JP7063198B2 - Door switchgear and machine tools - Google Patents

Description

The present invention relates to a door opening / closing device and a machine tool.

The machine tool is provided with a cover that covers the machine body so that lubricating oil and chips are not scattered around during processing. The cover is provided with a door for taking out the work material on the front so that it can be opened and closed. The work material replacement robot described in Patent Document 1 is provided so as to be laterally movable along the opening / closing direction of the door. The robot is provided with a connecting mechanism for connecting the door when the dog provided on the door is detected by the sensor. When the robot and the door are connected, the door opens and closes due to the lateral movement of the robot. The connecting mechanism includes a connecting hole provided on the door side and a rod provided on the robot side. The air cylinder drives the rod and inserts it into the connecting hole, so that the robot and the door are connected to each other.

Japanese Patent No. 3249553

When the robot opens and closes the door while the sliding property of the door is reduced due to the accumulation of chips, etc., an excessive force is generated on the components of the door, which is more than the original force required for opening and closing the door, and a large load is applied to the components. There was a problem that it took.

An object of the present invention is to provide a door opening / closing device and a machine tool that can automatically release the connection with a door when the mobility of the door is reduced.

The door opening / closing device according to claim 1 opens / closes a moving device in which the main body moves along a traveling axis extending parallel to a wall of a cover covering the machine, and an opening provided in the wall, and opens / closes the opening in the wall. A door slidably provided along the inner surface of the wall portion arranged side by side with the portion and arranged corresponding to the traveling position of the moving device, and provided on the moving device side or the door side, the traveling shaft and the door. A connecting hole extending in a predetermined direction orthogonal to the surface of the door, a rod portion provided on the door side or the moving device side, which can move in the predetermined direction and can be inserted into the connecting hole, and the rod portion are driven. By inserting the rod portion into the connecting hole, the door and the moving device are connected, and by retracting the rod portion from the connecting hole, the door and the moving device are disconnected from each other. In a door opening / closing device that opens and closes the door by moving the moving device along the traveling axis when the moving device and the door are connected by the driving unit, the connecting hole is on the back side. The rod portion is provided with a hole-side tapered portion that expands in diameter toward the opening located on the rod portion side, and the rod portion has a rod portion-side tapered portion that reduces in diameter from the rear end side toward the tip end side to be inserted into the connecting hole. When the rod portion is inserted into the connecting hole and the door is connected to the moving device, the rod portion side tapered portion contacts the hole side tapered portion, and the door closes the opening. The door is provided at one end on the outer surface opposite to the wall side, and has a protruding portion protruding in a direction away from the outer surface and bending from the tip end portion of the protruding portion toward the wall portion. A connecting portion is provided at a position with a predetermined gap between the outer surface and the connecting portion, the connecting hole is provided in the connecting portion, and the predetermined gap is the opening of the wall portion when the door is opened. It is characterized in that it is a gap in which one end portion on the portion side can be arranged inside . The door and the moving device are connected by inserting a rod portion into the connecting hole. With the door and the moving device connected, the door opening / closing device moves the moving device along the traveling axis to open / close the door. When the door and the moving device are connected, the rod portion-side tapered portion provided on the rod portion comes into contact with the hole-side tapered portion provided on the connecting hole. When the moving device tries to move the door with the door's mobility reduced, the rod side tapered part moves toward the opening side along the hole side tapered part due to the drag force against the thrust for opening and closing the door. Sliding. Therefore, since the rod retracts from the connecting hole, the rod portion automatically disengages from the connecting hole and the door does not move. Therefore, the door opening / closing device can prevent damage to the parts constituting the door. The drag force for opening and closing the door required for the rod portion to retract from the connecting hole should be smaller than the force for damaging the components of the door. Therefore, the door opening / closing device can surely prevent damage to the parts constituting the door. Also, the door opens the opening by sliding along the inner surface of the wall. When the opening is opened, one end of the wall is inserted and placed in a predetermined gap between the outer surface of the door and the connecting portion. The connecting portion does not interfere with one end facing the opening of the wall portion. Therefore, the door opening / closing device can increase the opening area of the opening of the cover.

The hole-side tapered portion of the door opening / closing device according to claim 2 linearly expands in diameter from the back side toward the opening, and the rod portion-side tapered portion has an arc shape outward toward the tip end side. It is good to reduce the diameter while bending. The diameter of the tapered portion on the hole side is linearly expanded, and the diameter of the tapered portion on the rod portion is reduced while being curved outward in an arc shape toward the tip side. Therefore, when the moving device tries to move the door with the door's mobility reduced, the rod portion side taper portion moves toward the opening side along the hole side taper portion due to the drag force against the thrust for opening and closing the door. Can slide. Therefore, the door opening / closing device can smoothly retract the rod portion from the connecting hole.

The hole-side tapered portion of the door opening / closing device according to claim 3 expands in diameter while curving in an arc shape inside the connecting hole from the back side toward the opening, and the rod portion-side tapered portion has the tip end. It is preferable to reduce the diameter while curving outward in an arc shape toward the side. The hole-side taper portion expands in diameter while curving in an arc shape inside the connecting hole from the back side toward the opening, and the rod portion-side taper portion contracts while curving outward in an arc shape toward the tip side. It has a diameter. Therefore, when the moving device tries to move the door with the door's mobility reduced, the rod portion side taper portion moves toward the opening side along the hole side taper portion due to the drag force against the thrust for opening and closing the door. Can slide. Therefore, the door opening / closing device can smoothly retract the rod portion from the connecting hole.

