JP2639700B2 - Work supply and recovery device for machine tools - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a work supply / recovery apparatus for a machine tool, and more particularly, to a work supply for a machine tool capable of efficiently supplying an unprocessed work and collecting a processed work. It relates to a recovery device.

[Prior Art] Conventionally, apparatuses for automatically supplying a work for various purposes have been provided.

Among such devices, in particular, a machine tool work supply / recovery device for automatically supplying a work, which is a workpiece, to a machine tool, for example, a lathe or a milling machine, and recovering the finished work. Was also provided.

In many of such work supply and recovery devices for machine tools, a processed work fixed to a chuck is once removed by a manipulator, moved to a predetermined position, and then an unprocessed work is grasped by a manipulator. The work was fixed to a chuck and the next work was performed.

[Problems to be Solved by the Invention] With such a conventional apparatus, first, the number of times of movement of the manipulator is large, so that the time required for processing is long, and the processing efficiency is reduced. I was In particular, when the position where the unprocessed work is aligned is different from the position where the processed work is released, the moving distance of the manipulator is further increased, and the time required for the processing is also increased.

In order to shorten the manipulator's travel distance, the unworked work is aligned on the work table in advance, the unworked work is taken out of the work table, and the finished work is returned to the work table after machining is completed. Was.

However, when the work table on which the works are aligned is moved, the work may be shifted or fall off the work table by tilting the work table during the movement.

Therefore, the supply of the work table, which has been conventionally performed, is performed manually, or even when the work table is automated, such that the work table is supplied horizontally while being horizontally moved to a predetermined position on the automation line. Was being done.

However, manual supply is not only time-consuming, but also causes variations in the supply position.

Further, in the case of the supply for horizontally moving the work table in a horizontal state, a device for horizontally moving the work table becomes larger than the work table, which makes it difficult to use.

In view of the above, the present invention provides a device for moving the work table in which the unworked work is aligned in a vertical direction to move the work table to a predetermined position. A manipulator for attaching and detaching the machine tool to and from the chuck, a first manipulator for holding an unprocessed work,
The work is formed by a second manipulator that holds the processed work, the work is removed from the chuck by the second manipulator while the work is held by the first manipulator, and then the work held by the first manipulator is chucked. To open the processed work to the work table and hold the unprocessed work when processing a new work.
In addition to shortening the time for moving the workpiece,
The work is removed from the chuck by the manipulator, and then, while the work held by the first manipulator is mounted on the chuck of the machine tool, cutting chips attached to the chuck are removed by a blower removing device, and the work is newly mounted on the chuck. The purpose of the present invention is to prevent the work from being out of order.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides a device for moving a work table in which unworked workpieces are aligned to a predetermined position in a vertical direction. , A manipulator for attaching and detaching a work to and from a chuck of a machine tool, and two sets of endless chain mechanisms which move a parallel moving device at the same speed and draw the same trajectory, and both endless chain mechanisms. The moving trajectory is shifted by the same distance, and a receiving table on which a work table is mounted is supported at the corresponding position of both endless chain mechanisms, and a manipulator is formed as a first manipulator for holding an unprocessed work. And a second manipulator for holding a processed work, and a cut attached to a chuck between the first manipulator and the second manipulator. A blower for removing dust is attached, and after removing the processed work from the chuck by the second manipulator, the first
It is characterized in that cuts and chips are removed by a blower removing device during movement of both manipulators while fixing the unprocessed work held by the manipulator to the chuck.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing the whole, FIG. 2 is a flowchart showing an operation procedure, FIG. 3 is a front view schematically showing a parallel moving device used in the present invention, and FIG. 4 is a side view of the same, FIG. 5 is a plan view of the same, FIG. 6 is a detailed front view, and FIGS. 7 and 8 are schematic views showing another embodiment of the parallel moving device.

In the embodiment shown in FIG. 1, a machine supply / recovery device for a machine tool according to the present invention comprises a lathe 10 as a machine tool.
Is shown fixed to the upper surface of the. In this description, if the vertical movement device is described together, the drawing and the description will be complicated. Therefore, first, the case where the work table 30 is mounted on the upper surface of the lathe 10 will be described.

The work supply / recovery device for a machine tool includes a work table 30 on which a work 20 is placed, a moving mechanism 40 for moving on the XYZ axes, two manipulators 50 and 51, and a blower removing device 60. ing.

