JP6983399B2 - Work transfer system - Google Patents

Description

The present invention relates to a work transfer system, and particularly relates to a high-speed transfer system.

Some machine tools are equipped with a transfer device such as a gantry loader for the purpose of delivering the work.
Conventionally, the transfer system is as shown in FIG.
For example, when the work is gripped outside the machine and delivered to the spindle of the machine tool or the like, the transport hand 1 holding the work (not shown) first moves toward the inside of the machine in the Z-axis direction, and then Z. The axial movement switches from high speed (V _Z ) to deceleration (V _{Z 1} ), the Z axis movement is completed, and after stopping (V _{Z 2} ), the transport hand 1 moves downward in the Y axis direction.
At this time, when the operation start instruction of the Y-axis direction is output, through the step of moving speed increases (V _Y1) from the stop state (V _Y2), moves to the high-speed movement (V _Y).
In this case, the movement is slow between the first step in which the movement in the Z-axis direction is completed and the second step in which the movement in the Y-axis direction is started, and the loss time (T) makes it appear as if the movement is stopped. There was a problem that _{O) occurred.}

Patent Document 1 discloses a machine tool to which a gantry loader is attached, and has a traveling body capable of traveling along a rail and a vertical movement mechanism attached to the traveling body.
However, the publication does not specifically describe how to switch between running and vertical movement.

Japanese Unexamined Patent Publication No. 2014-47010

An object of the present invention is to provide a high-speed transfer system for workpieces and a machine tool equipped with the same.

The work transfer system according to the present invention is a work transfer system having movement control means for two or more of the X, Y, and Z axes, respectively, when the work is transferred to a target position. It is characterized by having a step in which another axial movement is started before the step in which the axial movement is completed.
Here, one axial direction means one axial direction.

In this specification, for convenience, the left-right direction is described as the Z-axis direction, the vertical direction is described as the Y-axis direction, and the front-back direction of the paper is described as the X-axis direction. May be defined.

In the present invention, the start command of the other axial movement operation may be output when one axial movement operation is switched from high speed operation to deceleration or during deceleration.
Further, it is also possible to have a means for detecting the position coordinates during transportation of the work, and a stop control means for automatically stopping the transportation when there is a possibility that the work may invade the set interference region.

In the work transfer system of the present invention, in the two-step movement control in the two-axis direction or the three-step movement control in the three-axis direction, the continuous movement control is performed so that the movement operations in the respective axial directions partially overlap. High-speed transfer is possible compared to the movement control for each step.
It is also possible to obtain a machine tool equipped with such a transfer system.

An example of the transport system according to the present invention is shown. The conventional work transfer method is shown.

FIG. 1 shows a configuration example of a work transfer system according to the present invention.
In FIG. 1, the machine tool is not shown, and the machine tool, for example, a lathe or a multi-tasking machine thereof, is provided with a transfer device such as a gantry loader.
FIG. 1A shows a transport hand 1 that grips and transports the work of the gantry loader.
In this embodiment, the first chuck portion 1a for delivering the work to the machine tool and the second chuck portion 1b for transporting the work to the outside of the machine tool are provided.
Further, an interference region 2 for preventing interference with the headstock, the tool post, or the like of the machine tool is set so that the moving position on the coordinates of the work can be recognized.

FIG. 1A shows an example in which the work is moved in the Z-axis direction as the first step and then moved in the Y-axis direction as the second step in the middle. In addition to the direction, the movement switching in the three-axis direction can be constructed in the same manner.
A graph of time-speed when switching from the first step to the second step is shown in FIG. 1 (b).
The transport hand 1 that has moved at high speed (V _{1 ) in the Z-axis direction decelerates V 11} by a stop command via a deceleration command as necessary in preparation for switching the movement in the Y-axis direction.
At the start of the deceleration V ₁₁ or after the deceleration to a predetermined speed (detecting the speed or the elapsed time), the operation start command of the second step in the Y-axis direction is output.
As a result, the moving speed in the Y-axis direction increases (V ₃₁ ) and switches to high speed (V _3).
Therefore, as shown in the graph of FIG. 1 (b), the speed component in the Z-axis direction, the overlapping interval V ₄ where the Y-axis velocity components are overlapped is generated.
This movement is synthesized and appears as a movement of _{(V 2).}
As a result, the movements in the biaxial direction or the triaxial direction are switched while overlapping, and high-speed transport is possible.

In this embodiment, the interference region 2 is set as shown in FIG. 1 (a), and when the position detecting means of the work (conveying hand) causes the work to enter the interference region, the transport device causes the transport device. It stops safely and the alarm sounds.

1 Transport hand 2 Interference area

Claims (1)

A work transfer system consisting of a gantry loader equipped with movement control means for two or more of the X, Y, and Z axes.
The gantry transfer hand grips the workpiece with the loader, when conveying to the target position, have a another step of axial movement is started before the moving operation is completed steps of one of the axial ,
Or during deceleration when the moving operation of the prior SL one axial is switched to deceleration from a high speed operation,
The start command of the other axial movement operation is output, and the command is output.
Has a detection means coordinates in the transport of the pre-Symbol workpiece,
Word over click transport system, characterized in that the transport and the workpiece is set interference region may occur to penetrate is automatically stopped, and a stop control means for alarm sounds.

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