IT201900007374A1 - MULTI-SPINDLE STATION FOR ROBOTIC CELLS - Google Patents

Description

MULTI-SPINDLE STATION FOR ROBOTIC CELLS

DESCRIPTION

The present invention relates to a multi-spindle station for robotic cells (or islands).

The robotic cell (or island) is normally a semi-isolated area where operations are automatically performed on pieces to be machined, for example to be deburred, by manipulating one or more programmable robots.

The robotic cells are applied to different sectors, such as cast iron, aluminum, steel, ceramic, wood or plastic and are real small automatic workshops, highly integrated and made in a few square meters of space The pieces enter and leave the cell by means of means of handling, such as belt feeders, chains or belts or rotary tables, on which an operator has previously manually positioned the pieces to be machined.

Once the pieces have entered the cell, they are grabbed by a robot and processed with different tools (cutters, discs, grinding wheels, drills ...) depending on the size of the piece and the processes to be performed.

In this way, the robot (or robots) within the robotic cell can produce parts that require a number of different machining operations (cutting, grinding, drilling, milling, tapping, etc.). The robotic cells, widely used in the assembly, foundry, painting and welding sectors, guarantee fast, economical and optimized production processes, allowing the production of better quality machined parts with a parallel reduction in manufacturing costs, especially in those processes. work considered tiring and high risk. A first problem of this type of robotized cells is given by the fact that different and separate machine tools are required to perform different types of machining.

The use of two separate machines, in addition to space problems, first of all entails delays in production since the parts have to be transferred from one machine to another; this relocation can significantly increase not only the time but also the manpower required for production.

Furthermore, the use of such additional machinery adds to the cost of production by requiring the purchase, operation and maintenance of each apparatus.

In the current state of the art, it is possible to use a single machine tool that allows the robot (or robots) to perform a number of machining operations on the piece: this machine is a multi-spindle rotary transfer station with rotation axes horizontal and vertical. The spindles support tools capable of performing various machining operations at the same time and the change of the spindle / tool groups takes place by rotation.

These multi-spindle stations, however, have a configuration such as to allow the use of a number of spindles, connected along the circular perimeter of the machine, limited by the size of the machine itself.

Therefore, in order to insert other spindles / tools it is necessary to enlarge the perimeter of the machine tool, consequently increasing its overall dimensions.

Furthermore, again due to the limited environments, machines of this type can mount relatively small motors or in any case proportional to the - limited - space available, with consequent sizing problems of the multi-spindle station.

The aim of the invention is to eliminate the aforementioned drawbacks in known types of multi-spindle station for robotic cells which allow to mount - with the same overall dimensions - a greater number of spindles / tools than in the known art, so as to create extremely versatile and compact robotic cells.

Within the scope of the above aim, an object of the invention is to provide a multi-spindle station for robotic cells, which allows to mount spindles of any power, so as to allow any type of machining.

Not least object of the invention is to provide a multi-spindle station for robotic cells, with means easily available on the market and using commonly used materials, so that the device is economically competitive.

This aim, as well as these and other objects which will appear better below, are achieved by a multi-spindle station for robotic cells, according to the invention, comprising a columnar element, extending along a direction of development, having means for detecting the surface of the piece to be machining and translation means for tool holder spindles, each connected to respective motor means, said tool holder spindles being removably mounted on said columnar element.

The multi-spindle station therefore envisages a central column structure, with positions suitable for housing several groups of tools according to the process requirements.

Preferably, the direction of development is substantially normal to the ground, so that the column is balanced.

Advantageously, the translation means comprise a rectilinear guide for each spindle connected to the columnar element, which defines a longitudinal direction substantially parallel to the ground. The rectilinear guide is adapted to be engaged with a support slide for the respective tool holder spindle, to which it is fixed. In this way, the translation of the spindle allows the tool to get out of the overall dimensions of the columnar element and allows to carry out all the necessary operations on the piece handled by the robot.

The slides can house milling spindles, deburring spindles, cutting discs, grinding wheels, belt grinders and stations for measuring and zeroing the workpiece.

Preferably, the slide is enslaved to a piston for its movement along the longitudinal direction. The linear movement of activation and deactivation of the groups can take place pneumatically, through a pneumatic cylinder or even electrically by means of electric motors: with a movement by means of an electric motor, the motion can be transmitted by means of a rack and pinion or by means of belts and pulleys or ball screws. .

Normally, the detection means comprise a feeler, per se known, mounted on the head of the columnar element, for measuring the surface to be machined, so as to verify the geometric conformity of the piece to be machined. The feeler is also adapted to engage with the columnar element, by means of its own translation means along the longitudinal direction.

Obviously, with or instead of the feeler, sensor means of any type can be used such as a laser pointer, also known per se, which, like the feeler, can check how the piece has been picked up by the robot. through the measurement of some strategic points.

Each work group, formed by a tool holder spindle and its respective motor means, requires the use of an interface plate to be fixed to the central column, in addition to the slide that slides on the linear guides. In order to make the station versatile and to be able to change its configuration in a simple and fast way, satisfying the needs of machining the piece, whatever it is, the attachment means and the translation means are modular, so that each of the tool holder spindles is adapted to be assembled and disassembled from and on any of the slides.

