CN1714996A - Machine tool with pallet change function and pallet changing method - Google Patents
Machine tool with pallet change function and pallet changing method Download PDFInfo
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- CN1714996A CN1714996A CN 200510080590 CN200510080590A CN1714996A CN 1714996 A CN1714996 A CN 1714996A CN 200510080590 CN200510080590 CN 200510080590 CN 200510080590 A CN200510080590 A CN 200510080590A CN 1714996 A CN1714996 A CN 1714996A
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- supporting plate
- workpiece
- pallet
- plate
- mechanical hand
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Abstract
A machine tool having a low-cost pallet change function and a pallet changing method, in which a pallet is conveyed by utilizing a robot for handling a workpiece. Rollers are rotatably arranged on the pallet. The rollers are supported and rolled on rails that are arranged on a pallet changer base and a table of the machine tool. The pallet has a handle. The robot engages the handle by its hand and pulls or pushes the pallet, thereby moving the pallet between the base and the table. On the base, moreover, the robot mounts or dismounts the workpiece on or from the pallet. Since the movement of the pallet requires no substantial force, the robot for handling the workpiece can convey the pallet and change the pallet at low cost.
Description
Technical field
The present invention relates to a kind of lathe and a kind of supporting plate replacing method that supporting plate is changed function that have, the supporting plate that some workpiece have been installed above one of them is introduced into lathe, and the workpiece on the supporting plate is processed, and then workpiece is taken out from lathe together with supporting plate.
Background technology
Pallet changer is that the technology that lathe is changed the time of workpiece is shortened in a kind of known being used for.This pallet changer comprises that the supporting plate of having fixed workpiece above one and one are used for the drive system that supporting plate is sent to lathe and supporting plate is sent out from lathe.After lathe was finished processing to the workpiece on the supporting plate, this supporting plate carried in lathe, and the supporting plate of having fixed unprocessed workpiece above one is written into lathe, and supporting plate is changed thus.By this operation, stop the loss of time that operation of machine tool causes and to be reduced because of settling and unload workpiece.
A kind of servo motor or pneumatic or hydraulic system are used as the drive system that supporting plate is sent to lathe and supporting plate is sent out from lathe.Yet this system architecture complexity and price are high.
For example, as shown in Fig. 8 a, a workpiece is fixed on the supporting plate 100 of rotation.A specific region in the supporting plate pivot region is used as the machining area that is fixed on the workpiece on the supporting plate 100, and another specific region is used as that workpiece is arranged on the supporting plate 100 or from zone that supporting plate 100 unloads.A kind of known pallet changer is configured to by means of decelerator 102 supporting plate 100 be rotated by a servo motor 101.
A kind of pallet changer that shows among Fig. 8 b is a previous technical examples, and wherein supporting plate 100 is transmitted by servo motor 101.Rotatablely moving of servo motor 101 is converted into rectilinear motion by a kind of mechanism based on ball screw 103 and nut 104.The supporting plate of fixing with nut 104 100 is transmitted away and is substituted by a new supporting plate.
In a kind of pallet changer that Fig. 8 c shows, cylinder 105 is used to transmit supporting plate 100.
These need use traditional pallet changer complex structure of the device of servo motor 101 or cylinder 105 conduct transmission supporting plates 100, and price is high.
On the other hand, for improving operating efficiency and reduce cost, the part or all of automation of workpiece processing beginning the under many situations.Mechanical hand is used to make the operation automation of settling and unloading workpiece in a lot of lathes.And mechanical hand is used to workpiece is arranged on the supporting plate or from supporting plate and unloads in some known systems.
In a kind of tradition or known component delivery system (seeing JP3362656B), a mechanical hand is used to transmit supporting plate, workpiece is placed on the supporting plate, and has placed the supporting plate of workpiece above transmitting.
