JP2009190154A - Fully automatic small-hole drilling system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive and very usable, fully automatic small-hole drilling system which drills small holes in a number of components, determines whether the machined products are to be accepted, and collects them separately according to the deetermination. <P>SOLUTION: The fully automatic small-hole drilling system has: a workpiece handling robot 7 in the vicinity of a small-hole drilling electric discharge machine 5; an electrode holder magazine device 83; a component loading/unloading device 47 provided with a component holder means; a component inspection device 79; non-defectives storage box; and a defectives storage box, wherein the workpiece handling robot supplies components to the component loading/unloading device and transfers machined components to the component inspection device to check them for acceptance or rejection, and store non-defectives in the non-defectives storage box and defectives in the defectives storage box. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a fully automatic fine hole machining system.

  For example, when a pore discharge machine is used, for example, when pore processing is performed on a large number of parts and a system for discriminating and collecting the processed products is determined, conventionally, the pore discharge is performed. A part supply / unloading device that supplies parts to the processing machine and unloads the processed parts, a component inspection device that inspects the quality of the processed parts unloaded by the component supply / unloading apparatus, and a process to the component inspection apparatus Conveying means for conveying subsequent components, an electrode holder magazine device having a large number of electrode holders holding electrodes, and a pore electric discharge machining between the electrode holder magazine device and the pore electric discharge machine It is composed of a plurality of units consisting of an electrode exchange device (for example, Patent Documents 1 and 2) for exchanging and removing the electrode holder mounted on the machine, and each of these units has a numerical value of the pore electric discharge machine. System Device numerical control device is provided which separately independent of.

  Although it is possible to manually supply the parts to the aforementioned fine hole electric discharge machine and carry out the processed parts, there is an example in which this part supply / unload process is performed by a dedicated robot (for example, Patent Document 3).

However, in the conventional system configuration in which pore processing is performed on a large number of parts and the quality of the processed product is determined and collected separately, a control device independent on each unit side and on the pore electrical discharge machine body side Therefore, there is a problem that the cost of the processing system becomes high.
Japanese Patent Application Laid-Open No. 07-024649 JP 2003-053629 A JP 09-216129 A

  The present invention has been made to solve the above-described problems, and an object of the present invention is to perform pore processing on a large number of parts, and to discriminate and collect the processed products by determining the quality of the processed products. It is to provide a fully automatic fine hole drilling system that is inexpensive and easy to operate.

  As a means for solving the above-mentioned problems, the fully automatic small hole machining system according to claim 1 is provided with a small hole electric discharge machining apparatus having at least a Z axis for numerically controlling the raising and lowering of the rod-shaped electrode, and the small hole electric discharge machining apparatus A workpiece handling robot is provided in the vicinity of the workpiece, and the components are moved and positioned to the machining position below the rod-shaped electrode of the fine hole electric discharge machining device within the operation area of the workpiece handling robot. A component loading / unloading device having first and second component gripping means, a component inspection device for inspecting the quality of the processed parts, a non-defective product storage box for storing non-defective products after the component inspection, and defective products A defective product storage box for storing a workpiece, and the work handling robot receives a component from the component alignment supply device and is positioned at a first component supply position of the component loading / unloading device. Supplying the component to the first component gripping means or the second component gripping means located at the second component supply position, and receiving the processed parts from the first component gripping means or the second component gripping means, The processed parts are transported to the parts inspection device to inspect the quality of the parts, the non-defective products after the parts inspection are stored in the non-defective product storage box, and the defective products are stored in the defective product storage box. Is a summary.

  The fully automatic fine hole drilling system according to claim 2 is the fully automatic fine hole drilling system according to claim 1, and the fully automatic fine hole drilling system according to claim 1 carries the non-defective product storage box into the part. Arranged in the vicinity of the carry-out device and on the operation side of the front of the fully automatic narrow hole machining system, the component inspection device, the component alignment supply device, the electrode holder magazine device, The gist is that the defective product storage boxes are arranged in the clockwise direction around the vertical rotation axis of the work handling robot.

