JP5843452B2 - Robot and workpiece machining system - Google Patents

Description

  The present invention relates to a robot for attaching / detaching a workpiece and a machining unit to / from a machining apparatus, and a workpiece machining system using the robot.

  For example, in an automobile differential case in which a differential gear mechanism is accommodated, an inner flat surface that is the back side of a pair of side gears and an inner spherical surface that is in sliding contact with the back surfaces of a pair of pinion gears that mesh with the side gears are processed with high accuracy. Is required to do. By the way, in the integral differential case having a hollow shape, the inner plane and the inner spherical surface cannot be processed by inserting the cutter attached to the main shaft from the outside of the differential case. For this purpose, for example, as described in Patent Document 1, the machining unit is inserted into the differential case, and the tool supported by the machining unit is moved in the axial direction and the radial direction of the differential case, so A processing unit supply device that processes the spherical surface and removes the processing unit from the differential case after processing is required.

  On the other hand, this type of apparatus also requires a workpiece transfer robot for attaching the differential case to the spindle chuck.

JP 2006-272468 A

  Conventionally, since it is necessary to provide the machining unit supply device and the workpiece transfer robot separately, there is a problem that the machining system becomes large and costs increase.

  The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide a robot and a workpiece machining system in which a hollow workpiece and a machining unit can be attached to and detached from a machining apparatus by a robot. It is.

In order to solve the above-mentioned problem, the feature of the invention according to claim 1 is that a spindle base that rotatably supports a spindle that rotationally drives a hollow work, and a tailstock arranged to face the spindle base, A machining unit that holds the tool movably in the radial direction and is inserted into the hollow workpiece; and a machining unit that is provided on the spindle stock and the tailstock so as to be movable forward and backward, and is inserted into the hollow workpiece. A pair of unit holding arbors that are non-rotatably clamped from both sides, an axial direction moving means for moving the processing unit in the axial direction by cooperation of the pair of unit holding arbors, and the processing unit through the one unit holding arbor A robot used in a machining apparatus for machining an inner surface of a hollow workpiece, comprising a radial movement means for moving the tool held in a radial direction, Robot, a vertically movable lifting member, a holding member which is pivotally supported about a horizontal axis on the lifting member includes a workpiece holding portion by the holding member, comprises a unit gripper to the lifting body, the The hollow workpiece and the processing unit are attached to and detached from the processing apparatus by a robot .

The invention according to claim 2 is characterized in that a spindle head that rotatably supports a spindle for rotating a hollow workpiece, a tailstock disposed opposite to the spindle table, and a tool that can be moved in a radial direction. And a pair of processing units that are inserted into the hollow workpiece and are rotatably provided on the headstock and the tailstock, respectively, and that are inserted in the hollow workpiece so as not to be rotatable from both sides. The unit holding arbor, the axial movement means for moving the machining unit in the axial direction by cooperation of the pair of unit holding arbors, and the tool held by the machining unit through the one unit holding arbor. A robot for use in a processing apparatus for processing an inner surface of a hollow workpiece, comprising a radial direction moving means for moving in a direction, wherein the robot is the processing apparatus The hollow and the workpiece and which removably said processing unit, said processing unit, said hollow second processing apparatus for processing the inner surface of the workpiece, the pre-processing the hollow workpiece to the machining apparatus of the second 1 processing apparatus is arranged in parallel, and the robot is shared by the first processing apparatus and the second processing apparatus.

Feature of the invention according to claim 3, in claim 2, by using the processing unit arranged in juxtaposed table between said first processing device and the second processing device is there.

A feature of the invention according to claim 4 is that, in claim 2, the processing unit disposed on a pedestal disposed in the machine of the processing apparatus is used.

A feature of the invention according to claim 5 is that, in any one of claims 1 to 4 , the work gripping part and the unit gripping part are formed of gripping claws.

The invention according to claim 6 is characterized in that a spindle head that rotatably supports a spindle for rotationally driving a hollow workpiece, a tailstock disposed opposite to the spindle table, and a tool that can move in a radial direction. And a pair of processing units that are inserted into the hollow workpiece and are rotatably provided on the headstock and the tailstock, respectively, and that are inserted in the hollow workpiece so as not to be rotatable from both sides. The unit holding arbor, the axial movement means for moving the machining unit in the axial direction by cooperation of the pair of unit holding arbors, and the tool held by the machining unit through the one unit holding arbor. And a processing device for processing the inner surface of the hollow workpiece, and the processing device includes the hollow workpiece and the processing. And a robot for releasably knit, the robot comprises a vertically movable lifting member, a holding member which is pivotally supported about a horizontal axis on the lifting member includes a workpiece holding portion by the holding member, wherein This is because the lifting / lowering body is provided with a unit gripping portion .

According to the first aspect of the present invention, the robot includes an elevating body that can be moved up and down, and a holding body that is supported by the elevating body so as to be pivotable about a horizontal axis, and the holding body includes a workpiece gripping portion. Since it has a unit gripping part and attaches and detaches the hollow workpiece and the machining unit to and from the machining device by a robot, the robot can attach and detach the hollow workpiece to and from the machining device and the hollow workpiece held by the machining device. The processing unit can be attached to and detached from the machine, thereby simplifying the configuration and reducing the cost.
In addition, according to the first aspect of the present invention, the workpiece gripping portion and the unit gripping portion can be indexed to the attachment / detachment position by turning the holding body, and the attachment / detachment of the hollow workpiece and the attachment / detachment of the machining unit can be performed quickly. In addition, the holding body may be provided with an operating device for operating the workpiece gripping portion, and the configuration of the holding body can be simplified.