The diameter of the hole-side tapered portion of the door opening / closing device according to claim 4 is linearly expanded from the back side toward the opening, and the diameter of the rod portion-side tapered portion is linearly reduced toward the tip end side. It is good to do. The diameter of the tapered portion on the hole side is linearly expanded, and the diameter of the tapered portion on the rod portion side is also linearly reduced toward the tip side. Therefore, when the moving device tries to move the door with the door's mobility reduced, the rod portion side taper portion moves toward the opening side along the hole side taper portion due to the drag force against the thrust for opening and closing the door. Can slide. Therefore, the door opening / closing device can smoothly retract the rod portion from the connecting hole.

The connecting hole of the door opening / closing device according to claim 5 may penetrate the connecting portion in the predetermined direction. Since the connecting hole penetrates the connecting portion in a predetermined direction, even if chips adhere to the connecting hole, the chips can be dropped from the opening on the side opposite to the opening on the side where the rod portion of the connecting hole is inserted. can.

The moving device of the door opening / closing device according to claim 6 includes a fixing base for fixing the rod portion and a support mechanism for movably supporting the fixing base with respect to the main body in the predetermined direction. Is provided on the fixing base and may include a long hole extending in parallel in the predetermined direction and a screw for fixing the fixing base to the main body via the long hole. The fixing base on which the rod portion is fixed can be positioned and fixed in a predetermined direction within the range of the elongated hole. Therefore, even if the rod portion is displaced in a predetermined direction with respect to the connecting hole, the position of the fixing base is adjusted so that the rod-side tapered portion is surely in contact with the hole-side tapered portion. Therefore, since the door opening / closing device can adjust the position of the rod portion in a predetermined direction, the rod side tapered portion can be reliably contacted with the hole side tapered portion.

The drive unit of the door opening / closing device according to claim 7 may be an air cylinder. The rod part is driven by an air cylinder. The air in the air cylinder is compressed when a force acts in the direction in which the rod portion retracts from the connecting hole due to the drag force against the thrust for opening and closing the dead door. Therefore, the rod part can be retracted without difficulty.

The machine tool according to claim 8 is provided with a cover for covering the machine body of the machine tool and the door opening / closing device according to any one of claims 1 to 7 , which can open / close the opening provided in the wall of the cover. It is characterized by. Since the machine tool includes the door opening / closing device according to any one of claims 1 to 7 , the effect according to any one of claims 1 to 7 can be obtained.

The inventions of claims 1-7 described above can be arbitrarily combined. For example, not all or part of claim 1 may be provided, but at least one of the other claims 2 and 3 may be provided. However, in particular, it is preferable to include the configuration of claim 1 and to include at least one configuration and combination of claims 2 and 3. Any component of claim 1-7 may be extracted and combined. The applicant intends to obtain a patent right for such a structure.

A perspective view of the machine tool 1 from diagonally forward to the right. A perspective view of the machine tool 1 from diagonally rear right. A perspective view of the machine tool 1 from diagonally rear right (the gripping arm portion 12 is omitted). A partially enlarged view of the W1 region shown in FIG. Right side view of machine tool 1 (door 6: closed state). FIG. 5 is a cross-sectional view taken along the line I-I in the direction of arrow. FIG. 6 is an enlarged view of a portion around an engaging portion between the main body portion 11 and the door 6 shown in FIG. A partially enlarged view of the W2 region shown in FIG. 7. The figure which the rod 35 retracted from the connecting hole 65. The figure which disengages the rod 35 from the connecting hole 65 by the drag force of the door 6 and disengages. Right side view of machine tool 1 (door 6: open state). FIG. 11 is a cross-sectional view taken along the line II-II in the direction of arrow. FIG. 12 is a partially enlarged view of the W3 region shown in FIG. FIG. 3 is a diagram of a first modification in which the rod 35 is arranged to face the connecting hole 165. The figure of the 2nd modification in which the rod 135 is arranged facing the connecting hole 65.

Hereinafter, embodiments of the present invention will be described. The following explanation uses left and right, front and back, and up and down indicated by arrows in the figure. The left-right direction, the front-back direction, and the up-down direction of the machine tool 1 shown in FIG. 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively.

The structure of the machine tool 1 will be described with reference to FIGS. 1 and 2. The machine tool 1 is a vertical machine tool in which a spindle (not shown) extends in the Z-axis direction. The machine tool 1 includes a base portion 2, a machine body 3, and a cover 5. The base portion 2 is an iron base. The machine body 3 is provided on the upper part of the base portion 2. The machine body 3 performs cutting and the like of a work material (not shown) fixed to the upper surface of a workbench (not shown). The workbench is installed on the upper surface of the base portion 2. The cover 5 is fixed to the upper part of the base portion 2 and is a substantially rectangular parallelepiped hounding that surrounds the periphery of the machine body 3. The operation of the machine tool 1 is controlled by a numerical control device (not shown).