  According to the first and second aspects of the present invention, the supply of processed parts to the fine hole electric discharge machining apparatus, the removal of processed parts, the inspection of the quality of processed parts, the separation and collection of non-defective and defective products, and electrode replacement, etc. By performing a whole series of processes via a workpiece handling robot, an inexpensive general-purpose fine hole electric discharge machine that does not have multiple control axes such as X, Y, W, and Z axes can be used to subdivide many parts. It is possible to configure a low-cost and easy-to-operate fully automatic narrow hole drilling system that performs hole drilling and discriminates and collects the processed products for separation and collection, thereby reducing labor costs and other factors. Manufacturing costs can also be reduced.

  Also, in the fully automatic narrow hole processing system, a defective product storage box for storing defective products with a low defective product rate is placed on the back side of the thin hole electrical discharge machine, and the non-defective product storage box is close to the parts loading / unloading device. In addition, the non-defective product can be collected efficiently because it is arranged at the operation side position on the front surface of the small hole electric discharge machining apparatus.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 3 show an embodiment of a fully automatic fine hole machining system according to the present invention.

  Referring to FIGS. 1 to 3, in a fully automatic thin hole machining system 1 according to the present invention shown generally, a fine hole electric discharge machine 5 is provided on the upper right side (right side in FIG. 1) of the common base 3. An articulated work handling robot 7 is provided in the vicinity of the left side (left side in FIG. 1) of the small hole electric discharge machine 5.

  The fine hole electric discharge machine 1 has a base 8 for the fine hole electric discharge machine provided on the common base 3, and a table 9 is fixed on the base 8. The table 9 is provided with a processing tank 10 that accommodates the workpiece W and can store a processing fluid.

  Left and right columns 11a and 11b extending upward from the table 9 are provided at the left and right ends of the rear of the table 9 (to the right in FIG. 2).

  An X-axis carriage 13 that can be moved and positioned in the X-axis direction 12 (left-right direction in FIG. 1) is provided above the columns 11a and 11b. The X-axis carriage 13 is orthogonal to the X-axis direction. A Y-axis carriage 15 that can be moved and positioned in the direction is provided.

  Referring to FIG. 2, a slide base 17 is engaged with a front end (left end portion in FIG. 2) of the Y-axis carriage 15 so as to be movable up and down. On this slide base 17, a Z-axis slide 19 is engaged with a guide member (not shown) so as to be movable up and down.

  A Z-axis feed screw 21 extending in the Z-axis direction 40 (the vertical direction in FIGS. 1 to 3) is rotatably supported on the slide base 17. Is provided with a servo motor 23 for rotationally driving the Z-axis feed screw 21. A nut (not shown) attached to the Z-axis slide 19 is screwed to the Z-axis feed screw 21.

  Therefore, under the control of the numerical controller 25 that controls the Z-axis of the fine hole electric discharge machine 5, the Z-axis slide 19 is moved to the Z-axis by appropriately rotating the Z-axis feed screw 21 by the servo motor 23 described above. It can be moved to a desired position in the direction.

  An electrode holder 29 holding a rod-like electrode 27 so as to be detachable and replaceable is attached to the lower part of the Z-axis slide 19 by an electrode rotation motor 31 so as to be rotationally driven through a rotation transmitting means (not shown).

  Below the electrode holder 29, an electrode guide means 33 for guiding the tip of the rod-shaped electrode 27 is provided. The electrode guide means 33 is fixed to a support member 36 provided integrally with the lower end portion of the slide base 17.

  The column 11 (a, b) is provided with an X-axis handle 37 for manually moving and positioning the X-axis carriage 13. The Y-axis carriage 15 is provided with a Z-axis handle 39 for moving the slide base 17 to a desired position in the Z-axis direction.

  A scale 41 for visually measuring the position in the Z-axis direction is attached to the side surface of the slide base 17, and a pointer 43 for reading the scale 41 is provided on the side surface of the Y-axis carriage 15. It is.

