JP2000246580A - Hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To cope with the grasping of various kind of works and also shorten the carrying time of the work lighten an economy and reduce a space. SOLUTION: In this hand, respective grasp center lines of a carrying in grasp claw 14A and carrying out grasp claw 14B are moved through the advance/retreat action of the relative straight line direction of a carrying in hand member 10A and carrying out hand member 10B. Thereby, the combination of the carrying in grasp claw 14A with the carrying out grasp claw 14B can be switched to the grasp shape corresponding to the processing shape of the work.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand mounted on a transfer device for loading and unloading a work into and from a machining area and a stock area of a machine tool.

[0002]

2. Description of the Related Art Conventionally, a hand used for loading / unloading a work (material and processed product) by a robot or a loader into and out of a machining area and a stock area of a machine tool has a work shape and size (diameter and diameter). At present, it is necessary to select and manufacture a dedicated hand according to the form of length, weight), processing specifications, and front / back processing. Specifically, if the hand specification of the work transfer by the turning machine tool is taken, the shaft work hand specification that grips the work of a shaft object with a relatively small diameter and a long shaft, and the flange with a larger diameter and a shorter shaft compared to that There is a chuck work hand specification for gripping an object work. In the shaft work hand specification, as shown in FIG. 3, the hand enters from a direction (lateral direction) perpendicular to the axis of the work, and the work is gripped by claws, which are two grippers. Shaft work hand specifications generally use a swivel arm type, and when gripping a workpiece with a large diameter, the grip center line with respect to the workpiece is farther away from the swivel axis, and the swing tends to increase, increasing the moment of inertia. . Similarly, when the work diameter increases, the gripping claw needs to be opened larger than the chuck work hand specification, and there is a need to adjust or replace the gripping claw. On the other hand, in the chuck work hand specification, as shown in FIG. 4, the hand enters from the axial direction of the work, and the work is gripped by three or two claws. It is inappropriate to grip the workpiece of the shaft in this form. In other words, since the grip is cantilevered, there is a risk that the work may be tilted due to excessive weight. Further, when the work is reversed, there is a risk of interference with other components as compared with the shaft work hand specification. As mentioned above,
Depending on the shape and size of the work, it is difficult to satisfy the specifications of both hands, and as described above, a hand corresponding to the work is selected. Next, if the form of the hand with the front and back processing of the work is taken, specifically, when processing the front and back of the work using a robot or a loader with one machine tool to finish the finished product,
The work needs to be inverted. In other words, when the amount of gripping of the gripping claw of the hand with respect to the workpiece is small (when the gripping portion corresponds to the processed portion of the workpiece), it is necessary to perform re-gripping. There are a type in which a workpiece is temporarily placed on an installed temporary placing table and the hand is inverted and re-clamped, and a type in which the hand itself is not inverted and the posture of the workpiece is changed using an independent reversing device. In any case, during the processing, at the point where the work is once transferred to the temporary placing table or the reversing device which is separated from the processing area, the transporting time is increased and the processing efficiency is reduced. Further, since a temporary placing table or a reversing device is required separately from the transfer device, it is necessary to secure the installation space as well as the manufacturing cost.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a hand which can cope with a wide variety of works, improves the transfer time, and further reduces the cost and space. Is what you do.

[0004]

The gripping center lines of the carry-in gripper 14A and the carry-out gripper 14B are shifted through the relative linear movement of the carry-in hand member 10A and the carry-out hand member 10B. Thus, the carry-in gripper 14A and the carry-out gripper 1 are brought into a gripping form corresponding to the workpiece processing form.
This is achieved by being able to switch the combination with 4B.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples. FIG. 5 shows the relationship between the hand of the present invention, a transfer device equipped with the hand, and a machine tool. The transfer device 1 is supported by a headstock 2 of a machine tool and is provided with a chuck 3A.
And the workpiece 4 (the material 4), which can be relatively moved up and down in a direction (X-axis) orthogonal to the Z-axis via feed driving means such as a servomotor, and reciprocate between the machining area and the stocking area.
A. Carry the processed product 4B). In the embodiment, the transfer of the transfer device is shown in the Z-axis and X-axis directions.
By adding a direction (Y-axis) orthogonal to the plane intersecting the axis, it is possible to further expand the transport area and improve the transport effect.

