape in right view and extends in the left-right direction. The cover 38 is fixed to a pair of ribs 31A (see fig. 4) provided on both front and rear sides of the fixing base 31 by screws. The cover 38 covers the cylinder 33, the connecting rod 34, the rod 35, and the like from above. Therefore, the cover 38 can prevent chips and the like from accumulating in the lever mechanism 30.
Referring to fig. 4 and 8, the structure of the coupling member 60 will be described. The coupling member 60 is fixed to a rear end portion of the outer surface of the door 6 below a substantially central portion in the vertical direction. The connecting member 60 has an L-letter shaped member 61 and a connecting body 62. The L-letter shaped member 61 is formed into a substantially L-letter shape in plan view, and includes a fixing portion 611 and a supporting portion 612. The fixing portion 611 is a plate portion having a substantially rectangular shape that is long in the vertical direction when viewed from the right. The fixing portion 611 is fixed to the outer surface of the door 6 via a gasket 64 (see fig. 8). The fixing portion 611 has a pair of long holes 615 (see fig. 4) aligned in the vertical direction. The long hole 615 is long in the up-down direction. The pair of screws 91 are inserted into the pair of long holes 615 of the fixing portion 611, pass through the gasket 64, and are fastened to a pair of screw holes (not shown) provided at the rear end portion of the outer surface of the door 6. Therefore, the coupling member 60 is fixed to the rear end portion of the outer surface of the door 6. The supporting portion 612 protrudes rightward from the distal end of the fixing portion 611 at a substantially right angle to the fixing portion 611. The support portion 612 is a plate portion having a substantially rectangular shape that is long in the vertical direction in front view. The support portion 612 supports the connecting body 62 with a predetermined gap between the connecting body 62 and the outer surface of the door 6. The support portion 612 has a pair of long holes 617 (see fig. 4) aligned in the vertical direction at the vertical center portion. The pair of long holes 617 is long in the vertical direction. The connecting body 62 is formed in a substantially rectangular parallelepiped shape and fixed to the front surface of the right end of the support portion 612. The material of the connecting member 62 is not limited, but is preferably metal. The back surface of the coupling body 62 is a fixed surface fixed to the front surface of the support portion 612. The fixing surface of the connecting body 62 has a pair of screw holes (not shown) arranged in the vertical direction. The pair of screw holes face the pair of long holes 617 of the support portion 612. The pair of screws 92 are inserted into the pair of long holes 617 from the rear, and fastened to the pair of screw holes of the fixing surface of the connecting body 62. Therefore, the coupling member 62 is fixed to the front surface of the support portion 612. The left side surface of the connecting body 62 is spaced apart from the outer surface of the door 6 with a predetermined gap.
As shown in fig. 8, the connecting body 62 has a connecting hole 65. The connecting hole 65 penetrates the center of the connecting body 62 in the left-right direction. The coupling hole 65 has a straight hole portion 651 and a tapered hole portion 652, and the straight hole portion 651 and the tapered hole portion 652 are coaxial. The straight hole portion 651 linearly extends leftward from the middle portion in the penetrating direction of the coupling hole 65, and penetrates toward the door 6. The straight hole portion 651 has a circular cross section perpendicular to the penetrating direction. The tapered hole portion 652 communicates with the straight hole portion 651 at the intermediate portion in the penetrating direction of the connecting hole 65. The tapered hole portion 652 has a substantially conical shape as follows: the diameter of the tapered hole portion 652 becomes smaller from the opening side opposed to the rod 35 toward the depth side farthest from the rod 35. Therefore, the tapered hole portion 652 is gradually reduced in diameter as it goes away from the opening side opposite to the rod 35, and the diameter of the tapered hole portion 652 is reduced at a constant rate according to the distance from the opening side. The tip end portion of the rod 35 of the rod mechanism 30 can be inserted into the middle portion of the tapered hole portion 652. The straight hole portion 651 has a diameter smaller than that of the rod 35.
A proximity sensor (not shown) is fixed to the main body 11 on the door 6 side of the rotation support portion 21. The proximity sensor can sense the approach of the member according to a magnetic change. The proximity sensor can detect a contact (not shown) fixed to the door 6 side for detecting a position. The contacts are fixed to the door 6 at positions corresponding to the proximity sensors. When the proximity sensor detects the contact, the main body 11 opposes the rear end of the door 6. At this time, the rod 35 and the coupling hole 65 are in a relative positional relationship with each other.
