JP3780144B2 - Work reversing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece reversing device that feeds and reverses a workpiece to be processed by a processing machine.
[0002]
[Prior art]
Conventional processing machines such as vertical milling machines and machining centers have a table that holds the workpiece to be processed and a main spindle that holds the tool (cutting tool) that processes the workpiece, but the table can move horizontally. In contrast, the main axis is movable in the vertical direction. Therefore, with these members, the workpiece cannot be taken out from the pallet and supplied to the processing position or reversed. For this reason, a robot for supplying and reversing the work is required.
[0003]
FIG. 4 shows such a conventional processing machine. The main shaft 102 holding the tool 101 rotatably is movable in the vertical direction (Z direction). On the other hand, the workpiece 103 is attached to a table 104 that can move in the horizontal direction (XY direction). The table 104 has a vise 105 that holds the workpiece 103 on its upper surface. The vise 105 is movable in the direction of contact / separation (L direction) on the table 104, and the workpiece 103 is held and fixed on the table 104 by the movement.
[0004]
As the robot 108, a multi-indirect robot is used. The robot 108 has a chuck 106 at the tip, and moves in a three-dimensional direction by being rotatable in the directions of arrows N, Q, R, and S, and approaches and separates from the table 104. The chuck 106 has a chuck claw 107 that opens and closes along the direction of the arrow M, and the chuck claw 107 grips the workpiece 103.
[0005]
In such a processing machine, the workpiece 103 is placed in an aligned manner on a stocker (not shown) arranged outside the machine, and is gripped by the chuck claw 107 of the robot 108 and carried into the processing machine. Then, the workpiece 103 is conveyed between the open vises 105 on the table 104. After this conveyance, the robot 108 moves out of the apparatus, the vise 105 is closed, and the workpiece 103 is fixed at a fixed position on the table 104. The
[0006]
Thereafter, the workpiece 103 is processed by the tool 101 by the movement of the main spindle 102 in the Z direction and the movement of the table 104 in the XY direction. After the machining, the workpiece 103 is discharged by opening the vise 105, moving the robot 108 into the machine, and opening the chuck claw 107 of the robot 108 to grip the workpiece 103. In this holding state, the 108 moves outside the machine. The workpiece 103 is aligned to a pallet outside the machine.
[0007]
In such a processing machine, the workpiece 103 cannot be processed into the portion held by the vise 105. For this reason, when the processing of the workpiece 103 is completed, the workpiece 103 is reversed so that the portion held by the vice 105 is brought out to the processing side.
[0008]
5 to 8 show a reversing device disclosed in Japanese Patent Laid-Open No. 8-257866 in order to perform such reversal of the workpiece 103. In this apparatus, a workpiece 103 is inverted using a workpiece gripper 111, and the workpiece gripper 111 has a pair of gripping claws 116 for gripping the workpiece 103 as shown in FIG.
[0009]
A spindle sleeve 102a is attached to the spindle 102 in this apparatus, and air hole joints 113a and 113b are provided on the spindle sleeve 102a as shown in FIG. The work gripper 111 is attached to the tool change arm 112 of the tool magazine 110 adjacent to the main shaft 102 and attached to the main shaft sleeve 102 a of the main shaft 102. As shown in FIG. 7, this mounting is performed by inserting the contact pins 114a and 114b of the work gripper 111 into the air hole joints 113a and 113b of the spindle sleeve 102a. As a result of this insertion, an air flow path is formed between the air source P and the gripping claws 116 via the electromagnetic valve 115, so that the pair of gripping claws 116 open and close to grip and release the workpiece 103. Is called.
[0010]
As shown in FIG. 4, the table 104 in this apparatus is provided with a chuck base 117 that holds the workpiece 103. The chuck base 117 has a chuck claw 118 for gripping a workpiece, and can be turned in the direction of arrow T.
[0011]
FIG. 8 shows the reversing operation of the workpiece 103 by this apparatus. The hatched portion of the workpiece 103 is a portion where the chuck claw 118 is gripped and not processed, and the hatched portion is reversed so as to be exposed to the processing side. .
[0012]
First, as shown in (a), after the chuck base 117 turns in the T direction, as shown in (b), the tool 101 held by the spindle 102 is replaced with the work gripper 111. This replacement is performed by a tool changer (not shown). Then, as shown in (c), the chuck base 117 moves in the X direction and approaches the spindle 102. At this time, the gripping claws 116 of the workpiece gripper 111 are in an open state, and the workpiece 103 is gripped when the workpiece 103 enters the gripping claws 116 and the gripping claws 116 are closed.