  Therefore, the slide base 17 can be positioned at a desired position in the desired Z-axis direction 40 by turning the Z-axis handle 39. That is, the position of the electrode guide means 33 for guiding the tip of the rod-shaped electrode 27 in the Z-axis direction can be positioned at a desired position.

  Referring to FIGS. 1 and 4 to 7, on the table 9, for example, a hexagonal bolt 35 can be moved and positioned as a part to a machining position below the rod-like electrode 27 mounted on the fine hole electric discharge machine 5. A component loading / unloading device 47 is provided in which first component gripping means 45a and second component gripping means 45b are provided at an interval of a pitch d.

  The first and second component gripping means 45 (a, b) described above are fixed clamps fixed to a slider 55 and a movable clamp lever 53 that opens and closes around a hinge pin 51 by a fluid pressure cylinder 49 such as a pneumatic cylinder. And a lever 57.

  A gripping claw 59 for gripping the head of the hexagon bolt 35 is provided at the distal ends of the movable clamp lever 53 and the fixed clamp lever 57. The slider 55 is provided on the guide member 61 so as to be movable in the direction of the Y-axis direction 62 (direction orthogonal to the X-axis direction). The guide member 61 is a guide member support provided upright on the table 9. 63.

  With the above configuration, the slider 55 can be guided by the guide member 61 and reciprocated in the Y-axis direction 62 by a fluid pressure cylinder 65 such as a pneumatic cylinder provided on the guide member 61.

  The guide member support 63 has a pair of upper and lower sliders 55 that are integrally provided with abutment members 67 so that the slider 55 can move in a Y-axis direction. A sensor support 71 to which a sensor 69 (a, b) is attached is provided.

  5 and 6 show a state in which the abutting member 67 of the slider 55 is in contact with the right sensor 69a. In this state, the hexagon bolts gripped by the second component gripping means 45b. 35 is adjusted by an adjustment bolt 73a provided on the abutting member 67 so that the machining position in the Y-axis direction coincides with the machining position below the rod-shaped electrode 27 attached to the fine hole electric discharge machining apparatus 1.

  When the second component gripping means 45b is in the above-described processing position, the first component gripping means 45a is positioned at the first component supply position for delivering the hexagon bolt 35 to the work handling robot 7 described later. It is set to do.

  Similarly, when the abutting member 67 of the slider 55 is in contact with the left sensor 69b, the processing position in the Y-axis direction of the hexagon bolt 35 gripped by the first component gripping means 45a is below the rod electrode 27. The adjusting bolt 73b is adjusted so as to coincide with the machining position.

  When the first component gripping means 45a is in a position that coincides with the machining position below the rod-shaped electrode 27, the second component gripping means 45b delivers the hexagon bolt 35 to the workpiece handling robot 7 described later. It is set to be located at the second component supply position to be performed.

  The first component supply position or the second component supply position described above is a position separated from the processing position below the rod-shaped electrode 27 by the pitch d in the + or − direction in the Y-axis direction.

  The work handling robot 7 is provided on a base 75 provided on the upper left side (left side in FIG. 1) of the common base 3. As shown in FIG. 4, the operation area around the work handling robot 7 is based on the second Y-axis direction 64 (parallel to the Y axis 62) passing through the pivot axis 87 of the work handling robot 7. A component alignment supply device 81 is arranged in a direction rotated 90 ° counterclockwise, that is, in the direction of the second X-axis direction 14 parallel to the X-axis 12 to supply the hexagon bolt 35 in an aligned manner. The component inspection device 79 for inspecting the quality of the processed hexagon bolt 35 is further at a position of about 25 ° counterclockwise (about 115 ° from the second Y axis 64) than the component alignment supply device 81. It is arranged.