An example of the operation of the conveyance device 10 will be described with reference to fig. 5 to 13. The transport apparatus 10 controls the grip arm 12 to a standby posture. The standby posture is a posture in which: the first arm 12A and the second arm 12B are bent at the first joint portion 121 so as to be parallel to each other and overlap each other, and are vertically erected upward (see fig. 1 and 2). The conveyor 10 moves along a pair of travel axes, travel axis 18A and travel axis 18B, to the closed end position of the door 6. The closed end position of the door 6 is the rearmost position (initial position) in the forward and backward movement range of the conveyor 10. The conveyor 10 moves from the closed end position toward the open end direction (forward) of the door 6 at a low speed.
When the proximity sensor on the conveyor 10 side detects the contact on the door 6 side, the conveyor 10 is stopped. When the door 6 is closed (see fig. 5), the proximity sensor detects the contact at the same time as the movement of the conveyor 10 is started. The rod 35 and the coupling hole 65 are opposite to each other. As shown in fig. 7, the transport apparatus 10 drives the air cylinder 33 to move the rod 35 leftward together with the connecting rod 34. As shown in fig. 8, the tip end portion of the rod 35 is inserted into the tapered hole portion 652 of the coupling hole 65. The tapered portion 351 of the rod 35 contacts the inner surface of the tapered hole portion 652. The rod 35 engages with the coupling hole 65. Since the rod 35 cannot move in the left direction, the cylinder 33 can hold the position of the rod 35. The conveying device 10 is connected to the door 6 in an integrated manner, and opens the door 6 at a high speed to expand the opening 511. Since the outer peripheral surface of the tapered portion 351 of the lever 35 is curved outward in an arc shape and the tapered hole portion 652 is formed in a substantially conical shape, the tapered portion 351 and the tapered hole portion 652 are in line contact. Therefore, the portion that may be affected by the chips and the like can be reduced.
The delivery device 10 can be stopped at the entry position. The entry position is a position allowing the grip arm portion 12 to enter the cover 5 through the opening 511. The transport device 10 drives the grip arm portion 12, and the first arm 12A and the second arm 12B pass through the opening 511, move into the cover 5, and perform an exchange operation for a cutting object fixed to the upper surface of the table. After the switching operation of the cutting object is completed, the transport apparatus 10 controls the gripping arm 12 to the standby posture again.
The conveyor 10 moves at high speed integrally with the door 6 up to the closed end position of the door 6. When the conveyor 10 stops at the closed end position, the driving of the air cylinder 33 is stopped. The cylinder rod 331 retracts rightward, so that the rod 35 retracts rightward together with the connecting rod 34, and the rod 35 disengages from the connecting hole 65. Therefore, the connection between the conveyance device 10 and the door 6 is released. The series of operations of the transport apparatus 10 ends.
As shown in fig. 9, the coupling hole 65 of the coupling body 62 penetrates the coupling body 62 in the left-right direction through the tapered hole 652 and the straight hole 651. Therefore, when chips or the like enter the coupling hole 65, the coupling hole 65 can drop the chips or the like from the straight hole portion 651. Therefore, the coupling member 60 can prevent chips and the like from being accumulated in the coupling hole 65, and can always ensure that the rod 35 is properly inserted into the tapered hole portion 652 of the coupling hole 65.
Referring to fig. 11 to 13, the relationship between the shape of the coupling member 60 and the opening area of the opening 511 opened by the door 6 will be described. The connecting member 60 fixed to the door 6 supports a connecting body 62 having a connecting hole 65 by an L-letter shaped member 61. The left side surface of the connecting body 62 is spaced apart from the outer surface of the door 6 by a predetermined gap. As shown in fig. 12 and 13, after the door 6 is moved forward, the rear end portion of the wall portion 512 of the right side wall 51 is positioned at a predetermined gap between the connecting body 62 of the connecting member 60 fixed to the door 6 and the door 6. The connecting member 62 overlaps the rear end portion of the wall portion 512 when viewed in the left-right direction. Since the connecting member 62 is disposed on the rear end of the wall portion 512 on the side closer to the lever mechanism 30, the connecting member 62 does not interfere with the rear end of the door 6. In a state where the lever 35 is engaged with the coupling hole 65 of the coupling body 62, the door 6 can be moved forward to the maximum extent, and therefore the opening area of the opening 511 can be further increased. Therefore, the machine tool 1 can prevent the gripping arm 12 from coming into contact with the edge of the opening 511 when the gripping arm 12 passes through the opening 511 to exchange a cutting object on the upper surface of the table.
