JPH04115802A - Automatic machining device - Google Patents

Abstract

PURPOSE:To automatically replace jaws on a spindle and to automatically attain the forming of raw pawls and the setting of a chuck barrier by causing a control device to set up an automatic preparation for the working of a composite machining lathe in accordance with data in a memory on a pallet. CONSTITUTION:A central processing unit delivers instructions to a transfer robot and a stocker device in accordance with a kind of a workpiece so as to pick up jaws 170 which have been prepared on a stocker in order to attach the same onto chucks on a first and second spindle 110, 130 so as to attain the automatic preparation for the working. In this phase, the jaws 170 incorporates a memory from which data are read and delivered to the central processing unit. When the formation of raw pawls attached on the jaws 170 is required, the central processing unit transmits data relating to jaws to an NC control device for controlling a composite machining lathe so as to automatically form raw pawls. Thus formed jaws grip the workpiece for carrying out the working therefor while the NC control device sets barriers around the chucks and the raw pawls in order to prevent interference with tools or the like.

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]

Conventional automatic machining equipment mainly processes a small number of types of workpieces continuously and unmanned, and the setting of setup members such as tools and jaws on a multi-tasking lathe was carried out by an operator.

In order to unmannedly process many types of workpieces over long periods of time, it is necessary to achieve automatic setup of tools and jaws.

The present invention provides an automatic processing device that automatically exchanges a jaw with a spindle chuck, and also automatically forms a green jaw and sets a chuck barrier.

[Means to solve the problem]

The automatic machining device of the present invention includes a multi-tasking lathe, a conveying device for transporting a member to the multi-tasking lathe, and a control device for controlling the entire device, and the multi-tasking lathe has a main spindle and an axis of the main spindle. A tool rest having a turret that moves along orthogonal axes, and the conveying device includes a guide rail disposed between the compound machining lathe and a stocker device that accommodates the component;
The stocker device is equipped with a transport robot that runs on a guide rail, an arm that extends and contracts in the vertical direction attached to the transport robot, and a hand that is replaceably attached to the tip of the arm.The stocker device stores data on the stored workpieces. A control device includes a pallet having a memory element for processing, a setup member having a memory element, and a means for exchanging data between the memory element, and the control device performs automatic setup of the multi-tasking lathe based on data in the memory element of the pallet. It is equipped with the means to achieve this.

[Effect]

In this automatic machining device, when machining a specific type of workpiece on the pallet, the jaw corresponding to the workpiece is fed to the chuck of the spindle based on the data in the memory element of the pallet, and the free jaw is automatically adjusted. It is molded into.

〔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, FIG. 3 is a plan view, and 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 multi-tasking machine tool, but in this embodiment, a multi-tasking lathe 10 equipped with two main spindles and two turrets is used. There is.

FIG. 5 shows an outline of a compound machining lathe 1o, which has a first main shaft 110 and a second main shaft 130 that are arranged to face each other. The first main shaft 110 and the second main shaft 130 are main shafts having the same ability, and each moves in a direction indicated by a shaft Z-axis tZ2.

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 X1
It has a turret 122 that moves in the direction and rotates around the axis T1, and a plurality of tools 160 are mounted on 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 and a jaw 1
70 grips the workpiece 150, and the tool 160 of the first tool post 120 performs necessary processing on the workpiece 150.

Axis Z of the first main shaft 110.

The amount of movement and the amount of rotation around the axis C□, the amount of movement of the tool rest 120 around the axis X□, and the index around the axis T are controlled by the NC device.

The compound machining lathe 1o 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 19o is provided on the rear side of the compound machining lathe 10 to collect chips generated by cutting, and are collected by a chip basket 195.

The conveyance device, generally designated by the reference numeral 20, includes a guide rail 200 disposed above the multitasking lathe 10. The guide rail 200 is connected to a shaft 21. which is the moving direction of the main shaft of the lathe.
The guide rail 20 is arranged along an axis B parallel to the guide rail 20 .
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.

Adjacent to the combined machining lathe 10, a stocker device 30 is disposed below the guide rail 200 for storing members and supplying them to the combined machining lathe 10 when necessary.

FIG. 6 is a sectional view of the main part of the stocker device 3o, 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
located along the

On the first guide surfaces 310, 312, a stocker, generally designated by the reference numeral 40, is placed movably along the axis X□.

