JP2021013986A - Automatic carrier machine for workpiece - Google Patents

Abstract

To provide an automatic carrier machine for workpieces capable of simply repairing after collision.SOLUTION: An automatic carrier machine for workpieces has a travel base plate whose rear face side is fixed to a base via plural brackets, a travel device put together with the travel base plate to move along a rail provided at the front side of the travel base plate, and a workpiece carrier robot loaded on the travel device. A long hole long in a direction of impact load of the workpiece carrier robot receiving at collision is formed to one of plural brackets, and a shock-absorbing bracket is installed at the travel base plate side by fastening a bolt through the long hole.SELECTED DRAWING: Figure 6

Description

The present invention relates to an automatic work transfer machine capable of easily performing repair after a work transfer robot collides.

In a machining machine line or the like in which a plurality of machine tools are lined up, a work is transferred to each machine tool by an automatic work transfer machine. In the work automatic transfer machine, for example, a work transfer robot mounted on a traveling device moves between machine tools, stops in front of the corresponding machine tool, and then delivers the work to the spindle chuck. In such an automatic work transfer machine, since the work transfer robot accurately delivers the work, teaching is performed for centering with the spindle chuck which is the mating device.

Jikken Sho 46-1486 Gazette

The automatic work transfer machine may cause a collision in the machine tool during work transfer due to slight deviation of the gripped work, but in such a case, the centering setting will be incorrect and it will be necessary to redo the teaching. become. At that time, the deviation that occurs in the joint part of the work transfer robot can be recovered relatively easily by teaching to the servo motor, but if structural deviation or deformation occurs, the relevant part precedes. It had to be repaired to find it and return it to its original state, and it took a lot of time to restart.

Therefore, an object of the present invention is to provide an automatic work transfer machine capable of simplifying repair after a collision in order to solve such a problem.

The work automatic transfer machine according to the present invention travels so as to move along a traveling table plate whose back surface side is fixed to a base via a plurality of brackets and a rail provided on the front surface side of the traveling table plate. It has a traveling device assembled on a base plate and a work transfer robot mounted on the traveling device, and one of the plurality of brackets has a length long in the direction of the impact load received when the work transfer robot collides. It is a shock absorbing bracket attached to the running platform plate side by fastening a bolt through which a hole is formed.

According to the above configuration, when the work transfer robot collides, the position of the bolt fastening portion through the elongated hole in the shock absorbing bracket is displaced, so that the repaired portion can be easily identified and the traveling table plate is returned to the original position. Restoration work to return to the state can also be easily performed.

It is a perspective view which showed a part of a processing machine line. FIG. 5 is a perspective view showing a state in which an articulated robot is folded and moved for one embodiment of an automatic work transfer machine. It is a perspective view which showed the state at the time of delivery of the work which the articulated robot extended about one Embodiment in the work automatic transfer machine. It is a perspective view which showed the traveling table plate fixed to a base. It is a perspective view which showed the fixed structure of the traveling table plate. It is a perspective view which showed the shock absorption bracket (lower left bracket) from the lower side. It is a perspective view which showed the repair means.

An embodiment of the automatic workpiece transfer machine according to the present invention will be described below with reference to the drawings. In the present embodiment, an automatic workpiece transfer machine incorporated in a processing machine line will be described as an example. FIG. 1 is a perspective view showing a part of the processing machine line. In the processing machine line 1, a plurality of working machines such as machine tools are arranged, and predetermined processing or the like is performed on the work. Then, in the present embodiment, a machine tool or the like is modularized, and a plurality of machining modules 3 are mounted on the base 2 in a state of being close to each other as shown in the drawing.

In the processing machine line 1, two processing modules 3 are mounted on one base 2, and the base 2 and a predetermined processing module 3 can be arbitrarily increased or decreased depending on the processing content. In the processing machine line 1, the processing modules 3 are all composed of exterior covers having the same shape, and the appearance of the entire line is unified. In the drawing, the front cover 4 which is the front portion of the line is shown among the exterior covers, but in the processing machine line 1, the transport space 5 extended in the line direction (Y-axis direction) is formed by the front cover 4. To. In the present embodiment, the machine body width direction of the processing module 3 will be the Y-axis direction, the machine body front-rear direction will be the Z-axis direction, and the machine body vertical direction will be the X-axis direction.

In the processing module 3, a movable bed is mounted on a rail formed on the base 2, and a processing machine main body such as a lathe or a machining center is assembled to the movable bed. Therefore, although the machining module 3 at the time of machining is shown in FIG. 1, it can be moved in the front-rear direction (Z-axis direction) at the time of maintenance or parts replacement. The processing module 3 shown in the figure is a lathe, and constitutes a processing chamber 6 for processing a work gripped by a spindle chuck. A transport window is formed in the processing chamber 6 on the front side of the machine body, and when the automatic opening / closing door 601 opens, the transport robot enters the processing chamber 6 to deliver the work.