A function of releasing the engagement between the coupling hole 65 and the lever 35 when the slidability of the door 6 is reduced will be described with reference to fig. 8 and 10. If chips and the like enter the opening and closing mechanism of the door 6 and accumulate therein, the slidability of the door 6 is reduced. In the present embodiment, the following states are assumed: when the coupling hole 65 and the lever 35 are in the engaged state shown in fig. 8, the slidability of the door 6 is reduced. When a thrust force (see arrow P1 in fig. 8) for opening and closing the door 6 by the conveyor 10 acts on the door 6, a resistance force (see arrow P2 in fig. 8) against the thrust force is generated. The resistance force acts on the tapered portion 351 of the rod 35 through the tapered hole portion 652 of the coupling hole 65. Since the lever 35 moves in the P1 direction together with the door 6, the inner surface of the tapered hole portion 652 pushes the tapered portion 351 to the right. The tapered portion 351 moves rightward while sliding on the inner surface of the tapered hole portion 652. Since the rod 35 and the coupling body 62 are both made of metal, the tapered portion 351 has high slidability with respect to the inner surface of the tapered hole portion 652.
As shown in fig. 10, the rod 35 retracts to the right, and the connecting rod 34 and the cylinder rod 331 move to the right, so that the air in the cylinder 33 is compressed. Therefore, the rod 35 is retracted rightward from the coupling hole 65 to be disengaged from the coupling hole 65. The state in which the coupling hole 65 is engaged with the rod 35 is automatically released. The door 6 is in a closed state, and in this state, only the conveyor 10 moves forward. The pushing force in the direction of opening and closing the door 6 required to retract the rod 35 is smaller than the force causing damage to the door 6. Therefore, the machine tool 1 can prevent the door 6 from being damaged.
Referring to fig. 4, a method of adjusting the vertical position of the coupling hole 65 will be described. The operator unscrews the pair of screws 91 for fixing the fixing portion 611 of the L-letter shaped member 61. The screw 91 is fixed to the door 6. The fixing portion 611 becomes movable in the up-down direction within the longitudinal direction range of the two long holes 615 with respect to the door 6. The vertical position of the fixing portion 611 is adjusted by the operator, and the vertical position of the coupling hole 65 is adjusted. The vertical position of the coupling hole 65 is adjusted by the operator so that the rod 35 is inserted into the coupling hole 65 after moving in the left direction, and the rod 35 contacts the inner surface of the tapered hole portion 652. After the coupling hole 65 is positioned, the operator fastens the pair of screws 91 again to fix the fixing portion 611 to the door 6.
In a state where the coupling member 60 is fixed to the door 6, the operator may adjust the vertical position of the coupling body 62 with respect to the L-letter shaped member 61 to adjust the vertical position of the coupling hole 65. The operator unscrews the pair of screws 92 for fixing the connecting body 62 to the support portion 612 of the L-letter shaped member 61. The screw 92 is fixed to the connecting body 62. The connecting body 62 is movable in the vertical direction within the longitudinal range of the two long holes 617 with respect to the support portion 612 of the L-letter shaped member 61. Therefore, the operator can adjust the vertical position of the connecting body 62, and can adjust the vertical position of the connecting hole 65. The operator may adjust the vertical position of the coupling hole 65 by adjusting both the position of the fixing portion 611 of the L-letter shaped member 61 and the position of the coupling body 62.
Referring to fig. 7, a method of adjusting the position of the rod 35 with respect to the coupling hole 65 will be described. The operator adjusts the position of the lever 35 with respect to the coupling hole 65 in the left-right direction in which the lever 35 moves so that the tapered portion 351 comes into contact with the tapered hole portion 652. Four screws 93 for fixing the fixing base 31 of the lever mechanism 30 are unscrewed by an operator. The screw 93 is fixed to the upper surface portion 22. The fixed base 31 is movable in the left-right direction within the longitudinal direction range of the four long holes 311. The position of the fixing base 31 is adjusted in the left-right direction by the operator so that the rod 35 is inserted into the coupling hole 65 after moving in the left direction, and the tapered portion 351 of the rod 35 is in contact with the tapered hole portion 652 of the coupling hole 65. After the fixing base 31 is positioned, the operator fastens the four screws 93 again to fix the fixing base 31 to the upper surface portion 22. Therefore, the machine tool 1 can adjust the position of the lever 35 in the left-right direction, and can reliably bring the tapered portion 351 into contact with the tapered hole portion 652.