A kind of lathe that has supporting plate replacing function uses pallet changer, as shown in Fig. 8 a to 8c.Yet these pallet changers are very expensive.On the other hand, have supporting plate at this and change in the lathe of function, workpiece must be sent on the supporting plate or from supporting plate and take out, and mechanical hand is used to workpiece is arranged on the supporting plate or from supporting plate and unloads.This mechanical hand is caught each workpiece and it is sent to another supporting plate from a supporting plate.Therefore, it not need very big power and its size not to need very big.
In traditional parts feed system, that for example describes among the JP3362656B is the sort of, and mechanical hand is used to be placed on workpiece on the supporting plate and transmit these supporting plates.In this system, mechanical hand has one and is used for workpiece and a hand that is used for supporting plate, and these hands alternately are used for catching and lifting each workpiece or supporting plate.Because supporting plate need be picked up when being replaced or piling up, they need use the large-scale mechanical hand that can produce very big strength.
Summary of the invention
The invention provides a kind of lathe and a kind of supporting plate replacing method that supporting plate is changed function that have, can transmit supporting plate by the workpiece hand of operating machine without any need for special-purpose drive system.
A kind of lathe of the present invention comprises: the supporting plate that is used for laying at least one workpiece; Be used for placing the plate supporting frame of this supporting plate; The bracing or strutting arrangement that this supporting plate is supported between machine table and plate supporting frame movably; With one be used for workpiece is placed on the supporting plate that is placed on the plate supporting frame and from this supporting plate and unload, and the mechanical hand that supporting plate is moved between machine table and plate supporting frame.
Bracing or strutting arrangement can comprise the roller that is placed on the supporting plate, so that roll on machine table and plate supporting frame.Perhaps, supportive device can comprise the roller that is arranged on machine table and the plate supporting frame, so that roll on supporting plate.
In addition, bracing or strutting arrangement can comprise the ball that is placed on machine table and the plate supporting frame, so that rotate on supporting plate.
This supporting plate can have the handle that a mechanical hand that can be used to mobile pallet is caught.
Can settle the image capture device of a visual response device to detect the position and/or the attitude of the workpiece that will be picked up on the mechanical hand.
A kind of method of the present invention is to use one to be used for workpiece is arranged on the supporting plate of the lathe that has a machine table and from the mechanical hand that this supporting plate unloads and to change the supporting plate that is used for installing at least one workpiece.This method comprises: a plate supporting frame of laying supporting plate is provided, and the bracing or strutting arrangement that this supporting plate is supported between machine table and plate supporting frame movably; And change supporting plate with mechanical hand mobile pallet between machine table and plate supporting frame.
This method can also be included in when picking up the workpiece that is arranged on the supporting plate uses a visual response device to detect the position of workpiece.
According to the present invention, because be used for workpiece manipulation and it is arranged on the supporting plate and is used as the conveyer that transmits supporting plate from the workpiece that supporting plate the unloads hand of operating machine, so this lathe manufacturing cost is lower, and do not need to be equipped with any special-purpose drive system for pallet changer.
Description of drawings
Fig. 1 a, 1b and Fig. 1 c are that explanation is according to the workbench of the lathe of a kind of embodiment of the present invention and the view of pallet changer base.
Fig. 2 is the view of the supporting plate transfer operation of an a kind of mechanical hand according to this embodiment of explanation.
Fig. 3 is the view of an explanation according to the example of the layout of a lathe fuselage, pallet changer and the work stage of this embodiment.
Fig. 4 is the view that an explanation visual response device is affixed to the mode on the mechanical hand.
Fig. 5 a, 5b and 5c for explanation according to the supporting plate of this embodiment be written into/carry the view of the mode of lathe fuselage.
Fig. 6 a and 6b are the view of a kind of pallet changer base according to another kind of embodiment of the present invention of explanation.
Fig. 7 a, 7b and 7c are the view of explanation supporting plate by a mode that transmits according to the mechanical hand of this another kind embodiment.