According to the invention which concerns on Claim 2 , the 1st processing apparatus which pre-processes a hollow work, and the 2nd processing apparatus which processes the inner surface of a hollow work are arranged in parallel, The 1st processing apparatus and 2nd processing Since the robot is shared by the apparatus, the hollow workpiece is attached to and detached from the first machining apparatus, the hollow workpiece is attached to and detached from the second machining apparatus, and the hollow workpiece is supported by the second machining apparatus. These processing units can be attached and detached by a common robot.

According to the third aspect of the invention, the robot uses the first processing device disposed on the pedestal arranged in parallel between the first processing device and the second processing device. The processing unit can be gripped by the mounting base while moving between the second processing apparatus and the second processing apparatus.

According to the invention which concerns on Claim 4 , since the said processing unit arrange | positioned in the mounting base arrange | positioned in the machine of the processing apparatus is used for the mounting base holding a processing unit, space saving can be achieved.

According to the fifth aspect of the present invention, since the workpiece gripping portion and the unit gripping portion are formed of gripping claws, the hollow workpiece and the machining unit can be gripped by opening and closing the gripping claws.

According to the invention which concerns on Claim 6 , It is provided with the processing apparatus which processes the inner surface of a hollow workpiece | work, and the robot which attaches / detaches a hollow workpiece | work and a processing unit to a processing apparatus, and a robot is a raising / lowering body which can be raised / lowered, and an elevator body A holding body supported so as to be pivotable around a horizontal axis, a work gripping part on the holding body, and a unit gripping part on the lifting body, so that the hollow work can be attached to and detached from the processing device by one robot. The machining unit can be attached to and detached from the hollow workpiece held by the machining apparatus, a compact workpiece machining system can be constructed, and the cost of the workpiece machining system can be reduced.

It is a front view showing the whole work processing system concerning a 1st embodiment of the present invention. FIG. 2 is a view taken along the line 2-2 in FIG. It is a perspective view which shows the holding part of a robot. It is a figure which shows the whole processing apparatus which processes the inner surface of a hollow workpiece. FIG. 5 is an enlarged cross-sectional view of a main part of FIG. 4. It is sectional drawing cut | disconnected along 6-6 line | wire of FIG. 5, The state which inserted the processing unit in the hollow workpiece | work is shown. It is sectional drawing cut | disconnected along the 7-7 line | wire of FIG. It is sectional drawing which shows the processing state by a different processing unit. It is a front view showing the whole work processing system concerning a 2nd embodiment of the present invention. It is a figure which shows the robot which concerns on the 3rd Embodiment of this invention. It is the figure seen from the arrow 11 direction of FIG. It is a figure which shows the holding part of the robot which concerns on the 4th Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the shape of the hollow workpiece, that is, the differential case W will be described with reference to FIGS. The hollow work (difference case) W includes concentric support holes W1 and W2 for supporting a pair of side gears, inner planes W3 and W4 on the back side of the side gears, and a pair of pinion gears engaged with the side gears, respectively. Concentric support holes W5 and W6 to be supported and arcuate inner curved surfaces W7 and W8 which are the back sides of the pinion gears.

  Further, the hollow work W is formed with an opening window W9 for incorporating the side gear and the pinion gear in a direction orthogonal to the support holes W5 and W6 for supporting the pair of pinion gears. As will be described later, the hollow workpiece W is positioned and clamped by a positioning pin and a clamp device so that the centers of the support holes W1 and W2 coincide with the center of the main shaft, and is inserted from the opening window W9 of the hollow workpiece W. The inner planes W3 and W4 and the inner curved surfaces W7 and W8 are turned by the machining units 40 and 50 (see FIGS. 5 and 8). FIG. 6 shows a state in which the machining unit 40 is inserted through the opening window W9 of the hollow workpiece W.

  FIG. 1 is an overall view showing an example of a workpiece machining system 100. The workpiece machining system 100 has two machining devices 110 and 120 arranged in parallel in the left-right direction of FIG. The first processing apparatus 110 mainly processes the support holes W1, W2, W5, W6 and the like serving as a processing reference prior to processing the inner surface of the hollow workpiece W, and a detailed configuration is omitted. On the bed 111, a processing unit 113 surrounded by four sides by a cover 112 is provided, and a shutter for carrying the workpiece W into the machine is provided on the ceiling of the cover 113 (not shown). .

  On the other hand, the second processing device 120 is for processing the inner surface of the hollow workpiece W, and will be described in detail later. However, like the first processing device 110, the second processing device 120 has four directions on the bed 121 by a cover 122. Although not shown in the figure, a shutter for carrying the hollow workpiece W and a processing unit for processing the inner surface thereof into the machine is provided on the ceiling portion of the cover 122.