As described above, the machine tool 1 of the present embodiment has a door opening/closing device. The door opening/closing device opens and closes the door 6 provided on the right side wall 51 of the cover 5. The door opening/closing device includes the conveyor 10, the door 6, the connecting hole 65, the rod 35, the cylinder 33, and the like. The main body 11 of the transport apparatus 10 is movable along a pair of travel axes, i.e., a travel axis 18A and a travel axis 18B. The travel shaft 18A and the travel shaft 18B are provided on the right side wall 51 of the base portion 2 and extend in the front-rear direction. The door 6 is configured to correspond to the travel position of the conveyor 10. The coupling hole 65 is provided on the door 6 side, and extends in the left-right direction perpendicular to the travel shafts 18A and 18B and perpendicular to the surface on which the door 6 is provided. The rod 35 is provided on the conveyor 10 side, is movable in the left-right direction, and is insertable into the coupling hole 65. The cylinder 33 can drive the rod 35 so that the rod 35 is inserted into the coupling hole 65, thereby coupling the door 6 and the transport apparatus 10 together. The cylinder 33 can drive the rod 35, and retract the rod 35 from the coupling hole 65, thereby releasing the coupling between the door 6 and the transport apparatus 10. The door opening/closing device couples the conveyor 10 and the door 6 by the air cylinder 33, and then moves the conveyor 10 along the travel shafts 18A and 18B to open and close the door 6.
The coupling hole 65 has a tapered hole portion 652. The tapered bore portion 652 gradually decreases in diameter away from the opening opposite the stem 35. The rod 35 has a tapered portion 351. The tapered portion 351 is gradually expanded in diameter as it is separated from the distal end side facing the coupling hole 65. When the rod 35 is inserted into the coupling hole 65 and the door 6 and the transport apparatus 10 are coupled together, the tapered portion 351 comes into contact with the tapered hole portion 652. When the door 6 is moved by the conveyor 10 in a state where the slidability of the door 6 is reduced, the tapered portion 351 slides toward the opening side along the tapered hole portion 652 by resistance against the thrust for opening and closing the door 6. Therefore, the rod 35 is withdrawn from the coupling hole 65. Since the lever 35 is automatically disengaged from the coupling hole 65, the door 6 does not move. Therefore, the door opening and closing device can prevent the door 6 from being damaged.
In the above description, the transport apparatus 10 is an example of the moving apparatus of the present invention. The lever 35 is an example of the lever portion of the present invention. The air cylinder 33 is an example of the driving unit of the present invention. The tapered hole portion 652 of the coupling hole 65 is an example of the hole-side tapered portion of the present invention. The tapered portion 351 of the rod 35 is an example of the rod-side tapered portion of the present invention. The support portion 612 of the L-letter shaped member 61 of the connecting member 60 is an example of the protruding portion of the present invention, and the connecting body 62 is an example of the connecting portion of the present invention.
The present invention is not limited to the above embodiment, and various modifications are possible. In the above embodiment, the door 6 and the conveyor 10 are coupled together by engaging the rod 35 of the rod mechanism 30 provided on the conveyor 10 side with the coupling hole 65 of the coupling member 60 provided on the door 6 side. In machine tool 1, coupling hole 65 may be fixed to lever mechanism 30, and lever 35 may be fixed to support portion 612 on the door 6 side. In this case, the coupling hole 65 moves left and right. In the machine tool 1, the lever mechanism 30 may be provided on the door 6 side, and the coupling hole 65 may be provided on the conveyor 10 side.
The tapered hole portion 652 of the coupling hole 65 of the above embodiment may have a tapered shape whose diameter is gradually increased toward the opening on the side closer to the rod 35, and may have another tapered shape. The tapered portion of the rod 35 may be tapered so as to gradually decrease in diameter toward the distal end side, or may be other tapered shapes.