FIGS. 1 and 2 show the structure of a hand 5 according to the present invention. Reference numeral 6 denotes a hand main body mounted on the transfer device 1 and reference numeral 7 denotes a hand support, which is orthogonal to the rotation axis direction of the main shaft 3. Hand body 6 so that it can turn around
Is supported by a turning shaft 8 supported by the rotating shaft 8. The pivot 8
Can be turned to a position of three divisions of 0 to 270 degrees via an appropriate driving means 9. Reference numeral 10 denotes a pair of hand members constituting a carry-in hand member 10A and a carry-out hand member 10B forming an L-shaped arm, each of which is capable of relatively moving forward and backward in a direction orthogonal to the axis of the turning shaft 8. A guide 7A arranged side by side with the hand support 7 with a pivot axis interposed therebetween.
It is supported by the guide 7B. The loading hand member 10A
A rack 10a and a rack 10b are provided on each of the vertically extending arms of the unloading hand member 10B, and mesh with a pinion 12 fixed to a drive shaft 11 rotatably supported in the turning shaft 8. ing. In the present embodiment, the racks 10a and 10b mesh with the pinion 12,
Although the relative operation is taken in conjunction with the rotation of the binion 12, the carry-in hand member 10A and the carry-out hand member 10B may operate independently of each other. For example, the carry-in hand member 10A and the carry-out hand member 1
It is possible to take an independent operation by connecting an operating cylinder or a motor to each of the OBs. The drive shaft 11 is operated via positioning means 13 such as a servomotor or a rotary actuator. The positioning means 13 receives information for switching the gripping form of the hand in accordance with the shape, size, and processing form of the workpiece, and the input hand member 10A and the unloading hand member are selected by selecting the input information. It is possible to arbitrarily change the stroke of the forward / backward movement of 10B. 14 is a carry-in gripping claw 14 having each gripping center line in a direction orthogonal to the axis of the turning shaft 8.
A and a pair of gripping claws forming the carry-out gripping claws 14B. The finger 14a and the claw 14b, which form the grasping claw 14, extend in the direction in which the hand member 10 moves forward and backward, and are mounted inwardly facing each other inward.
A and a pair of gripping claws forming the carry-out gripping claws 14B. Each of the gripping claws 14 is mounted on gripping drive means 15 fixed to an arm portion extending in the lateral direction of the hand member 10, and centrifugally opens and closes in the lateral direction of the arm to grip the workpiece. One carry-in gripper 14A is mounted on the carry-in hand member 10A, and the other carry-out gripper 14B
Is mounted on the unloading hand member 10B.
Through the advancing and retreating operation of the hand member 10, the respective gripping center lines of the pair of gripping claws 14 shift and intersect with each other, so that the directions of the pair of gripping claws 14 are directed inward and outward, respectively. It is possible to switch.

In the present invention, the gripping modes of the three hands can be basically switched by shifting the respective gripping center lines of the carry-in gripper 14A and the carry-out gripper 14B relative to each other. 1, the carry-in gripper 14A and the carry-out gripper 14
B (holding form of chuck work specification in which the workpiece is gripped in a direction in which the carrying-in gripping claws 14A and the carrying-out gripping claws 14B concentrically face each other inwardly) and holding the respective gripping center lines on the same line. A gripping form in which the respective gripping center lines of the carry-in gripper 14A and the carry-out gripper 14B are relatively switched with each other (a shaft work in which the direction of the carry-in gripper 14A and the carry-out gripper 14B is switched outward and grips the workpiece). The gripping form of the specification)
A and the carrying-out gripping claws 14B are gripped at positions where the respective gripping center lines are spaced apart from each other (the large-diameter gripping the work inward with the carrying-in gripping claws 14A and the carrying-out gripping claws 14 separated from each other). Workpiece specifications and front and back processing specifications)

