JP2021020291A - Workpiece carry-in device - Google Patents

Abstract

To provide a workpiece carry-in device which achieves improvement of flexibility of arrangement according to a space in the workpiece carry-in device.SOLUTION: A workpiece carry-out/in device 100 disposed adjacent to a machine tool 400 includes: a body part 110; a workpiece carry-in passage 120; a workpiece carry-out passage 130; a workpiece holding part 140; a holding part rotation part 150; a slewing part 160; and a body support member 170. The body part 110 is connected to the machine tool 400 by the body support member 170 and is supported in such a way so as to be rotatable around a first axis C1 in a vertical direction in a portion connected to the body support member 170. The workpiece holding part 140 holds the workpiece W to be delivered to the machine tool 400 and can rotate around a second axis by the holding part rotation part 150. The second axis is coaxially set with the first axis C1.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work loading device.

There is known a work loading device that receives a work placed on a work supply table provided near the machining center by a robot hand of a robot device provided in the machining center and sets the work on the work table of the machining center ( For example, see Patent Document 1).

Jikkai Sho 58-173448

When installing a work loading device that supplies workpieces to a machine tool such as an automatic lathe outside the machine tool body, the placement space is limited, so the machining machine and the workpiece loading device are placed in the desired positional relationship. It may not be possible to place it.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work loading device capable of increasing the degree of freedom of arrangement according to a space.

INDUSTRIAL APPLICABILITY The present invention is arranged adjacent to a machine tool, is connected to the machine tool by a main body support member, and is rotatably supported around a first axis in the vertical direction at a portion connected to the main body support member. A work loading device including a main body and a work gripping portion that rotatably grips a work to be delivered to the machine tool around a second axis, and the second axis is set coaxially with the first axis. Is.

According to the work loading device according to the present invention, the main body can rotate with respect to the machine tool while maintaining the axis for transferring and receiving the work between the machine tool side and the work loading device side. It becomes easy to change the direction of arrangement of the work loading device with respect to the above, and the degree of freedom in arranging the work loading device according to the space can be increased.

It is a perspective view which shows an example of the arrangement of the work loading / unloading apparatus, the machine tool, and the gantry loader which is one Embodiment of this invention. It is a perspective view which shows the work loading / unloading apparatus shown in FIG. It is a perspective view of the work loading / unloading device seen from the direction different from FIG. It is a schematic diagram which shows how the direction of arrangement of the work loading / unloading device with respect to the width direction of a machine tool is changed, and the solid line (1) is a state where the longitudinal direction of the main body is parallel to the width direction of the machine tool. The point chain line (2) is a state in which the longitudinal direction of the main body is rotated toward the front side by an angle θ2 with respect to the width direction of the machine tool, and the two-point chain line (3) is a state in which the longitudinal direction of the main body is relative to the width direction of the machine tool. The state of being rotated to the back side by the angle θ3 is shown. FIG. 2 is an enlarged perspective view of a portion of the work loading path including an end portion in the work transport direction, and shows a posture in which the work grip portion is prone (second posture position). FIG. 2 is an enlarged perspective view of a portion of the work loading path including an end portion in the work transport direction, and shows a posture in which the work grip portion stands up (first posture position).

The work loading / unloading device 100 of the present embodiment is an embodiment of the workpiece loading / unloading device according to the present invention. The work loading / unloading device 100 of the present embodiment has a work loading / unloading function for directly or indirectly receiving the work from the machine tool, in addition to the working load / loading function for delivering the work directly or indirectly to the machine tool. However, the work carry-in device according to the present invention may be at least provided with a work carry-in function, and may not be provided with a work carry-out function as in the present embodiment.

As shown in FIG. 1, the work loading / unloading device 100 is arranged adjacent to, for example, the left side of the machine tool 400. The machine tool 400 is, for example, an automatic lathe device, but the work loading device according to the present invention is not limited to the one arranged adjacent to the automatic lathe device, and is adjacent to a machine tool other than the automatic lathe device. It may be. The automatic lathe device of the machine tool 400 is provided with a spindle along the width direction Z of the automatic lathe device.

The machine tool 400 includes a gantry loader 300 that transports and sets the work W received from the work loading / unloading device 100 outside the machine tool 400 to the machining section 410 inside the machine tool 400.