2 and 3 are perspective views showing the work automatic transfer machine of the present embodiment, and show a state when the articulated robot is folded and moved, and a state when the articulated robot is extended and handed over the work, respectively. Has been done. The work automatic transfer machine 8 is mainly composed of an articulated robot 11 that transfers work to and from a spindle chuck and the like, and a traveling device 12 that moves the articulated robot 11. The articulated robot 11 is assembled on the traveling table 15 via a swivel table 16. A support base 17 is fixed on the swivel table 16, an upper arm member 18 is connected to the support base 17 via a first joint mechanism 21, and a forearm member 19 is further connected to the upper arm member 18 via a second joint mechanism 22. Has been done. A robot hand 24 for re-grasping the work is attached to the end of the forearm member 19 which is the tip of the articulated robot 11.

In the traveling device 12, the traveling table plate 26 is fixed to the front surface side of the base 2, and the rack 31 and the two rails 32 are attached so as to be horizontal in the Y-axis direction. The traveling table 15 is assembled so that the traveling slide 28 integrally formed grips the rail 32 and slides (see FIG. 4). A traveling motor 33 is fixed to the traveling table 15, and a pinion fixed to a rotating shaft meshes with the rack 31. Therefore, the pinion rolls on the rack 31 by driving the traveling motor 33, and can move in the Y-axis direction along the rail 32 of the traveling table 15.

By the way, the articulated robot 11 is in the forward leaning posture shown in FIG. 3 by controlling the angles of the upper arm member 18, the forearm member 19, and the robot hand 24, and the work is placed between the articulated robot 11 and the spindle chuck located at the back of the processing chamber 6. Delivery is done. At that time, for example, a slight deviation of the gripped work may cause a collision with the spindle chuck or the like, and the reaction force at the time of the collision becomes an impact load, causing the work automatic transfer machine 8 to be displaced or deformed. It ends up. Since the work is delivered to and from the spindle chuck with an accuracy of micron unit, it is necessary to repair the misalignment and redo the teaching after the collision.

The influence of the collision on the automatic workpiece transfer machine 8 appears as a displacement of the rotation axis in the joint mechanisms 21 and 22 of the articulated robot 11, deformation of parts in the traveling device 12, and displacement of the connecting portion. Therefore, in order to teach the articulated robot 11 and the traveling device 12 again, it is necessary to identify, repair, and return to the original state where the positional deviation or deformation has occurred.

In the work automatic transfer machine 8 of the present embodiment, an articulated robot 11 and the like are assembled on the basis of the traveling table plate 26 fixed to the base 2. Therefore, the impact load received by the work automatic transporter 8 will eventually act on the traveling table plate 26. The pedestal plate 26 is fixed via a plurality of brackets in order to provide a space for wiring and piping a plurality of cables, hydraulic hoses, etc. with the base 2, and is arranged at a position away from the front surface of the base 2. ing. Therefore, in particular, the influence of the impact load acts on the plurality of bracket portions that support the traveling table plate 26.

A fixed structure using a plurality of brackets is considered to provide rigidity that can withstand an impact load in order to eliminate the influence at the time of a collision, but for that purpose, the bracket becomes large and it is necessary to fasten using thick bolts. However, this not only raises the cost of parts, but also goes against compactification. Further, even if the rigidity of the fixed portion of the bracket is increased, other parts and parts are affected, and it is considered that the work load until the repaired part is specified and returned to the original state becomes larger. From this point of view, in the present embodiment, the influence of the collision is concentrated in one place, and the work load until the repair by the operator is reduced.

FIG. 4 is a perspective view showing the traveling table plate 26 fixed to the base 2. The running platform plate 26 is a rectangular plate material having a predetermined plate thickness, and is attached in an upright posture with the longitudinal direction sideways so as to be parallel to the front surface 201 of the base 2. Such a traveling table plate 26 is separated from the front surface 201 of the base 2 by a predetermined distance L, and therefore, a plurality of brackets are provided between the base 2 and the traveling table plate 26 as shown in FIG. .. FIG. 5 is a perspective view showing a fixed structure of the traveling table plate 26.

There are five brackets for fixing the running platform plate 26 to the base 2, three upper brackets 35, 35, 36, a lower right bracket 37, and a lower left bracket 38. The three upper brackets 35, 35, 36 have high rigidity, and the upper brackets 35, 35 are provided symmetrically with respect to the central upper bracket 36. The connecting block 34 is fixed to the upper brackets 35, 35, 36 and integrated, and the traveling table plate 26 is fixed to the connecting block 34. A lower right bracket 37 and a lower left bracket 38 having lower strength than the upper brackets 35, 35, and 36 are provided. However, the lower right bracket 37 has rigidity that can withstand the impact load at the time of collision of the articulated robot 11.