[0013]
As shown in (d), the chuck claw 118 of the chuck base 117 is opened to release the workpiece, and then moves in the X direction away from the main shaft 102. Next, as shown in (e), the work gripper 111 rotates 180 ° by the rotation of the main shaft 102. Thereby, the work 103 held by the work gripper 111 is also rotated and reversed at the same time.
[0014]
Thereafter, as shown in (f), the chuck base 117 approaches the spindle 102 from the X direction with the chuck 118 opened. At this time, the work 103 is positioned in the middle of the chuck claw 118, and then the chuck claw 118 is closed to grip the work 103. Then, as shown in (g), the gripping claws 116 of the work gripper 111 are opened, and the 117 chucks are moved in the X direction away from the main shaft 102. Thereby, the hatching part of the work 103 is directed to the machining side, and the series of reversing operations of the work 103 is completed.
[0015]
[Problems to be solved by the invention]
However, in the structure in which the robot 103 is used to supply and discharge the workpiece 103 as in the processing machine shown in FIG. 4, the spindle 102 and the robot 108 come into contact with each other during movement during processing. It is necessary to install outside. In this case, since the work 103 and the pallet of the work 103 are inevitably installed outside the machine, the entire apparatus including the processing machine, the robot, and the pallet becomes large, and the installation space needs to be wide. There is. Moreover, equipment such as a robot is required for transporting the workpiece, which not only makes the structure complicated and difficult to control, but also increases the cost of the apparatus.
[0016]
In the reversing device disclosed in JP-A-8-257866, the work gripper 111 is necessary for reversing the work 103, and the number of parts is increased. In addition, the work gripper 111 is used while being attached to the main shaft 102, whereas the tool 101 is attached to the main shaft 102 during normal machining. Therefore, when the work 103 is reversed, the tool is changed to the main shaft. Is required. Since the workpiece 103 cannot be processed during the tool change, there is a problem that the processing efficiency is lowered. Further, since it is necessary to mount the work gripper 111, rotate the work gripper 111, and open / close the chuck claws 118 and the grip claws 116, it takes time to reverse the work 103. For this reason, the cycle time which processes one component becomes long, and it also has the problem that productivity falls.
[0017]
The present invention has been made in consideration of such conventional problems. When supplying and reversing a workpiece, the workpiece can be efficiently supplied in a short time without increasing the size of the processing machine. It is an object of the present invention to provide a workpiece reversing device capable of performing reversal and capable of shortening the machining cycle time.
[0018]
[Means for Solving the Problems]
In order to achieve the above object, the invention of claim 1 is characterized in that a tool shaft for detachably holding a tool, a tool shaft is held, and the tool shaft is movable in a three-dimensional direction. A spindle that moves between machining positions, a spindle that is attached to the spindle that holds the tool axis, is rotatable about the axis of the spindle, and a workpiece hand that detachably grips the workpiece, and a workpiece A work chuck that is detachably gripped and has a first state arranged at a processing position of the workpiece when the tool is processed, and the workpiece chuck is reversed with respect to the workpiece chuck. work supply reversing device, wherein the includes a second state in which the pivot in the axial direction of the spindle, and a work table which is rotatably supported, the when the
[0019]
In the present invention, the work hand grips the workpiece by moving the spindle including the tool axis and the work hand to the workpiece supply position. Then, by moving the spindle to the machining position of the workpiece, the workpiece is transferred from the workpiece hand to the workpiece table and is gripped by the workpiece table. In this state, the spindle moves and the workpiece is processed by the tool held by the tool axis.
[0020]
When reversing the workpiece after predetermined machining on the workpiece, the work table turns along the axis direction of the spindle, and in this state, the spindle moves in the direction of the workpiece table and the workpiece hand grips the workpiece. . Then, the workpiece is turned by rotating the workpiece hand around the axis of the spindle while the workpiece is gripped. Thereafter, the spindle moves in the direction of the work table, and the work table grips the inverted work. As a result, since the work is gripped by the work table in an inverted state, the tool on the tool axis processes the inverted work by the movement of the spindle.
[0021]
According to the first aspect of the present invention, the spindle includes the work hand for gripping the workpiece, and the workpiece can be supplied to the work table by moving the spindle in the three-dimensional direction. On the other hand, the work can be reversed by turning the work table and turning the work hand. Accordingly, a robot for supplying workpieces is not required, the entire processing machine can be reduced in size, the structure is simplified, and control is facilitated. In addition, a work gripper for reversing the work is not necessary, and the number of parts is reduced. In addition, it is not necessary to replace the tool with the work gripper when the work is reversed, so that the work can be reversed in a short time and the machining efficiency can be improved.
