JPH04101754A - Transfer device for automatic working device - Google Patents

Abstract

PURPOSE:To set the carry-in motion of a work by a transfer robot most reasonably, by providing a memory element on the pallet which places a work, and inputting various data on the work placed on the pallet into this memory element. CONSTITUTION:A memory element 815 which stores the information concerning the work placed on a pallet 80 is provided on the pallet 80, also a lead, light head which transmits information to a control unit 90 with its exchanging with the memory element 815 of the pallet is arranged on a pallet changer. The work placed on the pallet 80 is automatically carried in and out for a composite work lathe 10, with the robot of the transfer device being controlled, based on the data with respect to the work input to the memory element 815 of this pallet.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic processing device equipped with a multi-tasking machine tool.

[Conventional technology]

Flexible manufacturing systems (FMS), which combine multi-tasking machine tools and automatic workpiece transport devices to enable long-term automatic machining, are becoming popular.

Among multi-tasking machine tools, a multi-tasking lathe is equipped with two opposing spindles and two turrets that work with each spindle.
Workpieces can be transferred between two spindles, two processes can be completed in one machine, and productivity is high.

The applicant has already proposed a system that combines this type of multi-tasking lathe and an automatic workpiece transfer device to enable long-term unmanned operation.

[Problem to be solved by the invention]

The automatic workpiece transport device is composed of a pallet on which a workpiece is placed and a gantry-type transport robot that grips the workpiece on the pallet and supplies it to the main shaft of a multitasking lathe.

This transfer robot takes out the processed workpiece from the spindle and returns it to the pallet.

Conventional automatic work transfer devices handle only a single type of work, and cannot mix different types of work on the same pallet. In addition, it was necessary for the operator to teach the movement of the transfer robot in advance.

In the present invention, a storage element is provided on the pallet, necessary information is recorded in advance in this storage element, and by using this information as a reference, the transfer robot can automatically respond to different types of workpieces. The present invention provides an automatic processing device that achieves long-term unmanned processing.

[Means to solve the problem]

The conveyance device of the automatic processing device of the present invention includes a guide rail disposed between the multi-tasking device and the stocker device that accommodates the workpiece, a conveyance robot that runs by itself on the guide rail, and a vertical direction attached to the conveyance robot. An arm that expands and contracts,
The stocker device is equipped with a work hand attached to the tip of an arm that grips a work, and the stocker device includes a loading station that accommodates a pallet on which a material work is placed in a predetermined position, and an unloading station that accommodates a pallet on which a processed work is placed. The pallet changer is equipped with a loading station and a pallet changer that transports the pallet between the loading station and the unloading station. The basic means is to have read and write heads that exchange information between them and transmit it to the control device.

[Effect]

The control device of the automatic processing equipment is based on the data related to the workpieces input into the memory element of the pallet.

Controls the robot in the transfer device to automatically load and unload workpieces on pallets into and out of the multi-tasking lathe.

〔Example〕

Hereinafter, the present invention will be explained in detail based on the drawings.

FIG. 1 is a perspective view showing the entire automatic processing apparatus for implementing the present invention, FIG. 2 is a front view, and FIG. 3 is a plan view.

FIG. 4 is a left side view.

The automatic machining device, designated as a whole by reference numeral 1, includes a multi-tasking machine tool. Various types of machine tools can be used as the compound machining machine tool, but in this embodiment, a compound machining lathe 10 equipped with two main spindles and two turrets is used. There is.

FIG. 5 shows an outline of the combined machining lathe 10, which has a first main shaft 110 and a second main shaft 130 that are arranged to face each other. The first spindle 110 and the second spindle 130 are spindles with the same capacity and move in the directions indicated by axes 21 and 22, respectively.

On the other hand, two turrets with the same capacity 120°140
are arranged facing each other. The first tool rest 120 has an axis X□
It has a turret 122 that moves in the force direction and rotates around an axis T□, and a plurality of tools 160 are attached to the turret 122.

Similarly, the second tool rest 140 has a turret 142 that moves in the axis X2 direction and rotates around the axis T2, and a plurality of tools 160 are mounted on the turret 142.

The first main shaft 110 has a chuck 112.

The jaw 170 grips the workpiece 150 and moves it to the first tool post 1.
20 tools 160 perform necessary processing on the workpiece 150. The amount of movement of the axis z1 of the first spindle 110, the amount of rotation around the axis C, the amount of movement of the axis X□ of the tool post 120, and the axis T
, the surrounding index is controlled by an NC device.

