JPH03170281A - Work mounting/demounting device for gear cutting machine - Google Patents

Abstract

PURPOSE:To perform operations of carrying in a work to be processed and carrying out a processed work simultaneously by making an opening angle between a work setting position of carry-in and carry-out moving devices and an escape position of a jig equal to an opening angle between both hands. CONSTITUTION:A work table 63 with a jig placed is placed on a gear cutting machine so that it can freely advance and retreat so that a work holding jig 67 is positioned between a processing part and a rial 1 side escape part on a gear cutting machine 3. On this work table, a carry-in hand 9A and a carry- out hand 9B having an equal turning radius are attached via a lift with a specific opening angle as well as an opening angle centering the turning center of a turning device between a work setting position of work carry-in and carry- out moving devices 10, 11 and the escape position of the jig is made equal to an opening angle between both hands. Thus one device 12 for mounting and demounting work is equipped with two hands so as to carry a work to be processed into the gear cutting machine and carry a processed work out of the machine.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a workpiece attachment/detachment device for transporting a workpiece to a gear cutter in a ring gear processing device that cuts gears on the inner circumferential surface of a link-shaped workpiece. Regarding.

(Prior art) When cutting the gears of a ring gear, conventionally, a worker or workpieces were carried in and out of the gear cutting machine for each ring gear, and the carried out workpieces after gear cutting were placed on a pallet and carried to the next process by a hawk lift. It was being transported to the quenched river.

In addition, as a device for automatically loading and unloading workpieces, we use a ceiling-suspended hanging carrier, which is often used to effectively utilize space, and an arm attached to the hanging carrier in a vertical manner. It is conceivable that a hand for holding the workpiece be used to hold the workpiece, set the workpiece in the gear cutter, and take out the workpiece after gear cutting is completed.

(Problem to be solved by the invention) However, as in the past, when thousands of people set and take out workpieces from the cutting machine, there was a problem that it required a large number of people and labor. .

In addition, when using a ceiling-hanging transport vehicle, there is a risk of the workpiece falling, and there is also a risk of interference between the hand and the worker during transport. There were problems in that it was difficult to secure space for the work and the workability was poor. In addition, while maintenance work such as replacing the cutter of a gear cutter is being carried out, there is a risk that the maintenance work n and transport 1j will be interrupted, so the work must be interrupted, and the cutting process may be interrupted. There was a problem in that the operating rate of the equipment was poor.

Therefore, the inventors of the present invention have developed a method for transporting 4j
We have developed a ring gear processing device using
Aiming to save labor, improve efficiency, and improve work safety, the present invention provides a workpiece attachment/detachment device for a gear cutter that achieves improved efficiency in attaching and detaching a workpiece to and from a gear cutter in such processing equipment. The purpose is to provide

(Means for Solving the Problems) In order to achieve the objective of L.121, the gear cutter workpiece attachment/detachment device according to the present invention has a ring gear workpiece conveyor on a rail laid on the ground. A plurality of ring gear gear cutting machines are installed along the rail, and a pair of workpiece loading conveyors and conveyor 13 are arranged in correspondence with each gear cutting machine. A workpiece for a thin cutting machine used in a ring gear cutting machine, in which a moving device for carrying in a workpiece before shaping and a moving device for carrying out a workpiece after shaping are installed between the rail and each gear cutting machine. The workpiece holding jig is positioned between the second machining area and the rail side evacuation area, so that the worktable on which the jig is installed is placed on the gear cutter. A carrying handle 1, which has a turning radius, and a carrying handle L, which have a turning radius and a carrying handle L, are installed on the Kao stand L so that they can move forward and backward. At the same time, the opening angle between the workpiece set position of the work loading/unloading moving device and the jig at the retracted position is equal to the opening angle between the inner hands. It is characterized by what it did.