The cover 5 includes an opening 511, a wall portion 512, and a door 6 on the right side wall 51. The opening 511 is provided on the rear side of the right side wall 51 and is formed in a substantially rectangular shape when viewed from the right side. The wall portions 512 are provided side by side on the front side of the opening 511 and are formed in a substantially rectangular shape when viewed from the right side. The door 6 is slidably provided in the front-rear direction along the inner surface of the wall portion 512 to open and close the opening portion 511. The opening / closing mechanism of the door 6 includes, for example, guide rails (not shown) provided above and below the opening 511 of the right side wall 51, and a plurality of bearings provided at the upper and lower portions of the door 6. The guide rail extends in the front-back direction. A plurality of bearings provided on the door 6 side slide along the guide rail, and the door 6 slides in the front-rear direction. The cover 5 further attaches the robot device 10 to the outside of the right side wall 51. The robot device 10 moves the work material and opens / closes the door 6.

The robot device 10 will be described with reference to FIGS. 2 to 4. The robot device 10 includes a main body portion 11 and a gripping arm portion 12. The main body 11 slides in the front-rear direction by the moving mechanism 14. The gripping arm portion 12 is provided on the upper part of the main body portion 11 and replaces the work material held on the upper surface of the workbench (not shown) in the cover 5.

The moving mechanism 14 is provided on the right side surface of the base portion 2, and includes a frame portion 15, a drive motor 16 (see FIG. 2), a ball screw 17, a pair of traveling shafts 18A and 18B, a bellows cover 19, and the like. The frame body portion 15 is formed in a substantially rectangular shape when viewed from the right side, and is fixed to the right side surface of the base portion 2. The drive motor 16 is fixed so as to project rearward from the rear portion of the frame body portion 15. The output shaft of the drive motor 16 projects forward in the frame body portion 15. The ball screw 17 is arranged so as to extend in the front-rear direction in the frame body portion 15 and is rotatably supported. The ball screw 17 is coaxially connected to the output shaft of the drive motor 16.

The pair of traveling shafts 18A and 18B are provided parallel to each other so as to sandwich the ball screw 17 from the vertical direction and extend in the front-rear direction inside the frame body portion 15. The traveling shafts 18A and 18B support a slider 13 provided at the lower part of the main body 11 so as to be guided in the front-rear direction. The bellows cover 19 covers the opening right side of the frame body portion 15 and is fixed to the frame body portion 15 so as to be expandable and contractible in the front-rear direction. The rear end portion of the bellows cover 19 is fixed to the front side portion of the slider 13. The bellows cover 19 expands and contracts as the slider 13 moves in the front-rear direction. Therefore, the moving mechanism 14 can prevent chips and the like from entering the frame body portion 15.

The main body 11 is formed in a substantially rectangular parallelepiped shape that is long in the vertical direction. The main body 11 is provided with a slider 13 at the bottom. The slider 13 is movably supported in the front-rear direction along the traveling shafts 18A and 18B. The slider 13 is attached to the ball screw 17. When the drive motor 16 is driven, the ball screw 17 rotates. As the ball screw 17 rotates, the slider 13 moves in the front-rear direction, so that the main body 11 moves in the front-back direction. As shown in FIGS. 3 and 4, the main body portion 11 includes a rotation support portion 21 on the upper part of the back surface. The rotation support portion 21 rotatably supports the first arm 12A, which will be described later, of the gripping arm portion 12. The main body 11 houses a motor (not shown) that rotationally drives the first arm 12A inside.

As shown in FIG. 4, the main body portion 11 includes a rod mechanism 30 on the upper surface portion 22. The rod mechanism 30 drives the rod 35 (see FIGS. 7 and 8) so as to be able to move forward and backward in the left direction. The rod 35 can be inserted and engaged with the connecting hole 65 (see FIG. 7) described later of the connecting member 60 (see FIGS. 3 and 4) provided at the rear end of the outer surface of the door 6. When the rod 35 engages with the connecting hole 65, the rod mechanism 30 and the connecting member 60 are in a connected state (see FIG. 7). The main body 11 and the door 6 are integrated. Therefore, the door 6 can open and close the opening 511 of the right side wall 51 by moving in the front-rear direction integrally with the main body portion 11 (see FIGS. 5 and 11).

As shown in FIG. 2, the gripping arm portion 12 is rotatably supported by the rotary support portion 21 of the main body portion 11. The gripping arm portion 12 includes the first arm 12A and the second arm 12B so as to be foldable. The rotation support portion 21 of the main body portion 11 rotatably supports one end of the first arm 12A. The first arm 12A includes a first joint portion 121 at the other end. The first joint portion 121 rotatably supports one end of the second arm 12B. The second arm 12B is provided with a second joint portion 122 at the other end. The second joint portion 122 rotatably supports the grip portion (not shown). The gripping portion can grip the work material. The first arm 12A houses a drive motor (not shown) that drives the second arm 12B via a gear (not shown) of the first joint portion 121. The second arm 12B internally houses a drive motor (not shown) that drives the grip portion via the gear of the second joint portion 122.