  Between the first processing device 110 and the second processing device 120, a unit table 130 for holding two types of processing units 40 and 50 for processing the inner surface of the hollow workpiece W is disposed. The unit table 130 stores a plurality of spare processing units 40 and 50 so that they can be replaced when the tools of the processing units 40 and 50 are worn. In addition, on the opposite side of the first processing apparatus 110 from the unit mounting table 130, an unprocessed workpiece mounting table 131 that holds the hollow workpiece W to be processed by the two processing apparatuses 110 and 120 is disposed. On the opposite side of the 120 unit mounting table 130, a processed workpiece mounting table 132 that holds the hollow workpiece W processed by the two processing apparatuses 110 and 120 is disposed.

  In the following, for convenience of explanation, the parallel arrangement direction (left and right direction in FIG. 1) of the first and second processing devices 110 is the Z axis direction, the horizontal direction perpendicular thereto is the X direction, and the vertical direction is the Y axis direction. And

  Above the first and second processing devices 110 and 120, a support rail supported by a plurality of columns 141 across the first and second processing devices 110 and 120 and the plurality of mounting tables 130, 131, and 132. 142 is constructed in the Z-axis direction. The robot 140 is supported on the support rail 142 so that the robot 140 can be conveyed in the Z-axis direction.

  The robot 140 attaches / detaches the hollow workpiece W to / from the first and second processing devices 110, 120, and attaches / detaches the processing units 40, 50 to / from the hollow workpiece W held by the second processing device 120. To do.

  2 and 3, the robot 140 includes a transport body 143 movably supported by a Z-axis guide rail 142 a provided on the support rail 142 and a Y-axis guide rail provided on the transport body 143. A lifting body 144 supported by 143a so as to be movable up and down (up and down movement), a holding body 145 supported at the lower end of the lifting body 144 so as to be pivotable around the X axis axis, and a horizontal axis (X axis) on the holding body 145 There are gripping portions 146a, 146b, 146c, and 146d made of four gripping claws provided on the four surfaces centering on the top and bottom. The four gripping portions 146a to 146d are configured as workpiece gripping portions for gripping the hollow workpiece W, two (146c, 146b) facing in the diametrical direction, and two (146c, 146d) is configured as a unit gripping part for gripping the processing units 40, 50.

  A rack 147 is installed on the support rail 142 in parallel with the support rail 142, and a pinion 148 meshing with the rack 147 is rotated by a transport motor 149 provided on the transport body 143, so that the transport body 143 is supported by the support rail 142. 142 is moved along. The elevating body 144, the holding body 145, and the gripping portions 146a to 146d are moved up and down, turned, and opened and closed by respective drive sources (not shown).

  Next, a specific configuration of the second processing apparatus 120 that processes the inner surface of the workpiece (difference case) W will be described with reference to FIGS. 4 and 5. A headstock 11 and a tailstock 12 are installed on the bed 121 of the second processing apparatus 120 so as to face each other. The headstock 11 is fixed on a bed 121, and the tailstock 12 is mounted on a guide base 13 provided on the bed 121 so as to be able to advance and retreat in the Z-axis direction. The tailstock 12 is moved forward and backward in the Z-axis direction by a servo motor 14 via a ball screw (not shown), and the amount of movement is detected by an encoder 14 a connected to the servo motor 14.

  As shown in FIG. 5, a fixed shaft 20 is fixed to the head stock 11 in the Z-axis direction. A cylindrical main shaft 21 is rotatably supported on the outer periphery of the fixed shaft 20 and is driven to rotate by a main shaft driving motor 22. A main shaft surface plate 21 a is attached to the tip end portion of the main shaft 21, and the hollow workpiece W is positioned on the main shaft surface plate 21 a in the rotational direction by a positioning pin 23 and clamped by a pin arbor chuck 24. As is well known, the pin arbor chuck 24 is provided with a plurality of (for example, three) pin arbors 24a on the circumference so as to be movable in an inclined direction. The outer periphery of the hollow workpiece W is clamped while being pressed against the reference surface of the main shaft plate 21a. However, as the chuck 24, a clamp device having another configuration such as a three-claw chuck can be used.

  A unit holding arbor 25 is inserted through the center of the fixed shaft 20 by a key member 26 so as to be movable only in the Z-axis direction. It is advanced and retracted by the drive device 27. The unit holding arbor 25 passes through the support hole W <b> 1 of the hollow workpiece W, and the tip is inserted into the hollow portion of the hollow workpiece W. At the tip of the unit holding arbor 25, a tapered polygonal surface 25a that fits into the processing units 40, 50 is formed.

  A cylindrical unit holding arbor 31 is fixed to the tip of the tailstock 12 concentrically with the unit holding arbor 25. The unit holding arbor 31 penetrates the support hole W2 of the hollow workpiece W, and the tip is It is inserted into the hollow part of the hollow work W. A tapered surface 31 a that fits into the processing units 40 and 50 is formed at the tip of the unit holding arbor 31. A driving shaft 30 is rotatably supported on the tailstock 12. A crank 33 is attached to the rear end of the drive shaft 30, and a cam follower 34 that is eccentric by a predetermined amount with respect to the axis of the drive shaft 30 is provided on the crank 33.

