JP2006015458A - Loader device and its set-up changing method - Google Patents

Loader device and its set-up changing method Download PDF

Info

Publication number
JP2006015458A
JP2006015458A JP2004196707A JP2004196707A JP2006015458A JP 2006015458 A JP2006015458 A JP 2006015458A JP 2004196707 A JP2004196707 A JP 2004196707A JP 2004196707 A JP2004196707 A JP 2004196707A JP 2006015458 A JP2006015458 A JP 2006015458A
Authority
JP
Japan
Prior art keywords
opening
loader
workpiece
pusher
closing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2004196707A
Other languages
Japanese (ja)
Other versions
JP4725043B2 (en
Inventor
Akio Nakajima
章雄 中島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to JP2004196707A priority Critical patent/JP4725043B2/en
Publication of JP2006015458A publication Critical patent/JP2006015458A/en
Application granted granted Critical
Publication of JP4725043B2 publication Critical patent/JP4725043B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Landscapes

  • Feeding Of Workpieces (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a loader device and its set-up changing method for shortening the time required for a set-up change for changing an opening/closing claw and a pusher to a loader head. <P>SOLUTION: This loader device is provided with the loader head 6 and a set-up change component 9 detachably provided at the loader head 6. The set-up change component 9 is provided with the pusher 10 for pushing out a workpiece when supplying the workpiece to an object device, and the opening/closing claw 11 opened/closed in an orthogonal direction to the moving direction of the pusher 10 to grip the workpiece. When changing set-up, the set-up change component 9 detached from the loader head 6 is changed with a set-up change component 9 different in the kind of one or both of the opening/closing claw 11 and pusher 10 from the detached set-up change component 9. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

この発明は、旋盤やその他の工作機械等にワークを供給するガントリ形式等のローダ装置およびその段取り替え方法に関する。   The present invention relates to a loader device of a gantry type or the like for supplying a work to a lathe or other machine tools and a setup change method thereof.

この種のローダ装置では、前後左右および上下に移動可能なローダヘッドに、開閉爪とプッシャーとを設け、開閉爪で把持したワークを、爪開き時にプッシャーで押し出して工作機械等へ受け渡すように構成したものが一般的である。この場合に、ワークの形状や寸法が変わると、開閉爪やプッシャーを、ワークの形状や寸法に合わせてそれぞれ別々に交換する段取り替えが行われる。   In this type of loader device, an open / close claw and a pusher are provided on a loader head that can move back and forth, right and left, and up and down, and the work gripped by the open / close claw is pushed out by the pusher when the claw is opened and transferred to a machine tool or the like. What is composed is common. In this case, when the shape and dimensions of the workpiece are changed, a setup change is performed in which the opening / closing claw and the pusher are separately replaced according to the shape and dimensions of the workpiece.

しかし、ワークの多様化が進むにつれて、開閉爪やプッシャーを交換する段取り替えの回数が増えてきている。また、段取り替え時間の短縮の要望も増して来ている。   However, as the work diversifies, the number of setup changes for exchanging the opening and closing claws and pushers is increasing. There is also an increasing demand for shortening the setup change time.

この発明の目的は、開閉爪およびプッシャーを交換する段取り替えの所要時間を短縮できるローダ装置を提供することである。
この発明の他の目的は、段取り替え作業が容易に行えるようにすることである。
この発明のさらに他の目的は、開閉爪およびプッシャーを交換する段取り替えの所要時間を短縮できるローダ装置の段取り替え方法を提供することである。 An object of the present invention is to provide a loader device capable of shortening the time required for the setup change for exchanging the opening / closing claw and the pusher.
Another object of the present invention is to facilitate the setup change operation.
It is still another object of the present invention to provide a loader device setup change method that can shorten the time required for setup change to replace the opening / closing claw and the pusher.

この発明のローダ装置は、対象装置にワークを供給するローダ装置であって、ローダヘッドと、このローダヘッドに対して着脱自在に設けられた段取替え部品とを備え、前記段取替え部品に、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪とを設けたことを特徴とする。
この構成によると、ローダヘッドに対して段取替え部品を交換して取付けることで、プッシャーと開閉爪が同時に交換される。そのため、プッシャーと開閉爪とを別々に交換する必要がなく、ワークの種類変更による段取り替えの所要時間が短縮できる。 The loader device according to the present invention is a loader device that supplies a workpiece to a target device, and includes a loader head and a setup replacement component that is detachably attached to the loader head. A pusher that pushes out the workpiece when supplying the workpiece to the apparatus and an opening and closing claw that opens and closes in a direction orthogonal to the moving direction of the pusher to grip the workpiece are provided.
According to this configuration, the pusher and the opening / closing claw are replaced at the same time by exchanging and attaching the setup replacement parts to the loader head. Therefore, it is not necessary to replace the pusher and the opening / closing claw separately, and the time required for the setup change by changing the type of workpiece can be shortened.