(Function) Since the present invention has the above-mentioned structure, the second operation of the workpiece carrying-in moving device, which grips the workpiece before gear cutting, with the workpiece carrying hand, and the operation set in the jig. At the same time, the processed workpiece (completed product) was grasped by the workpiece carry-out hand, and after raising the inner handle l~, the hand was rotated to an opening angle, lowered, and then gripped by the workpiece carry-in hand. The operation of releasing the workpiece M and placing it on the jig, and the operation of releasing the completed product held by the workpiece carry-out hand and placing it on the carry-out moving device 2 are performed at the same time. That is, one workpiece loading/unloading device is equipped with two eights (1) to carry in the workpieces to be cut into the cutter and to carry out the completed workpieces.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

Figure 1 shows the overall configuration of the ring gear machining device, and l indicates the location in the factory where the machining device for the workpiece (after the cut is sometimes referred to as the workpiece) is installed. The rails were laid, 2 is an automatic guided vehicle installed on the rail 1, and 3 is the gear cutter 3 installed on the rail 1.
In this embodiment, an example in which an 8-coupled gear cutter 3 is installed is shown. 4 is a cleaning machine installed parallel to the gear cutter 8,
There is a method for cleaning the workpiece before and after machining.

5 is a pallet station, which is used to store workpieces from the conveyor I1i (not shown) traveling outside the area 6 of the gear cutting machine, or the finished products after being added. There are things.

Reference numerals 7 and 8 designate a workpiece loading conveyor and a workpiece unloading conveyor as workstations, which are provided in pairs with l phases each corresponding to the mountain cutter 3. The worker transports the workpiece placed on the end aL of the conveyor 7.
There is a holder at the rail side end b that can be gripped by the hand 9 of the holder.

The workpiece unloading conveyor 8 carries a workpiece (completed product) that is gripped by the hand 9 of the conveyance tunnel 2 and placed on the rail side end C.
The station side end d is for carrying. At the end of the rail 1 side of the conveyor 7 for carrying in the work, there is a positioning device that stops the work in a fixed position, and a contact that is activated by the gravity of the work, for example, to determine whether or not the work is carried into position b. A workpiece discrimination device (none of which is shown) is also provided.

Reference numerals 10 and 1l are moving devices for carrying the workpiece into the gear cutter 3, respectively, and a moving table for carrying the work into the gear cutter 3. and rail l, each pair is numbered.

12 is a workpiece attachment/detachment device installed on the processing table 1- of each gear cutter 3. 13 is a system controller that monitors and controls the movement and status of the entire device.

FIG. 2 is a wiring diagram between the system controller 13 and each device, and the system controller 13 is connected to the computer 2.
0, a sequencer 2l, and a remote I/014. The remote l/014 connects the Shinkyu line 22 and the remote l/014.
~l/015~l8, moving tables 10, 11
control panel 23, a transmitter/receiver 26 provided at the end of the rail l, a control panel 27 of the cleaning machine 4, and a work loading/unloading device 1.
It is connected to the control panel 28 of No. 2. The transmitter/receiver 26 is for transmitting and receiving signals with an optical signal transmitter/receiver 25 connected to a control panel 24 mounted on the transport vehicle 2 .

In addition, the control panel 28 for the workpiece attachment/detachment "A W l 2" is connected to the gear cutter 8 via the remote I/029.
(sequencer) is installed to speed up control.

In addition, to exchange signals between each control device, the status of each device is always taken into the system controller 13 at high speed by using remotes 1/014 to 18 and 29 that perform serial communication.

Next, the configuration of each device will be explained. Figure 3 shows transport vehicle 2
This is a perspective view showing the frame 30 of the transport vehicle 2.
A traveling motor 32 integrated with a reduction gear 31 is attached, a traveling pinion gear 33 is fixed to the output shaft of the reduction gear 31, and a wheel 34 attached to a frame 30 is mounted on the rail l so as to be freely removable. and the running pinion 33
is engaged with a rack 35 fixed to the rail 1, and the transport vehicle 2 is operated by the electric drive motor 32 which receives power from the power line provided along the rail 1.
or run along rail l.

Further, in order to prevent the transport turret 2 from shifting in the lateral direction, cam lowers 36 are attached to four locations on the frame 30, and the rails 1 are sandwiched between these.

