JP4560876B2 - Processing system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a machining system for machining a workpiece using a long tool.
[0002]
[Prior art]
Various automobile parts are subjected to predetermined machining such as drilling and cutting in a machining system including a machining center. The machining center has a spindle to which a tool is detachably attached via a chuck. Generally, in machining using a machining center, a tool is determined or selected so that machining can be performed within a stroke range in the Z-axis direction (axial direction of the machining axis).
[0003]
In addition, a general machining center incorporates an automatic tool changer (hereinafter referred to as “ATC device”) that automatically changes a tool in order to perform various types of processing on a workpiece. The ATC device has an ATC magazine that holds a plurality of tools, and an ATC arm that attaches and detaches the tools to and from the spindle. The ATC arm selectively takes out a tool corresponding to the designated processing from the magazine and attaches this tool to the spindle. The ATC arm removes the tool attached to the spindle, and stores this tool in a predetermined position of the ATC magazine.
[0004]
[Problems to be solved by the invention]
By the way, some automobile parts need to be processed using a long tool, also called a long tool, as in the case of finishing a cam hole formed by a cylinder head and a cam bracket attached to the cylinder head. There are important parts. The processing length in this case exceeds about 500 mm, and a long tool corresponding to this length is used.
[0005]
When such a special long tool is used in a machining center, it is necessary to take either means of increasing the size of the machining center itself or making the ATC device in the general-purpose machining center have a special structure.
[0006]
Furthermore, if the machining length of the long tool exceeds the Z-axis stroke of the machining center, either a large machining center with a long Z-axis stroke or a special Z-axis stroke in a general-purpose machining center can be used. It is also necessary to take
[0007]
However, when a large machining center is provided or a general-purpose machining center is provided with a special structure as described above, there is a problem that an increase in equipment costs such as design costs and parts costs.
[0008]
In addition, when a machining center is installed in an existing conveyor laid in a limited space, various actuators (pushers, conveyors, index devices, etc.) for loading and unloading workpieces are required. Along with the increase in actuators, there is a problem that the number of parts and the equipment cost increase. Therefore, there is a demand for a machining system equipped with a machining center to suppress an increase in the number of actuators and reduce the increase in the number of parts and the equipment cost as much as possible.
[0009]
Then, this invention is suitable for using a long tool, and it aims at providing the processing system which can reduce the increase in installation cost as much as possible.
[0010]
[Means for solving the problems]]
[0011]
  The invention according to claim 1 for achieving the above object includes a carry-in portion into which a workpiece to be machined is carried in, a carry-out portion to carry out a machined workpiece, a machining shaft to which a tool is detachably attached, A jig for holding a workpiece, a machining means including an index means for changing the orientation of the workpiece with respect to the machining axis by rotating the jig, and the machining means are arranged separately and independently, and a toolDroopingA tool holding table to be held in a state where the workpiece is processed, loading of the workpiece to be processed from the loading section to the jig, unloading of the processed workpiece from the jig to the unloading section, and loading of the tool to the tool holding table / A machining system comprising: a robot that carries out and removes a tool with respect to the machining axis; and a control means that controls the operation of the robot and the machining means. A work hand portion for holding and a tool hand portion for holding the tool are integrated, and the work hand portion includes a restriction member for restricting a holding position of the work, and the restriction member. Clamping means for fixing the workpiece at a restricted position, and the tool hand portion includes a tool guide for determining a holding position of the tool, and a tool guide. A tool clamper for fixing the tool at a position positioned by the tool holder, a base end portion of the tool is held by a tool holder, the tool holder has a recess, and the tool hand portion has the The tool guide is inserted into a concave portion of the tool holder to determine a holding position of the tool.
[0014]
Claim2In the invention described in the above item, when the processing by the processing unit is completed, the control unit causes the index unit to perform the operation until the direction of the workpiece with respect to the robot is opposite to the direction when the workpiece is loaded into the jig. The jig is rotated.
[0015]
Claim3According to the invention described in the above, the work hand portion holds the workpiece to be processed on one surface of both the front and back surfaces and holds the processed workpiece on the other surface.With,The restricting member is provided on each of the one surface and the other surface, and the clamping means fixes the work held on the one surface or the other surface.It is characterized by that.