この発明において、前記ローダヘッドに、開閉爪を開閉する開閉機構が設けられ、前記開閉機構は、前記段取替え部品がローダヘッドに取付けられるときに、この開閉機構と前記開閉爪とが連結される構造を有するものとしても良い。
この構成の場合、段取替え部品をローダヘッドに取付けるときに、開閉機構の連結作業を行うことが不要であり、段取替え部品の交換を行うだけで、使用可能な状態となる。そのため、段取り替え作業が容易に行える。 In this invention, the loader head is provided with an opening / closing mechanism for opening / closing an opening / closing claw, and the opening / closing mechanism is connected to the opening / closing claw when the setup replacement part is attached to the loader head. It may have a structure.
In the case of this configuration, it is not necessary to connect the opening / closing mechanism when attaching the setup replacement component to the loader head, and it is possible to use it simply by replacing the setup replacement component. Therefore, the setup change work can be easily performed.

この発明のローダ装置の段取り替え方法は、対象装置にワークを供給するローダ装置の段取り替え方法であって、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪を有する段取替え部品とを準備し、ローダヘッドから取り外した段取替え部品を、この段取替え部品とは開閉爪およびプッシャーのいずれか一方または両方の種類が異なる段取替え部品と交換する方法である。
この方法によると、ワークの種類に応じた開閉爪およびプッシャーを有する段取替え部品を予め用意しておくことができる。段取替えにおいては、ローダヘッドに取付けられていた段取替え部品を予め用意された段取替え部品に交換するだけで、新たなワークに対応した開閉爪およびプッシャーに交換できる。そのため、ワークの種類変更による段取り替えの所要時間を短縮できる。 The loader device set-up method of the present invention is a loader device set-up method for supplying a workpiece to a target device, and a pusher that pushes out the workpiece when supplying the workpiece to the target device, and a direction orthogonal to the moving direction of the pusher. Prepare a set-up replacement part that has an open / close claw that opens and closes in the direction to hold it, and remove the set-up change part that has been removed from the loader head. This is a method of exchanging with different setup change parts.
According to this method, it is possible to prepare in advance a set-up replacement part having an opening / closing claw and a pusher corresponding to the type of workpiece. In the setup change, it is possible to replace the opening / closing claw and pusher corresponding to a new workpiece by simply exchanging the setup change parts attached to the loader head with the prepared setup change parts. Therefore, the time required for the setup change due to the change of the workpiece type can be shortened.

この発明のローダ装置は、ローダヘッドと、このローダヘッドに対して着脱自在に設けられた段取替え部品とを備え、前記段取替え部品に、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪とを設けたため、ローダヘッドに対して開閉爪およびプッシャーを交換する段取り替えの所要時間を短縮することができる。
この発明のローダ装置の段取り替え方法は、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪を有する段取替え部品とを準備し、ローダヘッドから取り外した段取替え部品を、この段取替え部品とは開閉爪およびプッシャーのいずれか一方または両方の種類が異なる段取替え部品と交換するものとしたため、ローダヘッドに対して開閉爪およびプッシャーを交換する段取り替えの所要時間を短縮することができる。 The loader device according to the present invention includes a loader head and a setup change part that is detachably attached to the loader head, and a pusher that pushes out the workpiece when supplying the setup change part with a workpiece. Since the opening / closing claw for gripping the workpiece by opening / closing in the direction perpendicular to the moving direction of the pusher is provided, the time required for the changeover for replacing the opening / closing claw and the pusher with respect to the loader head can be shortened.
The loader device setup change method according to the present invention includes a pusher that pushes out a workpiece when supplying the workpiece to the target device, and an opening / closing claw that opens and closes in a direction orthogonal to the moving direction of the pusher to grip the workpiece. The setup replacement part removed from the loader head is replaced with a setup replacement part that is different from the setup replacement part in one or both of the opening / closing claw and pusher. It is possible to shorten the time required for the setup change for exchanging the opening / closing claw and the pusher.