The multitasking lathe 10 is equipped with means (not shown) for detecting the position of the cutting edge of the tool 160, and by measuring the position of the cutting edge and feeding it back to the NC device, it can indirectly measure the dimensions of the workpiece and improve machining accuracy. secure.

When the first process is completed by the first spindle 110,
The chuck 132 of the second main shaft 130 is attached to the first main shaft 110.
The workpiece 150 is received from the machine and is processed in the second step in collaboration with the second tool post 140 controlled by the NC device to complete the workpiece 150.

As described above, the compound machining lathe 10 is equipped with two main spindles and two turrets, and has the ability to automatically machine workpieces with complex shapes.

A chip conveyor 190 is disposed on the rear side of the multi-tasking lathe 0 to collect chips generated by cutting, and are collected by a chip basket 195.

The conveying device, generally designated by the reference numeral 20, includes a guide rail 200 disposed above the multi-tasking lathe top 0. The guide rail 200 has two shafts, which is the moving direction of the main shaft of the lathe.
The guide rail 20 is arranged along an axis B parallel to Z2.
A transfer robot 220 is mounted on the robot 0 so as to be freely movable.

The transfer robot 220 includes an arm 230 that moves along an axis A in the vertical direction. A work hand 280 is attached to the tip of the arm 230, and in a manner described later, this work hand 280 can be exchanged with another hand to convey various objects.

A stocker device 30 is provided below the guide rail 200 adjacent to the lathe 10 for compound machining and for storing members and supplying them to the lathe 10 for compound machining when necessary.

FIG. 6 is a sectional view of the main part of the stocker device 30, and FIG. 7 is a side view of the main part.

The stocker device 30 has a base 300 placed on the floor, and the base 300 includes two sets of two guide surfaces. The first guide surfaces 310 and 312 are the guide rails 20
It is arranged along an axis X, which is perpendicular to the axis B of 0.

The second guide surface 320° 322 is parallel to the axis
will be placed along the

On the first guide surfaces 310, 312, a stocker, generally designated by the reference numeral 4o, is placed movably along the axis X3.

The stocker 40 has a first side wall 410 and a second side wall 420.
and a floor 430 connecting two side walls, and includes a box-shaped stocker body 400 with a substantially square cross section and an open top. On the lower surface of the floor 430, there are rollers 4 that move on the guide surface.
02 is provided.

The upper edge of the first sidewall 410 extends outwardly and horizontally to form a first flange 412 . The upper edge of the second sidewall 420 also extends outwardly and horizontally to form a second flange 422 .

The stocker body 400 has an elongated shape extending along the axis
45.

The chamber 445 houses various hands that are replaceably attached to the tip of the arm 230 of the transfer robot 220.

In this embodiment, a tool hand 240 for handling tools to be supplied to the turret of the multitasking lathe 10 and a main spindle 1 are used.
Three types of hands are prepared: a jaw hand 260 for handling the jaws to be supplied to the chucks 112 and 132 of No. 10 and 130, and a work hand 280 for handling the workpiece.

The first flange 412 and the second flange 422 are connected to the axis
3, and a tool 160 is inserted into each person. In this embodiment, a case is shown where a total of 20 tools 160 are accommodated, 10 on each flange, but the number of accommodated tools may be increased or decreased as necessary.

Jaw holding members are arranged at equal intervals along the axis X3 inside the upper parts of the first side wall 410 and the second side wall 420,
A jaw 170 is inserted into each holding member. In this example,
Although a case is shown in which a total of 18 jaws 170 are held, the number of jaws 170 may be increased or decreased as necessary.

Stocker body 400 is indexed along axis X3 and includes means for positioning (eg servo positioning).

Each tool, jaw, and hand is equipped with a memory element including an IC, a battery, etc., and records necessary information.

The tool 160 includes a memory element 160a, and a read/write head 330 for reading or writing information in the memory element 160a of the tool is disposed on the base 300 side of the stocker device. The jaw 170 consists of a base jaw that engages with the chuck and a soft jaw that is attached to the base jaw, and includes a similar memory element on the back of the base jaw. Then, the jaw 170 is placed on the base 300 side.
The read/write head 3 facing the memory element 170a of
32 will be installed. This read/write head 332 is
When the stocker body 400 moves, the tool shank 1
In order to avoid interference with 60S, the lead,
The structure is such that the jaw 170 is close to the memory element 170a only during writing.

The tool 160 stored in the first flange 412 and the first
The jaw 170 stored in the side wall 410 of the machine is, in principle, supplied to the first tool rest 120 and the first spindle 110.

The tool 160 stored in the second flange 422 and the second
The jaw 170 stored in the side wall 420 of the machine is supplied to the second tool rest 140 and the second main shaft 130.