The above is the configuration of the present invention. Next, the operation of the present invention will be described. FIG. 6 shows a gripping form of a hand of a chuck work specification, and its operation will be described.
Usually, the carry-in gripper 14A and the carry-out gripper 14B of the hand 5
Are waiting in the original position, facing inward and separated from each other. When input information for switching to the gripping form of the chuck work specification is input to the positioning means 13, the drive shaft 1
1, the pinion 12 rotates, and the carry-in hand member 10A and the carry-out hand member 10B advance relative to each other via the racks 10a and 10b. With this operation, the carrying-in gripping claws 14A and the carrying-out gripping claws 14B approach each other, the respective gripping center lines shift accordingly, and when the gripping centerlines intersect, they are positioned on the same line. Stops. In this state, the material 4A in the stock area with the carry-in gripper 14A enters from the axial direction of the material 4A, grips the material 4A, and conveys it to the main shaft 3. During the processing of the work, the hand 5 returns to the stock area, grips the next material 4A via the carrying-in gripping claws 14A, and is then transferred to the processing area again.
When the machining is completed, the hand 5 is turned 180 degrees through the turning motion of the turning shaft 8. Thereafter, the carry-out gripping claws 14B enter the workpiece 4B from the axial direction, grip the workpiece 4B, and carry it out of the processing area. In this gripping mode, the material 4A and the processed product 4
Since B is held on the same holding center line, the swing is small even when the hand 5 turns, so that the moment of inertia is small, and the restriction of interference with others is reduced.

FIG. 7 is an embodiment diagram showing a gripping form of the hand of the shaft work specification, and its operation will be described. As with the chuck work specification, the carry-in gripper 14A and the carry-out gripper 1
In the original position, the direction of 4B is waiting inward with respect to each other. When input information for switching to the gripping form of the shaft work specification is input to the positioning means 13, the drive shaft 11
The pinion 12 rotates through the rack 10a and the rack 10a and the rack 10b, and the carry-in hand member 10A and the carry-out hand member 1
OB advances relatively. By this operation, the carrying-in gripping claw 1
The gripping center lines of 4A and the carry-out gripping claws 14B move relative to each other, and approach and intersect with each other. When the forward movement is further continued, the respective gripping center lines pass each other and their positions are switched.
When the grip center line reaches a position where the workpiece can be gripped, the operation of the positioning means 13 stops. In this state, the carry-in gripper 14A and the carry-out gripper 14B are facing outward. In this state, the loading grasping claw 14A enters the stock material in the stock area from the lateral direction with respect to the axis of the stock material 4A, grasps the material, and conveys it to the main shaft. During the processing of the work, the hand 5 returns to the stock area, enters the next material 4A from the lateral direction via the carry-in gripping claw 14A, and enters the material 4A.
, And then returned to the processing area again. Then, when the processing is finished, the hand 5 turns and turns 180 degrees, and the processed product 4B is gripped via the unloading gripping claws 14B and is unloaded from the processing area.