この発明の一実施形態を図１ないし図７と共に説明する。図１は、この実施形態のローダ装置、およびこのローダ装置によってワークが供給される対象装置である工作機械を概略的に示す正面図である。工作機械３１は旋盤であり、主軸３２と工具支持体３５とを備える。主軸３２は、その先端にワーク支持手段である主軸チャック３３を有し、ベッド３７の上に設けられた主軸台３４に回転自在に支持されている。主軸チャック３３は、ワークＷを把持する複数のチャック爪３３ａを有している。工具支持体３５は刃物台であり、タレット式のものとされている。工具支持体３５は、送り台３６を介して主軸軸心に沿う方向（Ｚ軸方向）と主軸軸心に直交する水平方向（Ｘ軸方向）とに移動可能とされる。主軸チャック３３へはローダ装置１によってワークＷの受け渡しが行われる。   An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a front view schematically showing a loader device of this embodiment and a machine tool that is a target device to which a workpiece is supplied by the loader device. The machine tool 31 is a lathe and includes a main shaft 32 and a tool support 35. The main shaft 32 has a main shaft chuck 33 as a work supporting means at the tip thereof, and is rotatably supported by a main shaft base 34 provided on a bed 37. The spindle chuck 33 has a plurality of chuck claws 33a for gripping the workpiece W. The tool support 35 is a tool post and is a turret type. The tool support 35 is movable via a feed base 36 in a direction along the spindle axis (Z-axis direction) and in a horizontal direction (X-axis direction) perpendicular to the spindle axis. The workpiece W is transferred to the spindle chuck 33 by the loader device 1.

ローダ装置１は、前記工作機械３１の上方に設置されて、直交座標系で駆動されるガントリ式のものである。すなわち、このローダ装置１は、図１および図２に正面図および側面図で示すように、架設レール２に沿って走行する走行体３に前後移動台４を介して昇降ロッド５を設け、その下端にローダヘッド６を設けたものである。ローダヘッド６は、図３のようにワークＷを把持する２個のローダチャック７Ａ，７Ｂを取付けた回転台８を有し、回転台８が傾斜した回転中心Ｑ回りで回転することにより、両ローダチャック７Ａ，７Ｂが、下向き位置と主軸チャック対面位置とに入れ替えられる。   The loader device 1 is of a gantry type that is installed above the machine tool 31 and driven by an orthogonal coordinate system. That is, the loader device 1 is provided with a lifting rod 5 on a traveling body 3 traveling along a construction rail 2 via a front / rear moving table 4 as shown in front and side views in FIGS. A loader head 6 is provided at the lower end. As shown in FIG. 3, the loader head 6 has a turntable 8 to which two loader chucks 7A and 7B for gripping the workpiece W are attached. The loader chucks 7A and 7B are exchanged between the downward position and the spindle chuck facing position.

図４は、図３における下向き位置のローダチャック７Ａの下面図を示し、図５は図４におけるＡ−Ａ矢視断面図を示す。回転台８におけるローダチャック７Ａ側の設置面には、段取替え部品９がボルト２９で締結することにより着脱自在に設けられている。この段取替え部品９には、工作機械３１の主軸チャック３３にワークＷを供給するときにワークＷを押し出すプッシャー１０と、このプッシャー１０の移動方向（図５では上下方向）と直交する方向に開閉してワークＷを把持する３つの開閉爪１１とが設けられている。   4 shows a bottom view of the loader chuck 7A in the downward position in FIG. 3, and FIG. 5 shows a cross-sectional view taken along line AA in FIG. On the installation surface of the turntable 8 on the loader chuck 7 </ b> A side, a setup replacement component 9 is detachably provided by fastening with a bolt 29. The setup replacement component 9 includes a pusher 10 that pushes out the workpiece W when the workpiece W is supplied to the spindle chuck 33 of the machine tool 31, and an opening / closing direction orthogonal to the moving direction of the pusher 10 (vertical direction in FIG. 5). Thus, three open / close claws 11 for gripping the workpiece W are provided.

プッシャー１０は、図４に示すように３方向に放射状に延びる分岐部１０ａを有するスター状のプレートからなり、弾性部材であるコイルばね１２（図５）により押し出し方向に付勢される。プッシャー１０は、その各分岐部１０ａが、段取替え部品９に設けられたガイド孔１４にそれぞれ挿入された３本のガイドロッド１３にボルト１５で着脱自在に取付けられている。これにより段取替え部品９に対してプッシャー１０が進退自在となるようにされている。ガイドロッド１３は前端部が閉塞部となった円筒部材からなり、その後端外周には、ガイド孔１４の前端口縁に設けられたリング状のストッパ１６に係止される係止部１３ｂが設けられ、これによりプッシャー１０の進出量が規制される。ガイド孔１４内には前記コイルばね１２が装填されて、その一端が前記ガイドロッド１３の後端円筒部１３ａ内で受けられ、他端がガイド孔１４の後端に設けられた蓋部材１７で受けられている。これにより、コイルばね１２の付勢力がガイドロッド１３を介してプッシャー１０に作用するようになされている。   As shown in FIG. 4, the pusher 10 is formed of a star-shaped plate having branch portions 10a extending radially in three directions, and is urged in the push-out direction by a coil spring 12 (FIG. 5) that is an elastic member. The pusher 10 is detachably attached to the three guide rods 13 inserted into the guide holes 14 provided in the setup replacement component 9 by bolts 15, respectively. As a result, the pusher 10 can be moved forward and backward with respect to the setup replacement component 9. The guide rod 13 is made of a cylindrical member whose front end portion is a closed portion, and a locking portion 13b that is locked to a ring-shaped stopper 16 provided at the front edge of the guide hole 14 is provided on the outer periphery of the rear end. As a result, the advancement amount of the pusher 10 is regulated. The coil spring 12 is loaded into the guide hole 14, one end of which is received in the rear end cylindrical portion 13 a of the guide rod 13, and the other end is a lid member 17 provided at the rear end of the guide hole 14. It has been received. Thereby, the urging force of the coil spring 12 is applied to the pusher 10 via the guide rod 13.