The gantry loader 300 has a hand unit 310 that receives the work W before processing delivered from the work loading / unloading device 100, a hand unit 320 that delivers the processed work W'to the work loading / unloading device 100, and a hand unit 310. , The elevating part 330 that moves the elevating part 330 up and down in the vertical direction X, and the horizontal transport part 340 that moves the elevating part 330 together with the hand parts 310 and 320 horizontally above the machine tool 400 in the width direction Z of the machine tool. I have.

The elevating unit 330 includes a height position where the hand unit 310 receives the work W from the work loading / unloading device 100, a height position where the hand unit 320 delivers the processed work W'to the work loading / unloading device 100, and a machine tool. The hand portions 310 and 320 are moved up and down between the height position above the 400, and the hand portions 310 and 320 are moved between the height position of the machining unit 410 and the height position above the machine tool 400. Then, the hand portions 310 and 320 are moved up and down.

The work loading / unloading device 100 delivers the work W before machining to the machine tool 400 via the gantry loader 300, and receives the machined work W'from the machine tool 400 via the gantry loader 300.

As shown in FIGS. 2 and 3, the work loading / unloading device 100 includes a main body portion 110, a work loading / unloading path 120, a work loading / unloading path 130, a work gripping portion 140, a gripping portion rotating portion 150, and a swivel portion 160. , A main body support member 170, and the like.

The main body 110 is a portion that serves as a pedestal for the work loading / unloading device 100, is in contact with the floor surface, and has a horizontal pedestal 111 at the top. The main body 110 is formed so as to extend in one direction, and in FIG. 1, it is arranged so as to extend in parallel with the width direction Z of the machine tool 400.

As shown in FIG. 3, the main body support member 170 includes an arm portion 174, a machine tool fixing portion 175, a slide member 176, and a main body rotating member 177.

The arm portion 174 includes a first arm member 171, a second arm member 172, and a support member 173. Both the first arm member 171 and the second arm member 172 are formed of linearly extending round bars.

In the support member 173, a first fixing member 173a fixed to one end of the first arm member 171 and a second fixing member 173b fixed to one end of the second arm member 172 are arranged side by side in the vertical direction. At the same time, the first fixing member 173a and the second fixing member 173b are formed by being fixed at a predetermined angle around the vertical axis common to both.

In the present embodiment, the first fixing member 173a and the second fixing member 173b are fixed so that the first arm member 171 and the second arm member 172 are orthogonal to each other.

A machine tool fixing portion 175 connected to the left side surface of the machine tool 400 shown in FIG. 1 is fixed to the other end of the first arm member 171. Since the machine tool fixing portion 175 and the first arm member 171 do not move relatively, the orientation of the first arm member 171 is fixed with respect to the machine tool 400.

On the other end side of the second arm member 172, a slide member 176 provided so as to be slidable in the axial direction of the second arm member 172 with respect to the second arm member 172 is provided. The slide member 176 can be fixed at an arbitrary position in the axial direction of the second arm member 172.

The lower side of the main body rotating member 177 is connected to the slide member 176, and the upper side is connected to the base plate 111. The main body rotating member 177 is fixed to the base plate 111, but is rotatably supported with respect to the slide member 176 about the first axis C1 parallel to the vertical direction. Therefore, the main body 110 is rotatable around the first axis C1 with respect to the slide member 176.

The main body 110 is shown by a solid line with respect to the main body support member 170 with the first axis C1 as the center and the longitudinal direction of the main body 110 parallel to the width direction Z of the machine tool 400, as shown in FIG. Not only the posture (state of solid line (1)), but also the posture (direction) that is not parallel, for example, the state of being rotated toward you by an angle θ2 with respect to the width direction Z shown by the two-point chain line (2). It can be arranged in the posture (direction) in a state of being rotated to the back side by an angle θ3 with respect to the width direction Z shown by the two-point chain line (3).

Therefore, when the work loading / unloading device 100 is arranged adjacent to the machine tool 400, the degree of freedom in arranging the workpiece loading / unloading device 100 can be increased according to the space. At this time, the first axis C1 of the main body rotating member 177 is arranged so as to coincide with the axis on which the hand portion 310 of the gantry loader 300 moves up and down.

