JP4898290B2 - Work transfer device with electric chuck with measurement function - Google Patents

Description

  The present invention relates to a workpiece transfer apparatus including an electric chuck with a measuring function that can measure a machining dimension of a workpiece while the workpiece processed by a machine tool is held and transferred by an electric chuck.

  As what measures the dimension of a workpiece | work with the chuck | zipper used at the time of a workpiece | work processing, what is described in patent document 1, for example is known. The device described in Patent Document 1 includes a measurement dimension calculation program for driving a gripping claw for gripping a workpiece by an electric motor and calculating the dimension of the workpiece from the position of the gripping claw when the workpiece is gripped by the chuck.

  Further, in Patent Document 1, tool wear or chipping is determined based on the difference between the actual measured dimension of the workpiece measured as described above and a predetermined target dimension of the workpiece, and the tool correction amount of the tool is determined. A tool correction amount correction program for correcting values and displaying tool defects is provided.

According to the device described in Patent Document 1 described above, a dedicated measuring device for measuring the dimensions of the workpiece is not required, and it is determined whether or not the machining dimensions are acceptable, the tool correction amount is corrected, the tool life is determined, the tool is lost, etc. There is an advantage that it is possible to determine the tool failure.
Japanese Patent Laid-Open No. 2002-210635 (paragraphs 0033 and 0034, FIG. 2)

  However, in the one described in Patent Document 1, since the dimensions of the workpiece are measured by the chuck used when machining the workpiece, there is a problem that time loss is not a problem for measuring the dimensions of the workpiece. . Moreover, although the tool correction amount is corrected based on the difference between the actual measured dimension and the target dimension, it is easily affected by thermal displacement due to continuous operation for a long time, and the dimensional accuracy of the workpiece is improved. There was a problem that was difficult to maintain stably.

  The present invention has been made to solve the above-described conventional problems, and enables a machining dimension of a workpiece to be measured while the machined workpiece is gripped and conveyed by the electric chuck, and the electric chuck includes It is an object of the present invention to provide a workpiece transfer apparatus including an electric chuck with a measurement function including a master piece for coordinate calibration.

In order to solve the above-described problem, the invention according to claim 1 is characterized in that in a workpiece transfer device that transfers a workpiece processed by a machine tool, the workpiece transfer device includes an electric chuck, and the electric chuck includes a workpiece A plurality of radially movable gripping claws for gripping the gripper, an electric motor capable of controlling the position of the gripping claws, a rotation angle of the electric motor, and measuring a workpiece size based on the rotation angle An encoder and a master piece provided at the center of the electric chuck are provided, and a reference surface capable of contacting the master piece is formed on the inner side in the inner diameter direction of the gripping claw .

Feature of the invention according to claim 2, Oite to claim 1, wherein the electric motor is to position control until the torque acting on the gripping claws is greater than or equal to the specified gripping torque.

According to a third aspect of the present invention, in the first or second aspect , the contact portion of the gripping claw is brought into contact with the master piece by the electric motor arbitrarily or at predetermined time intervals. To calibrate.

According to a fourth aspect of the present invention, in the first or second aspect , the encoder is an incremental encoder, and the contact portion of the gripping claw is moved by the electric motor when the power of the machine tool is turned on. The origin is set in contact with the master piece.

According to the invention according to claim 1 configured as described above, the electric chuck provided in the workpiece transfer device can control the position of a plurality of gripping claws on the circumference that can move in the radial direction for gripping the workpiece and the gripping claws. An electric motor, an encoder that detects the rotation angle of the electric motor and measures the dimensions of the workpiece based on the rotation angle, and a master piece provided at the center of the electric chuck. A reference surface capable of contacting the master piece is formed .

Therefore, the gripping claw can be used both as a gripping function for gripping the workpiece and a measurement function for measuring the dimension of the workpiece, so that the number of parts can be reduced and the master piece is built in the electric chuck. Therefore, the configuration for calibrating the coordinate position of the gripping claw can be simplified, the operation cycle time can be shortened, and the calibration process can be performed efficiently. In addition, since the workpiece dimension can be measured while the workpiece is being conveyed, the workpiece dimension can be efficiently processed without causing time loss for the workpiece dimension measurement.
Moreover, it is possible to easily calibrate the coordinate position of the gripping claw only by moving the reference surface provided on the gripping claw in a direction in which the gripping claw comes into contact with the master piece.