[0022]
The invention of claim 2 is the invention of claim 1, characterized in that the work hand is movable in the axial direction of the main shaft.
[0023]
In this invention, when the workpiece is supplied or reversed, the workpiece hand moves in the axial direction of the spindle to grip and release the workpiece, so that the amount of movement of the spindle is reduced, and the workpiece is quickly fed and reversed. Thus, the processing efficiency is improved.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be specifically described with reference to embodiments shown in the drawings. In each embodiment, the same elements are associated with the same reference numerals.
[0027]
(Embodiment 1)
FIG. 1 is a perspective view of a processing machine to which Embodiment 1 of the present invention is applied, and FIG. 2 is a front view when the workpiece is reversed. In this embodiment, the work table 15 and the pallet 5 are supported on the bed 2 of the processing machine 1, and the main shaft 7 is disposed above the bed 2, and the position of the work table 15 is the processing position of the work 3. The position of the pallet 5 is the supply position of the workpiece 3.
[0028]
The main shaft 7 can move in the vertical direction along the Z1 axis and move in the horizontal direction along the XY axis, so that the main shaft 7 can move in the three-dimensional direction. These movements are performed by a combination of a motor such as a servo motor (not shown) and a ball screw. By moving in the three-dimensional direction, the spindle 7 moves between the supply position of the workpiece 3 (pallet 5) and the processing position of the workpiece 3 (work table 15).
[0029]
A tool shaft 6 is rotatably attached to the end of the main shaft 7 in the axial direction. A tool (blade) 4 for processing the workpiece 3 is detachably mounted on the tool shaft 6, and the tool 4 is rotated in the direction of arrow A by the rotation of the tool shaft 6. .
[0030]
Furthermore, a work hand 13 is attached to the tip of the outer peripheral portion of the main shaft 7. The work hand 13 includes a hand claw 12 that opens and closes to grip and release the work 3. The hand claw 12 opens and closes using air or the like as a drive source.
[0031]
In this case, a linear motion cylinder 8 that is driven in the Z2 axis direction parallel to the Z1 axis is attached to the outer surface of the main shaft 7, and a linear motion guide 9 is coupled to the tip of the rod of the linear motion cylinder 8. The linear guide 9 is guided by the guide 10 so as to move in the axial direction of the main shaft 7. A turning unit 11 that can be turned 180 ° in the E direction in a horizontal plane is attached to the tip of the linear guide 9, and the work hand 13 described above is attached to the turning unit 11. Accordingly, the work hand 13 can be moved in the axial direction (Z2 direction) of the main shaft 7 by driving the linear cylinder 8 and can be rotated around the axis (Z2 axis) of the main shaft 7 by driving the turning unit 11. It has become.
[0032]
The work table 15 arranged at the processing position of the work 3 is supported by a table receiver 14 fixed on the bed 2 so as to be able to turn. The work table 15 is turned 90 ° in the B direction around the rotation center F of the table receiver 14, whereby the work table 15 is turned 90 ° around the axis (Z1 axis) of the main shaft 7. The turning of the work table 15 is performed by driving a turning motor 16 fixed to the table receiver 14.
[0033]
A pair of work chucks 17 that move linearly in the C direction are mounted on the work table 15. The work chuck 17 is opened and closed by moving using air or the like as a drive source, thereby gripping and releasing the work 3.
[0034]
The pallet 5 at the supply position of the workpiece 3 is arranged at a position close to the workpiece table 15, and the workpiece 3 before processing and the workpiece 3 after processing are placed in alignment. As will be described later, the pallet 5 is disposed inside the processing machine 1 from the point where the workpiece 3 is supplied and discharged by the movement of the main shaft 7.
[0035]
Next, the operation of this embodiment will be described. First, in supplying the workpiece 3, the spindle 7 moves above the pallet 5 on the bed 2. At this time, since the work hand 13 is attached to the spindle 7, the work hand 13 also moves integrally. This movement is set in advance so that the center of the work hand 13 comes directly above the work 3 to be taken out. The work hand 13 moves downward along the Z2 axis with the hand claw 12 open, and stops at a position where the hand claw 12 can grip the work 3. Then, when the hand nail 12 is closed, the work 3 is gripped by the work hand 13.
[0036]
Thereafter, the work hand 13 is moved upward along the Z2 axis, and the main shaft 7 is further moved in the X and Y directions, whereby the work 3 is moved to a position where the work table 15 can be gripped. At this time, the work chuck 17 is in an open state, and the work 3 is moved onto the work table 15 by moving the work hand 13 downward along the Z2 axis. Then, the work chuck 17 is closed and the hand claw 12 of the work hand 13 is opened, whereby the work 3 is gripped by the work table 15. The work hand 13 is retracted upward along the Z2 axis by driving the linear motion cylinder 8. Thereafter, the workpiece 3 is processed by the tool 4 of the tool shaft 6.