  Further, the electrode holder magazine device 83 that houses a plurality of the electrode holders 29 that hold the rod-shaped electrode 27 so as to be detachable and replaceable is similarly positioned at a position of about 70 ° counterclockwise from the second Y axis 64. A non-defective product storage box 77 for storing processed non-defective products is arranged at a central position of about 170 °, and a defective product storage box 85 for storing defective products after part inspection is arranged at a central position of about 40 °. It is.

  The work handling robot 7 is a small vertical articulated robot having a 6-axis (J1-axis to J6-axis) configuration, and includes a vertical arm 87 having a first arm 89 and a second arm 91. A swing arm 92 is provided at the tip, and an end effector 93 is attached to the swing arm 92.

  The turning shaft 87 is provided on the base 75 and can turn ± 170 ° around the control axis J1. The first arm 89 is connected to the pivot shaft 87 by a horizontal control axis J2, and can swing an operating angle of + 135 ° and −100 ° about the control axis J2.

  The second arm 91 is connected by a control axis J3 at the tip of the first arm 89. The second arm 91 can swing at operating angles of + 166 ° and −119 ° around the control axis J3, and the second arm 91 itself. Has a rotation control axis J4, and the second arm 91 itself rotates within a range of ± 190 °.

  The swing arm 92 at the tip of the second arm 91 can swing by an operating angle of ± 120 ° around the horizontal control axis J5 and rotate by ± 360 ° around the control axis J6.

  As shown in FIGS. 11 and 13, the end effector 93 described above is provided with first clamping means 95a and second clamping means 95b.

  The first and second clamping means 95 (a, b) are provided with clamp claws 99 that are capable of gripping and releasing the hexagonal bolt 35 by a fluid pressure cylinder 97 such as a pneumatic cylinder.

  The first and second clamping means 95 (a, b) are clamped with the hexagon bolts 35 held when the first and second clamping means 95 (a, b) are opened. A part extruding means 101 for extruding from 99 is provided.

  The push-out means 101 is provided with a push rod 105 capable of moving forward and backward in a central space 103 generated when the pair of clamp claws 99 are closed, and the piston rod 106 is projected and retracted as a drive means for moving the push rod 105 back and forth. A fluid pressure cylinder 107 such as a pneumatic cylinder, for example, is provided inside the housing 92 of the end effector 93.

  The fluid pressure cylinder 107 is provided with a hollow cylindrical rod guide 109 parallel to the advancing and retreating direction of the pressing rod 105, and a rod member 111 is slidably fitted inside the rod guide 109. Connecting plates 113 (a, b) are fixed to the rear end portion (left side in FIG. 12) and the front end portion (right side in FIG. 12) of the rod member 111, respectively. A connecting plate 113 b at the front end is connected and fixed to the rear end of the pressing rod 105 to the piston rod 106 of the fluid pressure cylinder 107.

  In the component push-out means 101 having the above-described structure, the shaft portion of the hexagon bolt 35 held by the second clamp means 95b is operated by simultaneously releasing the holding force of the fluid pressure cylinder 97 and operating the fluid pressure cylinder 107. The push rod 105 can be advanced (rightward in FIG. 12), and the hexagon bolt 35 can be pushed out from the first clamp means 95a or the second clamp means 95b.

  Further, as shown in FIGS. 11 and 12, the electrode holder 29 held by the electrode holder magazine device 83 is held by the bracket 121 fixed to the left side surface (left side in FIG. 11) of the end effector 93 described above. The chuck 123 is attached.

  On the outer periphery of the head of the electrode holder 29, a groove 29h is formed to engage the chuck 123 of the work handling robot 7.

  The chuck 123 has a pair of left and right arms 127 (a, b) each having a claw member 125 (a, b) provided with an arc-shaped gripping portion that engages with the groove 29h of the electrode holder 29 by a fixing pin 126 (a, b). , B) are rotatably provided on the rotary shafts 129 (a, b), respectively.

  The rotating shaft 129 (a, b) is rotatably supported by the chuck body 131, and the chuck body 131 is fixed to the bracket 121 by a fastening member such as a bolt.