FIG. 6 shows that the tool hand 240 is attached to the first flange 412.
160 of the second flange 422 and the tool 16 of the second flange 422
The state in which the jaw hand 260 grips the jaw 170 is shown in the upper center part.

A hand is stored in the stocker main body 400, and a read/write head 340 for the hand is attached to an actuator 342 on the base 300 below the floor 430 of the main body 400.
It is provided so that it can move up and down. FIG. 6 shows a state in which the tool hand 240 is housed in the stocker body 400, and a memory element 240a is attached to the tip of the tool hand 240 to record necessary information. Joe hand 26
0, the work hand 280 also includes a similar memory element.

Second guide surface 320 of base 300 of stocker device 30
, 322 is equipped with a traveling trolley, generally designated by the reference numeral 60. The traveling carriage 60 has a frame 600, which is supported on the guide surfaces 320, 322 via rollers 602, and is moved along the axis X4 by a drive device (not shown). This traveling cart 6o constitutes a pallet changer together with a fork 70, and handles pallets on which workpieces are placed in a manner to be described later.

The stocker 40 is provided with a clutch means using a connecting pin 450 that can be freely engaged and detached, and the traveling truck 60 and the stocker 40 can be connected to each other when necessary.
Connect with. The stocker 40 is indexed to a predetermined position along the axis X3 by the driving force of the traveling cart 60, and supplies the hand, tools, and jaws to the transfer robot 220.

As described above, in this automatic processing device, the hand attached to the arm of the transfer robot is freely replaceable, and the necessary tools and jaws are supplied to the multitasking lathe 10, so that setup for many types of workpieces is automatically achieved. be able to.

Next, an external measuring device 50 is connected to one end of the stocker 40. This external measurement device 50 includes a block 502 for positioning a workpiece on a plate 500 and a micrometer 5.
10, etc., and automatically measures the dimensions of the processed workpiece and sends the information to the control device 90.

The traveling carriage 60 guided by the base 300 includes a fork device 70. The fork device 70 is supported so as to be vertically movable with respect to the traveling trolley 60.

A motor 610 disposed on the traveling truck 60 rotates a drive screw 720 of the fork device 70 via a transmission means, thereby raising and lowering the entire fork device 70.

The fork device 70 has a spar 705 and two parallel arms 710 protruding outward from both ends of the spar 705, and grips the barre 80 at the inner sides of the two arms 710.

The center inner part of the girder 705 of the fork device 70 has a lead,
A light head is provided, and a memory element is provided at a position facing the pallet 80.

The pallet 80 is a rectangular plate-shaped member that accommodates works 150, and has means for accommodating works 150 of the same type and different types at regular intervals. .

A plurality of pallets 80 are prepared by stacking them in the vertical direction, and a maximum of about 10 pallets are prepared. Each pallet 80 is provided with a workpiece holding means consisting of an adapter in which a groove is formed inside a quadrilateral frame 800. and,
Pins 810 are installed at the four corners of the frame 800. This pin 810 is selected in accordance with the height dimension of the workpiece 150, and supports the pallet 80 stacked above. Therefore, the vertical distance between the stacked pallets is determined by the length of the pin 810.

The control device and control method of this automatic processing device will be explained.

FIG. 8 is a block diagram showing an outline of the control device, and the compound machining lathe 10 includes a control device 95 including an NC device.

The control device 95 has a central processing device 950 including an NC device and an operation panel 952, and inputs and outputs information necessary for processing. The compound machining lathe 10 includes a cutting edge position detection device 954 that detects the cutting edge position of the tool 160 mounted on the two tool rests 120 and 140, and manages the dimensions of the machined workpiece by detecting the cutting edge position. Blade edge position detection device 95
4 to the central processing unit 950, and N as necessary.
C Correct the information.

The control device 90 is in charge of controlling devices other than the compound machining lathe 10. In this embodiment, a case is shown in which the control device 90 for the compound machining lathe and the control device 95 for other devices are separate, but the control devices can also be combined to construct an integrated control device. can.

The control device 90 includes a central processing unit 900, and an operation panel 902. connected to the central processing unit. teaching panel 90
4, information regarding the operation of the device to be controlled is input.

The transfer device 20 includes a servo axis B that operates a transfer robot 220 that moves on a guide rail 200, and an arm 230.
The servo 906 has two axes, a servo axis A, which operates the vertical movement of the servo 906 , and these servos 906 are controlled by commands from the central processing unit 900 . The pallet changer consisting of a traveling carriage 60 and a fork 70 includes a servo 908 that operates the movement of the traveling carriage 60 and the vertical movement of the fork 70, and is controlled by commands from a central processing unit 900.