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 roll on a 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
, and a tool 160 is inserted into each hole. 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 X inside the upper parts of the first side wall 410 and the second side wall 420,
In this embodiment, a jaw 170 is inserted into each holding member,
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 X, and includes means for positioning (eg, servo positioning).

Each tool, jaw, and hunt is equipped with a memory element including an IC or the like to record 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). The traveling carriage 60 constitutes a pallet changer together with the 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 bin 450 that can be freely engaged and disengaged, and the traveling truck 60 and the stocker 40 can be connected to each other when necessary.
Connect with. Stocker 40.

It is indexed to a predetermined position along the axis X by the driving force of the traveling cart 60, and supplies the hand, tool, and jaw 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 measurement device M50 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 7o 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 pallet 80 with the inner sides of the two arms 7 and 10.

The center inner part of the girder 705 of the fork device 70 has a lead,
A write head 917 is provided, and a storage element 815 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 8o is provided with 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 overview of the control device, and shows the control device 90 of the automatic processing device and the NC of the multi-tasking lathe machine 0.
A control device 95 is provided.

The NC control device 95 includes a central processing device 950 and an operation panel 9.
52, and inputs and outputs information necessary for processing. The compound machining lathe 10 has a cutting edge position detection bag W95 that detects the cutting edge position of the tool 160 mounted on two tool rests 120° and 140.
4 to manage the dimensions of the machined workpiece by detecting the position of the cutting edge.

The information from this blade edge position detection device 954 is sent to the central processing unit 95.
0, and modify the NC information as necessary.

A control device 90 of the automatic processing device is in charge of controlling devices other than the compound processing lathe 10. In this embodiment, a control device 90 for a compound machining lathe and a control device 9 for other devices are used.
5 is shown as a separate unit, but it is also possible to combine the control units to construct an integrated control unit.

The control device 90 is a central processing bag! ! 900 and an operation panel 902 connected to the central processing unit. Teaching panel 9
04, information regarding the operation of the device to be controlled is input.

Transport equipment! 20 is a servo axis B that operates the transfer robot 220 that moves on the 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 4o is
The dimensions of the workpiece that has been processed are measured using the measuring device 5.
Information on o 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.

At the massing and 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.

FIGS. 21 and 22 show data items to be written to the tool memory element and the jaw memory element.

NC data etc. are also prepared in the control device 95 of the multi-tasking lathe 10.6 FIG. 9 is a flowchart showing the operation of the single automatic processing device.

The automatic operation started in step 1000 reads data from the memory element attached to the pallet 80 in step 110o. 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. 10 illustrates data items to be entered in the storage elements of pallet 80.

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 NC data, data of 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 1310.

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 driven together with the traveling carriage 60, and is in a state where it can be moved to a required position.

In step 1320, a hand exchange program is executed. Among the three types of hands accommodated in the stocker 4Q, for example, the tool hand 240 is 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 134o, 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 4o to the chuck 11 of the first main shaft 110.
2 and housed in the second side wall 420
0 to the chuck 132 of the second main shaft 130.

In step 1350, data regarding the cutting program, replaced tools, and jaws are transferred to the controller 95 of the multitasking lathe. The data to be transferred includes tool file data, a data map of the tool's memory element such as jaw dimension data, and the jaw's memory element. 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. A work hand 280 is attached to the arm 230 that disengages the traveling carriage 60 and the stocker 40.

The preparation program is thus completed and the process proceeds to step 1400.

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

In step 1500, 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 1600, it is determined whether the tool needs to be replaced due to wear of 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 proceeds to step 1610, and the work hand attached to arm 230 of transfer robot 220 is replaced with a tool hand. In step 1620, the tool exchange program is executed, and in step 1630, the tool is exchanged again to the work hand, and the process proceeds to step 1700.

In step 1700 , 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 of the multitasking lathe machine 0 . 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 1800, a predetermined cutting program is executed by the combined machining lathe 1o. 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 compound machining lathe 10
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 -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 1500,
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 6o and the fork 70 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 machining data for each workpiece into 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 2000, and the read/write head 917 writes the quality data for each workpiece into the memory element of the pallet. .

The above flow is repeated for all pallets, and in step 2400, it is confirmed that processing of all pallets has been completed,
Automatic operation is ended in step 2500.