The structure of the rod mechanism 30 will be described with reference to FIG. 7. The rod mechanism 30 is fixed to the upper surface portion 22 of the main body portion 11 so as to be adjustable in position in the left-right direction. The rod mechanism 30 includes a fixing base 31, an air cylinder 33, a connecting rod 34, a rod 35, a cover 38 (see FIG. 3), and the like. The fixing base 31 is formed in a substantially rectangular shape long in the left-right direction in a plan view, and is provided with a pair of ribs 31A protruding upward at both ends in the front-rear direction. The fixing base 31 includes a set of elongated holes 311 and a set of elongated holes 312. A set of elongated holes 311 is provided on the left side of the central portion in the left-right direction of the fixing base 31 and separated from each other in the front-rear direction. A set of elongated holes 312 is provided on the right side of the central portion in the left-right direction of the fixing base 31 and separated from each other in the front-rear direction. The elongated holes 311, 312 are all long holes in the left-right direction and have the same shape. The upper surface portion 22 of the main body portion 11 includes four screw holes (not shown). The four screw holes are provided at positions corresponding to each of the set of long holes 311 and the set of long holes 312 of the fixing base 31. The four screws 93 are inserted into a set of long holes 311 and a set of long holes 312 of the fixing base 31 from above, and fastened to the four screw holes provided on the upper surface portion 22. Therefore, the fixing base 31 is fixed to the upper surface portion 22.

The air cylinder 33 is fixed to the right side of the upper surface of the fixing base 31 and to the central portion in the front-rear direction by the fixing members 41 and 42. The air cylinder 33 is formed in a cylindrical shape, and is arranged on the upper surface of the fixing base 31 so as to be along the left-right direction with the tip side to be opened facing to the left. The air cylinder 33 is provided with a cylinder rod 331 that can move forward and backward in the left direction from the tip end portion. The fixing member 41 is a plate member having a substantially L-shape in front view, and is fixed by two screws 94 in the vicinity of the right end portion of the upper surface of the fixing base 31 and in the central portion in the front-rear direction. The rear end portion (right end portion in FIG. 7) of the air cylinder 33 is fixed to the fixing member 41 with a screw 95. The fixing member 42 is a plate member having a substantially inverted L-shape in front view, which has a symmetrical shape to the fixing member 41, and is fixed to the central portion of the fixing base 31 with two screws 94. The wall portion protruding upward of the fixing member 42 includes a hole portion 421 penetrating in the left-right direction. The cylinder rod 331 is loosely inserted into the hole 421. The connecting rod 34 is coaxially fixed to the tip of the cylinder rod 331 of the air cylinder 33 and protrudes to the left.

The rod 35 is coaxially fixed to the tip of the connecting rod 34 and protrudes to the left to form a rod shape. The rod 35 is provided with a tapered portion 351 at the tip end portion. The tapered portion 351 is reduced in diameter while being curved outward in an arc shape toward the tip end side of the rod 35, and the tip end thereof is formed in a planar shape orthogonal to the axial direction of the rod 35. The rod 35 is supported by the support member 43. The support member 43 is fixed in the vicinity of the left end portion of the upper surface of the fixing base 31 and in the central portion in the front-rear direction. The support member 43 includes a through hole 431. The through hole 431 penetrates the support member 43 in the left-right direction. The rod 35 is loosely inserted into the through hole 431 and protrudes toward the door 6. The material of the rod 35 may be any material, but metal is preferable. The rod 35 is coaxially connected to the cylinder rod 331 of the air cylinder 33 via the connecting rod 34. Therefore, the rod 35 can move in the left-right direction as the cylinder rod 331 moves forward and backward.

The cover 38 is formed in a substantially trapezoidal shape on the right side and extends in the left-right direction. The cover 38 covers the air cylinder 33, the connecting rod 34, the rod 35, etc. from above, and is fixed to the pair of ribs 31A provided on both the front and rear sides of the fixing base 31 with screws (see FIG. 4). Therefore, the cover 38 can prevent chips and the like from accumulating in the rod mechanism 30.

The structure of the connecting member 60 provided on the door 6 will be described with reference to FIGS. 4 and 8. The connecting member 60 is fixed to the lower side of the substantially central portion in the vertical direction at the rear end portion of the outer surface of the door 6. The connecting member 60 includes an L-shaped member 61 and a connecting body 62. The L-shaped member 61 is formed in a substantially L-shape in a plan view, and includes a fixing portion 611 and a support portion 612. The fixing portion 611 is a substantially rectangular plate portion that is long in the vertical direction when viewed from the right side, and is a portion that is fixed to the outer surface of the door 6 via a spacer 64 (see FIG. 8). The fixing portion 611 includes a pair of elongated holes 615 arranged in the vertical direction. The elongated hole 615 is a hole that is long in the vertical direction. The pair of screws 91 are inserted into the pair of elongated holes 615 of the fixing portion 611, and fastened to the pair of screw holes (not shown) provided at the rear end of the outer surface of the door 6 via the spacer 64. Therefore, the connecting member 60 is fixed to the rear end portion of the outer surface of the door 6.

The support portion 612 is a substantially rectangular plate portion that protrudes from the front end portion of the fixed portion 611 to the right at a substantially right angle and is long in the vertical direction in the front view. The support portion 612 supports the connecting body 62 with a predetermined gap between the support portion 612 and the outer surface of the door 6. The support portion 612 is provided with a pair of elongated holes 617 arranged in the vertical direction in the central portion in the vertical direction. The pair of elongated holes 617 are elongated holes that are long in the vertical direction.

The connecting body 62 is formed in a substantially rectangular parallelepiped shape and is fixed to the front surface of the support portion 612. The material of the connecting body 62 may be any material, but metal is preferable. The back surface of the connecting body 62 is a fixing surface fixed to the front surface of the support portion 612. The fixed surface of the connecting body 62 includes a pair of screw holes (not shown) arranged in the vertical direction. The pair of screw holes face the pair of elongated holes 617 of the support portion 612. The pair of screws 92 are inserted into the pair of elongated holes 617 from the rear and fastened to the pair of screw holes on the fixed surface of the connecting body 62. Therefore, the connecting body 62 is fixed to the front surface of the support portion 612. The left side surface of the connecting body 62 and the outer surface of the door 6 are separated from each other by a predetermined gap.

