JP2933340B2 - Automatic jig for flat specimen processing and flat specimen automatic processing system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic processing system for flat test pieces used for metal material testing, and in particular, realizes a series of unmanned operations including machining. The present invention relates to an automatic jig for processing a flat test piece, a method for automatically processing a flat test piece using the automatic jig, and a spacer used for the automatic jig.

[Conventional technology]

Conventional flat type test pieces are processed by a dedicated machine equipped with a pair of opposed cutter beds, as described in Japanese Utility Model Application Laid-Open No. 59-59816, in which a test piece material conveyed from a conveyor is pressed and held by a jig. And the method of processing
As described in Japanese Patent Publication No. 349, it is known that a test piece material conveyed from a conveyor is moved to a clamp table by a manipulator, the test piece material is clamped by two upper and lower clamps, and processed by two disk cutters. ing.

[Problems to be solved by the invention]

As shown in FIG. 4, for example, the flat test piece 1X is made up of a parallel portion 1A at the center in the length direction which constitutes the test piece main body, and grip portions 1B, 1C on both sides in the length direction which are gripped by the testing machine. Length L, thickness T, parallel part width W1, grip part width W2, parallel part length And a radius R1 of a corner portion. The actual shape is the fifth
As shown in FIG. 7 to FIG. 7, the processing portion differs depending on the purpose, and the processing portion when processing the test piece blank 1 is correspondingly different. That is, FIG. 5 shows the case where the entire processing is performed except for the entire length L and the thickness T, FIG. 6 shows the case where the gripping portion W2 is not processed, and FIG. 7 shows the case where only the gripping portion W2 is processed and there is no parallel portion at the center. It is. Further, since there are many types of the length L and the thickness T even in the same processing portion, it is a bottleneck in the fully automatic processing of the flat test piece.

Here, of the above-mentioned prior art, the former Japanese Utility Model Application No. 59-6981
As shown in FIGS. 41 to 44, the test piece material 1 ′ conveyed from the conveyor 2 is pressed against the reference surface 5 of the jig 4 by the conveyor 3, and After crimping, processing is performed. A pair of cutters 7 has a parallel portion, a corner R1 portion, and a parallel portion length of the test piece 1X. Is the same shape cutter. On the other hand, as shown in FIG. 44, the reference surface 5 of the jig 4 has a width that does not interfere with the outer diameter D1 of the cutter 7 and is in surface contact with the grip portion of the test piece blank 1 '.
Therefore, this processing is limited to the processing of only the test piece having the shape shown in FIG. 6 where the grip portion is not processed. Of course, since it is a full-form cutter system, the corner R1 dimensions and parallel part length Whenever changes, the form cutter must be replaced. Also, when a plurality of test specimen materials 1 'are stacked and clamped and processed, the intermediate test specimen material 1' does not produce processing burrs due to its compressive force, but the outer and upper two test specimen materials 1 ' Burrs occur. Regarding this as well, it is considered that there is no consideration in processing and structure and manual work is involved.

The latter disclosed in Japanese Utility Model Laid-Open Publication No. 62-20349 is a test piece blank 1 "carried in from a conveyor 8 as shown in FIG.
47 and 48 are clamped by manipulators 9 with clamps 10 and 11 having V-grooves as shown in FIGS. 47 and 48. Here, a test piece blank 1 "is formed as shown in FIG. Since round and square shapes are the targets and machining is performed one by one, and the cutter 12 is two disk cutters having the same dimensions as the working width of the test piece material 1 ″, the flat cutter is used. It is not subject to processing of die specimens. In addition, no countermeasures have been taken for the processing of burrs, burrs, etc. after processing, as in the former. The main object of the present invention is to automatically cut and deburr the test piece material while the test piece materials are stacked and placed. An object of the present invention is to provide an automatic jig, an automatic processing method using the automatic jig, and a spacer used in the automatic jig.

Another object of the present invention is to make it possible to automatically cut and deburr a test piece material in a state in which the test piece materials are stacked and loaded, and to manually machine various flat test pieces. It is an object of the present invention to provide an automatic jig and an automatic processing system that can perform the automatic processing without using the automatic jig, and an automatic processing method using the automatic jig.

[Means for solving the problem]

In order to achieve the above object, according to the present invention, a receiving plate on which a plurality of flat test piece materials are stacked and placed, and a clamp means for vertically clamping the test piece materials stacked and placed on the receiving plate, Detecting means for detecting the completion of various operations of the clamp means, a test piece is placed on the receiving plate, and one side of the test piece material is engaged in the process of being clamped by the clamp means; And a spacer disposed between the receiving plate and the test piece and having a width dimension of at least an upper portion in a height direction smaller than a finish dimension of the test piece. The present invention provides an automatic jig for processing a flat test piece, characterized in that:

Preferably, a vertical reference plane of the body is continued at a portion corresponding to a central portion in a length direction of the receiving plate, and a space is provided in that portion of the body.

Also preferably, the clamp means is constituted by a vertically fixed clamp member above the receiving plate, and the receiving plate is vertically movable, and is raised between the fixed plate and the fixed clamp member. Clamp the specimen blank.

Also preferably, the receiving plate is provided so as to be movable in a vertical direction with respect to the body, and the clamping means is constituted by a pair of openable and closable clamp arms, and the detecting means is configured to open and close the pair of clamp arms. First detecting means for detecting an operation, second detecting means for detecting a descending operation of the receiving plate, and detecting a clamping force given by the receiving plate and the clamp arm when the receiving plate is raised. And third detecting means.

Also preferably, a pressing means having an engaging portion higher than the maximum stacking height of the test piece material for keeping the side portion of the test piece material against a vertical reference plane of the body when the test piece material is tightened by the clamping means. Means are further provided.