FIG. 9A shows another embodiment of the control flow.

Automatic operation starts at step 2600, and step 2
At 610, the pallet 80 is transferred to the loading station 82.
Confirm that it has been imported to 0.

At step 2620, the storage element 815 of the pallet 80 is read. By this reading, all the information necessary for processing the workpiece is sent to the control device 90 of the automatic processing device. At step 2630, the control unit [90] checks the tools and jaws currently prepared in the automatic processing apparatus and determines whether there are any shortages.

If there is a shortage, proceed to step 2640 and display the data of the shortage tools and jaws to the operator;
The operator sets up the tool jaws in the stocker 40 according to this display.

Once the completion of setup is confirmed in step 2650.

Proceed to step 2660 and connect the connecting pin 45 of the stocker 40.
0 is projected and connected to the traveling carriage 60.

In step 2670, the stocker 40 is moved and the memory elements of the set up tools and jaws are read.

In step 2680, the pin 450 of the stocker 40 is removed from the traveling carriage 60, and the process returns to step 2620.

If there are no tools or jaws missing, step 270
0, and the machining schedule and system operation data are created. The processing schedule indicates a processing schedule for a lot of brought-in pallets, and the system operation data indicates cumulative production results.

Thereafter, the process is connected to step 1200 of the flow explained in FIG. 9, and automatic processing is executed.

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 processing lathe 1o when viewed from the front, but as shown in FIG. It can also be placed. Therefore, it is possible to freely arrange the automatic processing device 1 according to the installation space.

The present invention achieves automatic setup by automatically replacing jaws, which are setup members.

FIG. 12 shows details of the tool 160, which is a setup member, and the stocker 40 that accommodates the jaws 170. The stocker 40 includes a first jaw stocker 41 provided on the side wall of the main body.
0 and the second jaw stocker 420, the first tool stocker 412 provided on the flange portion of the main body, and the second
It has a tool stocker 422.

The jaws 170 of the first jaw stocker 420 are fed to the chuck 112 of the first spindle 110, and the jaws 170 of the second jaw stocker 420 are fed to the chuck 132 of the second spindle 130.

When replacing the jaw 170, the jaw hand 260 is attached to the tip of the arm 230 of the transfer robot 220.

13 and 14 show an overview of the jaw 170 replacement work performed by the jaw hand 260.

The chuck 112 mounted on the first main shaft 110 is a three-jaw chuck having three jaws 170. A guide device 116 is provided above the chuck 112 so as to be movable up and down. The guide device 116 includes a guide portion 117 that guides the jaw 170 to an insertion groove for attaching the jaw of the chuck 112, and a button 118.

The button 118 is the locking device 113 of the chuck 112.
to release the lock of the chuck 112 from the jaws 170.

The jaw hand 260 is rotatable in the direction of arrow R and has four sets of fingers 262 around it. The tip of the finger 262 opens and closes to grip the jaw 17o.

The jaw 170 consists of a base jaw 172 and a free claw 174 attached to the base jaw 172, and has a protrusion 176 at the top of the base jaw 172. The finger 262 of the jaw hand 260 is.

Grasp protrusion 176.

When replacing the jaws 170, the jaw hand 260 replaces the tool and the three jaws 170A from the first jaw stocker 410 of the jaw stocker 4o.

Grip 170B and 170C.

At this time, the data in the memory element 170a of each jaw 170 is stored in the sensor 91 disposed in the read/write head 332.
9 to the central processing unit 900.

Next, the jaw hand 260 moves to the jaw exchange position above the chuck 112 of the first spindle 110.

The first main shaft 110 is connected to the first jaw 1 of the chuck 112.
Index the chuck 112 to a position where 70F is directly above.

The free finger 262 of the jaw hand 260 grasps the first jaw 170F, and the button 118 of the guide device releases the locking device 113 of the jaw, and the first jaw 170F is released.
Pull out the jaw 170F.

The jaw hand 260 that has retreated upward moves 9 in the direction of arrow R.
Turn 0 degrees. The replacement first jaw 17OA is inserted into the groove of the chuck 112 via the guide portion 117.

After the insertion is completed, the jaw hand 260 retreats upward, and the guide device 116 rises to lock the first jaw 17OA.