段取替え部品９におけるプッシャー１０の中心Ｏに対面する位置には、前記回転台８に設けられた後述の開閉機構２２の進退部材２４をガイドするガイド孔１８Ａが設けられている。また、段取替え部品９におけるプッシャー設置側面の前記ガイド孔１８を中心とする周方向の等配位置には、３つの開閉爪支持台１９が、ガイド孔１８を中心とする径方向に進退自在に設けられている。これら開閉爪支持台１９は、各プッシャー分岐部１０ａを避けた位置とされている。これら開閉爪支持台１９は、段取替え部品９のプッシャー設置面側に形成された各ガイド溝２０に係合して前記ガイド孔１８を中心とする径方向に進退自在とされている。これら各開閉爪支持台１９の上面に、上記した３つの開閉爪１１のそれぞれがボルト２１で締結して着脱自在に取付けられている。これらの各開閉爪１１は開閉機構２２により同期して開閉駆動される。   A guide hole 18A for guiding an advancing / retreating member 24 of an opening / closing mechanism 22 (described later) provided in the rotary base 8 is provided at a position facing the center O of the pusher 10 in the setup replacement component 9. Further, at the circumferentially equidistant position around the guide hole 18 on the pusher installation side surface in the set-up replacement part 9, the three opening / closing claw support bases 19 can freely advance and retract in the radial direction around the guide hole 18. Is provided. These opening / closing claw support bases 19 are positioned away from the pusher branch portions 10a. The opening / closing claw support 19 is engaged with each guide groove 20 formed on the pusher installation surface side of the setup replacement component 9 so as to be able to advance and retract in the radial direction with the guide hole 18 as the center. Each of the three open / close claws 11 is fastened to the upper surface of each open / close claw support 19 by bolts 21 and is detachably attached. Each of these opening / closing claws 11 is driven to open / close in synchronization with an opening / closing mechanism 22.

なお、ここでは、段取替え部品９を回転台８に取付けるボルト２９は２つとして、図４のようにプッシャー１０の中心Ｏ回りの等配位置で段取替え部品９を回転台８に締結しているが、３つ以上のボルト２９を用いてプッシャー１０の中心Ｏ回りの等配位置で段取替え部品９を回転台８に締結しても良い。   Here, the number of bolts 29 for attaching the setup change part 9 to the turntable 8 is two, and the setup change part 9 is fastened to the turntable 8 at an even position around the center O of the pusher 10 as shown in FIG. However, the setup replacement component 9 may be fastened to the turntable 8 at three or more bolts 29 at equal positions around the center O of the pusher 10.

前記開閉機構２２は、駆動源２３により駆動されてプッシャー１０の進退方向と平行に移動自在な進退部材２４と、この進退部材２４の移動を開閉爪１１の移動に変換する変換機構２５とでなる。回転台８には、段取替え部品９に設けられたガイド孔１８Ａとでプッシャー１０の進退方向と平行に延びる１つのガイド孔１８を構成するガイド孔１８Ｂが設けられている。このガイド孔１８に、前記進退部材２４が進退自在に挿入されている。   The opening / closing mechanism 22 includes an advance / retreat member 24 that is driven by a drive source 23 and is movable in parallel with the advance / retreat direction of the pusher 10, and a conversion mechanism 25 that converts the movement of the advance / retreat member 24 into the movement of the opening / closing claw 11. . The turntable 8 is provided with a guide hole 18 </ b> B that constitutes one guide hole 18 that extends in parallel with the advancing / retreating direction of the pusher 10 with the guide hole 18 </ b> A provided in the setup replacement component 9. The advance / retreat member 24 is inserted into the guide hole 18 so as to freely advance and retract.