On the other hand, the lower left bracket 38 is configured to have a lower rigidity than the other brackets, and can absorb the impact load at the time of a collision due to the positional deviation of the fixed portion. Specifically, the screwed portion with the traveling table plate 26 side is configured to be displaced due to an impact load. First, the upper brackets 35, 35, and 36 are fastened with bolts 41 that are passed through the base 2 in the horizontal direction (Z-axis direction), and the traveling table plate 26 is also horizontally connected to the connecting block 34 (Z-axis direction). ) Is fastened.

Also in the lower right bracket 37, bolts 43 that are passed horizontally (Z-axis direction) to the base 2 are fastened, and bolts that the traveling platform plate 26 is passed horizontally (Z-axis direction) to the lower right bracket 37. 44 is fastened. In the work automatic transfer machine 8, the traveling table 15 is assembled on the upright front surface of the traveling table plate 26, and the articulated robot 11 is mounted on the traveling table 15, and the collision of the articulated robot 11 is caused by the processing chamber 6 of the processing module 3. It happens when the work is delivered by entering the inside. The impact load at that time, which is not absorbed by the articulated robot 11, acts on the traveling table plate 26 via the traveling table 15.

Since such a collision occurs when the articulated robot 11 leans forward as shown in FIG. 2 and moves the work to the back of the processing chamber 6, the impact load causes the articulated robot 11 to be on the front side of the base 2 ( It acts to push back in the Z-axis direction). In this regard, the upper brackets 35, 35, 36 and the lower right bracket 37 are bolted 41, 42, 43, 44 in the Z-axis direction as described above. Further, the upper brackets 35, 35, 36 and the connecting block 34 are stacked vertically (in the X-axis direction) and fastened by bolts 45 in the same direction, but the thick bolts 45 are not displaced even when an impact load is applied. Is firmly fastened at 6 points.

The lower left bracket 38 is intentionally configured to have low rigidity, but FIG. 6 is a perspective view showing the lower left bracket 38 from below. The lower left bracket 38 has a reinforcing member 382 and the like joined to a plate 381 whose one end in the longitudinal direction is bent into an L shape. The lower left bracket 38 has a first fixing portion 385 bent in an L shape, which is abutted against the front surface 201 of the base 2 in the Z-axis direction, and is fastened by bolts 46 and fixed in a horizontal state. Then, in the second fixing portion 386 provided on the opposite side of the first fixing portion 385, elongated holes 388 long in the Z-axis direction are formed at two places, and bolts 47 (one is omitted in the drawing) are used in the vertical direction (X). It is fastened in the axial direction).

As the bolt 47, a bolt that is thinner than other bolts 41, 42, 43, 44, 46 and the like is used. An adapter 39 is fixed to the pedestal plate 26, and the lower left bracket 38 is bolted to the adapter 39. The reaction force at the time of collision acting on the articulated robot 11 also acts on the traveling platform plate 26, but it is concentrated on the lower left bracket 38, which is configured to have the lowest rigidity among the brackets arranged vertically and horizontally as described above. ing.

In the work automatic transfer machine 8, the upper brackets 35, 35, and 36 have high rigidity, and a force in the rotational direction acts on the lower side far from the articulated robot 11 with the upper part of the traveling table plate 26 as a fulcrum. The elongated hole 388 of the lower left bracket 38 is formed along the direction of the impact load acting during such a collision. That is, the impact load is absorbed by the bolt 47 being displaced in the elongated hole 388 without causing deformation or displacement in other places due to the impact load.

The misalignment of the bolt 47 deforms the posture of the traveling table plate 26 and affects the teaching of the articulated robot 11 mounted on the traveling table 15. Therefore, it is necessary to return the traveling table plate 26 to the original state, and the present embodiment is provided with repair means for that purpose. The misalignment of the running platform plate 26 can be returned by tapping it with a hammer or the like, but it is not suitable for the repair work that requires fine adjustment with high accuracy. FIG. 7 is a perspective view showing the repair means of the present embodiment that enables fine adjustment. This repair means is provided near the lower left bracket 38, and the work block 51 is fixed to the front surface 201 side of the base 2.