The first spindle 110 rotates 120 degrees to index the second jaw straight up. The finger 262, which is freed by releasing the first jaw 170A, descends to grab the second jaw and repeats the process described above. Through the above process, chuck 1
12 has three new JiE-170A, 170B, 17
0C is installed.

Data on the mounted jaws 170A, 170B, and 170C are sent from the central processing unit 900 to the NC control unit 950, which is the central processing unit of the control unit 95 of the multitasking lathe 10.

The NC control device 950 determines the necessity of forming the green jaws 174 of the jaw 170 based on pre-given data regarding the work to be machined and data from the memory element of the jaw 170, and performs the forming process if necessary. starts the automatic natural nail shaping program.

FIGS. 15 to 18 show four types of nail shape patterns.

The first shape pattern shown in FIG. 15 is for a simple external claw. The height dimension of the raw claw 174 and the maximum swing diameter dimension DI are given as parameters.

When machining the outer jaw, a ring 175 is interposed in advance on the inner diameter part, and with the jaw 170 closed inward and sideward, the inner diameter part D and cutting start diameter part D are machined in accordance with the outer diameter dimension of the workpiece.
Perform the processing in step 2. The depth dimension L of the gripping portion of the claw is given as a value corresponding to the shape of the workpiece.

FIG. 23 shows a state in which rings 175 of various sizes are prepared on the ring pallet 80R, and FIG. 24 shows a state in which a narrow claw 283 is attached to the gripper 283 of the work hand 280 and the ring 175 is handled. show.

By making the radius of curvature of the inner circumferential surface 174A in contact with the outer circumferential surface of the workpiece smaller than the radius of curvature of the workpiece, two of the claws 174
It can be brought into contact with the workpiece at certain points, achieving reliable gripping.

Also, when the workpiece is gripped by the inner surface 174A, the outer claw 1
The opening 74 receives stress in the direction of opening outward. Therefore, the inner circumferential surface 174A can be formed into a tapered surface that opens on the inside according to the length dimension L□. By providing this taper, when the workpiece is gripped, the inner circumferential surface 17
It is possible to uniformly contact the outer surface of the workpiece over the entire length of 4A.

For example, a polished portion 174B may be formed at the corner between the inner circumferential surface 174A and the inner wall surface to improve contact with the workpiece.

Taking into account the above factors, the NC control device 950 gives a command to the compound machining lathe 10 to automatically machine the green jaw 174.

FIG. 16 shows a second pattern of the claw shape, in which stepped outer claws are formed.

The length dimension L0 of the raw claw 174 and the maximum swing diameter dimension.

is given as a parameter.

The diameter dimensions D□, D2, and D3 of the stepped portion of the external claw and the depth dimensions L1 and L2 of the stepped claw are given according to the shape and size of the workpiece.

Similar to the first pattern, the inner diameter portion may be tapered and a corner portion may be polished if necessary.

FIG. 17 shows the third pattern of the nail shape, in which a simple inner nail is formed.

When forming the inner claw, ring 1 is placed on the outer periphery of the raw claw 174.
75 is used to bias the raw claws 174 in the direction of opening outwards while processing is performed.

The height of the raw nail 174. and inner diameter dimensions. is given as a parameter. The outer diameter dimension D□ and the height dimension L of the gripping portion are given from the shape and dimensions of the workpiece. Outer surface 1
74A receives stress in the direction of closing inward when the workpiece is gripped from the inside. Therefore, by giving the outer peripheral surface 174A a taper such that the depth becomes narrower along the height L, the contact with the workpiece can be improved. Further, by setting the radius of curvature of the outer circumferential surface 174A to be larger than the radius of curvature of the inner circumferential surface of the workpiece, contact with the workpiece can be improved.

A polished portion 174B is formed at the corner between the outer circumferential surface and the inner surface of the raw nail, if necessary.

FIG. 18 shows a fourth pattern of claw shapes, forming stepped inner claws.

Height measurement of raw nails. and the inner diameter dimension D0 are given as parameters. The outer circumferential surface dimensions D, D, and the height dimensions L, L2, which are the contact surfaces of the inner claws 174 with the work, are given from the shape and dimensions of the work.

As in the third pattern, the outer circumferential surface is tapered and the radius of curvature thereof is made larger than the radius of curvature of the inner diameter of the workpiece. Further, it is also similar to the above-mentioned pattern that a polished portion may be formed at a corner portion if necessary.