The position of the stocker 40 that accommodates the hands, jaws, and tools is controlled via the unit 910.

In addition to the stocker 40, this automatic processing apparatus can increase the capacity of tools and jaws by adding a chain stocker (not shown) or the like.

When equipped with a chain magazine, unit 912
Control via.

The external measurement device 50 integrally connected to the stocker 40 is
The dimensions of the workpiece that has been processed are measured using the measuring device 5.
Information on 0 operation, measurement results, etc.

Controlled via unit 914.

Each pallet 80 includes a memory element, and reading and writing of information to and from the memory element is executed by a read/write head controller 916 and a read/write head 917 coupled thereto.

Similarly, the reading and writing of information in the memory element of each tool, the memory element of each jaw, and the memory element of each hand are performed by reading,
This is executed by a write head controller 918 and a read/write head 919 connected thereto.

The setup work performed by the operator before starting automatic operation using automatic processing equipment will be explained.

First, at the setup station, a material work 150 is stored on each pallet 80, and data is written into the memory element of each pallet 80 using a portable read/write head. The data to be written includes fixed data such as pallet number and processing date, and variable data such as workpiece number, workpiece interval, workpiece reference position, number of pieces on the pallet, and height dimension of pin 810 installed on the pallet. etc.

The pallets 80, on which the above setup has been completed, are stacked in a maximum of about 10 stacks and transported to the loading station 820 of the automatic processing device.

Next, the operator places the plurality of hands 24 in the stocker 40.
0,260,280, tool 160, and jaw 170 are set. At this time, data is written into each memory element using a portable read/write head. The data of the equipment stored in this stocker 40 is read at the time of system check.

It is read by the light head and sent to the control device 9o.

NC data etc. are also prepared for the control device 95 of the multi-tasking lathe 10.

FIG. 9 is a flow chart showing the operation of this automatic processing device.

Automatic driving started at step 1000.

In step 1100, the data in the memory element attached to the pallet 80 is read. With respect to the pallets 80 placed on the loading station 820, the fork device 70 of the pallet changer descends from the top and reads data in each memory element of the stacked pallets 80.

FIG. 1o illustrates data items that may be entered into the storage elements of pallet 80. FIG.

When this reading is completed, a data table of machining schedule based on pallet numbers can be created.

In terms of processing order, the pallets stacked on the topmost tier are stacked first, followed by the pallets on the lower tier.

In step 1200, an automatic system check is performed. Based on the machining schedule based on the pallet number, compare the data of NC data, tools, jaws, hands, etc. with those set in the stocker and multi-tasking lathe to check for any abnormalities in the system. . When an abnormality is discovered, a warning is issued to the operator in step 1210.

Proceed to step 1300 and check the readiness status.

If the preparation for the work to be machined has not been completed, the process advances to step 131o.

In step 1310, the connecting pin 450 provided on the stocker 40 is operated to connect the traveling carriage 60 and the stocker 40. Thereby, the stocker 40 is opened and moved together with the traveling carriage 60, and is in a state where it can be moved to a required position.

In step 132o, a hand exchange program is executed. Among the three types of hands housed in the stocker 40, for example, the tool hand 240 is connected to the transfer robot 220.
It is attached to the arm 230 of.

At step 1330, a tool exchange program is executed. The tool hand 240 attaches the tool 160 housed in the first flange 412 of the stocker 40 to the turret 122 of the first tool rest 120, and
The second tool 160 is attached to the turret 14 of the second tool rest 140.
Attach to 2.

At step 1340, a jaw exchange program is executed. The jaw hand 260 is attached to the arm 230,
The jaw hand moves the jaw 170 housed in the first side wall 410 of the stocker 40 to the chuck 11 of the first main shaft 110.
2, and the jaw 1 housed in the second side wall 420.
70 is attached to the chuck 132 of the second main shaft 130.

In step 1350, data regarding the family nib program, replaced tools, and jaws are transferred to the control device 95 of the multitasking lathe. The data to be transferred includes tool file data, jaw dimension data, etc. in the tool's memory element, a map of data in the jaw's memory element, and the like. After that, the stocker 40 is returned to its original position. At the original position, the external measuring device 50 is positioned at a predetermined position. Disengage the traveling truck 60 and the stocker 4o. A work hand 280 is attached to the arm 230.

The preparation program is thus completed and the process proceeds to step 140o.

At step 1400, the carriage 60 and forks 70 work together to hold the uppermost pallet 80 in place.