  An X-axis slide 35 is guided on the tailstock 12 so as to be slidable in a horizontal X-axis direction orthogonal to the Z-axis direction. The X-axis slide 35 is formed with an engagement hole 35a that engages with the cam follower 34, and the engagement hole 35a is elongated in the vertical direction (Y-axis direction) perpendicular to the X-axis direction as shown in FIG. Yes. The X-axis slide 35 is moved in the X-axis direction by a servo motor 36 (see FIG. 4) via a ball screw mechanism (not shown), and the amount of movement is detected by an encoder 36a connected to the servo motor 36. As a result, the linear motion of the X-axis slide 35 by the servo motor 36 is converted into an arc motion of the cam follower 34 and transmitted to the drive shaft 30.

  A driver 32 is supported at the tip of the drive shaft 30 so as to be relatively movable by a predetermined amount in the axial direction with its rotation restricted. The driver 32 penetrates through the unit holding arbor 31 and the tip protrudes from the unit holding arbor 31, and a square engagement portion 32a is formed at the protruding end. The driver 32 is normally held at the forward end position by the spring force of a spring (not shown) provided between the driver 32 and the drive shaft 30.

  The first processing unit 40 is inserted into the hollow portion from the opening window W9 of the workpiece W to process the inner planes W3 and W4, and the second processing unit 50 is an opening window W9 of the workpiece W. The inner curved surfaces W7 and W8 are processed by being inserted into the hollow portion.

  As shown in FIGS. 5 and 8, the unit holding arbor 25 is formed at one end on the central axis O <b> 1 of each of the unit main bodies 41 and 51 of the first and second processing units 40 and 50. Polygonal taper holes 41a and 51a that engage with the tapered polygonal surface 25a are formed. Further, the other end on the central axis O1 of each of the unit main bodies 41, 51 of the first and second processing units 40, 50 is a taper that fits into a tapered surface 31a formed at the tip of the unit holding arbor 31. Holes 41b and 51b are formed.

  As shown in FIGS. 5 and 6, a tool 42 is held in the unit main body 41 of the first processing unit 40 so as to be movable in the radial direction, and one end of the tool 42 protrudes from the unit main body 41 to the outside. A tool 43 having throwaway tips 43a and 43b attached to both ends is fixed to one end of the tool. The cutting tool 43 is deviated by a predetermined amount in the radial direction from the center axis O1, and the inner planes W3 and W4 of the workpiece W can be sequentially turned by the throwaway tips 43a and 43b by the radial movement of the tool 42.

  An eccentric pin 45 penetrating the tool 42 is rotatably accommodated on the central axis O1 at the center of the unit main body 41. The eccentric pin 45 is provided with an eccentric portion 45a that engages with an engagement surface of an engagement hole 42a formed in the tool 42, and the tool 42 is moved in the radial direction by the circular motion of the eccentric portion 45a due to the rotation of the eccentric pin 45. It is supposed to move. A spring 46 is inserted between the tool 42 and the unit main body 41 so that the engaging surface of the engaging hole 42a always abuts against the eccentric pin 45. One end of the eccentric pin 45 is formed with a square hole 45 b that engages with the square engaging portion 32 a of the driver 32, and the eccentric pin 45 is rotated by the rotation of the driver 32.

  Thus, the linear motion of the X-axis slide 35 is converted into the circular motion of the cam follower 34 and transmitted to the drive shaft 30, and the circular motion of the eccentric pin 45 due to the rotation of the drive shaft 30 is converted into the linear motion of the tool 42. By doing so, the tool 42 can be operated in the same manner as the movement of the X-axis slide 35. The cam follower 34 and the eccentric pin 45 have different arc radii, and the cam follower 34 has a larger arc radius, so that the movement of the X-axis slide 35 is transmitted to the tool 42 in a contracted manner.

  The servo motor 36, the X-axis slide 35, the cam follower 34, the drive shaft 30, the driver 32, the eccentric pin 45, and the like constitute radial moving means 47 that moves the tool 42 in the radial direction.

  The axial direction in which the machining unit 40 is moved in the axial direction by the servo motor 14, the ball screw (not shown), the tailstock 12, the unit holding arbor 31, the unit holding arbor 25, the arbor advance / retreat drive 27, and the like. The moving means 48 is comprised.

  On the other hand, as shown in FIG. 8, the second machining unit 50 has the same basic configuration as the first machining unit 40 described above, except that the tool 52 has inner curved surfaces W7, W8. The throw-away tip 52a for turning is attached directly with the cutting edge surface in the radial direction. Since the other points are the same, the same components are denoted by the same reference numerals and description thereof is omitted.

  The first and second processing units 40 and 50 are gripped by the unit gripping portions 146c and 146d of the robot 140 described above, and inserted into the hollow portion of the hollow workpiece W through the opening window W9 of the hollow workpiece W.

  Next, the control device 70 will be described. In FIG. 4, the control device 70 includes a central processing unit (CPU) 71, a memory 72, and interfaces (I / F) 73 and 74. An interface (I / F) 73 is connected to an input / output device 75 for inputting control parameters necessary for NC control and an NC program.

  The interface (I / F) 74 is connected to servo motor drive units (DUZ, DUX) 77 and 78 and a spindle drive unit (DUC) 79. The servo motor drive units (DUZ, DUX) 77 and 78 and the spindle drive unit (DUC) 79 receive the command from the central processing unit 71 and drive the servo motors 14 and 36 and the spindle drive motor 22.