Further, according to the present invention, a means for automatically cutting or punching a test piece material from a rolled steel material, and a robot for automatically transferring the test piece material to a jig and automatically carrying out the processed test piece from the jig And a means for automatically testing a test piece taken out of a jig, and an automatic transporting means for transporting a test piece material or a test piece between the means and the robot. The robot further comprises a holding means for stacking and holding a plurality of test piece materials on the spacer, with a spacer having a width dimension of at least an upper portion in a height direction smaller than a finished dimension of the test piece at a lowermost portion. The jig has a plurality of test piece materials and spacers gripped and transported by the robot, and a plurality of test piece materials stacked on the spacers with the spacers at the bottom. Means for vertically clamping a plurality of test piece materials and spacers placed on the support plate, and means for machining the clamped test piece material with respect to the jig And means for removing burrs on the machined surface of the machined test piece material.

Further, according to the present invention, a plurality of flat test specimen materials are stacked and placed on a receiving plate via a spacer having a width dimension of at least an upper portion in a height direction smaller than a finish dimension of the test specimen, and these test specimens are stacked. After the material is clamped in the vertical direction, the lower end of the cutter is set to be lower than the lowermost surface of the test piece and higher than the lowermost portion of a portion of the spacer smaller than the finished dimension of the test piece. An automatic machining method for a flat test piece is provided, in which after the side portion is machined, the height of the lower end of the deburring tool is set in the same manner, and burrs on the machined surface of the test piece material are removed. You.

Further, according to the present invention, a plurality of flat molds each having a grip portion having a first width located on both sides in the length direction and a parallel portion having a second width smaller than the first width located between the grip portions. A plurality of test specimen materials for processing into test specimens are stacked and placed on a receiving plate via a spacer having a width dimension of at least an upper portion in a height direction smaller than a finish dimension of the test specimen, and these test specimen materials are stacked. The test piece material is vertically clamped while pressing one side of the grip portion against a vertical reference plane,
In this state, while processing the entire side portion of the test piece material on the side opposite to the reference surface and the side portion of the parallel portion on the reference surface side, removing burrs on the processing surface, and then inverting the test piece material By engaging pressing means on the side of the processed and deburred parallel portion, the test piece material is vertically pressed while pressing the other side of the processed and deburred gripping portion against the vertical reference plane. The present invention provides an automatic flat specimen processing method characterized by clamping in the direction, processing the remaining side of the test piece blank in this state, and removing burrs.

[Action]

When the test specimen material is directly stacked on the jig's receiving plate, the lowermost test specimen material must be processed only to the middle of the plate thickness to avoid interference between the cutter and the receiving plate, and the step is reduced. Occurs. This level difference causes the pressing operation to align the test piece material and the uniform pressing of the jig etc. to the reference surface when processing the opposite side of the processed surface, and it is necessary to process the gripping part It also became a bottleneck in the automation of various test piece materials. Also, when cutting a test piece material through a jig, the processing of cutting burrs is an important point that determines the success or failure of automation.

Regarding these problems, in the present invention, a spacer in which the width dimension of at least the upper portion in the height direction is smaller than the finished dimension of the test piece is manufactured and stocked, and this is placed between the receiving plate of the jig and the test piece material. By setting, the interference between the cutter and the receiving plate is avoided, there is no step left uncut on the lowermost test piece material, and after cutting, cutting with a special deburring tool to avoid interference with the receiving plate Burrs can be removed.

When transferring the test piece material to the pallet, this spacer is placed on the bottom with this spacer in order, and when transferring to the jig by the robot, it is cured by grasping the test piece material at the same time with the robot hand. Supply to the tool is possible.
The special deburring tool is a common tool that responds to the variation in the stack height of the test piece material, and automatically removes burrs by using the same usage method as the cutting tool.

As described above, the present invention uses a spacer in which the width dimension of at least the upper portion in the height direction is smaller than the finished dimension of the test piece, so that the test piece material is stacked and placed on the receiving plate of the jig. This makes it possible to automatically cut and deburr the test piece material.

In addition, the test piece material can be automatically cut and deburred in a state where the test piece material is stacked and placed on the receiving plate of the jig as described above. It becomes possible to automatically machine flat test pieces without manual intervention.

That is, the following two reasons other than the above can be considered as the reason that it is difficult to fully process the flat test piece. One of the differences is that the processing part, shape, thickness, and the like are different as shown in FIG. 4 to FIG. Secondly, there are many types of dimensions such as the corner R and the total length even for the test pieces in the same processing portion. For this reason, the setup, clamping, and processing methods of the test specimen material are confusing, and as described in the prior art, the specialized machine is limited to only the limited processing of a limited number of test specimens. It is the current situation.

In particular, since there are many types of test pieces for jigs, it is easy to consider a complicated mechanism that can cope with all test piece shapes, and this is the largest bottleneck that hinders automation.

In the present invention, in order to solve this problem, the size of the jig is reduced to several types based on the length L of the test piece and the width W of the grip portion, and each jig is placed on a receiving plate on which a plurality of test piece materials are stacked. When,
A structure including a clamp means for vertically clamping a test piece material placed on a receiving plate, a detection means for detecting completion of various operations of the clamp means, and a vertical reference surface for pressing a side portion of the test piece material. It is what it was.

The jigs configured in this way are arranged for each stage on the table of the NC machine tool according to the size, and the test piece material transported by the conveyor is supplied to the jig on the stage corresponding to the type by the robot. Thereafter, the NC machine tool performs the above-described cutting and deburring according to the type-specific data programmed in advance. It is easy to send and receive an electric signal from the NC machine tool and the robot at the time of completion of each processing or operation, and the method and principle are well known facts.