According to the second aspect of the present invention, the position of the electric motor is controlled until the torque acting on the gripping claws is equal to or greater than the set gripping torque value, so that the workpiece dimensions can be stably measured. .

According to the third aspect of the invention, since the encoder is calibrated by bringing the abutment portion of the gripping claw into contact with the master piece by an electric motor arbitrarily or at predetermined time intervals, Regardless of the influence, the workpiece dimensions can be measured with high accuracy over a long period of time.

According to the invention of claim 4 , the encoder is an incremental encoder, and when the power of the machine tool is turned on, the origin is set by abutting the abutment portion of the gripping claw with the master piece by the electric motor. Therefore, the workpiece dimensions can be measured using an inexpensive incremental encoder.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a machining system including two machine tools 10 and 11 for machining a workpiece W and a workpiece conveyance device 12 for conveying the workpiece W between each of the machine tools 10 and 11. In the present embodiment, the first machine tool 10 performs the first process machining on the workpiece W, and the second machine tool 11 performs the second process machining on the workpiece W. The machine tools 10 and 11 are shown as examples constituted by NC lathes.

  In FIG. 1, the first and second machine tools 10, 11 are arranged on the floor surface with a predetermined distance apart in the X-axis direction. Each machine tool 10, 11 includes spindle stocks 15, 16 installed on beds 13, 14, and the spindles 17, 18 can rotate around the horizontal axis perpendicular to the X-axis direction on these spindle stocks 15, 16. It is supported by. A chuck 28 (see FIG. 4) for holding the workpiece W is attached to the main shafts 17 and 18. On the beds 13 and 14, turret support bases 19 and 20 are placed so as to be movable back and forth in the radial direction (X-axis direction) of the main shafts 17 and 18 with respect to the main spindle bases 15 and 16. The turrets 21 and 22 are supported so as to be able to rotate and index around an axis parallel to the main shafts 17 and 18. Various tools such as a cutting tool and a rotary tool are attached to the outer circumferences of the turrets 21 and 22, and the workpiece W gripped by the chuck 28 is subjected to required processing using these various tools.

  Above the first and second machine tools 10, 11, a rail 23 is installed along the X-axis direction across the machine tools 10, 11, and the workpiece transfer device 12 is placed on the rail 23 in the X-axis direction. It is provided to be movable. The workpiece transfer device 12 includes a traveling table 25 mounted on a rail 23 so as to be able to travel, a loader arm 26 mounted on the traveling table 25 so as to be movable up and down, and the main shafts 17, 18 at lower ends of the loader arm 26. The moving table 27 is supported so as to be movable in a direction parallel to the rotation axis of the motor, and the electric chuck 30 is attached to the moving table 27. The electric chuck 30 grips and conveys the workpiece W, and has a function of measuring the machining dimension of the workpiece W during conveyance by the electric chuck 30 as described below.

  Next, a specific configuration of the electric chuck 30 will be described with reference to FIGS. 2 and 3, a mounting base 27a is formed on the moving base 27 movably supported on the lower end of the loader arm 26. The chuck body 31 of the electric chuck 30 has a bolt hole 31a formed on the mounting flange 27a. It is fixed by a bolt (not shown) to be inserted. A face plate 32 is fixed to the front end surface of the chuck body 31 facing the chuck 28 side of the main shafts 17 and 18. A fixed support shaft 33 is fixed to the center portion of the chuck main body 31 on the face plate 32 and the chuck main body 31 so as to straddle the face plate 32 and the chuck main body 31 in parallel with the axes of the main shafts 17 and 18. A plurality of (three) guide grooves 32a on the circumference are formed on the face plate 32 at equal angular intervals along the radial direction, and both side portions of the parent claw 35 are engaged with the guide grooves 32a so as to be movable in the radial direction. Has been.