In step 1500, the transfer robot 220 grips the work 150 with the work hand 280 and supplies it to the chuck 112 of the first spindle 110 on the multi-tasking lathe. Usually, the first processing step for the workpiece 150 is
The second machining process is performed with the first spindle 110, and the second
, but the order can also be reversed.

In step 1600, each tool 1 is
The position of the cutting edge of 60 is measured, and the dimensions of the workpiece are indirectly measured.

In step 1700, it is determined whether the tool needs to be replaced due to damage to the cutting edge or the like, based on the detection result of the cutting edge position in step 1600. If it is determined that tool replacement is necessary, the process advances to step 171o.

The work hand attached to the arm 230 of the transfer robot 220 is replaced with a tool hand. Step 172
Run the tool exchange program at 0.

At step 1730, the work hand is replaced again and the process proceeds to step 1800.

In step 1800, a predetermined cutting program is executed by the multi-tasking lathe 10. Workpiece 1 that has been processed
50 is taken out by the transfer robot 220 in step 1900 and sent to the external measuring device 50.

In step 2000, the external measuring device 50 directly measures the dimensions of the workpiece 150, and in step 2010, the NC data is corrected depending on the magnitude of the error.

In step 2100, tool life is checked. Each tool 160 has a predetermined number of uses and a predetermined usage time set as a lifespan. Therefore, the life of the tool is checked with reference to this set value, and if the life has been reached, the process proceeds to step 2110, where the tool is replaced with a tool hand and the tool exchange program is executed.

In step 2120, the control device 9 of the multi-tasking lathe
The tool data is transferred from the NC of No. 5 to the control device 90, and in step 213o, the read/write head 91
9, tool data is written into the memory element of the used tool.

Therefore, the data of the tool in use is recorded only in the tool file in the NC, and the data in the storage element of the tool is not updated.

In step 2200, it is determined whether all the machining of the number of workpieces set up on the pallet 80 has been completed. If it has been completed, return to step 150o,
Load the workpiece and repeat the above steps.

When the workpiece for one pallet has been processed, the process proceeds to step 2300, where the traveling cart 60 and the fork 7o move the supported pallet to the unloading station 82.
Lower it to 5.

At this time, read and write head 917 for the pallet
writes the machining data of each workpiece to the memory element of the pallet 80. Specifically, the central processing unit 900 determines the quality of the machining result based on the measurement data of the external measurement performed in step 200o, and performs read and write operations. A head 917 writes pass/fail data for each work into the memory element of the pallet.

Repeat the above flow for all palettes.

At step 2400, it is confirmed that all pallets have been processed, and at step 250o, the automatic operation is ended.

In addition, in the automatic processing apparatus 1 described above, an example was shown in which the stocker device 30 was arranged on the left side of the compound machining lathe 1o when viewed from the front, but as shown in FIG. 11, the stocker device 30A was arranged on the right side. It is also possible to set therefore,
It is possible to freely arrange the automatic processing device l depending on the installation space.

As explained above, the automatic processing device of the present invention can achieve long-term unmanned processing, but the structure and function of the pallet and the conveyance device when different types of workpieces are prepared on the pallet, etc. 12 to 18 of the control method of
This will be explained in detail with reference to the drawings.

In the setup process, the operator writes information about the workpieces prepared on the pallet into a memory element attached to the pallet. Figure 12 shows the read/write device used in this process, and Figures 13 and 14 show the information on the pallet. Shows the main parts.

The pallet, designated as a whole by reference numeral 80, has a frame 800 having a quadrilateral planar shape, and a workpiece holding means is disposed within the frame 800. The workpiece holding means is, for example, an adapter 802 provided with grooves 804 at equal intervals, and the workpieces 150 of different diameters are held at equal intervals by positioning the distance between the pair of opposing adapters using adjustment means 808. be able to.

A memory element 815 is attached to the outer surface of the frame 800, and pins 810 are implanted on the upper surface of the four corners of the frame 800. This pin 810 is used to support the upper pallet when stacking the pallets 80, and also to set the height of each pallet above the ground. Further, this pin 810 has a function of preventing the upper surface of the workpiece placed on the pallet from interfering with the upper pallet.

Therefore, the length (height) of this pin 810 is adjustable.

Portable read/write device 88 operated by an operator
0 has a main body 882 and a head 884, and the main body 882 includes keys for inputting information and a display. Information input into the main body is written to the storage element 815 of the pallet via the head 884.

At the setup station, the operator places the workpieces at positions regulated by the workpiece holding means of each pallet, and records information regarding the workpieces on the entire pallet in the storage element 815 by the read/write device 880.

FIG. 10 shows information items recorded by the storage element 815 of the pallet, and the workpiece reference position dimensions, workpiece intervals, etc. are given by the settings of the workpiece holding means.