  The memory 72 is provided with storage areas for storing control parameters and NC programs input from the input / output device 75, respectively, and the life of the tools 42 and 52 of the machining units 40 and 50 is managed in the storage area. In order to do so, the number of times the machining units 40 and 50 are used in the second machining apparatus 120 is stored. The servo motors 14 and 36 are controlled by deviation between the target position command of the NC program stored in the memory 72 and the current position signal from the encoders 14a and 36a, and control the positioning of the tailstock 12 to the target position in the Z-axis direction. At the same time, the tools 42 and 52 of the first and second machining units 40 and 50 are controlled to be positioned at target positions in the radial direction.

  Next, the operation in the above embodiment will be described. The hollow workpiece (difference case) W is processed by the first processing device 110 into support holes W1, W2, W5, W6 and the like serving as processing standards. The workpiece W that has been subjected to predetermined machining by the first machining device 110 is converted into an inner plane W3 by the first and second machining units 40, 50 that are sequentially inserted into the workpiece W in the second machining device 120. , W4 and inner curved surfaces W7, W8 are processed. Accordingly, in the following, the workpiece W that has been processed by the first processing device 110 is referred to as a workpiece that has completed the primary processing, and the workpiece W that has been processed by the second processing device 120 has been subjected to the secondary processing. It will be distinguished as a workpiece.

  The workpiece W to be processed by the first processing apparatus 110 is manually or automatically transferred to the unprocessed workpiece table 131 by the transfer device, and the workpiece W transferred to the unprocessed workpiece table 131 is a robot. It is gripped by one workpiece gripping portion 146a. The robot 140 that has gripped the workpiece W by the workpiece gripping portion 146a is moved above the first processing apparatus 110, and at this position, the holding body 145 is turned by 180 degrees around the horizontal axis, and the other empty workpiece is moved. With the posture in which the gripping part 146b is directed downward, it waits until the processing of the workpiece W by the first processing apparatus 110 is completed.

  When the primary processing of the workpiece W is completed by the first processing device 110, the lifting body 144 of the robot 140 is lowered, and the holding body 145 is carried into the first processing device 110 from the shutter provided on the ceiling portion of the cover 113. The Then, the workpiece W that has undergone the primary processing is gripped by the other workpiece gripping portion 146b of the robot 140. Next, the holding body 145 is turned 180 degrees around the horizontal axis, and the unprocessed workpiece W gripped by one workpiece gripping portion 146a is positioned on the chuck center (not shown). In an appropriate state, the unprocessed workpiece W is positioned and clamped by the chuck, and at the same time, the lifting / lowering body 144 of the robot 140 is raised and the workpiece W that has completed the primary processing is carried out from the first processing apparatus 110. Thereafter, the machining of the unmachined workpiece W is started by the first machining apparatus 110.

  In parallel with the processing of the workpiece W by the first processing device 110, in the second processing device 120, the first and second processing units 40, 50 allow the inner planes W3, W4 and the inner curved surface W7, Processing of W8 is performed. For this purpose, the first and second processing units 40 and 50 are gripped in advance from the unit table 130 by the unit gripping portions 146c and 146d of the robot 140, and are alternately carried into the second processing device 120 as will be described later. The

  When the workpiece W that has completed the primary machining is carried out by the robot 140 from the first machining device 110, the robot 140 is moved to a position above the second machining device 120, and the machining by the second machining device 120 is completed. Wait until In this case, in the second machining apparatus 120, the machining of the inner planes W3 and W4 of the workpiece W by the first machining unit 40 has already been completed, and the inner curved surface W7 of the workpiece W by the second machining unit 50, It is assumed that W8 has been processed. Therefore, the holding body 145 of the robot 140 that stands by at the upper position of the second processing apparatus 120 faces the other unit gripping part (empty unit gripping part) 146d for gripping the second processing unit 50 downward. It is indexed to the posture.

  In the second machining apparatus 120, when the machining of the inner curved surfaces W7, W8 of the workpiece W by the second machining unit 50 is completed (secondary machining is completed), the spindle 21 is stopped at a certain angular position, and the center The gantry 12 and the tool 52 are returned to their original positions. In this state, the elevating body 144 of the robot 140 is lowered, and the holding body 145 is carried into the second processing apparatus 120 from the shutter provided on the ceiling portion of the cover 123. Thereby, the other unit gripping part 146d is inserted into the workpiece W through the opening window W9 of the workpiece W, and grips the second processing unit 50. Next, the lifting body 144 of the robot 140 is raised, and the second processing unit 50 gripped by the unit gripping portion 146d is taken out from the workpiece W.