The coupling member 60 of the first modification shown in fig. 14 has a coupling hole 165. The coupling hole 165 has a straight hole portion 651 and a tapered hole portion 653. Tapered hole 653 has a shape different from the tapered shape of tapered hole 652 of the above-described embodiment, and the inner circumferential surface of tapered hole 653 is curved inward in an arc shape. The tapered portion 351 of the lever 35 has the same shape as the tapered shape of the above embodiment. As in the above embodiment, the tapered portion 351 of the lever 35 can be in contact with the inner surface of the tapered hole 653 of the coupling hole 165.
The rod 135 of the second modification shown in fig. 15 has a tapered portion 352 at the tip end portion. The shape of the tapered portion 352 is different from the tapered shape of the tapered portion 351 of the above-described embodiment. The diameter of the tapered portion 352 gradually increases from the distal end portion facing the coupling hole 65 toward the coupling rod 34 farthest from the distal end portion. The diameter of the tapered portion 352 is enlarged in proportion to the distance from the distal end of the rod 135, and the distal end of the tapered portion 352 is formed in a flat shape orthogonal to the axial direction of the rod 135. The tapered hole portion 652 of the coupling hole 65 has the same shape as the tapered shape of the above-described embodiment.
The door opening/closing device of the above embodiment is used to open/close the door 6 in the right side wall 51 of the cover 5 of the machine tool 1, but the present invention can also be applied to a door movably provided on another wall such as the front wall and the left side wall of the cover 5. The present invention is not limited to the door 6 applied to the cover 5 of the machine tool 1, and can be applied to doors provided to various walls so as to be movable.
Although the machine tool 1 of the above embodiment is a vertical machine tool, the present invention can also be applied to a horizontal machine tool in which a spindle extends in a horizontal direction.
In the lever mechanism 30 of the above embodiment, the lever 35 is driven by the air cylinder 33, but another driving source such as a motor may be used.
The connecting hole 65 of the above embodiment penetrates the connecting body 62 in the left-right direction, but the straight hole 651 may be omitted and only the tapered hole 652 may be used. The connecting member 62 is supported by the door 6 via the L-shaped member 61, but the connecting member 62 may be directly fixed to the outer surface of the door 6. In the connecting member 60, a connecting body 62 independent of the L-shaped member 61 is fixed to the L-shaped member 61, but the L-shaped member 61 and the connecting body 62 may be integrally formed.
Claims (7)
1. A door opening and closing device includes: a connecting mechanism which can be connected with a door (6) of the machine tool; and a moving device (10) for moving the connecting mechanism in the opening/closing direction of the door,
the door opening and closing apparatus is characterized in that,
the coupling mechanism includes:
a connecting hole (65) provided on the mobile device side or the door side and extending in a predetermined direction orthogonal to the opening/closing direction of the door;
a rod part (35) which is provided on the door side or the moving device side where the connection hole is not provided, is movable in the predetermined direction, and is insertable into the connection hole; and
a drive unit (33) for driving the lever unit in the predetermined direction,
the coupling hole has a hole-side tapered portion (652, 653) on the side opposite to the shank portion,
the rod portion has a rod portion side tapered portion (351, 352) on the side opposite to the coupling hole,
the hole-side tapered portion gradually decreases in diameter as it goes away from the opening side opposite to the stem portion,
the rod-side tapered portion gradually expands in diameter as it moves away from a distal end portion facing the coupling hole,
the driving part is a cylinder, the rod part is connected with the cylinder rod of the cylinder by a connecting rod,
the door is used for opening and closing an opening part of a wall of a cover for covering a machine tool, and can move along the inner surface of a wall part of the wall, which is arranged in parallel with the opening part,
the door has:
a protrusion (612) provided at one end portion on the opposite side to the wall portion, of an outer surface when the opening is closed, the protrusion protruding in a direction away from the outer surface; and
a connecting portion (62) which is bent from a distal end portion of the protruding portion toward a side where the wall portion is located and is disposed at a position where a predetermined gap is left from the outer surface of the door,
the connecting hole is arranged on the connecting part,
the predetermined gap is a gap: in a state where the door is opened, an end portion of the wall portion on the opening side can be disposed inside the gap.
2. The door opening and closing apparatus according to claim 1,
the diameter of the hole-side tapered portion (652) is reduced in proportion to the distance from the opening side,
the outer peripheral surface of the rod-side tapered portion (351) is curved outward in an arc shape.