From the workpiece number, a machine program number required by the NC control device 95 and a transfer program number required by the control device 90 of the transfer device are searched. Corresponding hands, tools, jaws, etc. can also be selected according to these program numbers.

Based on the length dimensions of the pallet pins, it is possible to calculate the height dimension of the uppermost pallet from the reference position when the pallets are stacked.

Furthermore, an arrangement map showing which workpieces are placed at each position on the pallet is also recorded.

The pallets for which the above setup has been completed are stacked one on top of the other at a maximum depth of about 1°, and are transported to a loading station 820 of an automatic processing device using a forklift or the like.

When the loading station 820 completes the loading of the pallet, the automatic operation program starts, and as explained in the flowchart of FIG. Information in the storage elements of the pallet is input to the central processing unit 900 of the control device 90 .

Based on information from this pallet storage element, an overall machining schedule is developed.

A method of controlling the transfer of a workpiece by a transfer robot will be explained with reference to FIGS. 15 to 18.

FIG. 15 shows a case where the work hand of the transfer robot grips a work on a pallet.

As described above, the transfer device 20 has two axes: the servo axis B that operates the transfer robot 220 that moves on the guide rail 200, and the servo axis A that operates the vertical movement of the anim 230.

The program origin G0 is set, for example, at the end of the guide rail 2oO on the pallet changer side.

Therefore, the coordinate on the axis F when the transfer robot 220 moves toward the compound machining lathe side is positive.

The axis A of the arm 230 is set so that the downward direction is positive.

The pallet changer has a traveling platform shaft 60 and a traveling platform 60.
The fork device 70 is configured of a fork device supported so as to be able to rise and fall freely, and the fork device 70 is controlled to move up and down along an axis F that is parallel to the axis A (see FIG. 2).

In FIG. 15, the height position of the top pallet of the stacked pallets 8o has already been input into the central processing unit 900 by calculating the length dimension of the pin written in the memory element of each pallet. ing. Based on this information, the central processing unit 900 issues a command and fork device 7
0 grips the uppermost pallet 80A and positions the pallet 80A at specified coordinates on the axis F.

When the coordinates of the pallet 80A on the axis F are determined, the workpiece 1
Since the dimensions of the workpiece 50 are given as information from the memory element, the position of the workpiece 150 on the pallet 80A, the workpiece diameter, the coordinates of the upper surface of the workpiece on the axis F, etc. are also determined.

When the above coordinates are obtained, the central processing unit 900 can calculate the coordinates (Ai, B work) of the center position of the work hand 280 for gripping the work 150, and securely secure the work 150 on the pallet 80A. can be grasped.

When the work hand returns the processed work onto the pallet, similar control is performed.

FIG. 16 shows the work 15 held by the work hand 280.
0 is attached to and detached from the first spindle 110 or the second spindle 130 of the compound machining lathe.

Distance f between the first main axis 110 and the second main axis 130 from the axis B
iA1. is given as a parameter in advance.

First spindle 110 when chucking workpiece 150
The location is central processing unit 95 of the NC device of the multi-tasking lathe.
Based on the position information of the first spindle 110, the central processing unit 900 that controls the conveying device calculates the coordinate position B12, and moves the work hand 280 holding the work 150. Coordinate A5 of axis A indicates the standby position of work hand 280.

When carrying the work 150 into the first spindle 110, the work hand 280 is at the coordinate A□. Move to the main shaft 110
and the axis of the work hand 280, and then move the center position of the work hand to seat #AB1°. This coordinate B□. is determined according to the length dimension of the work 150 held by the work hand 280.

In this state, the first main shaft 110 grips the work 150, the chuck of the work hand 280 releases the work 150, and the loading of the work 150 is completed.

Thereafter, the work hand 280 moves to the coordinate B□2. In this position, there is no interference between the chuck of the work hand and the work 150 gripped by the first main shaft 110. Then, the work hand 280 rises to the standby position at coordinate A5.

Next, the workpiece 150 that has been processed is transferred to the second spindle 130.
The process of unloading from the container will be explained.

The work hand 280 moves from the standby position (A, ., B2□) to the coordinate (A, ., B22) to the coordinate (A1°).

B2°), and the second main shaft 130 receives the workpiece 150 being gripped. The work hand 280 is
The workpiece 150 is carried out of the compound machining lathe 10 by reversing the outward path and sent to the external measuring device 50.

The workpiece 150 that has undergone a predetermined measurement by the external measuring device i50 is gripped by the workpiece hand 280 again, and
It is returned to the predetermined position on the pallet 80.