Further, a Toyama Jt unit 1-37 whose driving source is an electric motor is mounted on the frame 30, and serves as a three-axis ridge driving source for the hand 9 mounted on the frame. The positioning mechanism of the hand 9 is constructed as follows. That is, a turning device 40 for turning a circular index plate 39 by a hydraulic turning motor 38 is installed in the center of the frame 30, and a ball spline type shaft 4l is fixed to the center of the index plate 39, and a hand One end of the lifting hydraulic cylinder 42 is fixed, and a piston rod 42a of the hydraulic cylinder 42 is connected via a rod 44 to a sliding lock 43 that is slidably fitted to the main shaft 41. An arm 46 having a Haran weight 45 mounted on one end is attached to the sliding lock 43,
A hand 9 is attached to the other end of the arm 46.

The hand 9 has a hydraulic motor 48 at the center of a circular frame 47.
The center gear 49 rotated by the center gear 49 is attached, and the three clip opening/closing gears 50 that mesh with the center gear 49 are attached around it, and as shown in FIG.
The water 'tz arm 52 is attached to the horizontal arm 52, and a vertical rod-shaped grip 54 with a workpiece locking link 53 attached to each horizontal arm 52 as shown in FIG.
As shown in the figure, 'i! ．． f: Place the step e over M into the sunken workpiece W with three wooden clips 5.
4, the center gear 49 is rotated by the hydraulic motor 48, which rotates the clip opening/closing gear 50, the third wooden grip 54 is opened, and the ring 53 is hung on the step e as shown in FIG. There is something to hold onto.

As shown in FIG. 4, the index plate 40 has five notches f to J on its outer periphery, while the piston rod S5a of the hydraulic cylinder 55 fixed to the frame 30 of the transport vehicle When the lock block 56 to be engaged with the notch fj is fixed and the hydraulic cylinder 55 is extended, the lock block 56 is engaged with one of the notches fj, and the index plate 40 is locked. You can decide the direction of hand 9.

Here, the center O of the index plate 39 and the notch n
The angles formed by the lines connecting center O and notches 1 and g with respect to the line connecting center O and notch 1 and g are both α (63 degrees), and the extension line of the line connecting center O and notch n, and the line connecting center O and notch f ．． The angles formed by the lines connecting j are also α degrees. Further, as shown by the two-dot chain line in FIG. 4, the arm 46 is configured to align with the direction of the rail 1 when the lock block 56 is fitted into the notch n. At the end of the transport city 2, there is a rail 1
A transceiver 26 (see FIG. 2) installed at the end of the transceiver 26 (see FIG. 2) and a transceiver 25 for transmitting and receiving optical signals are attached. Also,
Transport ili. A control panel 24 is provided before and after the controller 2.

FIG. 8 shows the moving table lO, 1 for loading and unloading the workpieces.
1 is a plan view showing an example of the configuration, and FIG. 9 is a side sectional view.
These movable tables lO, 11 are installed on the movable table E between the rail l and the workpiece attachment/detachment device l2. In the wooden example, in order to reduce the installation space as actuators for the movable tables 10 and 11, a permanent magnet 58 is housed inside a tube l 2 57 made of a non-magnetic material, and a magnetic material 60 is placed outside the tube 57. The movable tables 10 and 1l are mounted movably along the tube 57 and fixed on the magnetic material 60, and the movable tables 10 and 11 are attached to the left and right roller rows 87.
The compressed air is placed on the tube 57 to reduce the movement resistance.
By feeding candy into the tube 57 from either of the pipes 61 and 62 at the rain end and moving the permanent magnet 58, the magnetic material 60 is moved by magnetic attraction force. , 11 are provided with stoppers 88 and 89 for positioning both ends of each moving table 10.1.
A switch 59 for detecting the workpiece W is provided at 1-1-.

As an actuator for the movable table 10.11, a liquid kappa cylinder, an electric cylinder, or others may be used.