[0016]
Claim4In the invention described in (1), the workpiece to be machined has a shape in which a gap exists between machining parts to be subjected to predetermined machining with one tool, and the machining means has the jig with respect to the machining axis. It further comprises a moving means for moving forward and backward, and the control means moves the jig forward toward the machining axis by the moving means when the one tool reaches the gap. .
[0017]
【The invention's effect】
The present invention configured as described above has the following effects.
[0019]
According to the first aspect of the present invention, since the tool holding base for holding the tool is arranged independently of the processing means and the tool is changed by the robot, the size of the processing means and the automatic tool incorporated therein There is no restriction on the size of the changer, and it is not necessary to increase the size of the processing means itself more than necessary, or to make the automatic tool changer have a special structure, and the increase in equipment cost can be reduced as much as possible. In addition, various tools can be provided on the tool holder without being restricted by the tool length or the tool diameter. Furthermore, since the tool is changed by the robot, the tool holder only needs to have a function for storing the tool, and if the installation place of the tool holder can be secured within the operation range of the robot, a tool that can be used by the processing means is obtained. Can be added easily and inexpensively. Moreover, the toolDroopingSince the tool is held on the tool holder in this state, the tool tip does not bend, the machining accuracy does not decrease, and the installation space for the tool holder can be reduced compared to the case where the tool is held almost horizontally. . Furthermore, by carrying out both loading / unloading of workpieces and loading / unloading of tools by a robot, a pusher used only for transferring workpieces, an index device that changes the orientation of workpieces only for transferring workpieces, etc. Actuators are no longer required, and the increase in the number of parts and equipment costs can be reduced by suppressing the number of additional actuators. In addition, since the robot uses a hand in which the work hand part and the tool hand part are integrated, the equipment cost can be reduced, the time for replacing the hand is not generated, and the cycle time is reduced. Shortening can also be achieved. Moreover, in the work hand portion, the gripped work is securely positioned and fixed by the work hand portion by the regulating member and the clamping means, and the tool hand portion is gripped by the tool guide and the tool clamper. The tool is positioned and fixed.
[0022]
Claim2When the workpiece is unloaded from the jig to the unloading portion, the front and rear of the workpiece in the loading portion and the unfolded portion of the unloading portion are the same, and the robot can be used without changing the front-and-rear direction of the workpiece. It is possible to load / unload workpieces by In addition, since the orientation of the processed workpiece is changed by the index means essential for performing machining by the machining means, it is not necessary to separately provide an index means only for changing the direction of the workpiece. Therefore, it is possible to perform conveyance with the front and rear of the workpiece made constant while suppressing an increase in the number of actuators and reducing an increase in the number of parts and equipment costs.
[0023]
Claim3According to the invention described in (4), even when the front-back direction of the workpiece is different and the position where the regulating member is to be arranged is different, the holding position of the workpiece is regulated by either the front or the back of one arm. Can be held. For this reason, the configuration of the work hand unit is simplified, and the configuration is suitable for realizing the conveyance with the front and rear of the workpiece made constant. Furthermore, the workpiece | work hold | maintained on the arm surface or the arm back surface can be fixed by one clamp means, and the structure of the workpiece | work hand part can be simplified further.
[0024]
Claim4According to the invention described in the above, since the machining means further includes a moving means for moving the jig forward and backward with respect to the machining axis, even if the machining length of the tool exceeds the stroke allowed for the machining axis, A predetermined processing can be performed on the processing portion of the workpiece. For this reason, it is not necessary to enlarge the processing means itself more than necessary, and the increase in equipment cost can be reduced as much as possible. In addition, since the workpiece moves forward when one tool reaches the gap, the machining accuracy of the workpiece is not adversely affected.

[0025]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0026]
FIG. 1 is a layout diagram illustrating a machining system according to an embodiment of the present invention, FIG. 2 is a front view illustrating a machining center of the machining system, and FIGS. 3A to 3C are tool holding bases of the machining system. FIG. 4 is a front view showing a robot of the machining system, FIG. 5 is a plan view showing a robot hand, and FIGS. 6A and 6B are views of the robot. The figure which shows the state which hold | maintained the process target workpiece | work with the hand, and the state which hold | maintained the processed workpiece, FIG. 7 is a figure which shows the principal part of the hand part for tools, FIG. 8 (A) (B) is an example of a workpiece | work. The top view and side view which show this cylinder block, FIG. 9 is a figure which shows the processing state of a cylinder block.