  When the second machining unit 50 is taken out from the workpiece W, the holding body 145 of the robot 140 is then turned 90 degrees around the horizontal axis, and one workpiece gripping portion (empty workpiece gripping portion) 146a is moved downward. Indexed to the angular position that was pointed. Next, the lifting / lowering body 144 of the robot 140 is lowered, and the workpiece W that has been subjected to the secondary processing is gripped by the workpiece gripping portion 146b. At the same time, the clamping of the workpiece W by the chuck 24 is released, and in this state, the robot 140 is shifted by a predetermined amount in the direction in which the holding body 145 is separated from the chuck 24, whereby the workpiece W is detached from the positioning pin 23. In this state, when the holding body 145 of the robot 140 is turned 180 degrees around the horizontal axis, the work (work that has undergone primary processing) W gripped by the other work gripping portion 146b is moved to the center of the chuck 24. Position to position. Thereafter, the workpiece W is shifted by a predetermined amount in the direction opposite to the above by the robot 140, so that the workpiece W is moved to the front end surface of the spindle face plate 21 a while inserting the support hole W 1 into the unit holding arbor 25, and the positioning pin 23. And the pin arbor chuck 24 are positioned and clamped to the tip surface of the main shaft face plate 21a.

  Next, the work gripping part 146a is opened, and the lifting body 144 is lifted, and the work W that has been subjected to the secondary processing gripped by the work gripping part 146a is carried out from the second processing device 120.

  Thereafter, the holding body 145 of the robot 140 is turned 90 degrees, and one unit gripping part 146c that grips the first processing unit 40 is indexed to an angular position directed downward. In this state, when the lifting body 144 of the robot 140 is lowered, the first processing unit 40 gripped by one unit gripping portion 146c is inserted into the hollow portion of the workpiece W through the opening window W9 of the workpiece W. Then, both ends of the first processing unit 40 are sandwiched by the unit holding arbors 25 and 31, and are prevented from rotating. Thereafter, one unit gripping portion 146c is opened, and the lifting body 144 of the robot 140 is moved to the first processing unit. 40 is left in the work W and is lifted.

  Thereafter, the main shaft 21 is rotationally driven by the main shaft driving motor 22, and the workpiece W is rotated. At the same time, the servo motor 14 is driven based on the NC command, the tailstock 12 is moved by a predetermined amount in the left direction in FIG. 5, and the throw-away tip 43a is cut into one inner plane W3. Next, the servomotor 36 is driven based on the NC command, and the X-axis slide 35 is slid by a predetermined stroke (X1) in the X-axis direction. The linear motion of the X-axis slide 35 is converted into the circular motion of the cam follower 34 and driven. The shaft 30 is rotated by a predetermined amount at a predetermined speed. As a result, the eccentric pin 45 is rotated by a predetermined angle by the driver 32, the tool 42 is moved by a predetermined amount in the radial direction at a predetermined speed, and one inner plane W3 is turned by the one throwaway tip 43a.

  When the turning of one inner plane W3 is completed, the servo motor 14 is driven in the opposite direction based on the NC command, and the tailstock 12 is moved by a distance determined in the right direction in FIG. The throw-away tip 43b is cut into the inner plane W4. Next, as described above, the drive shaft 30 is rotated by the servo motor 36, the tool 42 is moved in the radial direction via the driver 32 and the eccentric pin 45, and the other inner plane W4 is moved by the other throw-away tip 43b. Turn.

  As the tailstock 12 and the unit holding arbor 31 move in the Z-axis direction, the unit holding arbor 25 follows the unit holding arbor 31 against the arbor advance / retreat drive device 27 or by the arbor advance / retreat drive device 27. The first processing unit 40 is always held stably at both ends.

  When the machining of the pair of inner planes W3 and W4 is completed, the main shaft 21 is stopped at a certain angular position, the tailstock 12 is returned to the original position in the Z-axis direction, and the tool 42 is returned to the original position in the radial direction. Returned to In this state, the lifting body 144 of the robot 140 is lowered, and one unit gripping portion 146c is inserted into the workpiece W through the opening window W9 of the workpiece W, and grips the first processing unit 40. Thereafter, the unit holding arbor 25 is retracted by the arbor advance / retreat drive unit 27, and the tailstock 12 and the unit holding arbor 31 are retracted by a certain distance by the servo motor 14, and the unit holding arbors 25, 31 and the driver 32 are The tips are separated from the tapered holes 41a and 41b and the eccentric pin 45 of the first processing unit 40, respectively. In this state, the lifting / lowering body 144 of the robot 140 is raised, and the first processing unit 40 gripped by one unit gripping portion 146c is taken out from the workpiece W through the opening window W9.

  Next, the holding body 145 of the robot 140 is turned 180 degrees, and the other unit gripping part 146d that grips the second processing unit 50 is indexed to the angular position directed downward. In this state, the lifting body 144 of the robot 140 is lowered to insert the second processing unit 50 gripped by the other unit gripping portion 146d into the workpiece W through the opening window W9 of the workpiece W. In the same manner as described above, both ends of the second processing unit 50 are clamped by the unit holding arbors 25 and 31 and are prevented from rotating. Thereafter, the other unit gripping portion 146d is opened, and the lifting / lowering body of the robot 140 is lifted. 144 is moved up while leaving the second machining unit 50 in the workpiece W.