As shown in FIG. 8, the connecting body 62 includes a connecting hole 65. The connecting hole 65 penetrates the central portion of the connecting body 62 in the left-right direction. The connecting hole 65 includes a straight hole portion 651 and a tapered hole portion 652 coaxially. The straight hole portion 651 extends linearly to the left from the intermediate portion in the penetrating direction of the connecting hole 65 and penetrates to the door 6 side. The cross section orthogonal to the penetrating direction of the straight hole portion 651 is circular. The tapered hole portion 652 has a substantially conical shape that communicates with the straight hole portion 651 at the intermediate portion in the penetrating direction of the connecting hole 65 and linearly expands in diameter toward the opening on the side opposite to the door 6 side. The tip of the rod 35 of the rod mechanism 30 can be inserted halfway through the tapered hole portion 652. The diameter of the straight hole portion 651 is shorter than the diameter of the rod 35.

The main body portion 11 fixes a proximity sensor (not shown) to the door 6 side of the rotation support portion 21. The proximity sensor detects the approach of the member by the change of magnetism. The proximity sensor can detect a position detection dog (not shown) fixed to the door 6 side. The position detection dog is fixed at a position corresponding to the proximity sensor on the door 6. When the proximity sensor detects the position detection dog, the main body 11 faces the rear end of the door 6, and the rod 35 and the connecting hole 65 face each other.

An example of the operation of the robot device 10 will be described with reference to FIGS. 5 to 13. The robot device 10 controls the gripping arm portion 12 to the standby posture. The standby posture is a posture in which the first arm 12A and the second arm 12B are bent at the first joint portion 121 and stand vertically upward so that the first arm 12A and the second arm 12B overlap each other in parallel (see FIGS. 1 and 2). The robot device 10 moves to the closed end position of the door 6 along the pair of traveling shafts 18A and 18B. The closed end position of the door 6 is the initial position which is the rearmost end of the movement range of the robot device 10 in the front-rear direction. The robot device 10 moves at a low speed from the closed end position toward the open end direction (forward direction) of the door 6.

When the proximity sensor on the robot device 10 side detects the position detection dog on the door 6 side, the robot device 10 stops. When the door 6 is already closed (see FIG. 5), the proximity sensor detects the position detection dog at the same time as the robot device 10 starts moving, and the rod 35 and the connecting hole 65 face each other. As shown in FIG. 7, the robot device 10 drives the air cylinder 33 and moves the rod 35 to the left together with the connecting rod 34. As shown in FIG. 8, the tip end portion of the rod 35 is inserted into the tapered hole portion 652 of the connecting hole 65. The tapered portion 351 of the rod 35 comes into contact with the inner surface of the tapered hole portion 652. The rod 35 engages with the connecting hole 65. Since the rod 35 cannot move to the left, the air cylinder 33 holds the position of the rod 35. The robot device 10 opens the door 6 at high speed in a state of being integrally connected to the door 6, and widens the opening 511.

The robot device 10 stops at the robot entry position. The robot entry position is a position where the gripping arm portion 12 can enter the cover 5 through the opening 511. The robot device 10 drives the gripping arm portion 12, moves the first arm 12A and the second arm 12B into the cover 5 through the opening 511, and exchanges the work material fixed to the upper surface of the workbench. After the work material replacement operation, the robot device 10 controls the gripping arm portion 12 to the standby posture again.

The robot device 10 is integrated with the door 6 and moves at high speed to the closed end position of the door 6. When the robot device 10 stops at the closed end position, the driving of the air cylinder 33 is stopped. Since the cylinder rod 331 retracts to the right, the rod 35 retracts to the right together with the connecting rod 34, comes out of the connecting hole 65, and the connection between the robot device 10 and the door 6 is terminated. The series of operations of the robot device 10 ends.

As shown in FIG. 9, the connecting hole 65 of the connecting body 62 penetrates the connecting body 62 in the left-right direction by the tapered hole portion 652 and the straight hole portion 651. Therefore, when chips or the like enter the connecting hole 65, the connecting hole 65 can drop the chips or the like from the straight hole portion 651. Therefore, since chips and the like can be prevented from accumulating in the connecting hole 65, the rod 35 can always be satisfactorily inserted into the tapered hole portion 652 of the connecting hole 65.

With reference to FIGS. 11 to 13, the relationship between the shape of the connecting member 60 and the opening area of the opening 511 by the door 6 will be described. As described above, the connecting member 60 fixed to the door 6 supports the connecting body 62 having the connecting hole 65 with the L-shaped member 61. The left side surface of the connecting body 62 and the outer surface of the door 6 are separated by a predetermined gap. As shown in FIGS. 12 and 13, when the door 6 is moved forward, the rear end portion of the wall portion 512 of the right side wall 51 is in a predetermined gap between the connecting body 62 of the connecting member 60 fixed to the door 6 and the door 6. Insert and place. The connecting body 62 overlaps the rear end portion of the wall portion 512 in the left-right direction. Since the connecting body 62 is arranged on the rod mechanism 30 side at the rear end portion of the wall portion 512, it does not interfere with the rear end portion of the door 6. Since the door 6 can move forward as much as possible with the rod 35 engaged with the connecting hole 65 of the connecting body 62, the opening area of the opening 511 can be made larger. Therefore, the machine tool 1 can prevent the gripping arm portion 12 from coming into contact with the edge portion of the opening portion 511 when the gripping arm portion 12 replaces the work material on the upper surface of the workbench via the opening portion 511.