Fig. 8 a, 8b and 8c are the view of the traditional pallet changer of explanation.
The specific embodiment
Fig. 1 a to 1c has shown a workbench and the pallet changer base according to the lathe of a kind of embodiment of the present invention.Fig. 1 a is a vertical view, and Fig. 1 b is a front view, and Fig. 1 c is a side view.In these patterns, supporting plate 3 is positioned on the workbench 2 of lathe.
Track 1a is arranged on the relative avris end portion as the pallet changer base 1 of plate supporting frame separately with 1b, so that extend to lathe (machine table 2).Track 2a is arranged on the relative avris end portion of machine table 2 equally separately with 2b.The rotatable roller 3a of a plurality of cylindricalitys is arranged on the relative avris end portion of lower surface of supporting plate 3, and is placed on track 1a, 1b, 2a and the 2b.Supporting plate 3 is assembled into roller 3a and rotates and move smoothly with less resistance.Track 1a, 1b, 2a and 2b and roller 3a have constituted the bracing or strutting arrangement that support supporting plate 3a moves.
A kind of being used for is installed to the lower surface of supporting plate 3 and the workbench 2 of lathe with the clamping device 5 that supporting plate 3 is fixed on the workbench 2.The clamping device 3b that is used for fixing workpiece W is arranged on the upper surface of supporting plate 3, and an end of supporting plate is provided with a handle 3c.A mechanical hand is hooked in handle 3c and goes up with mobile pallet 3.
Mechanical hand that workpiece W is written into supporting plate 3 or takes out from supporting plate 3 of numeral 4 expressions.In the present embodiment, mechanical hand 4 is used for supporting plate 3 is written into or carries the workbench 2 of lathe.Adopt a kind of technology to make workpiece W be caught and be arranged to supporting plate 3 routinely or unload from supporting plate 3 by mechanical hand 4.In a kind of traditional machine tool system, except that mechanical hand 4, used the pallet changer that shows among Fig. 8 a, 8b and the 8c to transmit supporting plate 3.
According to the present invention, the workpiece hand 4 of operating machine is used as the conveyer of supporting plate 3, and does not need to use any special pallet changer.
As shown in Figure 2, catch the end of hand 4a of the mechanical hand 4 of each workpiece W to be connected, and supporting plate 3 is drawn out or release with handle 3c on the supporting plate 3.By this operation, supporting plate 3 moves at workbench 2 and 1 of pallet changer base.When moving, the roller 3a on supporting plate 3 bottom sides on track 1a, 1b, 2a and 2b, rolls.So mechanical hand 4 can be the conventional small size that is used to handle each the workpiece W hand 4 of operating machine, it does not need to produce any big power just can transmit supporting plate 3.
Fig. 3 is a vertical view that has shown the Rankine-Hugoniot relations of 11 of the lathe fuselage 10 according to present embodiment, pallet changer base 1, mechanical hand 4 and work stage.
Among Fig. 3, but the regional 4b of dotted line represents the working region of mechanical hand 4.This mechanical hand 4 is caught the unprocessed workpiece W on the work stage 11, and they are written into supporting plate 3 on the pallet changer base 1.Subsequently, workpiece W is fixed on the supporting plate 3 by clamping device 3b.Further, the workpiece W that has processed be booked and the supporting plate from pallet changer base 13 take out, be placed on then on the work stage 11.In addition, mechanical hand 4 is dragged to the supporting plate 3 on the workbench 2 of lathe fuselage 10 on the pallet changer base 1 and with the supporting plate on the base 13 and is transported on the workbench 2.
Perhaps, for changing workpiece, mechanical hand 4 can be equipped with a visual response device.Fig. 4 is that a width of cloth has shown that the image capture device 7 of visual response device is installed to the view of the example on the arm end of mechanical hand 4.The image that the image capture device 7 of this visual response device is caught each the workpiece W on the work stage 11.Therefore, the position of workpiece and state are detected by the visual response device, and mechanical hand 4 is moved to this position that detects to catch and to pick up this workpiece.If workpiece W accurately is not placed on the work stage 11, can use this visual response device easily.