The work block 51 is formed with a holding portion 511 protruding from the tip portion thereof, and a pull screw 52 and a push screw 53, which are hexagon socket head bolts, are horizontally arranged along the Z-axis direction. The pull screw 52 is screwed into the screw hole formed on the back surface side of the traveling table plate 26 through the through hole of the holding portion 511, and the set screw 53 is screwed into the screw hole formed in the holding portion 511. The penetrating tip is applied to the back surface of the traveling table plate 26. Therefore, when using a hexagon wrench and rotating the pull screw 52 in the tightening direction to pull the running table plate 26 toward the base 2 side, and rotating the set screw 53 in the tightening direction, the running table plate 26 is moved from the base 2 to the base 2. It can be separated.

Further, on the surface of the traveling table plate 26, a measuring table 55 for placing the level 58 is provided near the lower left bracket 38. The measuring table 55 is an L-shaped member, and is fixed so that the mounting surface on which the spirit level 58 is placed is orthogonal to the traveling table plate 26 upward. The running platform plate 26 is not required to have a vertical standing posture, but a reference posture using the spirit level 58 is set in order to keep the state of the articulated robot 11 at the time of teaching constant. To. Then, after the traveling table plate 26 is in the reference posture, teaching is performed so that the work can be transported with high position accuracy according to the transport program.

In such an automatic work transfer machine 8, the traveling motor 33 is driven according to the work transfer program, moves in the transfer space 5 in the upright posture shown in FIG. 2, stops in front of the target machining module 3, and is an articulated robot. The work is delivered by 11. As shown in FIG. 3, the articulated robot 11 opens while the upper arm member 18 and the forearm member 19 are in a forward leaning posture, and the work gripped by the robot hand 24 at the tip is generally Z to the back of the processing chamber 8. Move in the axial direction. Therefore, when a collision with the spindle chuck occurs, an impact load in the opposite direction acts on the articulated robot 11 that tries to move the work further inward, and is transmitted to the traveling device 12.

In the traveling device 12, the bolt 47 moves in the elongated hole 388 of the lower left bracket 38 due to the impact load, and the position of the traveling table plate 26 is displaced. For example, when the portion of the traveling platform plate 26 is displaced to the base 2 side, the set screw 53 of the work block 51 is rotated in the direction of tightening with a hexagon wrench to push the traveling platform plate 26 and pull it back for fine adjustment. If necessary, rotate the pull screw 52 in the tightening direction. Then, leveling is performed based on the spirit level 58 mounted on the measuring table 55, and the teaching of the articulated robot 11 is performed again.

Therefore, according to the work automatic carrier 8 of the present embodiment, among the plurality of brackets supporting the traveling table plate 26, the lower left bracket 38 having low rigidity is caused to be displaced at the time of collision, so that the repaired portion is specified. Is easy. Since the measuring table 55 is provided at the position corresponding to the lower left bracket 38 and the spirit level 58 is placed, it is easy to confirm when the level returns to the original state when repairing after the collision. Further, since the work block 51 has the repair means provided with the pull screw 52 and the push screw 53, the repair work of fine adjustment to the traveling table plate 26 can be easily performed.

Although one embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, the lower left bracket 38 of the traveling platform plate 26 is used as a shock absorbing bracket, but it may be at another position.

1 ... Machining machine line 3 ... Machining module 8 ... Work automatic carrier 11 ... Articulated robot 12 ... Traveling device 26 ... Traveling platform plate 35, 36 ... Upper bracket 37 ... Lower right bracket 38 ... Lower left bracket 47 ... Bolt 51 ... Work Block 52 ... Pull screw 53 ... Push screw 55 ... Measuring table 58 ... Level 388 ... Long hole

Claims (4)

A running platform plate whose back side is fixed to the base via multiple brackets,
A traveling device attached to the traveling platform plate so as to move along a rail provided on the front side of the traveling platform plate, and a traveling device.
It has a work transfer robot mounted on the traveling device, and has
One of the plurality of brackets has a long hole formed in the direction of the impact load received at the time of collision of the work transfer robot, and the shock absorbing bracket attached to the traveling table plate side by fastening a bolt through the long hole. Work automatic transfer machine. The plurality of brackets are provided on the upper side and the lower side of the traveling table plate arranged vertically, and the shock absorbing bracket is located below the traveling table portion rate and is horizontal to receive the impact load. The automatic work transfer machine according to claim 1, which is a plate member arranged horizontally along the direction. The automatic workpiece transfer machine according to claim 1 or 2, further comprising a measuring table for placing a spirit level in the vicinity of the shock absorbing bracket on the front surface side of the traveling table plate. A pull screw screwed on the back surface side of the traveling table plate penetrates the work block fixed to the base side corresponding to the position of the shock absorbing bracket, and a set screw that abuts the tip on the traveling table plate The automatic workpiece transfer machine according to any one of claims 1 to 3, which has a screwed repair means.

Images