  A lead groove member 36 is rotatably supported on the fixed support shaft 33 via a bearing 37, and a plurality of (three) arc-shaped lead grooves 36 a are formed on one end of the lead groove member 36. It is formed at an equiangular position on the circumference that is concentric with the center. Each of the lead grooves 36a is engaged with an engaging pin 35a projecting from the parent nail 35. When the lead groove member 36 is rotated, a plurality of lead pins 36a and the engaging pin 35a are interposed. The parent claw 35 is synchronously moved in the radial direction along the guide groove 32a. A cylindrical master piece 38 is attached concentrically to the fixed support shaft 33 at the tip of the fixed support shaft 33. The master piece 38 is processed with high accuracy into a predetermined outer diameter in advance while measuring the size using a high-precision measuring device.

  A gripping claw 47 for gripping the workpiece W is fixed to each of the plurality of parent claws 35 by a bolt (not shown) so that the position thereof can be adjusted. A gripping surface 47 a for gripping the outer periphery of the workpiece W is formed on the gripping claws 47. ing. FIG. 3 shows a state where the gripping claws 47 are removed. Inside each gripping claw 47 in the radial direction, a reference surface 47b is formed as a contact portion that can contact the master piece 38, and the position where these reference surfaces 47b contact the outer peripheral surface of the master piece 38 is gripped. The origin of the nail 47 is used. That is, the dimension of the workpiece W gripped by the gripping surface 47a of the gripping claw 47 at the origin of the gripping claw 47 is set to a known dimension, and the actual movement of the workpiece W is based on the relative movement amount of the gripping claw 47 with respect to the origin. The dimensions can be measured.

  A hypoid pinion 40 is integrally attached to the lead groove member 36 by a bolt 41, and a hypoid gear 42 that meshes with the hypoid pinion 40 is rotatably supported by a motor mounting block 43 fixed to the chuck body 31 via a bearing 44. Has been. In the motor mounting block 43, for example, an electric motor 45 made of a stepping motor is installed, and a hypoid gear 42 is integrally coupled to an output shaft 45a of the electric motor 45. The electric motor 45 is connected to an encoder 46 that detects the rotation angle of the electric motor 45, and the position of the gripping claw 47 in the radial direction (coordinate value) by the encoder 46, that is, the processing of the workpiece W gripped by the gripping claw 47. The dimensions can be detected. The encoder 46 is constituted by an incremental encoder as an example.

  2 and 3, reference numeral 48 denotes a regulating member that abuts the end face of the workpiece W and regulates the gripping posture of the workpiece W. The regulating member 48 is provided on the chuck body 31 at a plurality of locations (three locations) on the circumference. ing

  Reference numeral 50 denotes a motor control device that controls the electric motor 45, and the motor control device 50 mainly includes an arithmetic processing device 51, a memory 52, and an interface 53. The memory 52 stores various programs such as a calibration program and various control values necessary for executing these programs.

  Next, the operation in the above configuration will be described. One end of the unprocessed workpiece W is gripped by a gripping claw 47 of the electric chuck 30 of the workpiece transfer device 12 from an unillustrated workpiece mounting table (not shown) provided at a predetermined position, and the traveling platform 25 follows the rail 23 in this state. The loader arm 26 is lowered, and the unprocessed workpiece W gripped by the gripping claws 47 of the electric chuck 30 is positioned at a position corresponding to the front of the spindle 17 of the first machine tool 10. . Subsequently, the electric chuck 30 of the workpiece conveying device 12 is moved forward in the axial direction of the main shaft 17 by the predetermined amount L1 shown in FIG. 4 toward the chuck 28 of the main shaft 17 together with the moving base 27, and the other end of the unprocessed workpiece W is moved. It is inserted into the chuck of the main shaft 17. In this state, the chuck 28 of the main shaft 17 is closed, and the other end of the unprocessed workpiece W is gripped.