[0037]
In the reversal of the processed workpiece 3, first, the work table 15 is turned 90 ° along the axis (Z1 axis) direction of the main shaft 7 by driving the turning motor 16. Thereby, the workpiece | work 3 will be in the state inclined in the horizontal direction, as shown in FIG. On the other hand, when the linear motion cylinder 8 is driven, the work hand 13 is lowered along the Z2 axis from above the work 3 with the hand claw 12 being opened. At this time, since the position is different from the position where the workpiece 3 is supplied, the main shaft 7 also moves along the Zl axis.
[0038]
Then, the side surface of the work 3 is gripped by the hand claw 12 of the work hand 13 and the work chuck claw 17 is opened. Thereafter, when the spindle 7 moves in the X direction, the work hand 13 moves in the X direction to a position where the work 3 is completely removed from the work chuck 17 of the work table 15. At this position, the work hand 13 is turned 180 ° in the horizontal plane by the turning unit 11. By this turning, the workpiece 3 is inverted. After this turning, the spindle 7 moves in the X direction, and the work hand 13 returns the work 3 to the work table 15. When returning to the work table 15, the work chuck 17 grips the work 3, while the hand claw 12 of the work hand 13 opens, the work 3 is gripped by the work table 15, and the work hand 13 retracts upward. Thereafter, the work table 15 turns in the opposite direction, whereby the work 3 is gripped by the work table 15 in an inverted state, and the work 3 is processed into an inverted portion.
[0039]
As described above, when the processing of the workpiece 3 is completed, the workpiece 3 is discharged. In this discharge, the work hand 13 is moved above the work 3 by the movement of the main shaft 7 in the XY directions with the hand claw 12 opened. On the work table 15, the work chuck 17 is opened, and then the hand claw 12 of the work hand 13 is closed. Thereby, the workpiece 3 is gripped by the workpiece hand 13. Then, the work hand 13 moves upward along the Z2 axis. Thereafter, the workpiece 3 is transported to the placement position on the pallet 5 by the movement of the spindle 7 in the XY direction, the workpiece hand 13 is lowered, and the hand claw 12 is opened, so that the workpiece 3 is placed at a predetermined position on the pallet 5. Put. With the above operation, a series of operations of supplying, reversing, and discharging the workpiece 3 including processing of the workpiece 3 is completed.
[0040]
In such an embodiment, in order to supply and discharge the workpiece 3 using the movement of the spindle 7, all of the workpiece supply and discharge members and the pallet 5 are arranged in the processing machine 1. The processing machine can be made small. Further, when the workpiece 3 is reversed during machining, the tool change is not necessary, and the workpiece 3 can be reversed at the same time as the machining is completed, so that the machining cycle time can be shortened and the machining efficiency can be improved.
[0041]
(Embodiment 2)
FIG. 3 shows a second embodiment of the present invention. In this embodiment, a workpiece supply box 20 for supplying workpieces 3 one by one is disposed inside the processing machine 1, and the workpiece supply box 20 is a supply position for the workpiece 3. Accordingly, the spindle 7 reciprocates between the workpiece supply box 20 as the workpiece supply position and the workpiece table 15 as the workpiece processing position.
[0042]
The workpiece supply box 20 has a workpiece port (not shown) on the main shaft 7 side through which the workpieces 3 cut to a predetermined size come out one by one. When the workpiece 3 has already been cut to a predetermined dimension, the workpiece 3 is supplied to the workpiece port by a feed mechanism such as a shooter or a cylinder in the workpiece supply box 20. On the other hand, when the workpiece 3 remains long, a cutter (not shown) is provided in the workpiece supply box 20 and is cut into a predetermined dimension by driving the cutter, and then supplied to the workpiece port. These workpieces 3 come out of the workpiece mouth in a horizontal state or a slightly inclined state, and are gripped by the workpiece hand 13 attached to the main shaft 7 and taken out from the workpiece supply box 20.
[0043]
Next, the operation of this embodiment will be described. The work 3 is supplied to the work table 15 in a state where the work chuck 17 is positioned on the work supply box 20 side by turning the work table 15 by 90 ° as shown in the figure. In the workpiece supply box 20, the workpiece 3 is pulled out from the workpiece port, the spindle 7 moves in the direction of the workpiece supply box 20, and the hand claw 12 of the workpiece hand 13 grips the workpiece 3 at the workpiece port. Remove the work 3 from the mouth. Then, the spindle 7 moves in the X direction and transports the work 3 to the work table 15, and then the work chuck 17 grips the work 3.