All the workstations therefore have the same mechanical interface, so it is possible to provide multiple configurations.

Advantageously, the slide has at least one pivot arm for opening outwards with respect to the direction of development of the columnar element, so that the relative tool-holder spindle is moved away from the encumbrance of the columnar element to facilitate the machining of very large pieces. .

This embodiment is achieved for example by means of a rotatable guide mounted on the interface plate.

Advantageously, means for rotation of the columnar element around the direction of development are provided. In this way, the multi-spindle station is in fact equipped with a rotary movement which has the task of orienting the milling tools in an advantageous position for the machining that the robot has to carry out.

The rotation of the columnar element can be managed directly by the robot (controlled axis): in this case, therefore, the rotation axis is the seventh axis of the robot.

Alternatively, the rotation can have its own means (fixed rotation); in this case the rotary movement of the platform or table can take place pneumatically through a lever and a pneumatic cylinder or even electrically through electric motors.

Further characteristics and advantages of the invention will become clearer from the description of a preferred but not exclusive embodiment of the multi-spindle station for robotic cells, illustrated by way of non-limiting example with the aid of the accompanying drawings in which: Figure 1 represents an embodiment of the multispindle station 1 in perspective view;

Figure 2 is an elevation view of the station 1 of Figure 1;

Figure 3 represents the section 11-11 of Figure 2;

Figure 4 represents a second embodiment of the multi-spindle station 102, in a perspective view.

With reference to the aforementioned figures, a preferred embodiment is shown of a multi-spindle station for robotic cells, according to the invention, which is identified in its entirety with the reference numbers 1 and 101 and which comprises

A multi-spindle station 1 or 101 for robotic cells, which comprises a columnar element 2, which extends along a direction of development 10 substantially normal to the ground 9. The station 1 (or 101) has means 5 for detecting the surface to be machining and translation means for a series of tool holder spindles 3, 3 ', 3 "and 3"'. Each of these mandrels 3, 3 ', 3 "and 3"' is removably mounted on the columnar element 2 and is also connected to respective motor means which provide a piston 4, 4 ', 4 "and 4'" ( in this case a pneumatic cylinder) driven by the respective motor 19, 19 ', 19 "and 19'".

With reference to Figure 3, on the side walls of the columnar element 2, a guide 6 (6 ', 6 ", 6'") is mounted in correspondence with the attachment point of the spindle 3 (3 ', 3 ", 3'" ); in this case the guide 6, as well as the other guides 6 ', 6 ", 6'", consist of a pair of tracks substantially parallel to each other and substantially parallel also to the tracks of the other guides.

Each mandrel 3, 3 ', 3 "and 3'" therefore defines a longitudinal direction 20 substantially parallel to the ground and to the longitudinal directions 20 ', 20 "and 20'", which are also all substantially parallel to each other and to the ground. Along each direction 20, 20 ', 20 "and 20'" a relative support slide 7, 7 ', 7 "and 7'" engages for the respective tool holder spindle 3 and slaved to the cylinder 4 4 '4 "and 4' ".

Each working group, formed by the tool holder spindle 3, 3 ', 3 "and 3'" and its respective motor means (the piston 4, 4 ', 4 "and 4'" and the motor 19, 19 ', 19 " and 19 '"), provides for the use of an interface plate 12, 12', 12" and 12 '"to be fixed to the columnar element 2 and from the slide 7, 7', 7", and 7 '"which slides on guide 6, 6 ', 6 "and 6'".

In the preferred embodiment, the scanning probe 11, per se known, which is in practice a measuring rod activated by an integrated electric motor, is positioned at the head of the columnar element 2.

Obviously, the feeler 11 will also be operated by its own translation means which provide a motor (not shown) which causes it to translate on the columnar element 2 by means of its own slide 17 for engagement with its own guide 16 (figure 2) fixed to the supporting frame of the columnar element 2 by means of its own plate 18.

Cover bellows 15, 15 ', 15 "and 15'" are also provided for the guides 6, 6 ', 6 "and 6'", so as to prevent the falling of chips into the translation means from jeopardizing the correct functioning of the machine.

A second variant embodiment provides for the installation of rotation means of the columnar element 2 (fig. 4), such as a rotating platform or a rotating table 103, per se known, mounted at the base of the columnar element 2 by means of a pedestal support 104 and provided with its own motor 105.

The table 103 is moved by an electric motor 105 which is the seventh axis of the robot, which therefore directly controls the rotation of the columnar element.

In another executive example, the compartment 8 defined inside the columnar element 2 serves as housing for a columnar grinder, thus allowing to have a very useful accessory in the same station and in an extremely compact way (fig. 3).

In use, the robot receives the pieces to be machined from the belt feeding system by known means and, following the command of the operator who sets the type of pieces to be machined and the type of processing, automatically checks that each piece loaded is coherent and then - manipulating the piece itself - submits it to the appropriate tools 13, 13 ', 13 "and 13'", mounted on spindles 3, 3 ', 3 "and 3'" connected to the columnar element 2, which are controlled and operated by the central unit, or by any other data processing unit.