Next, FIG. 8 is an embodiment diagram showing a gripping form of a hand of a front and back processing specification of a work, and an operation process thereof will be described with reference to FIGS. 9, 10, 11 and 12. First,
As with the gripping form of the chuck work specification, through the forward movement of the carry-in hand member 10A and the carry-out hand member 10B,
The respective gripping center lines of the carry-in gripper 14A and the carry-out gripper 14B are held on the same line. Material 4 in the Stokka area
A is gripped from the axial direction of the material A via the loading gripping claws 14A and is loaded into the processing area (FIG. 9A). When the material 4A is held on the chuck 3A of the main shaft 3, the hand 5 moves away from the processing area. At the same time, the carry-in hand member 10A and the carry-out hand member 10B retreat, and the carry-in grasping claws 14A and the carry-out grasping claws 14B face each other inward, are separated from each other, and are held at the original position (FIG. 9B). ). When the front working of the work 4 is completed, the hand 5 is transferred toward the chuck 3A while maintaining the original position (FIG. 9C). The work having finished the surface processing is gripped from the axial direction of the work 4 via the unloading gripping claws 14B and is unloaded from the chuck 3A (FIG. 10D). Next, the carry-in gripper 14A and the carry-out gripper 1
The gripping center lines of the workpieces 4B are held on the same line, enter the workpiece from the lateral direction with respect to the axis of the workpiece via the loading gripping claws 14A, and after the unprocessed back part of the workpiece 4 is gripped, carry-out gripping is performed. The pawl 14B opens to release the work (FIG. 10).
(E)). Thereafter, the hand 5 turns and the carry-in gripping claw 14A
The back part of the workpiece gripped by the gripper 14B and the carry-out gripping claw 14B are inverted by 180 degrees (FIG. 10F). Thereafter, the carry-in grasping claws 14A and the carry-out grasping claws 14B are separated from each other and returned to their original positions. In this state, the unprocessed back portion of the work 4 is conveyed toward the chuck 3A (FIG. 11).
(G)). When the workpiece 4 is gripped by the chuck 3A, the hand 5 moves away from the processing area, and at the same time, the carry-in gripper 14
The gripping center line of each of A and the carry-out gripping claw 14B is held on the same line, and then the hand 5 turns, and the carry-in gripper 14A and the carry-out gripper 14B are reversed by 180 degrees (FIG. 11).
(H)). While the backing of the work 4 is being performed by the main shaft 3, the hand 5 is transferred to the stock area,
After gripping the new material 4A via the 4A, the carry-in gripper 14A and the carry-out gripper 14B are again turned 180 degrees and transferred to the processing area (FIG. 11 (i)). When the back processing of the work on the main shaft 3 is completed, the hand 5 is moved toward the main shaft, and the processed product 4B is gripped via the unloading gripping claws 14B, and then moves away from the chuck 3A (FIG. 12 (j)). Thereafter, the carry-in grasping claws 14A and the carry-out grasping claws 14B are reversed by 180 degrees, and the hand 5 is again moved toward the main shaft 3, and the new material 4A grasped by the carry-in grasping claws 14A is carried into the chuck ( FIG. 12 (k)). Thereafter, the processed product 4B in which the hand 5 moves away from the main spindle 3 and is gripped by the unloading gripping claws 14B is unloaded from the processing area (FIG. 12).
(1)). As described above, by repeating this series of operations, continuous processing of the front and back of the work can be performed. Since the reversal of the work can be performed by hand delivery in the machine, the productivity can be improved because the reversing device is not required and the machine is not stopped.

FIG. 13 shows an embodiment of a hand holding mode for holding a large-diameter workpiece, and its operation will be described. The carry-in grasping claws 14A and the carry-out grasping claws 14B face each other inward and are separated from each other and held at the original position. In this state, one work is gripped by the carry-in gripper 14A and the carry-out gripper 14B. Loading hand member 10A
After the carry-in gripper 14A and the carry-out gripper 14B move to a position where the workpiece can be clamped through the forward movement of the carry-out hand member 10B, the carry-in gripper 14A and the carry-out gripper 14B
B is held through the opening / closing operation of B. here,
It corresponds to a work with a large work diameter and a hand-holding form of the chuck work specification.

Although the three basic hand-holding modes of the present invention have been described above, there are other special hand-holding modes which will be described below with reference to embodiments.

When a long material is gripped and conveyed, two gripping claws are generally mounted with a considerable span in accordance with the length of the material, so that they are often used as dedicated devices themselves. In the present invention, the carry-in hand member 10A and the carry-out hand member 10B perform a relative advancing and retreating operation by forming an arm, so that the stroke can be maintained within the range of the operation. Therefore, by mounting the carrying-in grasping claws 14A and the carrying-out grasping claws 14B in the same direction, the maximum stroke of the carrying-in / carrying-out hand member can be achieved.
Long material gripping is also possible.