  At the same time, the electric motor 45 is driven to open the gripping claws 47 of the electric chuck 30, and the rotation of the electric motor 45 projects into the hypoid gear 42, hypoid pinion 40, the lead groove 36 a formed in the lead groove member 36 and the parent claw 35. It is transmitted to the plurality of gripping claws 47 on the circumference via the provided engagement pins 35a, and each gripping claw 47 is moved in synchronism radially outward along the guide groove 32a to grip the workpiece W. Is released. Thereafter, the electric chuck 30 is moved backward by a predetermined amount L1 in the direction away from the chuck 28 of the main shaft 17 together with the moving base 27, and is returned to the original position by raising the loader arm 26. In this state, the workpiece W is processed. Wait for it to finish.

  When the other end of the unprocessed workpiece W is gripped by the chuck 28 of the spindle 17 of the first machine tool 10, the spindle 17 is rotated and the turret support 19 is advanced toward the spindle 15 to support the turret. The tool on the turret 21 supported by the pedestal 19 performs a predetermined first step processing on the processing portion W1 on the outer periphery of the workpiece W, and the processing portion W1 of the workpiece W is processed to a predetermined processing dimension.

  When the predetermined processing of the processing portion W1 of the workpiece W by the first machine tool 10 is completed, the electric chuck 30 of the workpiece transfer device 12 is positioned again at a position corresponding to the main shaft 17 of the first machine tool 10. Subsequently, in the same manner as described above, the electric chuck 30 is moved in the axial direction of the main shaft 17 together with the moving base 27, and the gripping claws 47 of the electric chuck 30 in the opened state are processed parts W1 of the workpiece W as shown in FIG. It is advanced to the position where it is gripped. At this time, the end surface of the workpiece W is brought into contact with the end surfaces of the plurality of regulating members 48 on the circumference, and the posture of the workpiece W with respect to the electric chuck 30 is accurately maintained.

  In this state, the electric motor 45 is driven in the opposite direction to the above, and the plurality of gripping claws 47 on the circumference are moved synchronously inward in the radial direction along the guide grooves 32a, and the gripping surfaces 47a of the gripping claws 47 are moved. To grip the outer periphery of the workpiece W1 of the workpiece W. In this case, the electric motor 45 is controlled so that the torque acting on the gripping claws 47, that is, the gripping torque (clamping force) of the workpiece W by the gripping claws 47 becomes the set gripping torque value.

  At the same time that the workpiece W1 of the workpiece W is gripped by the gripping claws 47 of the electric chuck 30, the chuck 28 of the main shaft 17 of the first machine tool 10 is released, and in this state, the moving base 27 is separated from the main shaft 17. The workpiece W is detached from the chuck 28 of the main shaft 17. Subsequently, in order to transport the workpiece W processed in the first step by the first machine tool 10 to the second machine tool 11, the traveling platform 25 of the workpiece transport device 12 moves along the rail 23 to the second machine tool 11. To the side.

  While the workpiece W is being transported, the rotation angle of the electric motor 45 that moves the gripping claws 47 is determined based on the position coordinates (radial position) of the gripping claws 47 that grip the processed portion W1 of the workpiece W. Based on the output value of the encoder 46 to be detected, the machining diameter of the machining portion W1 of the workpiece W is measured. As described above, since the processing diameter of the processing portion W1 of the workpiece W can be measured while the workpiece W is being conveyed, the workpiece W can be efficiently processed without causing time loss for the measurement of the workpiece diameter. It becomes like this. Further, when the workpiece diameter is measured, the workpiece W is gripped by the gripping claws 47 with a constant gripping torque, and the posture of the workpiece W with respect to the electric chuck 30 is accurately held by the regulating member 48. And it becomes possible to measure with high accuracy.

  The workpiece W conveyed to the second machine tool 11 side is inserted into the chuck of the main spindle 18 of the second machine tool 11 and held by the chuck of the main spindle 18 in the same manner as described in the first machine tool 10. The Then, the work W is subjected to the second process by the tool of the turret 22 supported by the turret support 20 of the second machine tool 11, and the work W that has completed the second process is processed by the work conveying device 12. It is carried out to a processed workpiece mounting table (not shown).