With reference to FIGS. 8 and 10, the disengagement function between the connecting hole 65 and the rod 35 when the slidability of the door 6 is reduced will be described. If chips or the like intrude into the opening / closing mechanism of the door 6 and accumulate, the slidability of the door 6 decreases. For example, it is assumed that the connecting hole 65 and the rod 35 are engaged with each other as shown in FIG. 8, and the slidability of the door 6 is reduced. When the thrust force for opening and closing the door 6 by the robot device 10 (see arrow P1 in FIG. 8) acts on the door 6 while the slidability of the door 6 is reduced, the drag force against the thrust (arrow P2 in FIG. 8) is applied. See) occurs. The drag acts on the tapered portion 351 of the rod 35 via the tapered hole portion 652 of the connecting hole 65. Since the rod 35 moves in the P1 direction together with the door 6, the inner surface of the tapered hole portion 652 pushes down the tapered portion 351 to the right. The tapered portion 351 moves to the right while sliding on the inner surface of the tapered hole portion 652. Since both the rod 35 and the connecting body 62 are made of metal, the slidability of the tapered portion 351 with respect to the inner surface of the tapered hole portion 652 is improved.

As shown in FIG. 10, when the rod 35 retracts to the right, the connecting rod 34 and the cylinder rod 331 are pushed down to the right, so that the air in the air cylinder 33 is compressed. Therefore, the rod 35 retracts to the right from the connecting hole 65 and comes out. The engagement state between the connecting hole 65 and the rod 35 is automatically released. Only the robot device 10 moves forward while the door 6 remains closed. The thrust in the direction of opening and closing the door 6 required for retracting the rod 35 is smaller than the force for damaging each component constituting the opening / closing mechanism of the door 6. Therefore, the machine tool 1 can prevent damage to each component constituting the opening / closing mechanism of the door 6.

A method of adjusting the position of the connecting hole 65 in the vertical direction will be described with reference to FIG. Since the rod 35 is inserted into the connecting hole 65 and engages well, it is necessary to accurately align the position of the connecting hole 65 with the position of the rod 35 in the vertical direction of the machine tool 1. The operator loosens the pair of screws 91 that fix the fixing portion 611 of the L-shaped member 61. The screw 91 is fixed to the door 6. The fixing portion 611 can move up and down in the door 6 within the lengthwise range of the two elongated holes 615. The operator adjusts the vertical position of the fixing portion 611 so that the rod 35 is inserted into the connecting hole 65 when the rod 35 moves to the left and comes into contact with the inner surface of the tapered hole portion 652. Adjust the vertical position of. When the position of the connecting hole 65 is determined, the operator refastens the pair of screws 91 and fixes the fixing portion 611 to the door 6. The vertical position adjustment of the connecting hole 65 is completed.

The operator adjusts the vertical position of the connecting hole 65 by adjusting the vertical position of the connecting body 62 with respect to the L-shaped member 61 while the connecting member 60 is fixed to the door 6. You may. The operator loosens the pair of screws 92 that secure the connecting body 62 to the support portion 612 of the L-shaped member 61. The screw 92 is in a state of being fixed to the connecting body 62. The connecting body 62 can move in the vertical direction within the range in the length direction of the two elongated holes 617 in the support portion 612 of the L-shaped member 61. Therefore, the operator can adjust the vertical position of the connecting hole 65 by adjusting the vertical position of the connecting body 62. The operator may adjust the position of the connecting hole 65 in the vertical direction by both adjusting the position of the L-shaped member 61 by the fixing portion 611 and adjusting the position of the connecting body 62.

A method of adjusting the position of the rod 35 with respect to the connecting hole 65 will be described with reference to FIG. 7. Since the rod 35 is inserted into the connecting hole 65 and engages well, when the rod mechanism 30 drives the air cylinder 33 and the rod 35 is moved to the left, the tip of the rod 35 is inserted into the connecting hole 65. Moreover, the tapered portion 351 of the rod 35 needs to be in contact with the tapered hole portion 652 of the connecting hole 65. Therefore, the operator adjusts the position of the rod 35 with respect to the connecting hole 65 in the left-right direction in which the rod 35 advances and retreats so that the tapered portion 351 comes into contact with the tapered hole portion 652. The operator loosens the four screws 93 for fixing the fixing base 31 of the rod mechanism 30 on the upper surface portion 22 of the main body portion 11. The screw 93 is in a state of being fixed to the upper surface portion 22. The fixing base 31 can move in the left-right direction within the range in the length direction of the four elongated holes 311 on the upper surface portion 22. When the rod 35 moves to the left, it is inserted into the connecting hole 65, and the operator positions the fixing base 31 in the left-right direction so that the tapered portion 351 of the rod 35 contacts the tapered hole portion 652 of the connecting hole 65. To adjust. When the position of the fixing base 31 is determined, the operator refastens the four screws 93 and fixes the fixing base 31 to the upper surface portion 22. The position adjustment of the rod 35 with respect to the connecting hole 65 is completed. Therefore, since the machine tool 1 can adjust the position of the rod 35 in the left-right direction, the tapered portion 351 can be reliably contacted with the tapered hole portion 652.