[0044]
Then, after the main shaft 7 rises along the Z1 axis, the work table 15 is turned around the axis of the main shaft 7 by driving the turning motor 16, and the work chuck 17 is positioned below the main shaft 7. In this state, the spindle 7 reaches the workpiece 3 and the workpiece 3 is processed by the tool 4 held by the tool shaft 6.
[0045]
When the work 3 is reversed, the work table 15 is turned by the drive of the turning motor 16, and the work chuck 17 is located on the work supply box 20 side as shown in FIG. In response to this state, after the main shaft 7 moves in the direction of the workpiece 3, the linear motion cylinder 8 is driven and the workpiece hand 13 reaches the workpiece 3.
[0046]
Then, the hand claw 12 of the work hand 13 grips the work 3, the spindle 7 moves in the X direction, and the work 3 is taken out from the work chuck 17. Thereafter, the spindle 7 is raised, and the work hand 13 is turned by 180 ° by driving the turning unit 11. By this turning, the workpiece 3 is reversed. Thereafter, the spindle moves in the X direction, and the work hand 13 returns the work 3 to the work table 15.
[0047]
With the work 3 returned to the work table 15, the turning motor 16 is driven, and the work table 15 is directed upward. Thereby, the process to the reversed part of the workpiece | work 3 is performed.
[0048]
As described above, the embodiment has the same effects as those of the first embodiment, and the work 3 is supplied from the work supply box 20, so that the pallet 5 is not necessary. Accordingly, the chips generated during the processing of the workpiece 3 do not adhere to the unprocessed workpiece 3 or the processed workpiece 3 in the pallet 5, so that an operation for removing the chips is not necessary.
[0049]
Note that the present invention is not limited to the above-described embodiment, and various modifications can be made. For example, the linear cylinder 8 that moves the work hand 13 in the axial direction of the main shaft 7 may be omitted. In this case, by moving the work hand 13 integrally with the movement of the main shaft 7 in the Z1 direction, The work 3 can be taken out from the pallet 5 and the work 3 can be taken out from the work table 15. Further, as the pallet 5, one for supplying the work 3 and one for discharging the work 3 may be separately arranged.
[0050]
【The invention's effect】
According to the first aspect of the present invention, a robot for supplying a workpiece is not required, the workpiece can be supplied only by moving the spindle, the structure is simplified, and the entire processing machine can be downsized. Further, when the workpiece is reversed, it is not necessary to change the tool, the workpiece can be reversed in a short time, and the machining efficiency can be improved.
[0051]
According to the invention of claim 2, in addition to the effect of the invention of claim 1, since the work hand moves in the axial direction of the main shaft to grip and release the work, the amount of movement of the main shaft is reduced and the speed is increased. In addition, the workpiece can be supplied and reversed, improving the machining efficiency.
[Brief description of the drawings]
FIG. 1 is a perspective view of a first embodiment of the present invention.
FIG. 2 is a front view when the work is reversed in the first embodiment.
FIG. 3 is a perspective view of Embodiment 2 of the present invention.
FIG. 4 is a perspective view of a conventional processing machine.
FIG. 5 is a front view of a conventional apparatus for reversing a workpiece.
6 is a bottom view of a main shaft used in the apparatus shown in FIG.
7 is a cross-sectional view of a work gripper used in the apparatus of FIG.
FIGS. 8A to 8G are front views showing a work reversal procedure by the apparatus of FIG. 5;
[Explanation of symbols]
3 Work 4 Tool 5 Pallet 6 Tool axis 7 Spindle 13 Work hand 15 Work table 17 Work chuck

Claims (2)

A tool axis for detachably holding the tool;
A spindle that holds the tool axis and is movable in a three-dimensional direction, and moves between a workpiece supply position and a workpiece machining position;
A work hand that is attached to the main shaft that holds the tool shaft, is rotatable about the axis of the main shaft, and detachably grips the work.
A workpiece chuck that detachably grips a workpiece, and when the workpiece is processed by the tool, a first state that is disposed at a processing position of the workpiece, and the workpiece is gripped by reversing the workpiece chuck. A work table that is rotatably supported by the second state of turning along the axial direction of the main shaft when attempting to
A workpiece reversing device characterized by comprising:   2. The workpiece reversing device according to claim 1, wherein the workpiece hand is movable in an axial direction of the main shaft.

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