The hand portion 310 of the gantry loader 300 grips the work W so that the axis on which the hand portion 310 moves up and down coincides with the central axis of the work W in a plan view, and the work W is moved on the first axis C1 of the main body rotating member 177. receive.

By sliding the main body 110 along the axial direction of the second arm member 172, the hand portion 310 of the gantry loader 300 is arranged on the first axis C1 of the main body rotating member 177. The arrangement position of the work loading / unloading device 100 can be adjusted within the adjustment range of the hand portion 310 of the 300.

As shown in FIG. 2, the work loading path 120 and the workpiece loading path 130 extend parallel to each other on the base plate 111 of the main body 110 along the direction in which the main body 110 extends long, and reach the base plate 111. It is fixed.

The work carry-out path 130 is composed of, for example, a conveyor in which an endless belt circulates by rotational drive, and a work W'(indicated by a two-dot chain line) processed by a machine tool 400 is delivered from a hand portion 320 of the gantry loader 300. Then, the received work W'is conveyed in the direction of the arrow shown in the figure.

The work loading path 120 is composed of, for example, a conveyor in which an endless belt circulates by rotational driving, and conveys the raw work W to near the vertical lower part of the hand portion 310 of the gantry loader 300 in the direction of the arrow shown in the drawing.

As shown in FIGS. 5 and 6, the work gripping portion 140 is provided at the end of the work loading path 120 in the transport direction of the work W. The work grip portion 140 is provided so as to be displaceable between the prone posture shown in FIG. 5 and the standing posture shown in FIG. The work gripping portion 140 is arranged on the same surface as the work W that has been transported in the transport direction along the work loading path 120 in the prone position.

The work grip portion 140 stands by in an open state when in a prone position, and when the work W conveyed through the work carry-in path 120 reaches the work grip portion 140, it changes to the closed state shown in FIG. As a result, the work W is sandwiched and gripped.

The work gripping portion 140 grips the work W so that the second axis C2, which is the central axis of the gripped work W in a plan view, is coaxial with the first axis C1 in the standing posture. Therefore, the work W gripped by the work grip portion 140 in the prone posture is received by the hand portion 310 that has descended along the first axis C1 (second axis C2) from the work grip portion 140 that has shifted to the standing posture. Passed.

In the grip portion rotating portion 150, the work grip portion 140 is integrally fixed, and the work grip portion 140 is rotated around the second axis C2. The grip portion rotating portion 150 can be configured by a rotary actuator composed of a cylinder, a motor, or the like that can rotate at a predetermined rotation angle or at an arbitrary rotation angle.

The swivel portion 160 includes an air cylinder 164 and a rotary lever 165. In the air cylinder 164, the rod 163 slides in the axial direction of the cylinder tube 161 by the air supplied into the cylinder tube 161. The cylinder tube 161 is supported by a support member 161a around an axis orthogonal to the longitudinal direction of the rod 163.

The rotary lever 165 is rotatably provided around the third axis C3. The tip of the rod 163 is connected to the rotary lever 165 at a position offset from the third axis C3 of the rotary lever 165. Further, the grip portion rotating portion 150 is connected to a position (not shown) of the rotary lever 165 offset from the third axis C3.

When the rod 163 protrudes from the cylinder tube 161, the rotary lever 165 rotates clockwise around the third axis C3. Due to the clockwise rotation of the rotary lever 165, the grip portion rotating portion 150 and the work grip portion 140 are integrally swiveled around the third axis C3, and the work grip portion 140 is in a prone position (see FIG. 5). ), The work grip portion 140 turns to the first posture position in the standing posture (see FIG. 6). By turning to the first posture position, the second axis C2 of the work W is set coaxially with the first axis C1.

On the other hand, when the rod 163 is pulled into the cylinder tube 161 from the posture in which the grip portion rotating portion 150 and the work grip portion 140 are raised, the rotary lever 165 rotates counterclockwise in FIG. 6 with the third axis C3 as the center. Rotate. Due to the counterclockwise rotation of the rotary lever 165, the grip portion rotating portion 150 and the work grip portion 140 integrally rotate counterclockwise around the third axis C3, and the work grip portion 140 stands up in the first posture. From the position, the work grip portion 140 turns to the prone second posture position. As a result, the second axis C2, which is the rotation center of the grip portion rotating portion 150, intersects with the first axis C1.