As described above, the machine tool 1 of the present embodiment includes a door opening / closing device for opening / closing the door 6 provided on the right side wall 51 of the cover 5. The door opening / closing device includes a robot device 10, a door 6, a connecting hole 65, a rod 35, an air cylinder 33, and the like. The main body 11 of the robot device 10 moves along a pair of traveling shafts 18A and 18B provided on the right side wall 51 of the cover 5. The traveling shafts 18A and 18B extend in the front-rear direction. The door 6 is arranged corresponding to the traveling position of the robot device 10. The connecting hole 65 is provided on the door 6 side and extends in the left-right direction orthogonal to the surfaces of the traveling shafts 18A and 18B and the door 6. The rod 35 is provided on the robot device 10 side, is movable in the left-right direction, and can be inserted into the connecting hole 65. The air cylinder 33 drives the rod 35 and inserts the rod 35 into the connecting hole 65 to connect the door 6 and the robot device 10. The air cylinder 33 drives the rod 35 and retracts the rod 35 from the connecting hole 65 to release the connection between the door 6 and the robot device 10. When the robot device 10 and the door 6 are connected by the air cylinder 33, the door opening / closing device moves the robot device 10 along the traveling shafts 18A and 18B to open / close the door 6.

The connecting hole 65 includes a tapered hole portion 652 that expands in diameter from the back side on the left side toward the opening located on the rod 35 side. The rod 35 includes a tapered portion 351 whose diameter is reduced from the rear end side toward the tip end side to be inserted into the connecting hole 65. When the rod 35 is inserted into the connecting hole 65 and the door 6 and the robot device 10 are connected, the tapered portion 351 comes into contact with the tapered hole portion 652. When the robot device 10 tries to move the door 6 with the slidability of the door 6 lowered, the tapered portion 351 is on the opening side along the tapered hole portion 652 due to the drag force against the thrust for opening and closing the door 6. Sliding towards. Therefore, since the rod 35 retracts from the connecting hole 65, the rod 35 automatically disengages from the connecting hole 65 and the door 6 does not move. Therefore, the door opening / closing device can prevent damage to the parts constituting the door 6.

In the above description, the robot device 10 is an example of the mobile device of the present invention. The rod 35 is an example of the rod portion of the present invention. The air cylinder 33 is an example of the drive unit of the present invention. The tapered hole portion 652 of the connecting hole 65 is an example of the hole-side tapered portion of the present invention. The tapered portion 351 of the rod 35 is an example of the tapered portion on the rod portion side of the present invention. The support portion 612 of the L-shaped member 61 of the connecting member 60 is an example of the protruding portion of the present invention, and the connecting body 62 is an example of the connecting portion of the present invention.

The present invention is not limited to the above embodiment and can be modified in various ways. In the above embodiment, the door 6 and the robot device 10 are connected by engaging the rod 35 of the rod mechanism 30 provided on the robot device 10 side with the connecting hole 65 of the connecting member 60 provided on the door 6 side. do. For example, the connecting hole 65 may be fixed to the rod mechanism 30, and the rod 35 may be fixed to the support portion 612 on the door 6 side. In that case, the connecting hole 65 moves left and right. The machine tool 1 may be provided with a rod mechanism 30 on the door 6 side and a connecting hole 65 on the robot device 10 side.

The tapered hole portion 652 of the connecting hole 65 of the above embodiment linearly expands in diameter from the back side toward the opening, and the tapered portion 351 of the rod 35 contracts while curving outward in an arc shape toward the tip end side. Diameter. The tapered hole portion of the connecting hole may have another tapered shape as long as it has a tapered shape that expands in diameter from the back side toward the opening located on the rod side. The tapered portion of the rod may have another tapered shape as long as the diameter is reduced from the rear end side toward the tip side to be inserted into the connecting hole.

For example, the connecting member 60 of the first modification shown in FIG. 14 includes a connecting hole 165. The connecting hole 165 includes a straight hole portion 651 and a tapered hole portion 653. The tapered hole portion 653 is different from the tapered shape of the tapered hole portion 652 of the above embodiment, and the diameter is reduced while being curved outward in an arc shape from the back side toward the opening located on the rod 35 side. The tapered portion 351 of the rod 35 is the same as the tapered shape of the above embodiment. Similar to the above embodiment, the tapered portion 351 of the rod 35 comes into contact with the inner surface of the tapered hole portion 653 of the connecting hole 165. When the slidability of the door 6 is reduced, when a thrust force for the robot device 10 to open and close the door 6 acts on the door 6, the inner surface of the tapered hole portion 653 pushes the tapered portion 351 to the right. The tapered portion 351 moves to the right while sliding on the inner surface of the tapered hole portion 653. Therefore, as in the above embodiment, the rod 35 can be retracted to the right from the connecting hole 165 and pulled out.