[0027]
With reference to FIG. 1, the machining system 10 according to the embodiment is outlined. The machining system 10 includes a carry-in unit 11 into which a workpiece Win to be machined is carried in, and a carry-out unit 12 to carry out the machined workpiece Wout. A machining center 13 (corresponding to the processing means) installed at a position slightly away from the transfer line, a tool base 14 (corresponding to a tool holding base) arranged separately from the machining center 13, a carry-in part 11 and a carry-out part And a control means 16 for controlling the operation of the robot 15 and the machining center 13. The machining center 13 includes a spindle 31 (corresponding to a machining axis) to which a tool is detachably attached, and a jig 32 that clamps and holds the workpiece W. The tool held on the tool base 14 is a so-called long tool 17. The long tool 17 is held on the tool base 14 in a state of hanging in a substantially vertical direction.
[0028]
Then, the robot 15 carries in the workpiece Win from the carry-in part 11 to the jig 32 of the machining center 13 (see (1) and (4) in the figure), and has been machined from the jig 32 to the carry-out part 12. Unloading the workpiece Wout (see (4) and (5) in the figure), loading / unloading the long tool 17 with respect to the tool base 14 (see (2) in the figure), and the long tool 17 with respect to the spindle 31 of the machining center 13 (See (3) in the figure). Details will be described below.
[0029]
In this specification, the term “long tool” or “long tool” does not specifically mean a tool having a length of more than a centimeter, but has a length that cannot be replaced by a general-purpose inexpensive ATC device. It should be construed as a tool, a tool having a length that cannot be stored in a general-purpose inexpensive ATC magazine, or a tool having a length that cannot be stored in a horizontal state because the processing accuracy needs to be maintained.
[0030]
The carry-in unit 11 includes a loading conveyor 20 that conveys the workpiece Win to be processed, and a loading work placing table 21 that is disposed adjacent to the loading conveyor 20. The workpiece Win is processed by the loading conveyor 20 after the processing in the previous process is completed, and is delivered onto the rail 22 provided on the loading work table 21.
[0031]
The unloading unit 12 includes an unloading conveyor 25 that conveys the processed workpiece Wout, and a unloading work table 26 that is disposed adjacent to the unloading conveyor 25. The processed workpiece Wout is placed on a rail 27 provided on the unloading workpiece placing table 26, delivered to the unloading conveyor 25, and then sent to the next process.
[0032]
As shown in FIG. 2, the machining center 13 includes a spindle 31, a jig 32, and an index device 33 (corresponding to index means) that changes the orientation of the workpiece W relative to the spindle 31 by rotating the jig 32. It is out. The tool attached to the spindle 31 is moved at a predetermined feed speed while being rotated at a predetermined rotation speed toward the workpiece W whose direction has been changed by the index device 33. The stroke of the spindle 31 in the Z-axis direction in the drawing is 500 mm.
[0033]
The machining center 13 incorporates an ATC device 34 that is a general-purpose machine and is generally installed. Ordinary tools such as drills and taps other than the special long tool 17 are taken out from the ATC magazine 35 and attached to the spindle 31 by the ATC arm 36, and conversely, removed from the spindle 31 by the ATC arm 36. 35.
[0034]
The machining center 13 of the present embodiment further includes a moving unit 37 (corresponding to moving means) for moving the jig 32 forward and backward with respect to the spindle 31. The moving unit 37 includes a rail extending in the Z-axis direction of the machining center 13, a slider mounted on the rail and movable coaxially with the Z-axis, a stepping motor that drives the slider, and the like. The jig 32 is attached on the slider.
[0035]
As shown in FIGS. 3A to 3C, the tool base 14 has two rows of storage shelves 41, and each storage shelf 41 is provided with a holder support 42. The holder support 42 is configured to be movable in the left-right direction in FIG. 3A via a traction chain or the like. The base end portion of the long tool 17 is held by the tool holder 43. The long tool 17 is supported on the holder support 42 in a state where the long tool 17 hangs down in a substantially vertical direction with the tip side down and is stuck in the holder support 42.
[0036]
In FIG. 3A, the right hand side is the side where the robot 15 is located, and the left hand side is the side where the operator is located. During the cycle operation, the holder support 42 is moved to the right end position indicated by the phantom line in FIG. At this position, the robot 15 loads / unloads the long tool 17 with respect to the tool base 14. On the other hand, when the operator checks the long tool 17 or the like, the handle 44 is turned to pull the holder support 42 to the left end position. At this position, the long tool 17 is inspected or replaced.