変換機構２５は、回転台８内における前記進退部材２４の周囲に各開閉爪１１と同じ等配位置で設けられた３つのリンク部材２６からなる。これらリンク部材２６は、それぞれ２つのアーム部２６ａ，２６ｂを有し、各開閉爪１１の進退方向と直交する水平方向の軸心回りに揺動自在に支持されている。一方のアーム部２６ａの先端は、前記進退部材２４の周面に形成された係合溝２４ａに係合する。他方のアーム部２６ｂの先端は、対応する開閉爪支持台１９の裏面に形成された係合凹部１９ａに係合する。アーム部２６ｂの先端は、段取替え部品９が回転台８に取付けられるときに、開閉爪支持台１９の係合凹部１９ａに係合するように構成されている。この係合のため、進退部材２４がガイド孔１８に沿って進退すると、各リンク部材２６が軸心回りに揺動し、開閉爪支持台１９がガイド溝２０に沿って進退することで開閉爪１１が開閉する。このように構成することで、開閉機構２２は、段取替え部品９がローダヘッド６に取付けられるときに、この開閉機構２２と前記開閉爪１１とが連結される構造を有するものとされる。また、このように構成することで、開閉機構２２の動作に影響を与えることなく、回転台８に対して段取替え部品９の交換を行うことができる。   The conversion mechanism 25 includes three link members 26 provided at the same equidistant positions as the open / close claws 11 around the advance / retreat member 24 in the turntable 8. Each of the link members 26 has two arm portions 26a and 26b, and is supported so as to be swingable around a horizontal axis that is orthogonal to the advancing / retreating direction of each opening / closing claw 11. The tip of one arm portion 26 a engages with an engagement groove 24 a formed on the peripheral surface of the advance / retreat member 24. The tip of the other arm portion 26 b engages with an engagement recess 19 a formed on the back surface of the corresponding opening / closing claw support 19. The distal end of the arm portion 26 b is configured to engage with the engaging recess 19 a of the opening / closing claw support base 19 when the setup replacement component 9 is attached to the turntable 8. Because of this engagement, when the advance / retreat member 24 advances / retreats along the guide hole 18, each link member 26 swings around the axis, and the opening / closing claw support 19 moves forward / backward along the guide groove 20. 11 opens and closes. With this configuration, the opening / closing mechanism 22 has a structure in which the opening / closing mechanism 22 and the opening / closing claw 11 are coupled when the setup changeover component 9 is attached to the loader head 6. Further, with this configuration, the setup replacement component 9 can be replaced with respect to the turntable 8 without affecting the operation of the opening / closing mechanism 22.

開閉機構２２の駆動源２３は、エアシリンダ等の流体圧シリンダからなり、その進退ロッド２７が前記進退部材２４と直交する方向を向くように回転台８に設けられている。この進退ロッド２７の進退動作が、別のリンク部材２８を介して前記進退部材２４にその進退動作として伝達される。すなわち、リンク部材２８は、２つのアーム部２８ａ，２８ｂを有し、前記進退ロッド２７の進退方向と直交する水平方向の軸心回りに揺動自在に支持されており、一方のアーム部２８ａの先端が前記進退ロッド２７の周面に形成された係合凹部２７ａに係合し、他方のアーム部２８ｂの先端が進退部材２４の周面に形成された係合凹部２４ｂに係合している。   The drive source 23 of the opening / closing mechanism 22 is composed of a fluid pressure cylinder such as an air cylinder, and is provided on the turntable 8 so that its advance / retreat rod 27 faces a direction orthogonal to the advance / retreat member 24. The advance / retreat operation of the advance / retreat rod 27 is transmitted as the advance / retreat operation to the advance / retreat member 24 via another link member 28. That is, the link member 28 has two arm portions 28a and 28b, and is supported so as to be swingable about a horizontal axis perpendicular to the advance / retreat direction of the advance / retreat rod 27. The distal end engages with an engagement recess 27 a formed on the peripheral surface of the advance / retreat rod 27, and the distal end of the other arm portion 28 b engages with an engagement recess 24 b formed on the peripheral surface of the advance / retreat member 24. .

次に、上記ローダ装置１の動作を説明する。未加工のワークＷの待機位置（図示せず）において、ローダ装置１は、そのローダヘッド６の下向き位置のローダチャック（例えば７Ａ）でワークＷを把持する。図５は、このときのローダチャック７Ａのワーク把持前の状態を示す。この状態から、ローダヘッド６が下降してプッシャー１０がワークＷに押し当てられると、プッシャー９が回転台８側に後退して、コイルばね１２が圧縮する。次に、開閉爪１１が閉じて、ワークＷが把持される。すなわち、図７のように、駆動源２３の進退ロッド２７が後退動作するとリンク部材２８が左回りに回動し、これに伴い進退部材２４が後退する。進退部材２４が後退すると、変換機構２５の各リンク部材２６が左回りに回動し、これに伴い各開閉爪支持台１９がガイド溝２０に沿ってガイド孔１８側へ移動することで開閉爪１１が閉じ、ワークＷがバランス良く把持される。   Next, the operation of the loader device 1 will be described. At the standby position (not shown) of the unprocessed workpiece W, the loader device 1 grips the workpiece W with a loader chuck (for example, 7A) at the downward position of the loader head 6. FIG. 5 shows a state before the workpiece is gripped by the loader chuck 7A at this time. From this state, when the loader head 6 is lowered and the pusher 10 is pressed against the work W, the pusher 9 moves backward toward the rotary base 8 and the coil spring 12 is compressed. Next, the opening / closing claw 11 is closed and the workpiece W is gripped. That is, as shown in FIG. 7, when the advance / retreat rod 27 of the drive source 23 moves backward, the link member 28 rotates counterclockwise, and accordingly, the advance / retreat member 24 moves backward. When the advancing / retracting member 24 moves backward, each link member 26 of the conversion mechanism 25 rotates counterclockwise, and accordingly, each opening / closing claw support 19 moves along the guide groove 20 toward the guide hole 18, thereby opening / closing claw. 11 closes and the workpiece W is gripped with good balance.