  If a pair of loader arms 26 each provided with an electric chuck 30 is provided in the workpiece transfer device 12, it is possible to grip an unmachined workpiece and a machined workpiece at the same time. The machined workpiece W can be carried out and the unmachined workpiece W can be carried into the machine tools 10 and 11 continuously, greatly reducing the stop time of the machine tools 10 and 11 for loading the workpiece W. It becomes possible to decrease.

  By the way, since the encoder 46 for detecting the position of the gripping claw 47 of the electric chuck 30 is composed of an incremental encoder, the position information of the gripping claw 47 is lost as the power of the machine is turned down. The machining diameter of the machining part W1 of the workpiece W cannot be measured. For this reason, every time the machine is turned on, the start of the origin setting program is commanded. Further, if the machine tools 10 and 11 are continuously operated for a long time, the machining dimension of the workpiece W may not be maintained within a predetermined dimensional tolerance due to the influence of thermal displacement or the like. In addition, the start of a coordinate calibration program for calibrating the coordinate position of the gripping claw 47 is instructed. The processing operation of the arithmetic processing unit 51 of the motor control device 50 that executes the origin setting program and the coordinate calibration program will be described below based on the flowcharts of FIGS. 5 and 6.

  When the start of the origin setting program is instructed, as shown in FIG. 5, first, in step S102, the electric motor 45 is driven in one direction, and the plurality of gripping claws 47 are moved inward in the radial direction. Next, in step S104, it is determined whether or not the output of the encoder 46 has changed and the torque (contact torque) T1 acting on the gripping claws 47 has become larger than a preset set torque T0. Until the gripping claw 47 comes into contact with the reference surface 47b, the output of the encoder 46 changes and the torque T1 acting on the gripping claw 47 does not become larger than the set torque T0. Therefore, the determination result in step S104 is NO is returned to step S102, and the driving of the electric motor 45 is continued. As shown in FIG. 7, the reference surface 45 b of the gripping claw 47 abuts on the outer peripheral surface of the master piece 38 to stop the movement of the gripping claw 47 and acts on the gripping claw 47 due to an increase in the load current of the electric motor 45. When it is detected that the torque T1 is greater than the set torque T0, the determination result in step S104 is YES, and the process proceeds to step S106.

  In step S106, the output value of the encoder 46 when the torque T1 acting on the gripping claws 47 becomes larger than the set torque T0 is set to the origin (zero point), and the workpiece W is set as described above with reference to this origin. Dimensional measurements are performed.

  On the other hand, when the start of the coordinate calibration program is instructed, step S112 and step S114 similar to step S102 and step S104 in the first embodiment described above are executed as shown in FIG. If the decision result in the step S114 is YES, the process advances to a step S116, and in the step S116, the position coordinate value of the gripping claw 47 when the torque T1 acting on the gripping claw 47 becomes larger than the set torque T0, that is, the encoder The position coordinate value of the gripping claw 47 detected by 46 is read. Next, in step S118, a difference between the read actual position coordinate value and a predetermined reference coordinate value is calculated. In step S120, it is determined whether or not the calculated difference is smaller than a predetermined allowable value. To be judged. If the difference is smaller than the allowable value, that is, if calibration is not necessary, the determination result in step S120 is YES and the program is returned. However, if the difference is larger than the allowable value (determination result NO), the process proceeds to step S122, where the difference is stored as a tool offset value, and a corrective action such as offsetting the tool position is executed. As a result, the workpiece W is always maintained within a predetermined dimensional tolerance regardless of the influence of thermal displacement or the like.

  According to the above-described embodiment, since the gripping claws 47 share both the gripping function for gripping the workpiece W and the measurement function for measuring the dimensions of the workpiece W, the number of parts can be reduced, Since the master piece 38 is built in the electric chuck 30, the configuration for calibrating the coordinate position of the gripping claws 47 can be simplified, the operation cycle time can be shortened, and the calibration process can be performed efficiently. . In addition, since the workpiece dimensions can be measured while the workpiece W is being conveyed, the workpiece W can be processed efficiently without causing a time loss for measuring the workpiece dimensions.