The unprocessed work 20A has been pre-processed in a predetermined shape in advance.

Further, the work table 30 is detachably formed on the upper surface of the lathe 10, and the upper surface thereof allows the work 20 to be mounted thereon. Further, the work table 30 includes the work 20
3 to make it easier for the manipulators 50 and 51 to grasp
1 is provided.

The moving mechanism 40 is for moving the manipulator, and is formed by an X-axis moving mechanism 41, a Y-axis moving mechanism 42, and a Z-axis moving mechanism 43.

The two manipulators 50 and 51 are formed to be movable between the work table 30 and the chuck 11 of the lathe 10 by the moving mechanism 40. The two manipulators 50 and 51 each include a first manipulator 50 for holding the unprocessed work 20A and a second manipulator 51 for holding the processed work 20B. A blower removing device 60 composed of an air gun or the like for blowing off cutting chips or the like is provided between 50 and 51.

Further, in this embodiment, the axis of the work 20 placed on the work table 30 and the axis of the chuck 11 of the lathe 10 are formed so as to be parallel.

Next, the operation of the manipulators 50 and 51 of the machine tool work supply / recovery device according to the present invention will be described with reference to the flow chart showing the operation procedure shown in FIG.

In this description, the description starts from a point in time when the work table 30 is placed at a predetermined position of the work supply / recovery device for a machine tool according to the present invention.

At the stage of starting this operation, the manipulators 50 and 51 are located at a preset origin.

Further, it is desirable that the origin where the manipulators 50 and 51 are located is set to a position where the work table 30 can be easily attached and detached.

When the operation is started from this state, first, the manipulators 50 and 51 are moved above the work table 30 from the origin.

Then, the work table 30 is moved by the first manipulator 50.
Hold the upper unprocessed work 20A.

Next, the first manipulator 50 is moved by the moving mechanism 40 along the XYZ axes until the first manipulator 50 reaches the position of the chuck 11.

Next, the cutting dust or the like adhering to the chuck 11 by the previous cutting process is blown off by the high-pressure air from the blower removal device 60.

Next, the unprocessed work 20A held by the first manipulator 50 is fixed to the chuck 11.

Then, the unprocessed work 20 fixed to the chuck 11
Work processing of A starts.

Further, when the unprocessed work 20A fixed to the chuck is first processed in this manner, the manipulators 50 and 51 simultaneously move again above the work table 30.

Next, the work table 30 is moved by the first manipulator 50.
The upper unprocessed work 20A is grasped, and then the manipulators 50 and 51 are moved to the standby position.

Such movement of the manipulators 50 and 51 is completed, and the processing of the unprocessed work 20A is completed while waiting at the standby position, and the processed work 20B is obtained.

When the processing of the unprocessed work 20A is completed in this way, the processed work 20B is chucked by the second manipulator 51 to the chuck 1.
It will be removed from 1.

Next, the work is removed by a blower removing device 60 between the second manipulator 51 and the first manipulator 50.
Of the cutting waste generated during the cutting process of 20, the chuck 11
Blow away the cutting waste adhering to the vicinity.

Chuck 11 after blowing off cutting waste in this way
Then, from the first manipulator 50 to the unprocessed work 20
Fix A.

Then, the processing of the fixed work 20 is started.

During the processing of the fixed work 20, the manipulators 50 and 51 are simultaneously moved above the work table 30, and the processed work 20B is moved from the second manipulator 51.
On the work table 30.

After placing the processed work 20B on the work table 30 from the second manipulator 51 in this way, the first
The unprocessed work 20A on the work table 30 is picked up by the manipulator 50.

In this manner, the processed work 20B is released from the second manipulator 51, and after the unprocessed work 20A is grasped by the first manipulator 50, the manipulators 50 and 51 are moved to the standby position again.

Assuming that the processing of the work 20 has been completed after the manipulators 50 and 51 have been moved to the standby positions in this way, the presence or absence of the unprocessed work 20A on the work table 30 is then determined.

Here, when the unprocessed work 20A still exists, the processed work 20B is taken by the second manipulator 51, and the cutting waste adhering to the chuck 11 is blown off by the blower removing device 60. Work 20A
Returning to the above-described process of fixing the
The required number of workpieces 20 are processed.