ワークＷを把持したローダ装置１は、架設レール２に沿って走行する走行体３の左右移動（Ｘ軸方向）と、前後移動台４の前後移動（Ｚ軸方向）と、昇降ロッド５の昇降（Ｙ軸方向）とにより、ワークＷを主軸３２の前面まで搬送する。このとき、先ずローダヘッド６の前後移動で、主軸チャック対面位置（横向き位置）のローダチャク７Ｂにより加工済みのワークＷが主軸チャック３３から受け取られる。次に、回転台８の１８０°回転により、未加工のワークＷを把持した前記ローダチャック７Ａが下向き位置から主軸チャック３３に対面する横向き位置に入れ替えられる。この状態から、ローダヘッド６が主軸チャック３３の前面の所定位置まで前進した後、開閉爪１１を開くと、コイルばね１２の付勢力で前進するプッシャー１０によりワークＷが押し出されて主軸チャック３３に受け渡される。   The loader device 1 that holds the workpiece W moves the traveling body 3 traveling along the installation rail 2 in the left-right direction (X-axis direction), the front-rear movement table 4 moves back and forth (Z-axis direction), and raises and lowers the lifting rod 5. The workpiece W is conveyed to the front surface of the main shaft 32 by (in the Y-axis direction). At this time, the processed workpiece W is first received from the main spindle chuck 33 by the loader chuck 7B at the position facing the main spindle chuck (lateral position) by moving the loader head 6 back and forth. Next, the loader chuck 7 </ b> A that grips the unprocessed workpiece W is switched from the downward position to the lateral position facing the spindle chuck 33 by the rotation of the turntable 8 by 180 °. From this state, when the loader head 6 moves forward to a predetermined position on the front surface of the spindle chuck 33 and then opens the opening / closing claw 11, the work W is pushed out by the pusher 10 that moves forward by the urging force of the coil spring 12 to the spindle chuck 33. Delivered.

段取り替えを説明する。ローダ装置１で工作機械３１に受け渡すワークＷの寸法や形状が変わった場合は、ローダヘッド６の回転台８に取付けられていたそれまでの段取替え部品９を取り外す。これに替えて、新たなワークＷに対応できるプッシャー１０および開閉爪１１を設けた別の段取替え部品９を上記ボルト２９（図４）で回転台８に取付けることで、段取り替えを行う。
すなわち、変更前のワークＷを加工している段階で、変更後のワークＷに対応したプッシャー１０および開閉爪１１を別の段取替え部品９に予め取付けておき、段取替時は、回転台８に対して段取替え部品９を付け替えるだけとする。あるいは、各種のワークＷの形状，寸法に応じたプッシャー１０および開閉爪１１をそれぞれ取付けた複数の段取替え部品９を準備しておき、対応する段取替え部品９を選択する。これにより、プッシャー１０および開閉爪１１を個別に取り替える作業が省略され、ローダ装置１を停止させて段取替えする処理時間を短縮できる。 Explain the setup change. When the size or shape of the workpiece W transferred to the machine tool 31 by the loader device 1 is changed, the previous setup change component 9 attached to the turntable 8 of the loader head 6 is removed. Instead, the setup change is performed by attaching another setup change component 9 provided with the pusher 10 and the opening / closing claw 11 corresponding to the new workpiece W to the turntable 8 with the bolt 29 (FIG. 4).
That is, at the stage of processing the workpiece W before the change, the pusher 10 and the opening / closing claw 11 corresponding to the workpiece W after the change are attached in advance to another setup replacement component 9, and at the time of setup change, It is assumed that the setup replacement component 9 is simply replaced with respect to 8. Alternatively, a plurality of setup change parts 9 to which pushers 10 and opening / closing claws 11 corresponding to the shapes and dimensions of various workpieces W are respectively attached are prepared, and the corresponding setup change parts 9 are selected. Thereby, the operation | work which replaces | exchanges the pusher 10 and the opening-and-closing nail | claw 11 separately is abbreviate | omitted, and the processing time which stops the loader apparatus 1 and can change a setup can be shortened.