It will be stored.

The control flow for loading and unloading the work is shown in Figure 17 and Figure 1.
Shown in Figure 8.

FIG. 17 shows a control flow for carrying a workpiece on a pallet into a multi-tasking lathe.

The loading process started in step 3000 is carried out in step 3.
At step 100, it is determined whether this work is the first work to be taken out from the pallet.

In the case of the first work, proceed to step 3200,
Check the reference position on the pallet. As the reference position confirmation means, for example, optical position detection means is used.

If the work is not the first work, the process advances to step 3300, and information such as the work interval is confirmed from the information in the memory element.

In step 3400, the traveling carriage 60 constituting the pallet changer is moved together with the fork position 70 to align the center line of the first workpiece 150 with the axis B.

Next, in step 3500, the fork device 70 is operated to set the position of the pallet 80A on the axis A to predetermined coordinates.

In step 3600, the work hand 280 of the transfer device
grips the workpiece 150.

Axis A of work hand 280 when gripping work 150
The upper coordinate position A1 is the workpiece 150 on the pallet 80A.
Varies depending on the length dimension.

If the height position of pallet 80A is fixed, work 1
It is necessary to change the position A of the work hand 280 every time the length dimension of the work hand 50 changes, and it takes time to operate.

Therefore, using the free time when the work hand 280 is working on the multi-tasking lathe side, in step 3500, the fork 70 is raised and lowered along the bottom of the shaft according to the dimensions of the workpiece to be gripped by the work hand. , is adjusted in advance so that the work hand 280 can always grip the work 150 at the same coordinate position A□. With this operation,
The work hand 280 moves to the next work 150 in a rational manner.
can be grasped.

In step 370o, the work hand 280 holding the work 150 is rotated.

A normal workpiece 150 is placed on the pallet 80A so that the axis of the workpiece 150 is parallel to the axis A. and a first main spindle 110 of a multi-tasking lathe.

Since the axis of the second main shaft 130 is arranged parallel to the axis B, the axis of the work hand 280 is rotated by 90° during transportation.
rotate.

Thereafter, in step 3800, the workpiece 150 is carried into the first spindle 110 or the second spindle 130 by the operation described above, and in step 3900, the carrying process is completed.

FIG. 18 shows a control flow for unloading the processed workpiece 150 from the combined machining lathe.

The unloading process started in step 4000 is performed in step 4.
At 100, the work hand 280 receives the work 150 from the main shaft of the compound machining lathe and carries it out. Step 4200
Then, the workpiece 150 is placed on the external measuring device 50 to directly measure the dimensions after machining, and the results are sent to the central processing unit 9.
Sent to 00.

In step 4300, the position on the pallet to return the workpiece is determined by referring to the rearrangement table.

The sorting table is a table that specifies where on the pallet the workpieces that have been processed are to be arranged, and can be specified so that each type of processed workpiece is arranged on the pallet.

This is useful, for example, when the raw workpieces have the same shape but the processed workpieces have different shapes. Further, as a result of external measurement, it is possible to avoid placing workpieces that require additional machining or workpieces that are rejected in the same row as workpieces that have passed the test.

In step 4400, it is determined whether or not the five-material workpiece is placed at the position on the pallet specified in step 4300. There is a possibility that an unprocessed material work is placed at the position on the pallet specified by the sorting table. This determination is achieved by comparing the placement map of the material work given from the memory element of the palette with the position specified in the rearrangement table.

If there is a material work at the designated position, the process proceeds to step 450, and the material work is moved to an empty position on the pallet using an empty chuck of the work hand 280. Naturally, information such as the location to which the material work has been moved is managed within the central processing unit 900.

In step 4600, work hand 280 places work 150 at a designated position on the pallet.

In step 4700, data such as the placement position of the workpiece and the results of measurements outside the machine are written into the memory element of the pallet, and in step 4800, the workpiece unloading process is completed.

By repeating the above-described work loading and loading process, when all the processing of the material work on the uppermost pallet 80A is completed and it is returned to the specified location on the pallet 80A, the traveling cart 60 is moved to the axis X4. The fork device 70 descends along the axis F and places the pallet 80A on the lowest stage of the unloading station 825.

Thereafter, the pallet changer comprising the fork device 70 and the traveling carriage 60 returns to the pallet loading station 820, picks up the second stage pallet (80B), and repeats the above-described process.

When processing of the workpieces on the second stage pallet 80B is completed, the pallet changer transports this pallet 80J3 to the uncutting station 825 side and stacks it on the first stage pallet 80A.