  Thereafter, as described above, the spindle 21 is driven to rotate by the spindle drive motor 22 to rotate the workpiece W, and then the tailstock 12 is moved to a predetermined position in the Z-axis direction by the servo motor 14. Then, the rotation of the drive shaft 30 is controlled by the servo motor 36, the tool 52 is moved to a predetermined position in the radial direction, and the throw-away tip 52a is positioned at the machining start point shown in FIG. In this state, the servo motors 14 and 36 are simultaneously controlled based on the NC command, whereby the throw-away tip 52a is moved along the inner spherical surfaces W7 and W8, and the inner spherical surfaces W7 and W8 are simultaneously turned. .

  Thereafter, the robot 140 is moved to a position above the processed workpiece table 132 and carries the workpiece W, which has been subjected to secondary processing, to the processed workpiece table 132.

  Next, the robot 140 is moved to a position above the unprocessed workpiece placing table 131, grips the workpiece W carried on the unprocessed workpiece placing table 131 with one workpiece gripping portion 146 a, and then moves above the first processing apparatus 110. It moves to a position and waits until the processing of the workpiece W by the first processing apparatus is completed at that position. Thereafter, the above-described operation is repeated.

  When the control device 70 detects that the machining units 40 and 50 have been used a predetermined number of times in the second machining device 120, the tools 42 and 52 of the machining units 40 and 50 are worn. As a result, the robot 140 is transported above the unit table 130 and replaced with a spare processing unit.

  According to the first embodiment described above, the hollow workpiece W is attached to and detached from the first and second processing devices 110 and 120 by one robot 140, and the hollow held by the second processing device 120. Since the processing units 40 and 50 can be attached to and detached from the workpiece W, the configuration can be simplified and the cost can be reduced.

  Moreover, according to the first embodiment, the robot 140 is connected to the transport base 143 supported by the support rail 142 so as to be transportable, the lift body 144 supported by the transport base 143 so as to be lifted and lowered, and the lift body 144. Since the holding body 145 is supported so as to be pivotable about the horizontal axis, and the holding body 145 includes the workpiece gripping portions 146a and 146b and the unit gripping portions 146c and 146d, the workpiece gripping portion 146a is turned by the turning of the holding body 145. 146b and the unit gripping portions 146c and 146d can be indexed to the attachment / detachment position, and the attachment / detachment of the hollow workpiece W and the attachment / detachment of the processing units 40, 50 can be performed quickly.

  Next, a second embodiment of the present invention will be described with reference to FIG. In the first embodiment described above, the two processing devices 110 and 120 are arranged side by side so that the robot 140 can be transported across the processing devices 110 and 120. The second embodiment , The processing device is one (processing device 120) for processing the inner planes W3 and W4 and the inner curved surfaces W7 and W8 of the hollow workpiece W, and the unprocessed workpiece table 131 and the processing are processed before and after the processing device 120. This is characterized in that the finished workpiece stage 132 is installed, and a not-illustrated machining unit stage 130 (see FIG. 1) for holding the machining units 40 and 50 is disposed in the machine of the machining apparatus 120. Note that the same components as those described in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the second embodiment, a hollow workpiece (difference case) W in which the support holes W1, W2, W5, and W6 that have been processed in advance are processed is loaded onto the unprocessed workpiece table 131 manually or by an appropriate loading device. The workpiece W loaded on the unmachined workpiece table 131 is loaded into the machining apparatus 120 by the robot 140. Then, the first and second processing units 40 and 50 (see FIGS. 5 and 8) supported by the processing unit table 130 disposed in the processing apparatus 120 are sequentially inserted into the hollow portion of the workpiece W, These processing units 40 and 50 process the inner flat surfaces W3 and W4 and the inner curved surfaces W7 and W8 of the workpiece W. The workpiece W for which the predetermined machining has been completed is carried out to the machined workpiece mounting table 132 by the robot 140.

  10 and 11 show a third embodiment of the present invention, which is different from the first and second embodiments described above in the configuration of the robot 140. Therefore, in the following, differences from the first and second embodiments will be mainly described, and the same components are denoted by the same reference numerals and description thereof will be omitted.

  In the third embodiment, as shown in FIGS. 10 and 11, the hollow workpiece W is mounted on the holding body 145 supported at the tip of the elevating body 144 so as to be pivotable about the horizontal axis (Z axis). The two workpiece gripping portions 151a and 151b that grip the processing units 40 and 50 in a posture parallel to the Z axis are arranged at positions opposed to each other in the diameter direction. Is held on the elevating body 144 with a predetermined distance in the Z-axis direction.

  That is, the two unit gripping portions 151a and 151b are held openably and closably at the distal ends of the operating shafts 153a and 153b that are moved in the vertical direction by the actuators 152a and 152b attached to the lifting body 144. The machining units 40 and 50 gripped by the unit gripping portions 151a and 151b can be inserted into the hollow workpiece W by the vertical movement of 153b.

  According to the third embodiment, since it is only necessary to provide the two gripping portions 146a and 146b around the holding body 145, it is possible to simplify the configuration of the gripping portion opening / closing operation device built in the holding body 145. There is.

  FIG. 12 shows a fourth embodiment of the present invention, in which a pair of workpiece gripping portions 155a and 155b that grip a workpiece W are held by a holding body 145, and the tip portions of these workpiece gripping portions 155a and 155b are held. Unit grips 156a and 156b for gripping the processing units 40 and 50 are integrally provided.