In the work loading / unloading device 100, the work gripping portion 140 is raised by the gripping portion rotating portion 150 in a state where the second axis C2 of the gripped work W is coaxial with the first axis C1. By rotating the work W around the second axis C2, the work W gripped by the work grip portion 140 can be rotated around the second axis C2.

For example, when the main body 110 of the work loading / unloading device 100 is arranged in a state of being rotated around the first axis C1 as shown by the alternate long and short dash lines (2) and (3) in FIG. 4, the gantry loader 300 A deviation occurs between the orientation of the work W of the hand portion 310 around the first axis C1 that can be gripped and the orientation of the work W gripped by the work grip portion 140 around the second axis C2.

That is, as shown by the alternate long and short dash line (2) in FIG. 4, when the main body 110 is arranged to be rotated toward the front by an angle θ2 with respect to the width direction Z, the work W with respect to the hand 310 The direction of one axis C1 is also the direction of rotation toward the front side (counterclockwise in FIG. 4) by an angle θ2.

Further, as shown by the alternate long and short dash line (3) in FIG. 4, when the main body portion 110 is rotated to the back side by an angle θ3 with respect to the width direction Z, the work W with respect to the hand portion 310 is the first. The direction around the uniaxial C1 is also the direction rotated to the back side (clockwise in FIG. 4) by the angle θ3.

As shown in FIG. 6, if the work W has a rotationally asymmetrical shape in which the contour shape around the central axis is not constant when gripped by the work grip portion 140, the work W is rotated as the main body portion 110 rotates. Due to the change in the orientation around the first axis C1, the contour shape of the work W with respect to the hand portion 310 changes with respect to the contour shape of the work W with respect to the hand portion 310 when the main body portion 110 is not rotating.

In this case, the grip portion rotating portion 150 rotates the work grip portion 140 in the direction opposite to the rotation direction of the main body portion 110 by the same angle θ as the rotation angle of the main body portion 110. As a result, even if the orientation of the work W around the first axis C1 changes due to the rotation of the main body 110, the orientation of the work W with respect to the hand portion 310 due to the rotation in the opposite direction by the grip portion rotating portion 150. Is the same as when it is not rotating.

Therefore, the hand portion 310 can normally grip the work W.

The work W has a rotationally symmetric shape in which the contour shape around the central axis (second axis C2) of the work W is constant, and even if the orientation of the work W around the first axis C1 changes, the work W If there is no problem in delivery from the grip portion 140 to the hand portion 310, it is not always necessary to rotate the work grip portion 140.

The rotation direction and angle at which the grip portion rotating portion 150 rotates the work grip portion 140 are set according to the rotation angle of the main body 110, but as the grip portion rotating portion 150, the work W accompanying the rotation of the main body 110 A mechanical connecting mechanism combining a gear train, a connecting belt, or the like, which is interlocked with the main body portion 110 and the work gripping portion 140 so as to cancel the rotation, may be applied.

100 Work loading / unloading device 110 Main body 120 Work loading / unloading path 130 Work loading / unloading path 140 Work gripping section 150 Gripping section Rotating section 160 Swivel section 400 Machine tool C1 1st axis C2 2nd axis W Work

Claims (5)

A main body portion that is arranged adjacent to the machine tool, is connected to the machine tool by a main body support member, and is rotatably supported around a first axis in the vertical direction in a portion connected to the main body support member.
A work grip portion that rotatably grips the work to be delivered to the machine tool around the second axis is provided.
A work loading device in which the second axis is set coaxially with the first axis. The work loading device according to claim 1, wherein the work gripping portion rotatably grips the work center axis as the second axis. The first or second aspect of the present invention, wherein the rotation angle of the work of the work gripping portion about the second axis is set according to the rotation angle of the main body about the first axis. Work loading device. A swivel portion that swivels the grip portion between a first posture position in which the second axis is coaxial with the first axis and a second posture position in which the second axis intersects the first axis. The workpiece carrying device according to any one of claims 1 to 3 provided. The main body support member includes an arm portion whose one end is connected to the machine tool, and a main body rotating member which is connected to the arm portion and rotatably supports the main body portion about the first axis.
The work loading device according to any one of claims 1 to 4, wherein the main body rotating member is movable along the arm portion.