Since the height of the pins of the first pallet 80A is recorded in advance in the central processing unit 900, based on this data, the coordinates on the axis F at which the second pallet 80B is released from the fork 7o are determined. is commanded.

By repeating the above process, this automatic processing device can
All of the workpieces placed on the pallets stacked on the loading station 820 are automatically processed and stacked on the unloading station 825.

All of the above processing is accomplished unmanned.

〔Effect of the invention〕

As described above, the present invention is an automatic processing device that combines a multi-tasking lathe and a transport device, in which a storage element is provided on a pallet on which a workpiece is placed, and various data regarding the workpiece on the pallet is input to this storage element. It is something.

Then, based on this workpiece data, the meeting point between the fork device that supports the pallet and the workpiece hand of the transport robot is optimally controlled, making it possible to set the workpiece loading operation by the transport robot in the most rational manner. .

The processed workpiece is returned to the same pallet, but its position is not limited to the position of the raw workpiece; for example,
It is possible to arrange the processed workpieces in any position on the pallet so as to integrate the types of workpieces.

Pallets with processed workpieces placed on them are stacked at the unloading station, and the pallets are equipped with height-adjustable pins, which are used to support the upper pallet. Therefore, the fork device of the pallet changer can release the pallets at a predetermined height to achieve stacking.

[Brief explanation of the drawing]

The drawings illustrate embodiments of the invention. Fig. 1 is a perspective view showing the entire automatic processing device, Fig. 2 is a front view, Fig. 3 is a plan view, Fig. 4 is a left side view, Fig. 5 is an explanatory diagram showing an outline of a multi-tasking lathe, 6 is a sectional view of the main parts of the stocker device, FIG. 7 is a side view of the main parts of the stocker device, FIG. 8 is a block diagram showing an overview of the control device, FIG. 9 is a control flow diagram, The figure is an explanatory diagram showing the items to be written in the memory element of the pallet, Figure 11 is a front view showing another example of the arrangement of automatic processing equipment, Figure 12 is a perspective view of the read/write device, and Figure 13 is a diagram of the pallet. A plan view of the main parts, Fig. 14 is a front view of Fig. 12, Fig. 15 is an explanatory diagram showing the operation of the work hand, Fig. 16 is another explanatory diagram showing the operation of the work hand, Fig. 17 is the control flow diagram. FIG. 18 is another flowchart of control. 1...Automatic processing device 10...Combined processing lathe 20...Transport device 30...
Stocker device 4o...Stocker 5o...
... External measuring device 60 ... Traveling trolley 7
o...Fork device Ooo,...Pallet
90,95...Control device 50...Work 280...Work hand 00...
...Pallet frame 10...Pin 815...Memory element 8o...Read and write device Patent applicant Yamazaki Mazatuku Co., Ltd. Agent Patent attorney Yoshiaki Numagata (Other 2) name) 5 7 Figure 10 Figure 12 Figure Figure Figure Figure

Claims (1)

[Scope of Claims] 1. An automatic processing device comprising a multi-tasking lathe, a conveying device for transporting parts to the multi-tasking lathe, and a control device for controlling the entire device, wherein the conveying device is capable of handling both the multi-tasking device and the workpiece. A guide rail installed between the stocker device that accommodates the robot, a transfer robot that runs on the guide rail, an arm attached to the transfer robot that extends and contracts in the vertical direction, and a workpiece attached to the tip of the arm that grips the workpiece. The stocker device includes a loading station for accommodating a pallet on which a material work is placed at a predetermined position, an unloading station for accommodating a pallet on which a processed work is placed, and a loading station and an unloading station. The pallet changer is equipped with a memory element for storing information about the workpieces on the pallet, and the pallet changer is equipped with a memory element for storing information about the workpieces on the pallet. A transport device for automatic processing equipment that is equipped with a read and write head for transmission. 2. The pallet changer is equipped with a traveling truck that travels between a loading station and an unloading station, and a fork device that is attached to the traveling truck so as to be able to move up and down and grips the pallet. 2. The conveying device for an automatic processing device according to claim 1, further comprising means for controlling the height position of a fork device that grips the pallet based on data regarding dimensions. 3. The pallet is equipped with a frame having a quadrilateral planar shape and pins that are placed upright at the four corners of the frame to support other pallets stacked on top, and data regarding the dimensions of the pins entered into the memory element of the pallet. 3. The conveying device for an automatic processing device according to claim 1, further comprising means for controlling the height position of a fork device for gripping or releasing the pallet based on the above. 4. The conveyance device for an automatic processing device according to claim 1, wherein the control device includes means for rearranging the processed workpieces placed on the pallet from the arrangement of the raw workpieces based on data regarding the processed workpieces.