Fig. 5 a, 5b and 5c are sent to workbench 2 for explanation with supporting plate 3 or the view of the operation of shifting out from workbench 2.
After lathe fuselage 10 has been finished the processing that is fixed on the workpiece W on the supporting plate 3 (processing of the workpiece W on the supposition supporting plate 3-A is finished in Fig. 5 a to 5c), workbench 2 is positioned at the exit position of supporting plate 3-A.Clamping device 5 is released, and makes the end of hand 4a of mechanical hand 4 be connected with the handle 3c of supporting plate 3, as shown in Figure 2.Therefore, mechanical hand 4 is driven and supporting plate 3 is pulled out towards pallet changer base 1.After this operation was finished, supporting plate 3-A was sent on the base 1, shown in Fig. 5 b.
Next, workbench 2 is moved and is positioned on the position of the pallet changer base 1 of having placed supporting plate 3-B.The hand 4a of mechanical hand 4 is connected with the handle 3c of supporting plate 3-B, and mechanical hand 4 driven and move, and the supporting plate 3-B on the base 1 is transported on the workbench 2 (sees Fig. 5 c).Supporting plate 3-B is held mechanism 5 and clamps, and the workpiece W that is fixed on the supporting plate 3-B is processed by lathe fuselage 10.
When the workpiece W on the supporting plate 3-B was processed, the workpiece W that has processed on the supporting plate 3-A was released, and the hand 4a of mechanical hand 4 catches this workpiece W and it is transported on the work stage 11.Thereafter, above mechanical hand 4 is transported to the unprocessed workpiece W on the work stage 11 that supporting plate 3-A goes up and it is placed in.Subsequently, supporting plate 3-A and 3-B alternately are sent on the workbench 2, and workpiece W, and has been processed with unprocessed workpiece and alternately is placed on the supporting plate 3 by lathe fuselage 10 processing at this place.
In the above-described embodiments, the side of supporting plate 3 is provided with roller 3a.Yet, also can on the side of pallet changer base 1 and workbench 2 rather than on the supporting plate side roller be set.And in the present embodiment, base and workbench 2 are provided with track 1a, 1b, 2a and 2b.Yet these tracks are also nonessential, and roller can be replaced by ball.
Fig. 6 a and 6b are that explanation uses ball to replace the view of the another kind of embodiment of roller.Fig. 6 a is the vertical view that a width of cloth has shown a pallet changer base and a supporting plate, and Fig. 6 b is a front view.Here used identical numeral to represent the parts that the parts with the embodiment shown in Fig. 1 a to 1c are equal to.
A plurality of balls 6 are arranged on the upper surface of pallet changer base 1 rotationally, and supporting plate 3 is supported by ball 6.Equally, a plurality of balls 6 are arranged on the upper surface of workbench 2 of lathe fuselage (not shown), and support supporting plate 3.Workbench 2 not necessarily needs to be provided with ball 6, also can roller be set so that can roll along the direction of taking out and put into supporting plate.Because the rotation direction of ball 6 is unrestricted, supporting plate 3 can move along vertical and horizontal on pallet changer base 1.If the working region of mechanical hand 4 is narrower, then be arranged on the supporting plate or when supporting plate unloaded, supporting plate 3 self can be pulled to mechanical hand as workpiece W.
Fig. 7 a to 7c is for illustrating the view of the operation that will be passed to machine tool main body 10 according to the supporting plate 3 of this alternative or send out from machine tool main body 10.