As described above, the test pieces are classified according to the size of the test pieces, and jigs having the above-described functions necessary for the setup are appropriately arranged on a table on the NC machine tool, and processing data programmed in advance for each type is provided. By using the tool, a series of processing including deburring is performed, and the completion of each operation step is linked with the loading and unloading robot via signals to enable unmanned fully automatic processing Becomes

On the other hand, after changing the setup of the reference surface of the jig and the part hidden by the clamping means due to the shape of the test piece by the robot,
It is necessary to cut, but when pressing the processed surface against the reference surface of the jig for the cutting, the unprocessed part of the test specimen material with which the pressing means engages is not uniform in width dimension, When this part is pressed, variations occur between the stacked test piece materials, so that accurate setup cannot be performed, and the possibility that the processed test piece becomes a defective product increases.

Therefore, in the present invention, the vicinity of the center of the jig reference plane is intermittent, and a space is provided in that portion, so that the center portion of the test piece material, that is, the parallel portion and the corner R portion of the test piece are cut on both sides before the setup change. By pressing this portion, the irregularity of the test pieces can be eliminated, and accurate cutting can be performed even after the setup is changed.

Chips are generated during cutting of the test piece material. Improper jig operation due to swarf of cutting chips is one of the major problems in automation, and it is an important point that the quality of the jig determines whether human intervention is involved or not. In the present invention, by fixing the clamp member above the receiving plate and allowing the receiving plate to move in the vertical direction, cutting chips falling into the space formed below can be easily jig by continuous discharge of cutting oil. It is washed out.

When loading and unloading test specimen materials from a robot to a jig, interference between the robot and the jig must be avoided as much as possible. The clamp means is constituted by a pair of openable and closable clamp arms, and the clamp arm is kept open at the time of loading and unloading the test piece material, thereby avoiding interference between the robot and the clamp means and safely removing the test piece. Automatic processing can be performed.

Even if the sizes of the test piece materials are uniform, it is conceivable that the test piece material may slip off during clamping, and solving this is also a major point in automation. This is because if the stacked test piece materials are dropped on the way, or if they are processed in a shifted state even if they do not fall, unprocessed parts will be left as defective products. Therefore, in the present invention, a pressing means having an engaging portion higher than the maximum stacking height of the test piece material is provided so that the receiving plate can be lifted while the test piece material is constantly pressed against the reference surface of the jig. By providing a pressing plate longer than the maximum stacking height of the test piece material at the center side of the hand via a spring, it is possible to completely prevent the test piece material from dropping or shifting.

〔Example〕

 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a front view of an automatic jig according to the present embodiment, and FIG.
The drawing is a plan view of FIG. 1, and FIG. 3 is a right drawing of FIG.

1 to 3, reference numeral 13 denotes a body of a jig, and the body 13 is fixed to a base 15 by a screw 14. A pair of clamp arms at the top of the body 13
Each clamp arm 16 is integrally formed with a shaft portion 17 extending downward from the center of the arm, and this shaft portion 17 is rotatably mounted on the body 13 by bearings 18, 19, 20, 21. I have. A pair of cylinders 22 are fixed to the body 13 with screws 24 via blocks 23. A rack is formed on the rod 25 at the tip of the cylinder 22. When the rod 25 reciprocates in the direction of arrow A or A ', the clamp arm 16 turns in the direction of arrow B or B'. A pair of limit switches 26 and 27 are provided on the upper part of the body 13 to limit the turning range of the clamp arm 16.

A pair of cylinders 28 is installed in the body 13, and a receiving plate 29 is arranged in contact with the reference surface 13 a of the body 13.
The receiving plate 29 is fixed by the rod 28 'of the cylinder 28 and the screw 30, and is movable in the vertical direction of U and U'. A pair of drive guides 31 are provided inside the pair of cylinders 28.
Are arranged, and the upper part of each is
And is slidably assembled to the body 13 in the K and K 'directions.

Here, the reference surface 13a of the body 13 is the same as that shown in FIGS.
As shown in the drawing, the portion corresponding to the center in the length direction of the receiving plate 29 is interrupted and interrupted, and the vicinity of the body 13 is lowered to the Z 'plane shown in FIG. I have. On the upper surface of the receiving plate 29, relief grooves 46a, 46b, 46c for the claws 40a, 40b, 40c, 40d (see FIGS. 12 and 13) of the robot are provided at the center and both sides.

A limit switch 34 is fixed to the end surface 13b on the side opposite to the reference surface 13a of the body 13, a contact plate 35 is fixed to the lower surface 29b of the receiving plate 29 via a screw 36, and the contact plate 35 is a contact of the limit switch 34. 34 ', and detects the lowest position of the receiving plate 29. Further, a pressure switch 46 is connected to the cylinder 28, and detects a clamping force applied between the clamp arm 16 and the receiving plate 29.

Reference numeral 33 denotes a spacer, which is located between the receiving plate 29 and the stacked test piece materials 1.

Here, the test piece material 1 is for a flat test piece 1X, and the shape of the flat test piece 1X is as described above. That is,
As shown in FIG. 4, the test piece main body is composed of a parallel portion 1A at the center in the length direction and grip portions 1B and 1C on both sides in the length direction which are gripped by the testing machine. It has a part width W1, a grip part width W2, a parallel part length l, and a radius R1 of a corner part. The actual shape differs depending on the purpose as shown in FIGS. 5 to 7, and the test piece blank 1
Are different from each other in processing. That is,
FIG. 5 shows the case where all processing is performed except for the total length L and the thickness T, and FIG.
FIG. 7 shows a case where the gripping portion W2 is not processed, and FIG. 7 shows a case where only the gripping portion W2 is processed and there is no parallel portion at the center. In addition, since there are many types of length L and thickness T even in the same processing portion,
As described above, this is a bottleneck for fully automatic processing of flat test pieces.