[0037]
The reason why the long tool 17 is held in a state of hanging in the substantially vertical direction is as follows. That is, when the long tool 17 is held substantially horizontally, the tip of the tool is bent by several μm due to its own weight, and the subsequent processing accuracy is lowered. However, when the tool is held in a state of hanging in a substantially vertical direction. This is because the tool tip does not bend and the processing accuracy is not lowered. Furthermore, it is also because the installation space for the tool base 14 is smaller than in the case where it is held substantially horizontally.
[0038]
As shown in FIG. 4, the robot 15 is a general six-axis robot 15, and a robot hand 51 is attached to the tip. As shown in FIG. 5, the robot hand 51 is configured by integrating a work hand portion 52 that holds the workpiece W and a tool hand portion 53 that holds the long tool 17. The work hand portion 52 includes an arm 55 that can be turned upside down by rotating through a joint portion 54, and a tool hand portion 53 is provided on a side portion near the base end of the arm 55.
[0039]
The arm 55 is composed of a U-shaped plate member having an open end, and is provided with first and second holding portions 56 and 57 at a predetermined interval. The holding portions 56 and 57 of the arm 55 can hold the lower surface of the workpiece Win that has been conveyed onto the rail 22 of the loading work table 21, while the processed workpiece Wout that holds the lower surface can be transferred to the unloading workpiece table 26. It is set to a shape that can be delivered onto the rail 27 of the rail. As shown in FIG. 6 (A), the workpiece Win to be processed is held on one surface 55a (hereinafter referred to as “surface”) of the front and back surfaces of the arm 55, and as shown in FIG. 6 (B). The processed workpiece Wout is held on the other surface 55b (hereinafter referred to as “back surface”).
[0040]
On the surface 55a of the first holding part 56, a loading positioning pin 58 is provided so as to protrude in order to position and hold the workpiece Win. On the other hand, on the back surface 55b of the first holding part 56, in order to position and hold the processed workpiece Wout, an unloading positioning pin 59 is provided so as to protrude. In the illustrated example, each of the carry-in positioning pin 58 and the carry-out positioning pin 59 is provided at two locations, ie, near the distal end and near the proximal end. Each of the pins 58 and 59 is inserted or fitted into a posture regulating member provided on the workpiece W, for example, a locating hole 84 for conveyance. An example of the workpiece W will be described later.
[0041]
The work hand portion 52 is provided with a work clamper 60 (corresponding to a clamping means) for fixing the work W held on the arm 55. The work clamper 60 includes an arm part 62 that is rotatable around a support shaft 61 provided on the side of the first holding part 56, a clamp part 63 provided at the tip of the arm part 62, and an arm part 62. For example, a hydraulic cylinder 64. As shown in FIGS. 6A and 6B, the clamp portion 63 has a height dimension larger than the thickness dimension of the arm 55, and is closer to the proximal end of the loading positioning pin 58 and the loading positioning pin 59. The pins 58 and 59 located in the position are provided so as to be capable of being pressed and released.
[0042]
When loading the workpiece Win, as shown in FIG. 6 (A), the arm 55 is rotated so that the arm surface 55a faces upward, and the loading positioning pin 58 is inserted into the conveying locating hole 84 to insert the workpiece Win. W is positioned and held on the arm 55. Thereafter, the arm portion 62 is rotated by the hydraulic cylinder 64 and the clamp portion 63 is brought into pressure contact with the pin 58, whereby the workpiece Win held on the arm 55 is fixed.
[0043]
On the other hand, when unloading the workpiece Wout, as shown in FIG. 6 (B), the arm 55 is turned over so that the arm back surface 55b faces upward, and is unloaded into the same locating hole 84 for loading. The positioning pin 59 is inserted to position the workpiece W and hold it on the arm 55. Thereafter, the arm 62 is rotated by the hydraulic cylinder 64 and the clamp 63 is pressed against the pin 59, whereby the processed workpiece Wout held on the arm 55 is fixed.
