JPH01183302A - Method for automatically attaching or detaching work and device thereof - Google Patents

Abstract

PURPOSE:To stably attach a work to or detach it from the chuck claw of a NC lathe etc. by providing a pusher driven along an axis in a hollow main spindle, providing a pusher also at its opposite position and by putting the work between those on a central line under pressurized condition. CONSTITUTION:The wrist 1 of a robot grips a work 3b to advance, a pusher 12 is positioned at the right and of the work 3b, a pusher 10 advances to insert the work 3b therebetween by applied pressure due to a spring 13 and a cylinder 5. The wrist 1 is opened to withdraw, a turret 18 advances, the pusher 10 with draws with pushing the work 3b, the pusher 12 pushes the work 3b to a chuck face 4b by applied pressure due to the spring 13 to check the work 3b, and the pusher withdraws. At the time of the completion of a process, the pusher 12 is positioned at the right end of the work 3b, the pusher 10 advances to put the work 3b therebetween, the chuck claw 4 opens, the pusher 10 advances to put the work 3b out the chuck 19, the wrist 1 advances to grip the end of the work 3b, the pusher 10 and the turret 18 withdraws and the wrist 1 takes out the work 3b.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method and apparatus for attaching and detaching a workpiece to and from a chuck of an NC machine tool such as an NC (numerically controlled) lathe.

[Conventional technology]

In NC machine tools such as NC lathes, in order to expand the range of automation of work, it has become possible to automatically perform the work of mounting and removing a workpiece on a chuck.

FIG. 7 is a schematic diagram showing a conventional chucking method of an NC lathe. FIG. 7(a) shows a sectional view, and FIG. 7(a) shows a front view. This figure 7 shows that the robot wrist 1 is attached to the claw 2.
The figure shows how the workpiece 3a is grasped and the workpiece 3a is directly attached to and detached from the chuck jaws 4 of the NC lathe.

[Problem to be solved by the invention]

However, in this conventional method, if the workpiece 3a does not have enough gripping space for the jaws 20 of the robot wrist 1, the workpiece 3a cannot be attached to the chuck jaws 4, or if the workpiece is a long workpiece, If the center of gravity of the workpiece is not grasped by the jaw 2 of the robot wrist 1, the chuck jaw 4 often
could not be attached stably.

The present invention has been made in view of these conventional problems, and is designed to stably attach workpieces with no gripping allowance or long workpieces to the chuck jaws of an NC machine tool such as an NC lathe. The purpose is to attach and detach the device.

[Means to solve the problem]

In order to achieve this object, the automatic workpiece loading and unloading method of the present invention provides a method for transporting and loading/unloading a workpiece to and from a chuck of a lathe having a hollow spindle. A first pusher is provided, and a second pusher is provided at a position opposite to the first pusher on the same axis, and the workpiece on the table is gripped by robot claws and moved onto the center axis of the lathe, and The workpiece is held in a pressurized state by first and second pushers from left and right on the axis, the workpiece is moved to the chuck of the lathe along the central axis, and then the first pusher in the hollow main shaft is moved backward, the workpiece is pressed against the chuck surface by a second pusher, the workpiece is chucked after squareness and centering are performed, and after cutting is completed, the machined workpiece is pushed from both sides by the first and second workpieces.
The workpiece is clamped under pressure by the pusher, moved along the central axis to a grasping position of the robot jaw, transferred to the robot jaw, and placed on the processed stock table.

Further, the automatic workpiece loading/unloading device of the present invention is an automatic workpiece loading/unloading device for loading/unloading a workpiece to/from a chuck of a lathe having a hollow main shaft, wherein the workpiece is driven into the hollow main shaft along the central axis of the hollow main shaft, and one end of the workpiece is a first pusher to be supported, which is disposed on the same axis as the first pusher, and whose tip portion contacts the other end of the workpiece in a pressurized manner by means of an urging means, and the direction of the first pusher; and a second pusher having a rod that is driven forward and backward relative to the pusher.

The second pusher can be attached to a crette or tailstock that is ancillary equipment of the lathe.

Furthermore, in order to further increase the stability of the work to be mounted, a recess for fitting the front end of the work can be provided at the front end of the second pusher.

[Example] Hereinafter, the present invention will be specifically explained based on the example shown in FIGS. 1 to 6.

1 to 3 are cross-sectional views showing embodiments of the automatic workpiece loading/unloading device according to the present invention, and FIG. 4 is a flowchart showing a specific example of the implementation procedure of the method according to the present invention.

As shown in FIG. 1, in this device, a cylinder 5 is fixed to a headstock 7 via a support 6, and a guide 8 is inserted into a spindle through hole 9a and fixed to a spindle 9.

The first pusher 10 is connected to the cylinder rod 5a by a joint 11 through a guide 8.

The second pusher 12 pushes the collar 15 through the spring 13.
and screws 16 to the holder 14, and the holder 14 is further attached to the turret 18 with a set screw 17.

As shown in FIG. 1, when the robot wrist 1 enters the NC lathe with the workpiece 3b gripped by the claws 2, the second pusher 12 is positioned at the right end of the workpiece 3b by a command from the NC control device. Then, the first pusher 1
0 is advanced, and the workpiece 3b is sandwiched between the first pusher 10 and the second pusher 12 with pressurization by the spring 13 and the cylinder 5.