  According to the fourth embodiment, the work gripping portions 155a and 155b and the unit gripping portions 156a and 156b can be opened and closed by the common opening / closing operation device, and the configuration of the robot 140 can be simplified. .

  In the above-described embodiment, the linear motion of the X-axis slide 35 is transmitted to the tools 42 and 52 via the two eccentric mechanisms, and the tools 42 and 52 are moved in the radial direction. The radial moving means 47 for moving the 52 in the radial direction is not limited to the embodiment, and the axial moving means 48 is configured by the tailstock 12 that can move in the Z-axis direction. The movement in the axial direction can take various forms in addition to moving the tailstock itself. Furthermore, although the radial direction movement means 47 was provided in the tailstock 12 side, it can also be provided in the headstock 11 side.

  In the embodiment described above, an example in which two types of inner surfaces (inner planes W3, W4, inner spherical surfaces W7, W8) of the workpiece W are processed using two types of processing units 40, 50 has been described. The present invention can also be applied to one that processes one inner surface using at least one processing unit. Further, the robot is not limited to the self-propelled type, but may be a fixed type that is fixed to the foundation of the flat ground.

  Thus, the specific configurations described in the embodiments are merely examples of the present invention, and the present invention is not limited thereto, and can take various forms without departing from the gist of the present invention. Of course.

  The robot and the workpiece machining system according to the present invention are suitable for use in a machine in which a hollow workpiece is attached to and detached from a machining apparatus, and a machining unit is attached to and detached from a hollow workpiece held by the machining apparatus.

  DESCRIPTION OF SYMBOLS 11 ... Main stand, 12 ... Tailstock, 21 ... Main shaft, 22 ... Main shaft drive motor, 24 ... Clamping device (pin arbor chuck), 25, 31 ... Unit holding arbor, 40, 50 ... Processing unit, 42, 52 ... Tools 47, radial moving means 48, axial direction moving means 110, 120, machining device 140, robot 142, support rails 143 transport table, 144 lift, 144 holder, 146 a, 146 b 146c, 146d ... gripping part, W ... work (differential case), W3, W4 ... inner plane, W7, W8 ... inner curved surface, W9 ... opening window.

Claims (6)

A headstock that rotatably supports a spindle for rotationally driving the hollow work, a tailstock arranged opposite to the headstock, and a tool that is movable in the radial direction and is inserted into the hollow work. A pair of unit holding arbors, which are provided on the headstock and the tailstock so as to be movable forward and backward, and are inserted into the hollow workpiece so as not to be rotatable from both sides, and the pair of units. Axial direction moving means for moving the machining unit in the axial direction by cooperation of a holding arbor, and radial moving means for moving the tool held in the machining unit through the one unit holding arbor in the radial direction A robot used in a processing apparatus for processing an inner surface of a configured hollow workpiece,
The robot includes an elevating body that can be moved up and down, and a holding body that is supported by the elevating body so as to be able to swivel around a horizontal axis.
By the robot, the robot, wherein the benzalkonium be removably said hollow workpiece and the processing unit to the processing device. A headstock that rotatably supports a spindle for rotationally driving the hollow work, a tailstock arranged opposite to the headstock, and a tool that is movable in the radial direction and is inserted into the hollow work. A pair of unit holding arbors, which are provided on the headstock and the tailstock so as to be movable forward and backward, and are inserted into the hollow workpiece so as not to be rotatable from both sides, and the pair of units. Axial direction moving means for moving the machining unit in the axial direction by cooperation of a holding arbor, and radial moving means for moving the tool held in the machining unit through the one unit holding arbor in the radial direction A robot used in a processing apparatus for processing an inner surface of a configured hollow workpiece,
The robot attaches and detaches the hollow workpiece and the machining unit to the machining apparatus,
The processing device is a second processing device that processes the inner surface of the hollow workpiece, the first processing device that pre-processes the hollow workpiece is arranged in parallel with the second processing device, and the robot is A robot that is shared by the first processing apparatus and the second processing apparatus. 3. The robot according to claim 2 , wherein the processing unit disposed on a pedestal arranged in parallel between the first processing device and the second processing device is used. 3. The robot according to claim 2, wherein the processing unit disposed on a pedestal disposed in a machine of the processing apparatus is used. The robot according to any one of claims 1 to 4 , wherein the workpiece gripping portion and the unit gripping portion are gripping claws. A headstock that rotatably supports a spindle for rotationally driving the hollow work, a tailstock arranged opposite to the headstock, and a tool that is movable in the radial direction and is inserted into the hollow work. A pair of unit holding arbors, which are provided on the headstock and the tailstock so as to be movable forward and backward, and are inserted into the hollow workpiece so as not to be rotatable from both sides, and the pair of units. Axial direction moving means for moving the machining unit in the axial direction by cooperation of a holding arbor, and radial moving means for moving the tool held in the machining unit through the one unit holding arbor in the radial direction A processing apparatus configured to process the inner surface of the hollow workpiece;
A robot for attaching and detaching the hollow workpiece and the processing unit to the processing apparatus ;
The robot includes an elevating body that can be moved up and down, and a holding body that is supported by the elevating body so as to be pivotable about a horizontal axis, the holding body includes a workpiece gripping portion, and the lifting body includes a unit gripping portion . A workpiece machining system characterized by this.

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