[0044]
As shown in FIG. 5, the tool hand portion 53 is provided with a tool guide 71 for positioning and holding the tool holder 43 and a tool clamper 72 for fixing the tool holder 43 held on the tool guide 71. Yes. The tool guide 71 has a semicircular arc shape in which an opening is formed. The tool clamper 72 includes an arm portion 73 that can be moved forward and backward toward the tool guide 71, a clamp portion 74 provided at the distal end of the arm portion 73, and a driving means such as a hydraulic cylinder 75 that moves the arm portion 73 forward and backward. Have. As shown in FIG. 7, the clamp portion 74 is provided with a roller 76 that fits into a recess 43 a formed in the tool holder 43 so as to be rotatable.
[0045]
When the long tool 17 is unloaded from the tool base 14 or detached from the spindle 31, as shown in FIGS. 6A and 7, a tool guide 71 is inserted into the recess 43a of the tool holder 43, and the tool The holder 43 is positioned. Thereafter, the arm portion 73 is advanced by the hydraulic cylinder 75, and the roller 76 of the clamp portion 74 is fitted into the recess 43 a of the tool holder 43. Thereby, the long tool 17 is fixed.
[0046]
On the other hand, when the long tool 17 is carried into the tool base 14 or attached to the spindle 31, after the tool hand portion 53 is moved to a predetermined position, the arm portion 73 is retracted, and the roller 76 is moved from the recess 43a. Separate. Thereby, the long tool 17 is delivered to the tool base 14 or the spindle 31.
[0047]
As an example of the workpiece Win, the cylinder head 81 shown in FIGS. 8A and 8B can be cited. A cam bracket 82 is attached to the upper surface of the cylinder head 81. The illustrated cylinder head 81 is provided with conveying bosses 83 on both sides (up and down in FIG. 8A), but the locating hole 84 used for positioning the workpiece W at the time of conveying has one conveying boss 83. (In FIG. 8A, only the upper conveying boss 83) is processed. The long tool 17 is used to sequentially finish a plurality of cam holes 85 (corresponding to a processing portion) formed between the cylinder head 81 and the cam bracket 82.
[0048]
As shown also in FIG. 9, the cylinder head 81 with the cam bracket 82 attached to the upper surface has a shape in which a gap 86 exists between the processing parts to be subjected to a predetermined finishing process by one long tool 17, that is, the cam holes 85. It is also the work W which has. In other words, the workpiece W of the present embodiment is also a long intermittent workpiece having a non-machined portion.
[0049]
The control means 16 moves the jig 32 forward toward the spindle 31 by the moving unit 37 when the tip 91 provided at the tip of the long tool 17 reaches the gap 86.
[0050]
Further, when the machining by the machining center 13 is finished, the control means 16 rotates the jig 32 by the index device 33 until the direction of the workpiece W with respect to the robot 15 is opposite to the direction when the workpiece W is loaded into the jig 32. I am letting. Therefore, the index device 33 has a function of switching the unloading direction of the workpiece W from the jig 32 in addition to the original function of changing the machining posture of the workpiece W.
[0051]
Next, the operation of this embodiment will be described.
[0052]
The workpiece Win that has undergone the previous process passes through the loading conveyor 20 of the carry-in unit 11 and is conveyed to a predetermined position on the rail 22 of the carry-in work table 21. The robot 15 stands by at a predetermined standby position where the robot hand 51 does not interfere with other devices. The workpiece Win to be processed is held by the robot hand 51 that has moved from the standby position ((1) in FIG. 1). At this time, as shown in FIG. 6A, the work hand portion 52 of the robot hand 51 positions the work Win by inserting the loading positioning pin 58 into the transfer locating hole 84 with the arm surface 55a facing upward. To do. Thereafter, the workpiece clamper 60 is operated to fix the workpiece Win to be processed on the arm 55.
[0053]
Next, the robot 15 loads the workpiece Win to be processed into the jig 32 of the machining center 13 from the loading portion 11 ((4) in FIG. 1). The robot 15 returns to the standby position.
[0054]
In the machining center 13, the jig 32 is rotated by the index device 33 to change the direction of the workpiece W with respect to the spindle 31 and perform predetermined processing. When processing using a normal tool such as a drill or a tap, the tools are sequentially replaced by the ATC device 34.
[0055]
When the processing using the normal tool is completed and the cam hole 85 is finished using the special long tool 17, first, the normal tool attached to the spindle 31 is returned to the ATC magazine 35. The long tool 17 stored in the tool base 14 is gripped and held by the robot hand 51 that has moved from the standby position ((2) in FIG. 1). At this time, the tool hand portion 53 positions the tool holder 43 by inserting the opening portion of the tool guide 71 into the tool holder 43 as shown in FIGS. Thereafter, the tool clamper 72 is operated to fix the long tool 17 to the arm 55.