  Gears 133 (a, b) that mesh with each other are provided at the lower part of the rotating shaft 129 (a, b). Further, the pair of left and right arms 127 (a, b) are pulled between spring support shafts 135 (a, b) provided in front of the arms 127 (a, b) (leftward in FIG. 13). The clamp spring 137 made of a spring is always biased in the closing direction.

  The swinging range of the arm 127a is appropriately set at the rear end of the pair of left and right arms 127 (a, b) so that a gap w is formed at the tip when the claw members 125 (a, b) are closed. A stopper member 139 such as a regulating set screw is provided.

  As shown in detail in FIGS. 14 and 15, the electrode holder magazine device 83 includes a disk-shaped electrode holding plate 143 that holds a plurality of electrode holders 29 on an upper portion of a column 141 provided on the base 75. For example, it is provided so as to be capable of rotational positioning by a rotational driving means (not shown) such as a motor.

  More specifically, a shaft member 145 that is integrally fixed to the electrode holding plate 143 is provided at the center of the electrode holding plate 143. A hollow cylindrical fixing member 147 is inserted into a through hole provided in the shaft center of the shaft member 145. A flange portion 147g is provided on the upper portion of the fixing member 147, and the flange portion 147g is brought into contact with and engaged with the upper surface of the shaft member 145.

  A rotating shaft 149 having a flange portion 149 f that supports the shaft member 145 of the electrode holding plate 143 is integrally provided on the upper portion of the column 141 so as to extend above the column 141.

  A thrust bearing 151 for rotatably supporting the shaft member 145 is provided on the upper surface of the flange portion 149f of the rotating shaft 149. The shaft member 145 supported by the thrust bearing 151 is connected to the upper portion of the rotating shaft 149. The rotary shaft 149 is pressed and fixed by a nut member 153 that is screwed into a male screw portion provided on the rotary shaft 149.

  With the above configuration, the electrode holding plate 143 can be rotationally driven by rotationally driving a driving means (not shown) such as the motor.

  On the outer peripheral portion of the electrode holding plate 143, ten holding portions 155 that are opened outward in a U-shape for holding the electrode holder 29 are provided. A magnetic body 157 that attracts the head of the electrode holder 29 is attached to the back surface of the electrode holding plate 143 that is slightly separated from the holding portion 155 in the direction of the rotation center of the electrode holding plate 143.

  An annular groove formed on the upper outer periphery of the head of the electrode holder 29 is held by the holding portion 155 at the outer peripheral portion of the electrode holding plate 143 in an engaged state. Since the electrode holder 29 is adsorbed by the magnetic body 157, it cannot be easily detached from the electrode holding plate 143 and dropped.

  Further, the upper end portion of the rotating shaft 149 protrudes upward from the electrode holding plate 143, and a cylinder bracket 159 is provided horizontally at the upper end portion. On the upper surface of the cylinder bracket 159, there is provided a fluid pressure cylinder 163 such as a pneumatic cylinder for moving a magazine chuck, which will be described later, provided with a piston rod 161 capable of moving back and forth in parallel with the electrode holding plate 143.

  A magazine chuck 167 is provided at the tip of the piston rod 161 of the fluid pressure cylinder 163 described above so that the head of the electrode holder 29 held on the outer periphery of the electrode holding plate 143 can be gripped or released. A fluid pressure cylinder 165 such as a pneumatic cylinder for opening and closing the magazine chuck 167 is provided at the tip of the piston rod 161. A cover 169 is provided above the fluid pressure cylinder 163.

  A positioning groove 171 for rotationally positioning the electrode holding plate 143 is provided on the outer periphery of the shaft member 145 fixed integrally with the electrode holding plate 143. The position of the positioning groove 171 is provided at a position corresponding to the holding position of the ten electrode holders 29.

  For example, a fluid pressure cylinder 175 such as a pneumatic cylinder is provided in a cylinder bracket 177 integrally provided on the upper portion of the column 141. It is.