この場合に、段取替え部品９は、各開閉爪１１が最も開いた状態としておいてローダヘッド６に対する装着を行うようにする。これにより、段取替え部品９をローダヘッド６のローダチャック７Ａ（または７Ｂ）の中心に合わせると、段取替え部品９の開閉爪１１における係合凹部１９ａに、変換機構２５のアーム部２６ｂの先端位置が整合する位置となる。このまま段取替え部品９の取付けを行うと、アーム部２６ｂが開閉爪１１に係合し、アーム部２６ｂの動作の開閉爪１１への伝達が可能となる。そのため、段取替え部品９の取付作業に際して、開閉機構２２に開閉爪１１を連結する作業を特に必要とせず、段取り替えがより一層簡単に行える。   In this case, the setup replacement component 9 is mounted on the loader head 6 with each opening / closing claw 11 being in the most open state. As a result, when the set-up replacement component 9 is aligned with the center of the loader chuck 7A (or 7B) of the loader head 6, the tip position of the arm portion 26b of the conversion mechanism 25 is brought into the engagement recess 19a in the opening / closing claw 11 of the set-up replacement component 9. Will be aligned. If the setup replacement component 9 is attached as it is, the arm portion 26b is engaged with the opening / closing claw 11, and the operation of the arm portion 26b can be transmitted to the opening / closing claw 11. For this reason, when the setup replacement component 9 is attached, the operation of connecting the opening / closing claw 11 to the opening / closing mechanism 22 is not particularly required, and the setup change can be performed more easily.

なお、上記実施形態は、ガントリ式のローダ装置に適用した場合につき説明したが、この発明は、多関節式や他の各種の形式のローダ装置に適用することができる。   In addition, although the said embodiment demonstrated about the case where it applied to the gantry type loader apparatus, this invention is applicable to an articulated type and various other types of loader apparatus.

この発明の一実施形態にかかるローダ装置、およびこのローダ装置の対象装置である工作機械の概略構成を示す正面図である。It is a front view showing a schematic structure of a loader device concerning one embodiment of this invention, and a machine tool which is an object device of this loader device. 同ローダ装置の側面断面図である。It is side surface sectional drawing of the loader apparatus. 同ローダ装置におけるローダヘッドの概略構成を示す側面図である。It is a side view which shows schematic structure of the loader head in the loader apparatus. 同ローダ装置における下向き位置のローダチャックの下面図である。It is a bottom view of the loader chuck in the downward position in the loader device. 図４におけるローダチャックのＡ−Ａ矢視断面図である。It is AA arrow sectional drawing of the loader chuck | zipper in FIG. 同ローダチャックの段取替え部品を取り外した状態を示す説明図である。It is explanatory drawing which shows the state which removed the setup change part of the loader chuck. 同ローダチャックによるワーク把持直後の状態を示す説明図である。It is explanatory drawing which shows the state immediately after the workpiece | work holding | grip by the loader chuck.

符号の説明Explanation of symbols

１…ローダ装置
６…ローダヘッド
９…段取替え部品
１０…プッシャー
１１…開閉爪
２２…開閉機構
２６…リンク部材
２６ｂ…アーム部
１９ａ…係合凹部
Ｗ…ワーク DESCRIPTION OF SYMBOLS 1 ... Loader apparatus 6 ... Loader head 9 ... Setup change part 10 ... Pusher 11 ... Opening / closing claw 22 ... Opening / closing mechanism 26 ... Link member 26b ... Arm part 19a ... Engaging recessed part W ... Workpiece

Claims (3)

対象装置にワークを供給するローダ装置であって、ローダヘッドと、このローダヘッドに対して着脱自在に設けられた段取替え部品とを備え、前記段取替え部品に、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪とを設けたことを特徴とするローダ装置。   A loader device for supplying a workpiece to a target device, comprising a loader head and a setup change part detachably attached to the loader head, and supplying the workpiece to the setup device with the setup change part A loader device comprising: a pusher that pushes out a workpiece; and an opening and closing claw that opens and closes in a direction perpendicular to the moving direction of the pusher to grip the workpiece. 前記ローダヘッドに、開閉爪を開閉する開閉機構が設けられ、前記開閉機構は、前記段取替え部品がローダヘッドに取付けられるときに、この開閉機構と前記開閉爪とが連結される構造を有するものとした請求項１記載のローダ装置。   The loader head is provided with an opening / closing mechanism for opening / closing an opening / closing claw, and the opening / closing mechanism has a structure in which the opening / closing mechanism and the opening / closing claw are connected when the setup replacement component is attached to the loader head. The loader device according to claim 1. 対象装置にワークを供給するローダ装置の段取り替え方法であって、対象装置にワークを供給するときにワークを押し出すプッシャーと、このプッシャーの移動方向と直交する方向に開閉してワークを把持する開閉爪を有する段取替え部品とを準備し、ローダヘッドから取り外した段取替え部品を、この段取替え部品とは開閉爪およびプッシャーのいずれか一方または両方の種類が異なる段取替え部品と交換するローダ装置の段取り替え方法。   A method for changing a loader device for supplying a workpiece to a target device, the pusher for pushing the workpiece when supplying the workpiece to the target device, and an opening / closing for opening and closing the workpiece in a direction perpendicular to the moving direction of the pusher. Prepare a set-up replacement part with a claw, and replace the set-up change part removed from the loader head with a set-up change part that is different from this set-up change part in either one of the opening / closing claw and pusher or both. Changeover method.
JP2004196707A 2004-07-02 2004-07-02 LOADER DEVICE AND SETUP CHANGE METHOD THEREOF Expired - Lifetime JP4725043B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2004196707A JP4725043B2 (en) 2004-07-02 2004-07-02 LOADER DEVICE AND SETUP CHANGE METHOD THEREOF