Next, the gear cutter 3 and hook removal i12 will be explained. As shown in FIG. 10, the workpiece release device l2 is attached to a joint 63 provided on the rail l side of the gear cutter 3 by a mechanism described later.

l3 The processing table 63 is configured to move a gear arm 65 rotated by a motor 64 attached to the frame of the gear cutter 3, for example, to the rail by means of a reciprocating device screwed into a female screw 66 fixed to the processing table 63. It is installed so that it can be moved at right angles. 86 is the cutter of the gear cutter 3;
-] while rotating the workpiece W at a slow speed around the shaft center, the workpiece W is rotated at a slow speed together with the bracket 67, and the depth of cut is gradually increased to form teeth on the inner circumferential surface of the workpiece W. It forms the

On the processing table 63, there is a link-shaped jig 67 for setting the workpiece W therein, or a turning concave device 68 (the turning device 68 includes a hydraulic motor 69, its output gear 70, and an lfi tool). 6
and a ring gear 71 connected to the outer periphery of the output gear 70 and meshing with the output gear 70).

As shown in FIG. 11, the cylindrical case 72 of the workpiece loading/unloading 212 is fixed to the processing table 63 with bolts 73.
A swivel device 76 is provided which rotates the swivel base 7l45 by a motor 74 which is attached to the cylindrical case 72 via a rotating mechanism, and the index plays 1 to 77 are fixed to the swivel base 75''. A built-in sensor (not shown) detects the angle of quadruple rotation.

Next, a mechanism for attaching the hand onto the index plate 77 will be explained. As shown in FIGS. 11 and 12, a ball spline type main shaft 78 is fixed at the center of the index plate 77, and one end of a hydraulic cylinder 79 for lifting and lowering the hand is also fixed. The piston rod 79a is connected via a rod 8l to a sliding flock 80 that is slidably fitted onto the main shaft 78. As shown in FIG. 13, the sliding lock 80 has 1
Two arms 82 and 83 are attached with an opening angle of 20 degrees, and a carry-in hand 9A and a carry-out hand 9B are attached to the tips of each arm 82 and 83, respectively. The turning radius of each handle 1 to 9A and 9B is the same. Since the structure of each hand 9A9B is the same as the hand 9 on the transport vehicle 2, the same reference numerals are given to each part and the explanation will be omitted.

The flock 80 is cleaned by squirting clean, dust-removed sleeves from a hydraulic pump (not shown) into the 'N3 tool 67 at the middle of the arms 82 and 83, each with an opening angle of 60 degrees. A nozzle 84 is attached. Further, on the index plate 77, a position sensor 85 such as an air micrometer is disposed on the opposite side to the direction of the nozzle 84 to detect the position and center runout of the workpiece W set in the jig 67.
There is one handle. In addition to this position sensor 85, the jig 6
On the side 7, another seating sensor such as an air micrometer (a sensor for determining whether or not the workpiece W is to be worked in the jig 67) is provided or not shown.

Figure 8814 shows the movable tables 10 and 11 and the workpiece loading/unloading device 1 in a state where the movable tables IO and 11 are on the gear cutter 3 side and are retracted to the processing table 63 or the rail 1 side.
2. How much is the hand and jig 67? ? 7 Explaining the relationship f.
It is a front view. Rotation of the hands 9A and 9B ['A line connecting the center 01 and the work set 1 to center 02i 6 of the jig 67 is 1, 1, and a line L2 connecting the turning center 01 and the work set center o3 of the movable table 10 year,
When the lines connecting the turning center 01 and the work set center 04 of the movable table 11 are designated as 1 and 3, these lines 1,
1, L2, and 143 are the angles formed by the hand 9.
The opening angle θ (=120 degrees) between A and 9B is made equal to the opening angle θ (=120 degrees), so that when the workpiece carry-out hand 9B is on the jig 677, the workpiece carry-in hand 9A is set to the workpiece set on the workpiece carry-in movable table lo. It is configured such that when the workpiece carrying-in hand 9A is in position H and the workpiece carrying-in hand 9A is on the jig 67, the workpiece carrying-out hand 9B is on the workpiece carrying-out moving date l1. Note that in this embodiment, the angle 0 is set to 120 degrees, but it is not necessary to limit the angle to this angle in cases where the present invention is implemented.