When a flat test piece 1X having a shape and a processing portion as shown in FIG. 5 is targeted, the spacer 33 has a shape as shown in FIG. 8 and FIG. That is, the spacer 33
8, a spacer 33 formed by a cutting cutter 50 (see FIG. 22) is applied to the final processed shape of the test piece 1X as shown in FIG.
In order to prevent shaving of the test piece, the total height is set at both sides corresponding to the grip portions 1B and 1C of the test piece, and only the upper part in the height direction is set to Δa at the center corresponding to the central parallel portion 1A of the test piece.
Create only small shapes. Therefore, as shown in FIG. 9, which is a cross-sectional view taken along the line JJ in FIG. 8, a step f is formed in the height direction by a dimension i in the height direction.
The step f is left to secure the strength at the center.

As shown in FIGS. 10 and 11, the jig of the present embodiment configured as described above, after being classified according to the type and length of the test piece, the length of the receiving plate 29 is L1 to L3 and the width is It is manufactured so as to be different from W1 to W3, and is arranged via the base 15 on the corresponding stage of the table 37 of the NC machine tool. FIG. 11 is a front view as seen from the direction P in FIG.

For loading and unloading test piece material 1 and spacer 33
A robot 39 as shown in FIG. 13 and FIG. 13 is used. FIG. 13 is a view taken in the direction of arrow Q in FIG. The test piece material 1 and the spacer 33 are the claws 40 assembled at the tip of the robot hand 40.
a, 40b, 40c, 40d are supported by pawls 40a, 40b are guides
41a and 41b allow reciprocation and positioning in the directions of arrows C and C '. Claws 40c and 40d similarly reciprocate and position in the directions of arrows D and D' via guides 42a and 42b. Has become. As shown in FIG. 13, a pressing plate 45 is provided outside the pawl 40c at a fulcrum of a shaft 44 via a spring 43 so as to be tiltable in the directions of arrows E and E '.

Operation Hereinafter, the operation of the jig of this embodiment will be described with reference to FIGS.
This will be described with reference to the drawings. In this description, other means related to the jig of the present embodiment will also be described.

Before the operation, the pair of clamp arms 16 are pivoted open in the direction of arrow B shown in FIG. With the test piece material 1 and the spacer 33 held as shown in FIG.
39 is moved in the direction of arrow F as shown in FIG. 14 and is transferred onto the receiving plate 29 on the jig. At this time, as described above, the receiving plate 29 has the escape grooves 4 for the robot claws 40a, 40b, 40c, and 40d.
Since 6a, 46b, 46c are provided, the robot claws 40a, 40
b, 40c, and 40d do not interfere with the receiving plate 29. Figure 15 is the first
FIG. 5 is a view as viewed in the direction of arrow R in FIG. 4.

The processing length e of the clearance grooves 46a, 46b is determined by the jigs manufactured and arranged for each target test piece based on the above-described classification result of the test piece size with respect to the variation of the length L of the test piece 1X. Check the maximum and minimum dimensions separately, and it is processed with a margin. When the test piece material 1 is transferred to the receiving plate 29, the end face 1a of the test material 1 is transferred with a margin of x dimension to the reference surface 13a of the body 13. This is to avoid contact and collision between the jig and the robot 39 via the test piece material 1 during automatic operation in consideration of the positioning accuracy of the robot 39.

When the transfer of the test piece blank 1 is completed, the claws 40c and 40d of the robot 39 move in the direction of arrow D and separate from the test piece blank 1 as shown in FIG. Next, the robot 39 retreats in the direction of arrow G as shown in FIG. 17, and issues a completion signal of the transfer of the test piece material. In response to this signal, the jig pivots to a state where the pair of clamp arms 16 are closed in the direction of arrow B 'shown in FIG. During the turning, the turning is completed in a state where the clamp arm 16 is in contact with the pair of limit switches 26, and a signal of completion of the closing operation is sent from the limit switch 26. Next, upon receiving this signal, the pressing plate 45 provided on the claw 40c side of the robot hand 40 presses the end surface 1a of the test piece material 1 against the reference surface 13a of the body 13 as shown in FIG. Yo V
Direction, and sends a completion signal of the pressing operation while maintaining the pressing state.

Next, in response to this signal, the jig side raises the rods 28 'of the pair of cylinders 28 in the direction of the arrow U as shown in FIG. 13a
It is fastened between the clamp arm 16 and the receiving plate 29 via the spacer 33 without slipping down while being in close contact with.

Here, the tightening force of the test piece material 1 needs to be a force enough to withstand the cutting force during the cutting process. In this embodiment, the cylinder 28 is a hydraulic cylinder, and the pressure is compared with the tightening force. Take a way to manage. That is, the cylinder rod
28 'rises in the U direction and tightens (rises) the test piece blank 1 via the spacer 33 between the clamp arm 16 and the receiving plate 29 until the set pressure is reached. When the set pressure is reached, a signal is taken out from the pressure switch 47, and as shown in FIG. 20, the robot 39 separates from the test piece material 1, moves in the direction of arrow I toward the retreat position, and issues a signal indicating that retreat is completed. In response to the completion signal, the process moves to machining of the test piece blank 1. Less than,
Specimen with machined parts whose machining operation is shown in Fig. 5
1X will be described.