For example, the rod 135 of the second modification shown in FIG. 15 is provided with a tapered portion 352 at the tip end portion. Unlike the tapered shape of the tapered portion 351 of the above embodiment, the tapered portion 352 is linearly reduced in diameter toward the tip end side of the rod 35, and the tip thereof is formed in a planar shape orthogonal to the axial direction of the rod 135. The tapered hole portion 652 of the connecting hole 65 is the same as the tapered shape of the above embodiment. Similar to the above embodiment, the tapered portion 352 of the rod 135 comes into contact with the inner surface of the tapered hole portion 652 of the connecting hole 65. When the slidability of the door 6 is reduced, when a thrust force for the robot device 10 to open and close the door 6 acts on the door 6, the inner surface of the tapered hole portion 652 pushes the tapered portion 352 to the right. The tapered portion 352 moves to the right while sliding on the inner surface of the tapered hole portion 652. Therefore, as in the above embodiment, the rod 135 can be retracted to the right from the connecting hole 65 and pulled out.

The door opening / closing device of the above embodiment opens / closes the door 6 of the right side wall 51 of the cover 5 of the machine tool 1, but the present invention is slidable to other walls such as the front wall and the left side wall of the cover 5. It can also be applied to the door provided in. The present invention is applicable not only to the door 6 of the cover 5 of the machine tool 1 but also to the door slidably provided on various walls.

The machine tool 1 of the above embodiment is a vertical machine tool in which the spindle extends in the Z-axis direction, but the present invention can also be applied to a horizontal machine tool in which the spindle extends in the horizontal direction.

Although the rod mechanism 30 of the above embodiment drives the rod 35 by the air cylinder 33, it may be another drive source, for example, a motor.

The connecting hole 65 of the above embodiment penetrates the connecting body 62 in the left-right direction, but for example, the straight hole portion 651 may be omitted and only the tapered hole portion 652 may be used. The connecting body 62 is supported by the door 6 by the L-shaped member 61, but may be directly fixed to the outer surface of the door 6. The connecting member 60 fixes the connecting body 62, which is a separate body to the L-shaped member 61, but the L-shaped member 61 and the connecting body 62 may be integrally formed.

1 Machine tool 5 Cover 6 Door 10 Robot device 11 Main body 18A, 18B Travel shaft 31 Fixed base 33 Air cylinder 35 Rod 51 Right side wall 60 Connecting member 62 Connecting body 65 Connecting hole 93 Screw 311, 312 Long hole 351 Tapered part 511 opening Part 512 Wall part 612 Support part 652 Tapered hole part

Claims (8)

A moving device that moves the main body along a traveling axis that extends parallel to the wall of the cover that covers the machine .
A door that opens and closes the opening provided in the wall, is slidably provided along the inner surface of the wall portion arranged alongside the opening in the wall, and is arranged according to the traveling position of the moving device.
A connecting hole provided on the moving device side or the door side and extending in a predetermined direction orthogonal to the traveling axis and the surface of the door.
A rod portion provided on the door side or the moving device side, which can move in the predetermined direction and can be inserted into the connecting hole.
By driving the rod portion and inserting the rod portion into the connecting hole, the door and the moving device are connected, and by retracting the rod portion from the connecting hole, the door and the moving device are connected. Equipped with a drive unit to disconnect
In a door opening / closing device that opens and closes the door by moving the moving device along the traveling axis when the moving device and the door are connected by the driving unit.
The connecting hole is provided with a hole-side tapered portion that expands in diameter from the back side toward the opening located on the rod portion side.
The rod portion includes a rod portion-side tapered portion whose diameter is reduced from the rear end side toward the tip end side to be inserted into the connecting hole.
When the rod portion is inserted into the connecting hole and the door and the moving device are connected, the rod portion side tapered portion comes into contact with the hole side tapered portion.
The door is
A protrusion provided at one end of the outer surface of the outer surface when the opening is closed, opposite to the wall side, and protruding in a direction away from the outer surface.
A connecting portion that bends from the tip end portion of the protruding portion toward the wall portion and is arranged at a position with a predetermined gap between the tip portion and the outer surface of the door.
Equipped with
The connecting hole is provided in the connecting portion.
The door opening / closing device is characterized in that the predetermined gap is a gap in which one end of the wall portion on the opening side can be arranged inside when the door is opened. The diameter of the hole-side tapered portion is linearly expanded from the inner side toward the opening.
The door opening / closing device according to claim 1, wherein the tapered portion on the rod portion side is curved outward in an arc shape toward the tip end side and has a reduced diameter. The diameter of the hole-side tapered portion is expanded while being curved in an arc shape inside the connecting hole from the inner side toward the opening.
The door opening / closing device according to claim 1, wherein the tapered portion on the rod portion side is curved outward in an arc shape toward the tip end side and has a reduced diameter. The diameter of the hole-side tapered portion is linearly expanded from the inner side toward the opening.
The door opening / closing device according to claim 1, wherein the tapered portion on the rod portion side has a diameter reduced linearly toward the tip end side. The door opening / closing device according to any one of claims 1 to 4 , wherein the connecting hole penetrates the connecting portion in the predetermined direction. The moving device is
A fixing base for fixing the rod portion and
A support mechanism for supporting the fixing base so as to be movable in the predetermined direction with respect to the main body is provided.
The support mechanism is
An elongated hole provided on the fixing table and extending in parallel in the predetermined direction,
The door opening / closing device according to any one of claims 1 to 5 , further comprising a screw for fixing the fixing base to the main body through the elongated hole. The door opening / closing device according to any one of claims 1 to 6 , wherein the drive unit is an air cylinder. A cover that covers the machine body of the machine tool,
A machine tool comprising the door opening / closing device according to any one of claims 1 to 7 , wherein an opening provided in the wall of the cover can be opened / closed.

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