3. The door opening and closing apparatus according to claim 1,
the inner peripheral surface of the hole-side tapered portion (653) is curved in an arc toward the inside of the coupling hole,
the outer peripheral surface of the rod-side tapered portion (351) is curved outward in an arc shape.
4. The door opening and closing apparatus according to claim 1,
the diameter of the hole-side tapered portion (652) is reduced in proportion to the distance from the opening side,
the diameter of the rod-side tapered portion (352) expands in proportion to the distance from the tip end portion.
5. The door opening and closing apparatus according to claim 1,
the coupling hole penetrates the coupling portion in the predetermined direction.
6. The door opening and closing apparatus according to any one of claims 1 to 4,
the mobile device has:
a fixing seat (31) for fixing the rod part;
a main body (11) that supports the holder; and
a support mechanism that supports the fixed base so that the fixed base is movable in the predetermined direction with respect to the main body,
the support mechanism includes:
long holes (311, 312) provided in the fixed base and extending parallel to the predetermined direction; and
and a screw (93) that penetrates the elongated hole to fix the fixing base to the main body.
7. A machine tool, characterized in that,
the machine tool (1) comprises:
a cover (5) that covers a machine tool body (3) of the machine tool; and
the door opening/closing device according to any one of claims 1 to 6, wherein an opening 511 provided in a wall of the cover can be opened and closed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018162221A JP7063198B2 (en) | 2018-08-31 | 2018-08-31 | Door switchgear and machine tools |
| JP2018-162221 | 2018-08-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110871367A CN110871367A (en) | 2020-03-10 |
| CN110871367B true CN110871367B (en) | 2022-07-01 |
Family
ID=69666585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910716296.XA Active CN110871367B (en) | 2018-08-31 | 2019-08-05 | Door opening/closing device and machine tool |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7063198B2 (en) |
| CN (1) | CN110871367B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3229280U (en) * | 2020-08-31 | 2020-12-03 | ブラザー工業株式会社 | Door switchgear and machine tools |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3249553B2 (en) * | 1991-10-18 | 2002-01-21 | ブラザー工業株式会社 | Door open / close control device using robot |
| CN2895841Y (en) * | 2006-04-04 | 2007-05-02 | 郭学生 | Cylindrical pin lock of rolling stock |
| CN101901992A (en) * | 2010-09-03 | 2010-12-01 | 贵州航天电器股份有限公司 | Adjustable-type self-holding rectangular electrical connector |
| CN203213713U (en) * | 2013-04-29 | 2013-09-25 | 宁波埃迪五金工贸有限公司 | Safety door lock |
| CN203506576U (en) * | 2013-09-13 | 2014-04-02 | 中山市美图塑料工业有限公司 | Cam-adjusting type toilet bowl seat hinge |
| CN203699793U (en) * | 2014-03-03 | 2014-07-09 | 中煤科工集团重庆研究院有限公司 | Strut self-locking and remote-unlocking device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826765Y2 (en) * | 1978-05-02 | 1983-06-09 | 株式会社不二越 | Safety device for automatic doors |
| JPS6250582A (en) * | 1985-08-28 | 1987-03-05 | ナブコシステム株式会社 | Apparatus for automatically opening and closing door |
-
2018
- 2018-08-31 JP JP2018162221A patent/JP7063198B2/en active Active
-
2019
- 2019-08-05 CN CN201910716296.XA patent/CN110871367B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3249553B2 (en) * | 1991-10-18 | 2002-01-21 | ブラザー工業株式会社 | Door open / close control device using robot |
| CN2895841Y (en) * | 2006-04-04 | 2007-05-02 | 郭学生 | Cylindrical pin lock of rolling stock |
| CN101901992A (en) * | 2010-09-03 | 2010-12-01 | 贵州航天电器股份有限公司 | Adjustable-type self-holding rectangular electrical connector |
| CN203213713U (en) * | 2013-04-29 | 2013-09-25 | 宁波埃迪五金工贸有限公司 | Safety door lock |
| CN203506576U (en) * | 2013-09-13 | 2014-04-02 | 中山市美图塑料工业有限公司 | Cam-adjusting type toilet bowl seat hinge |
| CN203699793U (en) * | 2014-03-03 | 2014-07-09 | 中煤科工集团重庆研究院有限公司 | Strut self-locking and remote-unlocking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110871367A (en) | 2020-03-10 |
| JP7063198B2 (en) | 2022-05-09 |
| JP2020032506A (en) | 2020-03-05 |
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