First, as shown in FIG. 21, a touch sensor 49 is mounted on the spindle 48 of the NC machine tool, and the contact 49 ′ of the touch sensor 49 is attached to the spindle 48 at a height of H1 from the table 37 of the NC machine tool.
It moves so as to come to a position slightly inside the lower surface 29b of the receiving plate 29. The height H1 and the moving distance to the inside are measured and stored in advance. In addition, this height H1 is the end face 48 of the jig.
Δh so that the contact 49 ′ of the touch sensor 49 does not interfere with
Keep a gap between them. Next, touch sensor 49
In the direction until it comes into contact with the lower surface 29b of the receiving plate 29, and captures and stores the dimension H2 from the table 37 at the moment of the contact. Based on the H2 dimension, a cutter 50 is mounted on the spindle 48 as shown in FIG. 22, and the position of the lower surface 50 'of the cutter 50 is determined.

Here, as described with reference to FIG. 8 and FIG. 9, the spacer 33 is formed in a shape smaller by Δa inside the final processing shape of the test piece 1X, and has a high height in the center parallel portion. A step portion f is provided by the dimension i in the vertical direction. For this reason, as shown in FIG. 23, the lower surface 50 'of the cutter 50 is lower than the lowermost part of the test piece blank 1 and the f-face of the spacer 33 so that the cutter 50 does not cut the f-face of the step portion during the cutting process. It is necessary to set it at a higher position, and the lower surface 50 'is set at a position raised h' by the f-plane. Therefore, as shown in FIG. 22, in order to secure h ', f
The H5 dimension is calculated based on the height H3 to the surface, the height H4 of the receiving plate 29, and the H2 dimension described above, and the height position of the cutter 50 is determined. That is, the dimension H5 can be determined by H2 + H3 + H4 + h '.

When the cutting position height of the cutter 50 is determined, cutting starts, and as shown in FIG. 24, the front side of the clamp arm 16, the side portions of the gripping portions 1B and 1C, the side portions of the parallel portion 1A, and the corner R1 portion are processed. Thereafter, processing is performed up to the opposite side, that is, the side portion of the parallel portion 1A on the back side of the clamp and the corner R1 portion.

Here, the reference surface 13a of the jig is connected to the receiving plate 29 as described above.
Since the area corresponding to the center in the length direction is intermittent and a space, the robot 39 is used during setup and cutting described above.
There is no interference with the cutter 50, and therefore, it is possible to perform cutting in the same setup state except for the part hidden by the clamp arm 16, stabilize the processing dimensional accuracy, and press the test specimen material at the time of setup change described later. There is no time gap.
The processing of the side of the gripping portion hidden by the crank arm 16 is executed after the gripping by the robot 39 described later.

Through the above operation, the processing of one side of the test piece blank 1 and the processing of the parallel portion and the corner R1 portion on the opposite side are completed.
At this time, as shown in FIG. 24, processing burrs 51 remain on the twill lines of the upper and lower test piece materials. Needless to say, automatically removing such burrs is one of the conditions when constructing a fully automatic processing system. In this embodiment, the processing burrs are automatically removed as follows.

That is, as shown in FIG. 25, a plurality of wire brushes 53 in which a considerable number of thin steel wires are embedded in the inner width of the central holder 52 are stacked, and a stepped shaft 54 'is passed through the central hole of the holder 52, and the washer is washed. 55, a special deburring tool 54 fixed with nuts 56 is prepared in advance.
54 is mounted on the main shaft 48 via the arbor 57, and is moved while being pressed in the N direction along the processing shape of the test piece blank 1 while rotating. At this time, the special deburring tool 54
As shown in FIG. 26, the burrs can be easily removed by rotating and moving while cutting in the inside of the processed surface of the test piece material 1 by X1.

Here, the stacking height H6 of the special deburring tool 54 is stored in advance, and the height H6 and the test piece material 1 by the cutter 50 are stored.
The height of the special deburring tool 54 is automatically determined using the above-mentioned height H5 measured and stored at the time of machining. At this time, the stacking height H6 is preferably classified in advance to the maximum height H7 of the test piece material to be stacked on the jig of each station to be processed, and set to be higher than this H7. Even when the stack height of the test piece blank 1 is reduced, the same special deburring tool can remove burrs.

Note that without stacking a plurality of wire brushes 53,
It is naturally possible to move the test piece blank 1 in which the burrs are generated by two wire brushes 53 in two different directions, to remove the burrs, which is a problem of efficiency. Also, as shown in Fig. 26, as the frequency of use of this wire brush increases, the upper and lower wire parts are turned up, causing a step between the wire brush and the intermediate wire brush, making it difficult to remove burrs. For this, like other cutting tools,
The problem can be solved by determining the life time from the number of uses and preparing and managing multiple tools in the tool storage magazine of the NC machine tool.

When deburring is completed, as shown in Fig. 27, the cylinder
The rod 28 'of FIG. 28 descends in the direction of the arrow U', and the contact plate 34 'of the limit switch 34 shown in FIGS.
When the contact plate 35 attached to the lower surface 29b of the 29 makes contact, a completion signal is output from the limit switch 34. In response to this signal, the pair of clamp arms 16 rotate in the open state in the direction B shown in FIG. 2 and finish turning when in contact with the pair of limit switches 27. Put out. FIG. 28 shows a state in which the turning of the clamp arm 16 in the opening direction is completed.

Next, the robot 39 moves in the direction of the test piece blank 1 as shown in FIG. 29, and holds the test piece 1 and the spacer 33 with the claws 40a to 40d.
To hold at the same time. The robot 39 temporarily evacuates,
30 Move the robot hand 40 in the direction of arrow M as shown in FIG.
Rotate 0 °.

Next, in this state, the test piece blank 1 and the spacer 33 are moved in the direction of the arrow F as shown in FIGS. 14 and 15, and are transferred onto the receiving plate 29 of the jig. Thereafter, the robot claws 40c and 40d release the test piece material 1 as shown in FIG. 16 described above, and as shown in FIG.
Retreat in the direction and issue a completion signal. Receiving this signal, the pair of clamp arms 16 are turned in the closed state in the direction of arrow B 'shown in FIG. 2, and contact the pair of limit switches 26 to send a completion signal.