Fig. 7 a is one and has shown that the processed rear supporting plate 3-B of workpiece W on the supporting plate 3-B is sent to the view of the state of pallet changer base 1 from workbench 2.Workbench 2 is positioned at the exit position of the supporting plate 3 on the pallet changer base 1, and the hand 4a of mechanical hand 4 is connected with the handle 3c of supporting plate 3-B.Mechanical hand 4 is subjected to drive supporting plate 3-B is pulled out and puts it on the pallet changer base 1.Next, workbench 2 is positioned at the supporting plate entry position, and the supporting plate 3-A that has placed unprocessed workpiece W is sent to workbench 2 (seeing Fig. 7 b) by mechanical hand 4 from base 1.
Thereafter, workbench 2 is moved to Working position, and mechanical hand 4 moves to supporting plate 3-B that workpiece is settled and unloading position (corresponding supporting plate entry position), shown in Fig. 7 c.Because rotating ball 6 is arranged on the upper surface of pallet changer base 1, in this case, supporting plate 3-B also can be from workbench 2 along moving with the rectangular direction of carriage direction, thereby mechanical hand 4 does not need big power.
Under the state of Fig. 7 c, the workpiece W that has processed on the supporting plate 3-B is taken out and is put on the work stage 11 by mechanical hand 4, and unprocessed workpiece is arranged on the supporting plate 3-B on the work stage 11.So, when workpiece W is arranged on the supporting plate 3 or when supporting plate 3 unloaded, supporting plate 3 was pulled to mechanical hand, even if thereby also can implement its operation well at narrow working region inner machine hand 4.
Claims (8)
1. lathe that has a machine table comprises:
A supporting plate that is used to lay at least one workpiece;
A plate supporting frame of settling described supporting plate;
Between machine table and described plate supporting frame, support the bracing or strutting arrangement of described supporting plate movably;
A mechanical hand that is used for workpiece is placed on the described supporting plate that is placed on the described plate supporting frame and unloads and make described supporting plate between machine table and described plate supporting frame, to move from described supporting plate.
2. according to the lathe of claim 1, wherein said bracing or strutting arrangement comprises the roller that is arranged on the described supporting plate, so that roll on machine table and described plate supporting frame.
3. according to the lathe of claim 1, wherein said bracing or strutting arrangement comprises the roller that is arranged on machine table and the described plate supporting frame, so that roll on described supporting plate.
4. according to the lathe of claim 1, wherein said bracing or strutting arrangement comprises the ball that is arranged on machine table and the described plate supporting frame, so that rotate on described supporting plate.
5. according to the lathe of claim 1, wherein said supporting plate has a handle of being caught by the described mechanical hand that moves described supporting plate.
6. according to the lathe of claim 1, wherein said mechanical hand has the image capture device of a visual response device.
7. change the method for the supporting plate be used to lay at least one workpiece with mechanical hand for one kind, described mechanical hand is used for workpiece is placed on the supporting plate of the lathe that has machine table and from described supporting plate and unloads workpiece, and described method comprises:
A plate supporting frame of settling described supporting plate is provided, and between machine table and described plate supporting frame, supports the bracing or strutting arrangement of described supporting plate movably; With
Use mechanical hand that described supporting plate is moved between machine table and described plate supporting frame, so that change described supporting plate.
8. according to the method for the replacing supporting plate of claim 7, also be included in when picking up and use the visual response device to survey the position of workpiece the workpiece that is placed on the described supporting plate.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004193338 | 2004-06-30 | ||
| JP2004193338 | 2004-06-30 | ||
| JP2004303038 | 2004-10-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1714996A true CN1714996A (en) | 2006-01-04 |
Family
ID=35821307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510080590 Pending CN1714996A (en) | 2004-06-30 | 2005-06-30 | Machine tool with pallet change function and pallet changing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1714996A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729229A (en) * | 2014-12-25 | 2016-07-06 | 发那科株式会社 | Machining device with visual sensor for locating contaminants |
-
2005
- 2005-06-30 CN CN 200510080590 patent/CN1714996A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729229A (en) * | 2014-12-25 | 2016-07-06 | 发那科株式会社 | Machining device with visual sensor for locating contaminants |
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