In order for the robot to process the piece, the slide 7 (or 7 ', 7 "and 7'"), which supports the spindle 3 (or 3 ', 3 "and 3'") through the interface 12 (or 12 ', 12 "and 12'"), engages the respective guide 6 (or 6 ', 6 "and 6'") in sliding and allows the translation of the tool 13 (or 13 ', 13 "and 13 '") outside the encumbrance area defined by the columnar element 2.

From what has been described above it can therefore be seen how the invention achieves the intended aim and objects and in particular it is emphasized that a multi-spindle station for robotic cells is provided, which allows the assembly of numerous tool-holder spindles with the same lateral dimensions, certainly in a greater number than in the known art, so as to house larger spindle / motor / tool units and have a solution with a greater number of tools without having significant increases in overall dimensions.

In particular, having practically no height limit - other than that imposed by the ceiling of the building -, even with the use of rotating arms, it will be possible to add the number of spindles necessary to organize any type of processing in a single station. multi-tool, with standard dimensions, thus creating extremely versatile and compact robotic cells.

Another advantage of such a station is that it has eliminated any problems of lateral bulk so that it will be possible to use tools with higher power ranges.

Another advantage of the invention is given by the fact that the rotation of the columnar element makes it possible to carry out workings which would otherwise be impossible by making the robot assume positions compatible with the geometry of the piece and the overall dimensions of the machine.

Another advantage of the invention is constituted by the use of interchangeable modular translation means which, by providing for the change of the spindles through activation / deactivation with linear movement, allows to modify the configuration of the station to make it more efficient and more comfortable than the processing needs.

Last but not least, the use of means easily available on the market and the use of common materials make the device economically competitive. The invention thus conceived is susceptible of numerous modifications and variations, all of which are within the scope of the inventive concept.

Furthermore, all the details can be replaced by other technically equivalent elements.

In practice, the materials used, as well as the dimensions, may be any according to the requirements, provided they are consistent with the manufacturing purpose.

Claims (10)

CLAIMS 1) A multi-spindle station (1, 101) for robotic cells, comprising a columnar element (2), extending along a direction of development (10), having means for detecting (5) the surface of the workpiece and means for translation (6, 6 ', 6 ", 6"', 7, 7 ', 7 ", 7'") for tool holder spindles (3, 3 ', 3 ", 3"'), each connected to respective motor means ( 4, 4 ', 4 ", 4"', 19, 19 ', 19 ", 19'"), said tool holder spindles (3, 3 ', 3 ", 3'") being removably mounted on said columnar element (2 ). 2) Station (1, 101) according to claim 1, wherein said translation means (6, 6 ', 6 ", 6'", 7, 7 ', 7 ", 7'") comprise a straight guide (6 ), defining a longitudinal direction (20) substantially parallel to the ground, suitable to be engaged with a support slide (7, 7 ', 7 ", 7'") for a respective tool holder spindle (3, 3 ', 3 ", 3 '") of said tool holder spindles (3, 3', 3", 3 '"). 3) Station (1, 101) according to one of claim 2, in which said slide (7) is enslaved to a piston (8) for its movement along said longitudinal direction (20, 20 ', 20 ", 20'") . 4) Station (1, 101) according to one or more of claims 1-3, in which said detection means (5) comprise a feeler (11), positioned on the head of said columnar element (2), for measuring the surface to be machined, in order to verify the geometric conformity of the piece to be machined, said feeler (11) being able to engage with its own translation means (16, 17). 5) Station (1, 101) according to one or more of claims 1-5, wherein said attachment means and / or said translation means (6, 6 ', 6 ", 6"', 7, 7 ', 7 ", 7 '") are modular, so that each of said tool holder spindles (3, 3', 3 ", 3" ') can be assembled and disassembled with respect to any one of the slides (7, 7' 7 ", 7" '). 6) Station (1, 101) according to one or more of claims 3 and 4 or according to claim 5 when it depends on claim 3 or 4, wherein said slide (7) has at least one pivot arm for outward opening with respect to to the development direction (10) of said columnar element (2), so that the relative tool holder spindle (3, 3 ', 3 ", 3'") is moved away from the encumbrance of said columnar element (2) to facilitate the machining of very large pieces. 7) Station (1, 101) according to claim 6, wherein said at least one revolving arm is interconnected to said columnar element (2) by means of a relative revolving guide. 8) Station (1, 101) according to one or more of claims 1-7, wherein said columnar element (2) has a compartment (8) for housing a columnar grinder. 9) Station (101) according to one or more of claims 1-8, comprising rotation means (103, 105) of said columnar element (2) around said direction of development (10), so as to orient each of said spindles tool holder (3, 3 ', 3 ", 3'") towards the best machining direction. 10) Station (101) according to claim 9, wherein said rotation means comprise a rotating platform (103) mounted at the base of said columnar element (2).