  In the electrode holder magazine device 83 configured as described above, under the control of the system control device 180, the electrode holding plate 143 is appropriately rotated and driven by a rotation driving means (not shown) such as a motor, so that the electrode holder 29 to be replaced is described later. The rotation is indexed to the electrode holder replacement position, the positioning fluid pressure cylinder 175 is moved forward, the positioning pin 173 is engaged with the positioning groove 171 on the outer periphery of the shaft member 145, and the electrode holder 29 is moved to the electrode holder replacement position. Fix it.

  The electrode holder replacement position is set in a direction in which the center of the turning shaft 87 of the work handling robot 7 and the rotation center of the electrode holding plate 143 are connected by a straight line. Accordingly, the electrode holder 29 can be easily transferred to and from the chuck 123 provided on the end effector 93 of the work handling robot 7.

  The operation of transferring the electrode holder 29 from the electrode holder magazine device 83 to the chuck 123 of the work handling robot 7 will be described.

  First, the electrode holder 29 to be exchanged held in the electrode holder magazine device 83 is rotationally positioned at the electrode holder exchange position described above. Next, the piston rod 161 is moved forward by the fluid pressure cylinder 163 for moving the magazine chuck, the head of the electrode holder 29 to be replaced is gripped by the magazine chuck 167, and the claw member 125 of the chuck 123 provided on the end effector 93. The electrode holder 29 to be exchanged can be transferred to the chuck 123 of the workpiece handling robot 7 by inserting the groove 29h at the head of the electrode holder 29 while pressing between the gaps w at the tips of (a, b). it can.

  When returning the electrode holder 29 to the electrode holder magazine device 83 by the work handling robot 7, the empty holding portion 155 of the electrode holding plate 143 is positioned at the replacement position and is held by the chuck 123 of the work handling robot 7. The annular groove at the head of the electrode holder 29 can be returned to a predetermined holding position by being inserted so as to engage with the electrode holding plate 143.

  Next, a component inspection device 79 that inspects the quality of the processed hexagon bolt 35 will be described.

  Referring to FIGS. 8 to 10, the component inspection apparatus 79 includes a column main body 179 whose side surface shape erected on the base 75 is similar to the Greek letter Γ. At a height position, a processed hexagon bolt 35 ′ in which a fine hole 184 is machined in the vertical direction by the fine hole electric discharge machine 5 on the shaft portion of the hexagon bolt 35 (hereinafter referred to as a product, see FIG. 16). A product gripping device 181 is provided which can grip the head of the product 35 and grip the shaft portion of the product 35 ′ horizontally. The product gripping device 181 is a known pneumatically operated clamping device.

  The column main body 179 above the product gripping device 181 is provided with an elevating means 185 such as a pneumatic cylinder. At the tip of the piston rod of this pneumatic cylinder, for inspection that can be freely penetrated into the machining hole 184 of the product 35 ′. The pin 183 is held by a pin holding means 186 such as a chuck.

  The lifting means 185 described above is held by a cross table mechanism 189, and the cross table mechanism 189 is provided on a cross table mechanism support member 191 provided at the upper end of the column main body 179.

  The cross table mechanism 189 includes a first slide table 193 that can move and adjust the lifting / lowering means 185 horizontally in the axial direction of the turning shaft 87 of the work handling robot 7, and a moving direction of the first slide table 193. And a second slide table 195 that can be moved and adjusted horizontally in a direction orthogonal to the direction. The first slide table 193 and the second slide table are provided with position adjustment knobs 197 and 199, respectively.

  The pin gripping means 186 is located on the side of the lifting path of the inspection pin 183 gripped and fixed to the lifting means 185 and above the narrow hole 184 of the product 35 ′ gripped by the product gripping device 181. An upper limit position detection sensor S1 and a lower limit position detection sensor S2 are provided for detecting the presence or absence of the passage of the product, and are located below the narrow hole 184 of the product 35 'on the side of the lifting path of the inspection pin 183. Is provided with a non-defective product detection sensor S3 for detecting the presence or absence of the inspection pin 183.