When the robot wrist 1 opens the claw 2 and retreats outside the NC lathe, the turret 18 moves forward as shown in FIG.
The first pusher 10 retreats while pushing the workpiece 3b, and pushes the workpiece 3b into the chuck 19 (the fourth
(See "First stage" in the figure).

Next, the first pusher 10 is retracted, and the workpiece 3b is pressed against the chuck surface 4b using only the second pusher 12 with the preload applied by the spring 13. Here, the chuck claw 4 is opened and closed two to three times to perform centering and chuck the workpiece 3b. Thereafter, the second pusher 12 is moved back (see the "second stage" in FIG. 4).

When the chuck claws 4 are closed with the workpiece 3b pressed against the chuck surface 4b as shown in FIG. 3, the turret 18 is moved back, and the cutter 20 is selected to start machining.

When the machining is finished, the second pusher 12 moves the workpiece 3b
The first pusher 10 moves forward and pinches the workpiece 3b.

When the chuck claws 4 open, the first pusher 10 moves forward and at the same time the turret 18 retreats, pulling the workpiece 3b out of the chuck 19. Next, the robot wrist 1 enters the NC lathe and grips the workpiece 3b with the claws 2.

The first pusher 10 and turret 18 move backward, and the robot wrist 1 takes out the workpiece 3b from the NC lathe (see "Third Stage" in FIG. 4).

In this way, by operating the first pusher 10 and the turret 18, the workpiece 3b can be attached to and detached from the chuck jaw 4.

FIG. 5 shows a case where the tailstock 22 is movable in the axial direction and can be positioned arbitrarily. In this example, the workpiece 3b is sandwiched between the first pusher 10 and the second pusher 12 attached to the tailstock shaft 21, and can be attached to and detached from the chuck jaw 4.

FIG. 6 shows an example in which a recess is provided at the tip of the second pusher 12'. In this example, the work 3b is fitted into the recess at the tip of the second pusher 12' to center the thin object.

〔Effect of the invention〕

As described above, in the present invention, the robot automatically attaches and detaches the workpiece while the workpiece is sandwiched from both sides by the first and second pushers. As a result, in the case of a thin plate, the workpiece does not require a gripping allowance for the robot's claws, which saves material and eliminates the need to cut off the gripping allowance, reducing machining time. In the case of long workpieces, the workpiece can be stably mounted without shaking when it is set on the chuck.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of an embodiment of the present invention, FIGS. 2 and 3 are cross-sectional views showing a state in which a workpiece is attached, FIG. 4 is a flowchart showing an example of the procedure of the method according to the present invention, and FIGS. FIG. 6 is a sectional view showing other embodiments, and FIG. 7 is an explanatory view showing a conventional attachment/detachment method. 1: Robot wrist 2: Claws 3a, 3b: Workpiece 4: Chuck jaws 4b=
Chuck surface 5; Cylinder 5a Nijirinrod 6: Support 7: Headstock 8 Ni Guide 9: Main shaft 9a: Main shaft hole 10: First pusher 11: Joint 12, 12
': Second pusher 13: Spring 14: Holder 15 = Collar 16: Screw 17: Set screw 18: Turret 19: Chuck 20: Cutting tool 21: Tailstock shaft 22: Tailstock patent applicant
Yasuyo Electric Manufacturing Co., Ltd. Director Kobori
Masu (and 2 others) Figure 1 8i! 2 Figure 3

Claims (1)

[Claims] 1. When a workpiece is transferred to and removed from a chuck of a lathe having a hollow main shaft, a first pusher is provided in the hollow main shaft and driven along the central axis of the hollow main shaft, and A second pusher is provided at a position opposite to the first pusher on the same axis, and the workpiece on the table is gripped by robot claws and moved onto the center axis of the lathe, and the workpiece is moved from left and right on the center axis. The workpiece is held in a pressurized state by the first and second pushers and moved along the central axis to the chuck of the lathe, and then the first pusher in the hollow main shaft is retreated and the second pusher The workpiece is pressed against the chuck surface, squared, and centered, and then the workpiece is chucked. After cutting, the machined workpiece is pressed against the first and second chuck surfaces from both sides.
A workpiece automation system characterized in that the workpiece is held in a pressurized state by a pusher, moved along the central axis to a grasping position of a robot jaw, is transferred to the robot jaw, and is placed on a processed stock table. How to put on and take off. 2. An automatic workpiece attachment/detachment device for attaching and detaching a workpiece to and from a chuck of a lathe having a hollow main shaft, wherein a first pusher is provided in the hollow main shaft and is driven along the central axis of the hollow main shaft and supports one end of the workpiece; A rod is disposed on the same axis as the first pusher, the tip of which is brought into contact with the other end of the work in a pressurized state by a biasing means, and is driven forward and backward in the direction of the first pusher. An automatic workpiece attachment/detachment device comprising: a second pusher having a second pusher; 3. The automatic workpiece attachment/detachment device according to claim 2, wherein the second pusher is mounted on the turret. 4. The automatic workpiece loading/unloading device according to claim 2, wherein the second pusher is mounted on the tailstock. 5. The automatic workpiece attachment/detachment device according to claim 2, 3, or 4, wherein a recess for fitting the tip of the workpiece is provided at the tip of the second pusher.