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004196707A JP4725043B2 (en) 2004-07-02 2004-07-02 LOADER DEVICE AND SETUP CHANGE METHOD THEREOF

Publications (2)

Publication Number Publication Date
JP2006015458A true JP2006015458A (en) 2006-01-19
JP4725043B2 JP4725043B2 (en) 2011-07-13

Family

ID=35790143

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004196707A Expired - Lifetime JP4725043B2 (en) 2004-07-02 2004-07-02 LOADER DEVICE AND SETUP CHANGE METHOD THEREOF

Country Status (1)

Country Link
JP (1) JP4725043B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012166330A (en) * 2011-02-17 2012-09-06 Murata Machinery Ltd Chuck device of conveyance device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563218A (en) * 2015-12-10 2016-05-11 宁波大正工业机器人技术有限公司 Automatic feeding and dischargingoperation equipment of machine tool

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54117982A (en) * 1978-02-17 1979-09-13 Roehm Guenter H Drill chuck
JPS63154134A (en) * 1986-12-19 1988-06-27 松下電器産業株式会社 Cooker
JPH08309602A (en) * 1995-05-18 1996-11-26 Seibu Electric & Mach Co Ltd Nc machine tool
JP2002254223A (en) * 2001-02-23 2002-09-10 Okuma Corp Article-grasping device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0529607U (en) * 1991-09-25 1993-04-20 オークマ株式会社 Work pusher

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54117982A (en) * 1978-02-17 1979-09-13 Roehm Guenter H Drill chuck
JPS63154134A (en) * 1986-12-19 1988-06-27 松下電器産業株式会社 Cooker
JPH08309602A (en) * 1995-05-18 1996-11-26 Seibu Electric & Mach Co Ltd Nc machine tool
JP2002254223A (en) * 2001-02-23 2002-09-10 Okuma Corp Article-grasping device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012166330A (en) * 2011-02-17 2012-09-06 Murata Machinery Ltd Chuck device of conveyance device

Also Published As

Publication number Publication date
JP4725043B2 (en) 2011-07-13

Similar Documents

Publication Publication Date Title
US9259787B2 (en) Automatic universal workpiece feed and unloading device for machine tool
KR101521142B1 (en) Machine tool
JP2010234479A (en) Vertical turret lathe
US20170282316A1 (en) Gripping device for a processing tool, storage system and method
US20180104826A1 (en) Machining device
US9050671B2 (en) Electrode holder for EDM coupled to a milling machine
JP2014237212A (en) Jaw automatic replacement apparatus for chuck
US9481062B2 (en) Method and apparatus for changing tools
WO2019181779A1 (en) Chuck claw replacement hand, chuck claw automatic replacement method, and claw automatic replacement system
JP7167474B2 (en) Chuck parts changer
JP4725043B2 (en) LOADER DEVICE AND SETUP CHANGE METHOD THEREOF
JP5372513B2 (en) Machine tool with workpiece transfer device
JP4552539B2 (en) Set-up parts for loader equipment
JP5082679B2 (en) Machine tool system
JP2010264569A (en) Workpiece replacement apparatus of machine tool
JP4984301B2 (en) Bolt tightening method and apparatus
JP4438530B2 (en) Loader device
JP3777905B2 (en) Workpiece clamping device
JP2000126973A (en) Machining center with work robot
JP5013481B2 (en) Bolt tightening method and apparatus
CN111644881B (en) Full-automatic numerical control machine tool and control method thereof
CN212420525U (en) Numerical control machine tool
JP2000126969A (en) Machining center of quick tool change type
JPS58171232A (en) Machine tool
JP4775822B2 (en) Bolt supply method and bolt supply device in bolt tightening device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070420

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20100217

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100223

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100416

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100817

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20110315

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20110328

R150 Certificate of patent or registration of utility model

Ref document number: 4725043

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140422

Year of fee payment: 3

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250