[0056]
The robot 15 unloads the long tool 17 from the tool base 14, changes the posture of the long tool 17 while rotating the arm 55 and the like, and attaches the long tool 17 to the spindle 31 of the machining center 13 ((3) in FIG. ▼). In the machining center 13, the cam hole 85 is finished with the long tool 17.
[0057]
A processing procedure for a long intermittent workpiece using the long tool 17 will be described. In this embodiment, the Z axis stroke of the machining center 13 is 500 mm, the machining length of the cam hole 85 is 508.5 mm, and the workpiece W whose machining length exceeds the Z axis stroke is machined by the long tool 17.
[0058]
As shown in FIG. 9, the machining in the Z-axis direction by the long tool 17 is performed by cutting and feeding toward the workpiece W at a predetermined feed speed while rotating the long tool 17. The control means 16 always detects the position where the tip 91 at the tip of the long tool 17 has reached based on the feed amount of the tool and the position of the workpiece W. When the control means 16 detects that the finishing of one cam hole 85 has been completed and the tip 91 has reached the non-processed portion, which is the gap 86, the moving unit 37 moves the jig 32 forward. At this time, the moving speed of the moving unit 37 is set to a speed faster than the feed speed of the tool, and the workpiece W is fast-forwarded toward the spindle 31. When the workpiece W is fast-forwarded by a predetermined distance, the control unit 16 stops the moving unit 37. The predetermined distance is a distance at which the tip of the tip 91 reaches the adjacent cam hole 85. When the workpiece W is stopped, the next finishing of the cam hole 85 is performed in the same manner. Until the finishing of all the cam holes 85 is completed, intermittent rapid feed and cutting of the workpiece W are repeated.
[0059]
In FIG. 9, a reference symbol “a” is attached to a region where the long tool 17 is cut and fed, and a reference symbol “b” is attached to a region where the workpiece W is fast-forwarded. Further, when the workpiece W is fast-forwarded, the long tool 17 may be continuously fed at the same feed speed or the feed may be temporarily stopped.
[0060]
When the finishing of the cam hole 85 is completed, after the moving unit 37 and the spindle 31 return to the initial positions, the robot 15 removes the long tool 17 from the spindle 31 and carries the long tool 17 into the tool base 14 to obtain a predetermined value. Return to the position. When machining using another long tool 17, the same operation is repeated.
[0061]
When all the processing in this processing stage is completed, the control means 16 has processed by the index device 33 until the direction of the processed workpiece Wout with respect to the robot 15 is opposite to the direction when it is loaded into the jig 32. The jig 32 holding the workpiece Wout is rotated. That is, the processed workpiece Wout is indexed in a direction that is 180 ° with respect to the direction when the workpiece is loaded (a direction in which the front and back are reversed).
[0062]
The indexed processed workpiece Wout is held by the robot hand 51 that has moved from the standby position ((4) in FIG. 1). At this time, as shown in FIG. 6 (B), the work hand unit 52 rotates so that the arm back surface 55b faces upward, and the unloading positioning pin 59 is inserted into the transfer locating hole 84 to move the work Wout. Position. Thereafter, the workpiece clamper 60 is operated to fix the processed workpiece Wout on the arm 55.
[0063]
Next, the robot 15 unloads the processed workpiece Wout from the jig 32 to the unloading unit 12 and places it on a predetermined position on the rail 27 of the unloading work placing table 26 ((5) in FIG. 1). After operating the workpiece clamper 60 to release the fixed workpiece Wout, the robot 15 returns to the standby position. The processed workpiece Wout placed on the unloading workpiece placing table 26 passes through the unloading conveyor 25 and is conveyed to the next process.
[0064]
According to the machining system 10 of the present embodiment, the tool base 14 that holds the long tool 17 is arranged separately from the machining center 13 and the tool change of the long tool 17 is performed by the robot 15. And the size of the ATC device 34 is not limited. Therefore, it is not necessary to enlarge the machining center itself more than necessary, or to make the ATC device in the general-purpose machining center have a special structure, and the increase in equipment cost can be reduced as much as possible. Further, since the tool holder 43 holding the long tool 17 only needs to be held by the robot hand 51, the tool base 14 is provided with various long tools 17 without being limited by the tool length and the tool diameter. it can. Furthermore, since the tool change is performed by the robot 15, the tool base 14 only needs to have a function of storing the tool. If the installation position of the tool base 14 can be secured within the operation range of the robot 15, not only the long tool 17 but also the tool base 14 is provided. Regular tools can be added easily and inexpensively.