  Hereinafter, a component inspection method of the above-described component inspection apparatus 79 will be described.

  After the processing to the hexagon bolt 35 by the fine hole electric discharge machine 5 is finished, the work handling robot 7 grips the clamp hole 99 with the machining hole 184 of the product 35 ′ maintained in the vertical posture, and the vertical The product gripping device 181 of the component inspection device 79 grips the head of the product 35 ′ while maintaining the posture.

  In addition, in the state where the head is gripped so that the processed hole 184 of the product 35 ′ is vertical to the product gripping device 181, the center of the processed hole 184 and the center of the inspection pin 183 are adjusted to coincide with each other. It is.

  Next, the lifting / lowering means 185 is operated to lower the inspection pin 183, and it is checked whether or not the inspection pin 183 passes through the machining hole 184 of the product 35 '. At this time, the following three determinations are made according to the detection states of the upper limit position detection sensor S1, the lower limit position detection sensor S2 and the non-defective detection sensor S3.

(1) When the upper limit position detection sensor S1 is OFF, the lower limit position detection sensor S2 is ON, and the non-defective product detection sensor S3 is ON, it is determined as non-defective.

(2) If all of the three sensors, the upper limit position detection sensor S1, the lower limit position detection sensor S2, and the non-defective detection sensor S3 are OFF, it is determined as a defective product.

(3) When the upper limit position detection sensor S1 is OFF, the lower limit position detection sensor S2 is ON, and the non-defective product detection sensor S3 is OFF, it is determined that the inspection pin is broken.

  The overall operation of the fully automatic fine hole machining system according to the present invention will be described below.

  First, the workpiece handling robot 7 receives the hexagon bolt 35 from the component alignment supply device 81 that supplies the hexagon bolt 35 that is a component in an aligned direction, and is positioned at the first component supply position of the component loading / unloading device 47. The component is supplied to the second component gripping means located at the first component gripping means or the second component supply position, and the machining position of the small hole electric discharge machining apparatus is passed through the first component gripping means or the second component supply position. The hexagon bolt 35 which is the component supplied to the is processed.

  While the hexagon bolt 35 which is the component supplied to the first component gripping means or the second component supply position is being processed by the thin hole electric discharge machining apparatus, the first component gripping means or the second component gripping means The workpiece handling robot 7 receives the processed part, conveys the processed part to the part inspection apparatus, and inspects the quality of the part.

  When the inspection result by the component inspection apparatus is a non-defective product, the work handling robot 7 stores the component in the non-defective product storage box, and when the inspection result is a defective product, the work handling robot 7 stores it in the defective product storage box.

  When the rod-shaped electrode 27 is consumed, the workpiece handling robot 7 can replace the rod-shaped electrode 27 with a new rod-shaped electrode 27 stored in the electrode holder magazine device 83.