Next, the operation of this processing device will be explained. FIG. 15 shows the flow of the workpiece W, with solid arrows showing the flow of the workpiece before machining, and dotted lines showing the flow of the workpiece after gear cutting -f. First, the workpiece W placed on the pallet station 5 is manually placed on the workpiece carrying conveyor 7 of the workstation l 7 station, and is placed on the rail 1.
It is sent to the side end b. The system controller l3 monitors the state of a device that determines whether or not a workpiece W exists at the end b, and if a workpiece W exists, the workpiece W is transported to the washing machine 4 by the transport vehicle 2 and cleaned. When the processing is completed, the workpiece W is transported again to the moving table 10 for carrying in by the carrier 2, and if the workpiece W to be processed is not on the moving table 10 for carrying in, the receiving part 59 of the moving table 10 is moved. Next, by operating the workpiece loading/unloading device 12, oil is jetted from the nozzle 84 to clean the jig 67, and after cleaning, the workpiece is set on the jig 67, and the position sensor 85 automatically checks seating and center runout. If there are no abnormalities, preparation for machining is completed and machining begins. When the processing is completed, the flow of the workpieces is reversed to the flow described above, and the workpieces are carried out from the pallet station 5 to the next process.

Next, the operation of loading and unloading the workpiece W into the jig 67 by the workpiece loading/unloading device 12 on the loading/unloading movable table 10, 11 will be explained in more detail with reference to FIG. 16 and FIG. 17l8. First, in FIG. 16, it is determined whether or not there is a workpiece W on the carrying-in moving table 10-1- by referring to the output of the switch 59, and the carrying-out moving table 11 side is empty. It is determined by referring to the output of the switch 59 (Sl). First, if the workpiece W exists on the movable table 10 and the movable table 11 is empty, then it is determined whether the workpiece has been cut by the gear cutter 3 or is stored in the jig 67. In the posture shown in FIG. 17 (A>), it is determined based on the output of the position sensor 85 (S2).If there is a complete product on the jig 67, and if there is a false operation signal from the system controller 13, the control panel of the workpiece loading/unloading device 12 is detected. When given to 28,
Turn the hands 9A and 9B to the right by 120 degrees to the position shown in FIG. 17(B) (S3), and move the moving differential to the position shown in FIG. i
i is located at the side end of the gear cutter 3, and the hands 9A, 9
Lower the moving table 10'' and move the second workpiece W to the hand 9.
At the same time, the finished product on the jig 67 is gripped by A.
~ 9B grip (S4), and the hands 9A and 9B of the workpiece attachment/detachment 1 9 device 12 are turned to the left (not shown in FIG. 17(C)) ( S5)
.

Next, the command to rotate the jig 67 is sent to the gear cutter a3, the cleaning liquid (extraction) is supplied from the nostle 84 to the jig 67 (S6), and the workpiece is attached and detached: xt 1 2 is turned 60 degrees to the right and the 17th The position shown in Figure (D) is set, and the work W to be processed is carried into the jig 67 by placing it on the end of the movable diffle 11 for the complete product transport 114 on the cutting machine 3 side (S7).

Next, in Fig. 17(D), in the senshii accent, the wakaza sensor (
Seating of the workpiece W on the jig 67 is detected by (S8). If the seating detection operation does not detect the seating, it is determined whether the number of seating inspections is the same or less than 4101 (S9), and if it is less than 44, the hand 9
Grip the workpiece in the jig 67 again with A, turn it to the left by 60 degrees to the turning position shown in FIG. 17(C), and proceed to the above-mentioned step S6.
- S8 are repeated, and if seating is not confirmed even after repeating four times, an error flag is set (S209, sio).

When it is confirmed that the position is 11', the jig 67 is turned to the right by x2o11, the height of the upper surface of the workpiece W is measured by the position sensor 85, and the center runout is detected (313).