If the unprocessed work 20A is gone,
Next, the manipulators 50 and 51 are moved above the work table 30, the processed work 20B is placed on the work table 30 from the second manipulator 51, and the manipulator is returned to the home position. The processing of the work 20 is completed.

After the processing of the work 20 on the work table 30 is completed in this manner, the work table 30 is replaced with another work table 30 including only the unprocessed work 20A by another means using a parallel moving device described below. Work will begin.

Next, a parallel movement device of the work table 30 for automatically supplying the work table 30 in which the unprocessed work 20A is aligned at a predetermined position of the lathe 10 as a machine tool will be described with reference to FIGS. Explanation will be given according to an example.

In this embodiment, a first endless chain mechanism 70 and a second endless chain mechanism 80, which are the same two sets of endless chain mechanisms, are respectively a first upper sprocket 71 and a first lower sprocket having the same diameter as the first upper sprocket 71. 72 and both sprockets 71,7
A first chain 73 provided between the two, a second upper sprocket 81, a second lower sprocket 82, and both sprockets
And a second chain 83 provided between 81 and 82.

Here, the first endless chain mechanism 70 and the second endless chain mechanism 80
Is shifted by the same distance in parallel within a range longer than the radius of each sprocket 71, 72, 81, 82 and shorter than the diameter.

The first lower sprocket 72 and the second lower sprocket 82
, A first driven sprocket 74 and a second driven sprocket 84, each having the same number of teeth, are fixed. The first driven sprocket 74 and the second driven sprocket 84 are connected via a first transmission chain 75 and a second transmission chain 85. Thus, it is formed so as to interlock with the driving sprocket 91 which interlocks with the motor 90.

Therefore, the first endless chain mechanism 70 will be described. The rotation of the motor 90 is sequentially transmitted to the driving sprocket 91, the first transmission chain 75, the first driven sprocket 74, and the first lower sprocket 72. Rotates the first chain 73 provided between the first upper sprocket 71 and the first sprocket 71. The second endless chain mechanism 80
For the motor in the same order as the first endless chain mechanism 70.
The rotation of 90 is transmitted to the second chain 83.

Also, at this time, since the first driven sprocket 74 and the second driven sprocket 84 have the same number of teeth, the first chain 73 and the second chain 83 move at the same speed.

On the other hand, the first chain 73 and the second chain 83 are provided with a first projection 76 and a second projection 86 at corresponding positions, respectively.
In addition, the first and second support members 77 and 86 have a first support member 77 and a second support member 8 respectively.
The receiving stand 92 is supported by 7.

Therefore, the pedestal 92 has a structure in which the two shaft supports 77 and 87 are
Since the shaft 3 is supported by the corresponding portion of the second chain 83, the horizontal state is maintained.

The work table 30 on which the work 20 is located can be placed on the upper surface of the receiving table 92.

Further, a first upper sprocket 71 and a second upper sprocket 81
A first cylinder 78 and a second cylinder 88 are provided on the upper part of the table so that the pedestal 92 located at the uppermost position can be fixed.

Next, the operation of the parallel moving device according to this embodiment will be described with reference to an example in which both endless chain mechanisms 70 and 80 in FIG. 3 rotate clockwise.

In this case, the rotation of the motor 90 is transmitted to the first endless chain mechanism 70 and the second endless chain mechanism 80, and the two endless chain mechanisms 7
0,80 rotates clockwise at the same speed.

Then, of the cradle 92 which is supported by the both endless chain mechanisms 70 and 80 by the first shaft support 77 and the second shaft support 87, the cradle 92 on the left side of FIG. It will gradually rise with the movement of 70,80.

Therefore, by moving both endless chain mechanisms 70 and 80 by the pitch of the cradle 92 supported by both endless chain mechanisms 70 and 80, the cradle 92 can be sequentially moved to a predetermined position.

Further, since the receiving table 92 thus moved to the predetermined position is fixed by the first cylinder 78 and the second cylinder 88, the work 20 on the work table 30 placed on the receiving table 92 can be easily taken out. is there.