[0065]
Although it is conceivable to provide a dedicated robot for loading / unloading a workpiece and a dedicated robot for loading / unloading a long tool, in this embodiment, a single robot 15 causes the workpiece W to be loaded. Both loading / unloading and loading / unloading of the long tool 17 are performed. In this way, by performing a multi-function with one robot 15, an actuator such as a pusher used only for transferring the workpiece W or an index device for changing the direction of the workpiece W only for transferring the workpiece W is provided. It becomes unnecessary. Therefore, it is possible to meet the demand that the increase in the number of parts and the equipment cost must be reduced by suppressing the addition of actuators.
[0066]
Although it is possible to replace the robot hand for work and the robot hand for tool with one robot 15, in this embodiment, the work hand unit 52 and the tool hand unit 53 are integrated. Since the robot hand 51 is used, the equipment cost can be reduced, and no time for exchanging the robot hand 51 is generated, and the cycle time is also shortened.
[0067]
When the machining by the machining center 13 is finished, the machined workpiece Wout is first indexed in a direction that is 180 ° with respect to the workpiece loading direction, and then held by the robot hand 51 and carried out to the carry-out unit 12. For this reason, before and after the workpiece Win in the carry-in part 11 is the same as before and after the machined work Wout in the carry-out part 12, the work 15 is carried in / out by the robot 15 without changing the front-rear direction of the work W. Is possible. In addition, since the orientation of the processed workpiece Wout is changed by the index device 33 that is indispensable for performing machining at the machining center 13, it is not necessary to separately provide an index device only for changing the orientation of the workpiece W. Therefore, it is possible to carry out the conveyance with the front and rear of the workpiece W kept constant while suppressing the increase in the number of actuators and reducing the increase in the number of parts and the equipment cost.
[0068]
The direction of the workpiece W is indexed to a predetermined direction by the index device 33 of the machining center 13 when the processed workpiece Wout is unloaded to the unloading unit 12 by the robot hand 51 before and after the workpiece Wout in the unloading unit 12. This means that the direction can be set arbitrarily. Therefore, it is possible to replace the existing processing system arranged between the two transfer lines with the processing system 10 of the present embodiment without changing the front-rear direction of the workpiece W in these two transfer lines. is there.
[0069]
Further, in the case where, for example, a conveyance locating hole 84 that is an attitude regulating member is provided only on one side of the workpiece W, the conveyance locating hole 84 is opposite to the opposite side when the front and rear direction of the workpiece W is reversed. Will be located. If the workpiece W is such that the transfer locating hole 84 is located on the opposite side when the front and rear directions are changed, the front and rear of the workpiece Win in the loading portion 11 and the front and rear of the processed workpiece Wout in the unloading portion 12 If it can be reversed, it can be fixed to one surface of the robot hand 51 by one work clamper. However, if it is desired to transport the workpiece W while keeping it constant, it is necessary to provide at least two sets of workpiece clampers to fix the workpiece W on one surface of the robot hand 51.
[0070]
On the other hand, the workpiece hand unit 52 of the present embodiment holds the workpiece to be processed Win on the arm surface 55a and realizes the workpiece that has been processed on the arm back surface 55b in order to realize the conveyance with the front and rear of the workpiece W being constant. Wout is held, and the work W held on the arm surface 55a or the arm back surface 55b is clamped by one work clamper 60. Therefore, the workpiece W can be fixed to the workpiece hand unit 52 by the single workpiece clamper 60 regardless of the front / rear direction of the workpiece W, and the configuration of the robot hand 51 can be simplified.
[0071]
Further, when machining a long intermittent workpiece using the long tool 17, when the tip 91 of the long tool 17 reaches the non-machined portion, the workpiece W is intermittently brought closer to the spindle 31 side. Even if the machining length by the long tool 17 exceeds the Z-axis stroke of the machining center 13, the finishing of the cam hole 85 by the long tool 17 is possible. Furthermore, since the moving unit 37 stops the workpiece W during the cutting operation and moves the workpiece W at times other than the cutting operation, the moving unit 37 does not adversely affect the machining accuracy of the workpiece W. In addition, the machining length by the long tool 17 can be set to the Z-axis stroke of the machining center 13 only by adding a relatively simple mechanism of using the machining center 13 having a relatively small stroke and adding the moving unit 37 to the jig 32 side. It is possible to process a workpiece W that exceeds. Therefore, it is not necessary to use a large machining center with a long Z-axis stroke or to make the Z-axis stroke in a general-purpose machining center special, and the increase in equipment cost can be reduced as much as possible.