The embodiment of the hand as a hand of the transfer apparatus has been described so far, but the hand of the present invention can be applied to an assembling apparatus (not shown). As described above, since the two hand members are capable of relative linear movement, the two gripping claws grip the component to be assembled and make them relatively close to each other to combine the components or separate them. It is possible to remove the built-in parts.

[0015]

As described above, the following effects can be obtained from the structure and operation of the present invention. As one, it is possible to share with one hand without requiring a dedicated hand for each of the shaft work specification and the check work specification.
As the second, since the production can be minimized as well as the replacement of the gripping claws, the setup time and the production cost can be reduced. As the relative movement of the pair of hand members, the grip center lines of the pair of grip claws can be separated and approach each other, so that the swing can be adjusted according to the work when the hand turns, and Inertia and power energy associated with turning of the vehicle can be reduced. 4, since the hand itself has a reversing function, an independent reversing device or a temporary placing table is not required. As 5, it is possible to reverse the work inside the machine from the above 4, so that the transport time can be shortened. Further, since no reversing device is required, the space can be reduced. As 6, the swing can be selected from the above 3, so that not only large-diameter works but also long materials can be conveyed. 7, since the form of the hand can be switched according to the work, a wide variety of works can be mixed and accommodated in the work stock area.

[Brief description of the drawings]

FIG. 1 is a partially sectional front view showing a hand of the present invention.

FIG. 2 is a right side view of FIG.

FIG. 3 is a perspective view showing a conventional shaft work specification hand.

FIG. 4 is a perspective view showing a conventional hand of a chuck work specification.

FIG. 5 is a perspective view showing the relationship between the hand of the present invention and a machine tool.

FIGS. 6A and 6B are simplified diagrams showing a state in which the hand is switched to a chuck work specification hand holding mode, FIG. 6A is a perspective view, FIG. 6B is a front view, and FIG.

FIGS. 7A and 7B are simplified diagrams showing a state in which the hand is switched to a gripping mode of a shaft work specification, FIG. 7A is a perspective view, FIG. 7B is a front view, and FIG.

FIGS. 8A and 8B are simplified diagrams showing a state in which the hand is switched to a gripping mode of a front / back processing specification of a work, FIG. 8A is a perspective view, and FIG.
Is a front view, and (c) is a side view.

FIG. 9 is a view showing an operation step of FIG. 8;

FIG. 10 is a view showing a continuation of the operation step of FIG. 9;

FIG. 11 is a view showing a continuation of the operation step of FIG. 10;

FIG. 12 is a view showing a continuation of the operation step of FIG. 11;

FIG. 13 is a diagram illustrating a state where the hand mode is switched to a large-diameter workpiece processing specification hand mode.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveying device 5 Hand 7 Hand support body 8 Rotating shaft 9 Driving means 10A Carry-in hand member 10B Carry-out hand member 11 Drive shaft 13 Positioning means 14A Carry-in gripper 14B Carry-out gripper 15 Gripping drive means

Claims (1)

[Claims] A transfer device for loading and unloading a work into and out of a processing area, a hand body mounted on the transfer device, and a swivel supported on the hand body and rotatable via a driving means. Hand support 7 supported on shaft 8
A pair of hand members 10A and 10B, which are supported by the hand support 7 and are relatively movable forward and backward in a direction perpendicular to the axis of the turning shaft 8. Positioning means 13 capable of arbitrarily changing the stroke position of the advancing / retreating operation of the hand member 10; and carrying-in gripping claws 14A having respective gripping center lines in a direction orthogonal to the axis of the turning shaft 8. And a pair of gripping claws 14 composed of the carrying-out gripping claws 14B,
The gripping claws 14 extend in the forward and backward directions of the hand member 10 and face inward to each other, one carry-in gripper 14A is mounted on the carry-in hand member 10A, and the other carry-out gripper 14B is The unloading hand member 1
0B, the respective gripping center lines of the pair of gripping claws 14 shift and intersect and exchange with each other through the advancing and retreating operation of the hand member 10, whereby each of the pair of gripping claws 14 is moved. The hand is characterized by being switched inward and outward relative to each other.