At the time of this movement, the cradle 92 is moved to both endless chain mechanisms 70 and 80.
Therefore, the robot moves while maintaining the horizontal position. The endless chain mechanism 7
The cradle 92 pivotally supported at the corresponding position of 0,80 is a double endless chain mechanism.
With the movement of 70 and 80, the cradle 92 which rises and the cradle 9 which descends
2 occurs, and both cradle 92 meet on the way.
However, in this embodiment, the first endless chain mechanism 70 and the second endless chain mechanism 80 are shifted by the same distance in parallel within a range longer than the radius of each sprocket 71, 72, 81, 82 and shorter than the diameter. Therefore, the ascending pedestal 92 and the descending pedestal 92 pass each other without collision.

Such a translation device is, as in the present invention, a lathe 10
It can be applied to the supply of the unprocessed work 20A to the machine tool such as, and the removal of the processed work 20B.

That is, the application to the supply of the unprocessed work 20A and the removal of the processed work 20B is performed by moving the receiving table 92 on which the work table 30 on which the unprocessed work 20A is arranged is mounted until the work table 92 reaches a predetermined position. Thereafter, the pedestal 92 is fixed by the first cylinder 78 and the second cylinder 88.

Next, the unprocessed work 20A on the work table 30 is fixed to the machine tool such as the lathe 10 by the manipulators 50 and 51, and then the work 20 that has been processed by the machine tool is aligned on the work table 30 again.

Further, while the work 20 is being machined by the machine tool, the work table 30 on which the unmachined work 20A to be machined next is aligned is placed on the pedestal 92.

After all the workpieces 20 on the work table 30 have been processed in this way, the two endless chain mechanisms 70, 80
To move.

By this movement, the pedestal 92 on which the work table 30 on which the new unprocessed work 20A is aligned is brought to a predetermined position, and then the pedestal 92 is fixed by the first cylinder 78 and the second cylinder 88, and Will be performed.

In addition, with the upward movement and stop of the work table 30 on which the unprocessed work 20A is aligned, the work table 30 on which the processed work 20B is aligned also moves downward and stop, so that the work table 30 is stopped. When the workpiece is processed 20
The work table 30 in which B is arranged is taken out. Of course, at this time, the work table 30 on which the unprocessed work 20A to be processed next is arranged is also placed on the receiving table 92, so that the work table 30 can be replaced at the time of processing.

Therefore, in the supply of the unprocessed work 20A to the machine tool and the removal of the processed work 20B, since the supply of the unprocessed work 20A and the removal of the processed work 20B can be performed at the time of processing the work 20, the processing of the work 20 can be automated. It is also convenient to do.

The schematic diagram shown in FIG.
Are arranged in a substantially square shape. In this example, the first
The endless chain mechanism 70 and the second endless chain mechanism 80 are slightly shifted not only horizontally but also vertically. Also in this case, the length of the first projection 76 and the second projection 86 is changed,
It is possible to keep 92 horizontal.

Further, in the case of such a formation, when the receiving base 92 is in a horizontal state at the upper part, by providing a rail on which the receiving base 92 rides, the work 20 can be taken out from the work table 30 on the receiving base 92 or When stored, the work table 30 does not shake and is easy to use.

Further, by forming a parallel moving device as shown in FIG. 7, a plurality of pedestals 92 can be located at the upper part.
Therefore, it is also possible to perform processing by a plurality of sets of manipulators.

In this case, processing is performed on the upper part and the endless chain mechanism 7
It is reasonable to supply and take out the work table 30 when the cradle 92 is moved downward by the operation of 0 and 80.

The schematic diagram shown in FIG. 8 is an example showing a case where the endless chain mechanisms 70 and 80 are arranged in a triangular shape. In this case, by processing the work 20 from above and supplying and removing the work table 30 from both sides, reasonable processing can be performed.

The present invention can be implemented even in such an arrangement.

Although not shown, both endless chain mechanisms 70 and 80 are formed by two wheels, and the pedestal 92 is fixed by shaft supports 77 and 87 provided at corresponding portions of the two wheels. Even so, the present invention can be implemented.

Thus, in this embodiment, the manipulators 50, 51
By using the two, once the processing is started, withdrawing the processed work 20B from the chuck 11,
The fixing of the unprocessed work 20A to the chuck 11 can be performed without going back and forth to the work table 30, so that the work efficiency is extremely high.