  According to the above-described embodiment, since the position of the gripping claw 47 is controlled by the electric motor 45 until the torque acting on the gripping claw 47 becomes a certain value or more, the workpiece dimensions are measured with high accuracy. In addition, the coordinate position of the gripping claw 47 can be calibrated with high accuracy, and the workpiece dimensions can be stably maintained over a long period of time regardless of the influence of thermal displacement or the like.

  In the above-described embodiment, an incremental encoder is used as the encoder 46. However, an absolute encoder that measures the position of the gripping claw 47 as an absolute value can also be used as the encoder. In this case, in the above-described embodiment, The program operation for setting the origin of the encoder 46 when the power is turned on is not necessary.

  Further, in the above-described embodiment, while the workpiece W processed by the first machine tool 10 is conveyed to the second machine tool 11, the processing dimension of the workpiece W is measured. Two machine tools are not necessarily essential components, and can be applied to, for example, a workpiece transfer device that transfers a processed workpiece W between one machine tool and a workpiece carry-out unit. .

  Further, the workpiece conveying device 12 is for transferring the workpiece W directly to and from the spindle chuck 28 of the machine tool and conveying the workpiece W processed by the machine tool to a temporary receiving table. In that case, the workpiece W may be gripped and transported from the provisional cradle.

  In particular, when the workpiece W is directly transferred between the electric chuck 30 of the workpiece conveying device 12 and the spindle chuck 28 of the machine tool, the electric chuck 30 flows to the mounting flange 27a on the workpiece conveying device 12 side. It is preferable to support the workpiece so that it can be chucked. By doing so, the workpiece W can be easily transferred.

  Thus, the specific configuration described in the above-described embodiment is merely an example of the present invention, and the present invention is not limited to such a specific configuration. Of course, various embodiments can be employed without departing from the scope.

It is the schematic of the workpiece conveyance apparatus provided with the electric chuck with a measurement function which shows embodiment of this invention. It is sectional drawing which shows the structure of the electric chuck | zipper of a workpiece conveyance apparatus. FIG. 3 is a cross-sectional view taken along line 3-3 in FIG. 2. It is a figure which shows the delivery state of the electromagnetic chuck of a workpiece conveyance apparatus, and the spindle chuck of a machine tool. It is a figure which shows the flowchart at the time of an origin setting. It is a figure which shows the flowchart at the time of calibration. It is an operation state diagram of the electric chuck showing the operation of the electric chuck at the time of origin setting and coordinate calibration.

Explanation of symbols

  10, 11 ... Machine tool, 12 ... Work transfer device, 15, 16 ... Spindle table, 17, 18 ... Spindle, 21, 22 ... Turret, 28 ... Chuck, 30 ..Electric chuck, 32... Face plate, 33... Fixed support shaft, 35... Master claw, 36... Lead groove member, 38. -Electric motor, 46 ... encoder, 47 ... gripping claw, 47a ... gripping surface, 47b ... contact part (reference surface), W ... work.

Claims (4)

In a workpiece conveyance device that conveys a workpiece processed by a machine tool, the workpiece conveyance device includes an electric chuck, and the electric chuck includes a plurality of radially movable gripping claws for gripping the workpiece, and the gripping An electric motor capable of controlling the position of the claw, an encoder for detecting a rotation angle of the electric motor and measuring a workpiece dimension based on the rotation angle, and a master piece provided at the center of the electric chuck, A workpiece conveying apparatus provided with an electric chuck with a measuring function , wherein a reference surface capable of contacting the master piece is formed on the inner side in the inner diameter direction of the gripping claw . Oite to claim 1, wherein the electric motor, the workpiece transport device having an electric chuck with measuring function, characterized in that the torque acting on the gripping claws is positioned controls the gripping claws until the above set gripping torque value . 3. The measurement function according to claim 1 , wherein the encoder is calibrated by bringing the contact portion of the gripping claw into contact with the master piece by the electric motor arbitrarily or at predetermined time intervals. Work transfer device with an attached electric chuck. 3. The encoder according to claim 1 , wherein the encoder is an incremental encoder, and when the power of the machine tool is turned on, the contact portion of the gripping claw is brought into contact with the master piece by the electric motor. A workpiece transfer apparatus provided with an electric chuck with a measuring function.

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