Next, upon receiving the completion signal, the robot 39 engages the pressing plate 45 provided on the claw 40c side of the robot hand with the side of the processed parallel portion 1A of the test piece material 1 as shown in FIG. Then, the test piece is moved in the V direction so as to be pressed against the reference surface 13a of the jig body 13, and an operation completion signal is sent while maintaining the pressed state. Next, in response to this signal, on the jig side, as shown in FIG. 32, the rods 28 'of the pair of cylinders 28 rise in the direction of the arrow U, and the test piece material 1 is pressed against the jig reference surface 13a by the pressing plate. While being in close contact with each other, the clamp arm 16 is clamped between the clamp arm 16 and the receiving plate 29 via the spacer 33. When the pressure reaches the set pressure of the cylinder 28 in the same manner as described above, the ascending is finished, and a completion signal is sent.

Here, since the side of the parallel portion 1A of the test piece material 1 with which the pressing plate 45 is engaged has been processed as described above, the pressing plate 45 is simultaneously engaged with all the test piece material side portions, and the test is performed. Press the piece material 1. For this reason, the displacement of the test piece blank 1 at the time of pressing does not occur, and cutting of a predetermined shape can be performed.

The robot 39 receives the completion signal of the ascent and separates from the test piece blank 1, and moves toward the retreat position as shown in FIG. Here, the state of the test piece material 1 on the jig is obtained by rotating the robot hand shown in FIG. 30 by 180 ° as shown in FIG.
The side portions 1B1 and 1C1 of C are fastened to the reference surface 13a side of the jig, and are located on the near side so that the side portions 1B2 and 1C2 of the grip portions 1B and 1C of the unprocessed portion can be processed.

In the subsequent processing, the gripping side portions 1B2 and 1C2 on the front side are processed by the above-described cutter 50, and after removing the burr by the above-described special deburring tool 54, the robot 39 is moved as shown in FIG. Grips the completed test piece 1X and the spacer 33, carries it out of the jig, and issues a completion signal. In response to this signal, the jig rotates the clamp arm 16 to the open state in the direction B shown in FIG. 2, and waits for the next test piece material to be carried in.

Hereinafter, the processing of the test piece is repeatedly and automatically performed by repeating the above-described steps of the operation.

In the above operation, during cutting of the test piece material 1,
Chips are generated. In this embodiment, the clamp arm 16 is fixed vertically and the clamp plate 16 is movable, so that the cutting chips fall into the space formed below and are easily discharged by the continuous discharge of the cutting oil. It is washed out of the jig.
Jig operation failure due to swarf of cutting chips is one of the major problems in automation, and this configuration is also one of the points that enable automation of test piece processing. In addition,
Each surface of the jig is inclined as much as possible, for example, as shown by an end surface 13c in FIG. 1, to facilitate the removal of cutting chips.

When loading and unloading the test piece material from the robot 39 to the jig, interference between the robot and the jig must be avoided as much as possible. In the present embodiment, the clamp means is constituted by a pair of openable and closable clamp arms 16 for loading the test piece material,
Since the clamp arm is kept open at the time of unloading, interference between the robot and the clamping means can be avoided, and the automatic processing of the test piece can be performed safely.

Automatic Processing System Next, an embodiment of the automatic processing system including the automatic jig of the present invention will be described with reference to FIG. FIG. 34 shows steps performed in the automatic processing system in steps S1 to S19.

Steps S1 to S6 show an automatic fusing and automatic punching process of the target test piece material 1. First, after receiving a thick or thin test piece material (Step S1), automatic cutting is performed for thick plates and automatic punching is performed for thin plates (Step S2), and a nuclear stamp is performed by a nuclear stamping machine (Step S1).
S3). Next, they are transported by suction pads one by one (step
S4), and are sequentially stored on the pallet (step S5). The spacer 33 is automatically stored in advance at the bottom of the pallet. Next, when a certain test piece material 1 is stored, it flows on a conveyor for each pallet (step S6).

Steps S7 to S15 show a step of machining a test piece material using the jig of the present invention. Specimen material 1 by robot 39
And take out and hold the spacer 33 (Step S7),
The test piece material 1 was transferred onto the jig of the present invention, and
Is clamped while pressing against the reference surface 13a of the jig (step S8). Next, the height position of the test piece material 1 on the jig is measured by the touch sensor 49 (step S9), and after the amount of protrusion of the cutter 50 with respect to the test piece material 1 in the height direction is determined, cutting is performed (step S10). ). Next, a single deburring tool 54 is used to remove the upper and lower ones of the test piece material 1 after cutting (step S11), and the test piece 1 and the spacer 33 are carried out of the jig by a robot.
The specimen 40 is rotated 180 ° to reverse the direction of the test piece blank 1 (step S12). The test piece material 1 and the spacer 33 are transferred onto the jig again (step S13), and the clamp is performed while the parallel portion of the test piece 1 is pressed by the pressing plate 45 (step S14), and the unprocessed gripping portion side After processing the parts 1B2 and 1C2 with the cutter 50, the burrs are removed by the special deburring tool 54 (step S14). Next, the test piece 1X completed by the robot is transferred to a pallet (step S16).

Steps S17 to S19 show an automatic test process. The pallet loaded with the processed test pieces 1X flows on the conveyor (step S17), cleans the test pieces (step S18), and is put into the testing machine (step S19).

As described above, a fully automatic system can be configured only by incorporating the automatic jig of the present invention into an automatic processing line for test pieces.