Furthermore, since the parallel movement device as in the embodiment is used, the work table 30 is moved in the horizontal state, but the movement direction of the work table 30 is set to the vertical direction, and the work table 30 is moved in the vertical direction. By maintaining the work table 30 in a horizontal state during the movement, the size of the entire apparatus is reduced and the number of failures is reduced.

Furthermore, in this embodiment, before fixing the unprocessed work 20A to the chuck 11, the blower removing device 60 that sends out high-pressure air such as an air gun can remove cutting chips and the like attached to the chuck 11. , Unprocessed work 20
When A is sandwiched between the chucks 11, there is no possibility that the center of the unprocessed work 20 </ b> A will be misaligned, and the processing accuracy can be improved.

Further, in the embodiment, since the axis of the chuck 11 and the axis of the work 20 on the work table 30 are parallel,
Since the moving mechanism 40 only needs to move in the XYZ axis directions without rotation, the size of the machine can be reduced.
The operation can be simplified.

In the above description, the machine tool is described as the lathe 10. However, it is needless to say that the present invention can be applied to a machine tool that generates cutting waste, such as a milling machine.

In the above description, it has been described that after the processed work 20B is released from the second manipulator 51 onto the work table 30, the unprocessed work 20A is grasped by the first manipulator 50. Machining work
You may precede grabbing 20A.

[Effect of the Invention] As described above, the present invention provides a work table moving space by providing a work table vertical translation device for moving a work table on which unprocessed works are aligned to a predetermined position. While miniaturizing,
A manipulator for attaching and detaching the unprocessed work to and from the chuck of the machine tool is formed by a first manipulator for holding the unprocessed work and a second manipulator for holding the processed work, and the work is operated by the first manipulator. While holding the work, the work is removed from the chuck by the second manipulator, and then the work held by the first manipulator is attached to the chuck,
By releasing the processed work to the work table and holding the unprocessed work when processing a new work, the time for moving the work is reduced, and the work is moved by the second manipulator. Is removed from the chuck, and then, while attaching the workpiece held by the first manipulator to the chuck of the machine tool,
The cutting dust adhering to the chuck is removed by a blower removing device to prevent the core of a work newly attached to the chuck from being out of order.

[Brief description of the drawings]

1 shows an embodiment of the present invention, FIG. 1 is a perspective view showing the whole, FIG. 2 is a flowchart showing an operation procedure, and FIG. 3 is a translation device used in the present invention. 4 is a side view of the same, FIG. 5 is a plan view of the same, FIG. 6 is a detailed front view, and FIGS. It is the schematic which showed the Example of FIG. 10 ... Lathe, 11 ... Chuck 20 ... Work, 20A ... Unprocessed work 20B ... Processed work, 30 ... Work table 31 ... Recess, 40 ... Movement device 41 ... X-axis movement mechanism, 42 Y-axis moving mechanism 43 Z-axis moving mechanism 50 First manipulator 51 Second manipulator 60 Blower removal device 70 First endless chain mechanism 71 First Upper sprocket 72 First lower sprocket 73 First chain 74 First driven sprocket 75 First transmission chain 76 First projecting piece 77 First shaft support 78 1 cylinder, 80 second endless chain mechanism 81 second upper sprocket, 82 second lower sprocket 83 second chain, 84 second driven sprocket 85 second transmission chain, 86 … Second projecting piece 87 …… Second shaft support part, 88 …… Second cylinder 90 …… Motor, 91 …… Driving sprocket Door 92 ...... cradle

Claims (1)

(57) [Claims] A work table for moving a work table on which unprocessed works are aligned to a predetermined position, a device for moving the work table in a vertical direction, and a manipulator for attaching and detaching the work to and from a chuck of a machine tool. The parallel moving device is moved at the same speed, two sets of endless chain mechanisms that draw the same trajectory are provided, and the movement trajectories of both endless chain mechanisms are shifted by the same distance, and the endless chain mechanisms are moved to the corresponding positions of the two endless chain mechanisms. Forming a manipulator from a first manipulator for holding an unprocessed work, and a second manipulator for holding a processed work; A blower removing device for removing cutting chips attached to the chuck is provided between the first manipulator and the second manipulator. After the processed work is removed from the chuck, the cutting waste is removed by the blower removing device during the movement of both manipulators while fixing the unprocessed work held by the first manipulator to the chuck. A work supply / recovery device for a machine tool, characterized in that it is formed as described above.