Then, compare the maximum value and minimum value of the upper surface of the workpiece W (
S14). If the difference is 1-, the difference between the maximum set value and the minimum value is set f. (Sl5, Sl6).On the other hand, if there is only center runout, move the moving table 10.11 to the transport vehicle 2 side (
S17), refer to whether there is an error flag or not (
Sl8), if the error flag is off, start the gear cutter 3, and if the air flag is on, turn the abnormality lamp on to 1 (Sl9).

In the embodiment L, an example is shown in which a seating sensor is provided on the jig 67 side to confirm seating of the workpiece.
5 may be used to detect a drop on the jig 67.

(Effect of the invention) 2l According to claim 1, the workpiece loading/unloading device includes a carry-in hand;
Attach the vjm hand via the rotating and lifting device and with a predetermined opening angle 41, and also adjust the opening angle between the work setting position of the loading and unloading moving device and the jig at the retreat position. By setting the opening angle between both hands to be equal, it is possible to simultaneously perform the loading operation of the previous workpiece and the unloading operation of the workpiece after machining, using both hands. In comparison, the number of steps is reduced to 1/2, and the efficiency is improved by 1/2.

According to claim 2, a device for cleaning the jig and a position sensor for detecting the settling of the workpiece in the lees tool are all provided on the same side of the device to which both hands are attached to which the two hands are attached.
Since these positions can be set using a holder that allows the hand to rotate, the device structure is simplified compared to the case where a separate device is used.

[Brief explanation of the drawing]

The drawings show an embodiment of the ring gear adding device according to the present invention. FIG. 1 is a plan view showing the overall arrangement of the device, and FIG. 2 is a diagram showing the structure of the entire control system for transmitting and receiving signals. FIG. 3 is a perspective view of the transport vehicle, FIG. 4 is a side view showing the positioning mechanism for the eight wheels mounted on the transport vehicle, and FIG. 5 is the handle of the transport vehicle 1-. 6U:A is a perspective view showing an example of the workpiece before addition, FIG. 7 is a sectional view showing the workpiece being gripped by a hand, and FIG. 8 is a moving device and FIG. 9 is a plan view showing the relationship between the transport DJ and the workpiece loading/unloading device; FIG. 9 is a side view showing the structure of the moving device; FIG. Figures 11, 2, and 13 are a side view perspective view and a plan view showing the workpiece removal device, respectively, and Figure 14 explains the positional relationship between the hand of the workpiece loading/unloading device, the moving device, and the handle. Ijl Zurv Yuzu, Part I
Figure 5 is a flowchart explaining the flow of the workpiece, Figure 16 is a flowchart explaining the transfer operation of the workpiece between the gear cutter and the moving device, and Figure 17 is the flowchart explaining each working position of the workpiece removal device. Till'li IXI. 2 3 o: L mouth O-IN ■ Good size JP-A-3 170281 (16)

Claims (1)

[Claims] A carrier for a ring gear work is placed on a rail laid on the ground so that it can travel freely, and a plurality of ring gear gear cutters are connected along the rail, each corresponding to a plurality of ring gear gear cutters and each gear cutter. 1 each
A pair of conveyors for carrying in the work and a conveyor for carrying out the work are arranged, and a moving device for carrying in the work before processing and a moving device for carrying out the work after processing are installed between the rail and each gear cutter. A workpiece attaching/detaching device for a gear cutter used in a ring gear machining device, the workpiece holding jig is positioned between a machining area on the gear cutter and a retracting area on the rail side. The installed machining table is installed on the gear cutter so that it can move forward and backward, and on the machining table, a carry-in hand and a carry-out hand having the same turning radius are connected via a rotating and lifting device and at a predetermined opening angle. At the same time, the opening angle between the work setting position of the work loading/unloading moving device and the jig at the retracted position is defined as the opening angle between the two hands. A workpiece attachment/detachment device for a gear cutter, characterized in that the workpiece attachment/detachment device is made equal to . 2. The tooth according to claim 1, further comprising a device for cleaning the jig and a position sensor for detecting a fit of the workpiece in the jig on the rotated side of the device for attaching the hand. Workpiece attachment/detachment device for cutting machines.