Modified Example In this example, a hydraulic cylinder is used as a drive source when clamping the test piece material, but the same purpose can be achieved by an air cylinder using pneumatic pressure. As shown, a rack is formed on a rod 28 'of a cylinder, and a pinion 58 meshing with the rack is rotated by a motor 61 via a bearing 59 and a joint 60, and the rod 2
The same purpose can be achieved by raising and processing the receiving plate 29 fixed to 8 '. However, in this case, since the clamping force is held by the driving force of the motor, a braking means is required, and the capacity is large and the space around the jig is widened.

On the other hand, in the present embodiment, a method is used in which the receiving plate 29 is raised and lowered in order to cope with a change in the pile height of the test piece material and to remove cutting chips, and the test piece material is pushed up from the bottom and clamped. However, as shown in FIG. 36, as shown in FIG. 36, the cylinder 28 is attached to the arm 62 fixed to the upper part of the jig, and the clamp plate 63 is fixed to the tip of the cylinder rod 28 'to ascend and descend. As a result, the clamp becomes a push-down type, and this method can sufficiently achieve the purpose. However,
Regarding the problem of cutting chips removal described above, there is a drawback that chips tend to accumulate because the lower receiving plate 29 is fixed. In addition, since the cylinder 28 and the arm 62 are fixed, when the test piece material is carried into the jig by the robot, interference may be considered. In this respect, the above-described embodiment in which the arm 62 is rotatable is superior. .

Also, a jig function having a function as shown in FIG. 37 can be sufficiently considered. That is, in the above-described embodiment, a configuration is provided in which a pressing plate using a spring is provided on a part of the robot hand to hold the pressing force when the cylinder is lifted in order to prevent displacement and drop when clamping the test piece material. But the 37th
Attach the push plate 65 to the tip of the cylinder 64 as shown in the figure,
By moving in the directions of the arrows b and b ', the test piece blank 1 can be pressed. The clamp system also includes an arm 66 which can be turned and fixed in the directions of arrows d and d 'via a shaft 65 at the other end of the jig, and a pair of cylinders 67 is mounted on the upper part of the arm 66. Rod 6
By moving 7 'in the directions of arrows g and g', the test piece blank 1 can be clamped. However, when realizing such a mechanism, a space occupied by components, piping, a driving source, and the like accompanying the jig is required, and a design taking this point into consideration is required.

On the other hand, in the above-described embodiment, the method of confirming the end of the jig operation and taking out the signal by using the limit switch and the hydraulic pressure switch is employed, but the clamp arm 16 is provided by the proximity switch 68 as shown in FIG. The same object can be achieved by a method of detecting the turning range of Δm by Δm, a method using a photoelectric switch 69 shown in FIG. 39, or a method using a microswitch 70 having a flexible contact n shown in FIG. Also, for loading and unloading of test specimen material,
Instead of the above-mentioned robot, it is fully conceivable to implement the present invention using a manipulator or a device that drives the linear, rotational, and oscillating functions alone or in combination.

〔The invention's effect〕

According to the present invention, since the spacer in which the width dimension of at least the upper part in the height direction is smaller than the finished dimension of the test piece is arranged between the receiving plate of the jig and the test piece material, the test piece material is It is possible to automatically cut and deburr the test piece materials while being stacked and mounted.

In addition, based on the fact that automatic cutting and deburring processing of the test piece material are possible in this way, a plurality of jigs standardized for flat test pieces with different machining sites and thicknesses can be used for general-purpose NC machine tools. It is possible to automate the jig operation for loading, cutting, and unloading of test specimen material by arranging, so that various flat test specimens can be automatically machined without human intervention. By incorporating this automatic jig into the line, it becomes possible to automate the processing system for flat type test pieces.

[Brief description of the drawings]

FIG. 1 is a partial sectional front view of an automatic jig according to an embodiment of the present invention, FIG. 2 is a plan view of the automatic jig shown in FIG. 1, and FIG. It is a partial cross-sectional side view,
FIG. 4 is a perspective view of a flat test piece, and FIGS. 5 to 7 are explanatory views showing the shape and processing portion of the flat test piece.
FIG. 8 is a plan view of the spacer, and FIG.
FIG. 10 is a cross-sectional view taken along the line J, FIG. 10 is a plan view showing a state in which a plurality of jigs are arranged on a table of an NC machine tool, and FIG. 11 is a side view seen from the direction P in FIG. , FIG. 12 is an external view of the robot, FIG. 13 is a view seen from the Q direction in FIG. 12, and FIG. 14 is a view showing a state where the test piece material is transferred to a jig. , FIG. 15 is a view from the R direction of FIG. 14, FIG. 16 to FIG. 20 are views showing steps until the test piece material is clamped, and FIG. FIG. 22 is a diagram showing a measurement direction of height, FIG. 22 is a diagram showing a method of determining the amount of protrusion of the cutter with respect to the test piece material, and FIG. 23 is a diagram explaining the position of the tip of the cutter with respect to the spacer. FIG. 24 is a diagram showing the shape of the test piece material and the state of burrs in the first half of processing, and FIG. 25 and FIG.
FIG. 26 is a view showing a process of removing processing burrs, and FIGS.
FIG. 33 is a diagram showing each process from the gripping portion located on the reference surface side of the jig to the machining after the gripping portion is changed by the robot, and FIG. 34 is a flat type test according to an embodiment of the present invention. It is a processing step diagram showing each process of the automatic piece processing system,
FIGS. 35 to 37 are diagrams showing an automatic jig according to another embodiment of the present invention. FIGS. 38 to 40 show another embodiment of the present invention using a sensor instead of a microswitch. FIG. 41 to FIG. 44 are views showing a conventional test piece processing apparatus, and FIGS. 45 to 48 are views showing another conventional test piece processing apparatus. Description of reference numerals 1 ... Test piece material 13 ... Body 13a ... Reference surface 16 ... Clamp arm 26, 27 ... Limit switch 28 ... Cylinder 29 ... Receiving plate 33 ... Spacer 34 ... Limit switch 39 ... … Robot 40 …… Robot hand 45 …… Pressing plates 46a, 46b, 46c …… Escape groove 47 …… Pressure switch 49 …… Touch sensor 50 …… Cutter 54 …… Special deburring tool