Explanatory drawing (front view) of the fully automatic fine hole processing system which concerns on this invention. Explanatory drawing (right view) of the fully automatic fine hole processing system which concerns on this invention. Explanatory drawing (left view) of the fully automatic fine hole processing system which concerns on this invention. Explanatory drawing (top view) of the fully automatic fine hole processing system which concerns on this invention. Expansive explanatory drawing of the A section in FIG. The front view of FIG. The right view of FIG. The expansion explanatory view of the B section in Drawing 1. The right view of FIG. FIG. 9 is a top view of FIG. 8. FIG. 2 is an enlarged explanatory view (partially broken) as viewed from arrow C in FIG. 1. D arrow line view in FIG. The EE arrow line view in FIG. FIG. 4 is an enlarged explanatory view (partially broken) of an F part in FIG. 3. The GG arrow line view in FIG. An example of a part (hexagon bolt) processed in the fully automatic fine hole processing system according to the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fully automatic fine hole processing system 3 Common base 5 Thin hole electric discharge machine 7 Work handling robot 8 Base 9 Table 10 Processing tank 11a, 11b Column 12 X-axis direction 14 2nd X-axis direction 13 X-axis carriage 15 Y Shaft carriage 17 Slide base 19 Z-axis slide 21 Z-axis feed screw 23 Servo motor 25 Numerical control device 27 Rod-shaped electrode 29 Electrode holder 31 Electrode rotation motor 33 Electrode guide means 35, 35 'Hexagon bolt 36 Support member 37 X-axis handle 39 Z Axis handle 40 Z-axis direction 41 Scale 43 Pointer 45 (a, b) First and second component gripping means 47 Component loading / unloading device 49 Fluid pressure cylinder 51 Hinge pin 53 Movable clamp lever 55 Slider 57 Fixed clamp lever 59 Grip claw 61 Guide Member 62 Y-axis direction 6 Guide member support 64 Second Y-axis direction 65 Fluid pressure cylinder 67 Bumping member 69 (a, b) Sensor 71 Sensor support 73a, 73b Adjustment bolt 75 Base 77 Good product storage box 79 Parts inspection device 81 Parts alignment supply Device 83 Electrode holder magazine device 85 Defective product storage box 87 Rotating shaft 89 First arm 91 Second arm 92 Swing arm 93 End effector 95a First clamp means 95b Second clamp means 97 Fluid pressure cylinder 99 Clamp claw 101 Parts extruding means 103 Space 105 Press rod 107 Fluid pressure cylinder 109 Rod guide 111 Rod member 113 (a, b) Connecting plate 121 Bracket 123 Chuck 125 (a, b) Claw member 127 (a, b) Arm 129 (a, b) Rotating shaft 131 Chuck body 13 Gear 135 (a, b) Spring support shaft 137 Clamp spring 139 Stopper member 141 Column 143 Electrode holding plate 145 Shaft member 147 Fixing member 149 Rotating shaft 149f Flange portion 151 Thrust bearing 153 Nut member 155 Holding portion 157 Magnetic body 159 Cylinder bracket 161 Piston rod 163 Fluid pressure cylinder 165 Fluid pressure cylinder 167 Magazine chuck 179 Column main body 180 System controller 181 Product gripping device 183 Inspection pin 184 Narrow hole 185 Lifting means 186 Pin gripping means 189 Cross table mechanism 191 Cross table mechanism support member 193 First slide table 195 Second slide table 197, 199 Position adjustment knob S1 Upper limit position detection sensor S2 Lower limit position Detecting sensor S3 good detection sensor

Claims (2)

  Provided with a small-hole electric discharge machining device equipped with at least a Z-axis that numerically controls the raising and lowering of the rod-shaped electrode, a workpiece handling robot is provided in the vicinity of the fine-hole electric discharge machining device, and parts are aligned and supplied within the operation area of the workpiece handling robot An apparatus, an electrode holder magazine apparatus, a parts carry-in / out apparatus provided with first and second parts gripping means capable of moving and positioning parts to a machining position below the rod-like electrode of the fine hole electric discharge machining apparatus, and machined A part inspection device for inspecting the quality of the parts, a non-defective product storage box for storing the non-defective product after the part inspection, and a defective product storage box for storing the defective product. When receiving a part, the first part gripping means located at the first part supply position or the second part gripping means located at the second part supply position of the part carry-in / carry-out device In addition to supplying the parts, the machined parts are received from the first part gripping means or the second part gripping means, and the processed parts are transported to the parts inspection device to inspect the quality of the parts. The fully automatic fine hole processing system is characterized in that the non-defective product after the component inspection is stored in the non-defective product storage box, and the defective product is stored in the defective product storage box.   In the fully automatic narrow hole machining system according to claim 1, the non-defective product storage box is disposed close to the component loading / unloading device and on the operation side in front of the fully automatic thin hole machining system of the small hole electric discharge machining device, Following the non-defective product storage box, the component inspection device, the component alignment supply device, the electrode holder magazine device, and the defective product storage box are arranged in the clockwise direction around the vertical rotation axis of the work handling robot. This is a fully automatic narrow hole machining system.

Images