[Brief description of the drawings]
FIG. 1 is a layout diagram showing a machining system according to an embodiment of the present invention.
FIG. 2 is a front view showing a machining center of the machining system.
FIGS. 3A to 3C are a front view, a plan view, and a side view showing a tool holding base of the machining system.
FIG. 4 is a front view showing a robot of the machining system.
FIG. 5 is a plan view showing a robot hand.
FIGS. 6A and 6B are views showing a state in which a workpiece to be machined is held by a robot hand and a state in which a machined workpiece is held.
FIG. 7 is a view showing a main part of a tool hand part.
FIGS. 8A and 8B are a plan view and a side view showing a cylinder block as an example of a workpiece. FIGS.
FIG. 9 is a diagram showing a machining state of a cylinder block.
[Explanation of symbols]
10 ... Machining system
11 ... carry-in part
12 ... Unloading part
13 ... Machining center (processing means)
14 ... Tool stand (tool holder)
15 ... Robot
16 ... Control means
17 ... Long tool (long tool)
31 ... Spindle (processing axis)
32 ... Jig
33 ... Index means
34 ... Automatic tool changer
37 ... Moving unit (moving means)
51 ... Robot hand (hand)
52 ... Hand part for work
53 ... Hand part for tool (hand part for tool)
55 ... arm
55a ... Arm surface (one surface)
55b ... Back side of arm (other side)
58 .. Positioning pin for carrying in (regulating member)
59 ... Unloading positioning pin (regulating member)
60 ... Work clamper (clamping means)
71 ... Tool Guide
72 ... Tool clamper
81 ... Cylinder head
82 ... Cam bracket
84 ... Locate hole
85 ... Cam hole (machined part)
86 ... Gap (non-processed part)
W ... Work (Win ... Work to be processed, Wout ... Work processed)

Claims (4)

A carry-in section into which a workpiece to be machined is carried in;
An unloading section for unloading the processed workpiece;
A machining means including a machining axis to which a tool is detachably attached, a jig for holding the workpiece, and an index means for changing the orientation of the workpiece with respect to the machining axis by rotating the jig;
A tool holder that is arranged independently of the processing means and holds the tool in a suspended state;
Loading of the workpiece to be machined from the carry-in part into the jig, carrying out the processed workpiece from the jig to the carry-out part, loading / unloading of the tool to / from the tool holding table, and tool to the machining axis A robot to attach and detach
Control means for controlling operations of the robot and the processing means;
A processing system comprising:
The robot includes a hand in which a work hand unit for holding the work and a tool hand unit for holding the tool are integrated,
The workpiece hand portion includes a regulating member that regulates a holding position of the workpiece, and a clamp unit that fixes the workpiece at a position regulated by the regulating member,
The tool hand portion includes a tool guide for determining a holding position of the tool, a tool clamper for fixing the tool at a position positioned by the tool guide,
With
The base end of the tool is held by a tool holder,
The tool holder has a recess;
The processing system according to claim 1, wherein the tool guide of the tool hand unit is inserted into a recess of the tool holder to determine a holding position of the tool. When the processing by the processing means is finished, the control means rotates the jig by the index means until the direction of the workpiece with respect to the robot is opposite to the direction when the work is carried into the jig. processing system of claim 1, wherein the. The work hand part includes a reversible arm that holds the workpiece to be processed on one side of both the front and back sides and holds the processed workpiece on the other side ,
The regulating member is provided on each of the one surface and the other surface,
It said clamping means, the processing system according to claim 1 or claim 2, characterized in lock down the work held on the one surface or the other surface. The workpiece to be machined has a shape in which a gap exists between machining sites for performing predetermined machining with one tool,
The processing means further includes moving means for moving the jig forward and backward with respect to the processing axis,
Wherein, when the one tool has reached the gap, one of claims 1 to 3, characterized in Rukoto the jig is moved forward towards the working axis by the moving means The processing system described in 1.

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