Continued on the front page (72) Inventor Yuji Nezu 3-1-1, Sachimachi, Hitachi, Ibaraki Pref. Hitachi, Ltd. Hitachi Plant (72) Inventor Yoshio Uesino 3-1-1, Sachimachi, Hitachi, Ibaraki Hitachi, Ltd., Hitachi Plant (72) Inventor Sapphiri Orimoto 3-1-1, Sachimachi, Hitachi, Ibaraki Prefecture Hitachi, Ltd. Hitachi, Ltd. (72) Inventor Kozo Maeda 1, Kobecho, Fukuyama, Japan Japan Within Kokan Co., Ltd. (72) Inventor Shigeru Tsuchiya 1 Kokancho, Fukuyama-shi, Hiroshima Japan Kokan Co., Ltd. (56) References JP-A 1-225230 (JP, A) JP-A 61-17936 (JP) , A) Shokai Sho 51-35185 (JP, U) Shokai Hei 1-77938 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01N 1/28

Claims (9)

(57) [Claims] 1. A receiving plate on which a plurality of flat test piece materials are stacked and mounted, a clamp means for vertically clamping the test piece materials stacked and mounted on the receiving plate, and completion of various operations of the clamp means And a vertical reference surface for aligning the side of the test piece with one side of the test piece being engaged in the process of placing the test piece material on the receiving plate and tightening with the clamp means. Flat body test, comprising a body disposed between the receiving plate and the test piece material, the spacer having a width dimension of at least an upper portion in a height direction smaller than a finished dimension of the test piece. Automatic jig for one side processing. 2. An automatic jig for processing a flat test piece according to claim 1, wherein a vertical reference surface of said body is interrupted at a portion corresponding to a central portion in a longitudinal direction of a receiving plate, and a space is provided in said portion of said body. An automatic jig characterized by being provided with: 3. An automatic jig for processing a flat test piece according to claim 1, wherein said clamping means is constituted by a clamp member fixed vertically above said receiving plate, and said receiving plate is mounted in a vertical direction. An automatic jig characterized in that the test piece material is clamped to a fixed clamp member by raising a receiving plate. 4. An automatic jig for processing a flat test piece according to claim 1, wherein said receiving plate is provided movably in a vertical direction with respect to said body, and said clamp means is capable of being opened and closed by a pair. A clamp arm, wherein the detecting means
First detecting means for detecting the opening / closing operation of the pair of clamp arms, second detecting means for detecting the descending operation of the receiving plate, and the receiving plate and the clamp arm when the receiving plate is raised. And a third detecting means for detecting a clamping force to be applied. 5. An automatic jig for processing a flat test piece according to claim 1, wherein a side portion of the test piece material is pressed against a vertical reference surface of said body when said test piece material is tightened by said clamping means. An automatic jig further provided with a pressing means having an engaging portion higher than a maximum stacking height of test piece materials for the test. 6. A means for automatically cutting or punching a test piece material from a rolled steel material, a robot for automatically transporting the test piece material to a jig, and automatically carrying out a processed test piece from the jig; A flat test piece automatic processing system comprising means for automatically testing a test piece carried out of a jig, and automatic transfer means for transferring a test piece material or a test piece between each of the means and the robot; A gripping means for stacking and gripping a plurality of test piece materials on the spacer, with a spacer having a width dimension of at least an upper portion in the height direction smaller than a finished dimension of the test piece at the lowermost portion, The jig is prepared by stacking a plurality of test piece materials and spacers held and transported by the robot, with the spacers at the lowermost portion and a plurality of test piece materials stacked on the spacers. A receiving plate, and means for vertically clamping a plurality of test piece materials and spacers placed on the receiving plate, and means for machining the clamped test piece material with respect to the jig; Means for removing burrs on the machined surface of the machined test piece material. 7. A plurality of flat test piece materials are stacked and mounted on a receiving plate via a spacer having a width dimension of at least an upper portion in a height direction smaller than a finish dimension of the test piece, and the test piece materials are stacked. After clamping in the vertical direction, the lower end of the cutter is set lower than the lowermost surface of the test piece and higher than the lowermost portion of the spacer smaller than the finished dimension of the test piece. A method for automatically processing a flat test piece, comprising setting the height of the lower end of a deburring tool after processing the same, and removing burrs on the processing surface of the test piece material. 8. A grip having a first width located on both sides in the longitudinal direction and a second narrower than the first width located between the grips.
A plurality of test specimen materials for processing into a plurality of flat test specimens each having a parallel portion having a width of about 10 mm are received via spacers in which the width dimension of at least the upper part in the height direction is smaller than the finished dimension of the test specimen. The test piece material is clamped in a vertical direction while pressing one side of the grip portion of the test piece material against a vertical reference surface, and the test piece material is clamped in a vertical direction in this state. All the side portions and the side portions of the parallel portion on the reference surface side are processed, and burrs on the processing surface are removed, and then the test piece material is turned over to turn the side portions of the processed and deburred parallel portions. By pressing the other side of the machined and deburred gripping portion against the vertical reference surface, the test piece material is clamped in the vertical direction by pressing the gripping portion to the vertical reference plane. Machine the remaining sides and burrs Automatic method for processing a flat test piece, and removing. 9. The spacer used in an automatic jig for processing a flat test piece according to claim 1, wherein a width direction dimension of at least an upper portion in a height direction is smaller than a finished size of the test piece.