As described above, in this automatic processing device, the jaws prepared in advance in the jaw stocker are equipped with memory elements in which data related to the jaws are written, and when mounted on the chuck of the spindle,
This data is transferred to the NC control device of the multi-tasking lathe, compared with data regarding the workpiece, and the necessary green jaws are automatically formed.

In the above-described embodiment, the process of forming the jaw 170 on the chuck 112 of the first spindle 110 was explained, but it is also possible to replace the jaw 170 on the chuck 132 of the second spindle 130 to form a green jaw. A similar process is performed when molding.

Next, the automatic processing device grips and processes the workpiece with the formed free jaws.

In the present invention, during this processing, a barrier is automatically set around the chuck and the free jaw to prevent interference with the tool.

FIG. 19 shows the setting of the barrier when the workpiece 150 is gripped by the external claws.

The outer diameter dimension C, width (height) dimension C2, and inner diameter dimension C3 of the chuck 112 installed on the first main shaft 110 are registered as parameters.

The natural nail 174 as an external nail has a height dimension.

and the maximum swing diameter dimension DI are given as parameters, and the inner diameter dimension D, D2 of the outer jaw and the depth dimension L1 of the jaw are processed, so these data are processed by the NC control device 950.
is managed by.

Therefore, the NC control device 950 can automatically set the chuck barrier B shown by the broken line based on the provided data. This barrier B prohibits the entry of tools and the like, and prevents tools and the like from inadvertently interfering with the chuck, thereby preventing accidents from occurring.

Next, FIG. 20 shows a case where a workpiece 150 is gripped by attaching a free jaw 174 as an inner jaw to the chuck 112.

The outer diameter dimension C, @ (height) dimension C2, and inner diameter dimension C1 of the chuck 112 are parameters.

The height and inner diameter of the raw claw 174 are given as parameters. Since the outer diameter dimension D of the inner jaw, the maximum outer diameter dimension of the raw jaw, and the depth dimension L□ have been machined,
These data are managed by the NC control device 950.

Based on these data, the NC control device 950 can automatically set the chuck barrier B shown by the broken line.

In addition, in the embodiment described above, the first main shaft 110 chuck 1
Although the case of the chuck 132 of the third main shaft 130 has been described, the same applies to the case of the chuck 132 of the third main shaft 130.

[Effects of the Invention] As described above, the automatic machining apparatus of the present invention creates a machining schedule for workpieces set up on the pallet by the central processing unit reading the memory element provided on the pallet.

The central processing unit issues commands to the transfer robot and the stocker device according to the type of workpiece, takes out the jaws set up in the stocker in advance, and attaches them to the chucks of the first and second spindles of the multitasking lathe. to achieve automatic setup.

At this time, the jaws are provided with a memory element, and the data in the memory element is read and sent to the central processing unit.

When it is necessary to form the green jaws attached to the jaws, the central processing unit transfers data regarding the jaws to the NC control device that controls the multi-tasking lathe, and automatically processes the green jaws.

The processed raw jaws grip the workpiece and perform machining, but the NC control device sets a barrier around the chuck and the raw jaws to prevent interference with tools and the like.

Data regarding this barrier is also shared by the central processing unit and used to control the transport robot when loading and unloading the workpiece.

Therefore, according to the present invention, the setup is automatically set corresponding to many types of workpieces, and the machining is performed with I! As a result, the range of workpieces that can be automatically processed can be expanded and unmanned processing can be performed safely over a longer period of time.

[Brief explanation of drawings]

The drawings illustrate embodiments of the invention. ] - Figure is a perspective view showing the entire automatic processing device, Figure 2 is a front view, Figure 3 is a plan view, Figure 4 is a left side view, and Figure 5 is an explanatory diagram showing an overview of the multi-tasking lathe. , FIG. 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, and FIG. 10 is an explanatory diagram showing the items to be written in the memory element of the pallet. Fig. 1 is a front view showing another example of the arrangement of the automatic processing device, Figs. 1-2 are plan views showing details of the smacker, Fig. 13 is a plan view showing the exchange action of the jaws, and Fig. 14 is the Fig. 13 is a side view, Fig. 15 is an explanatory diagram showing the shape and dimensions of the first pattern of natural nails, Fig. 16 is an explanatory diagram showing the shape and dimensions of the pattern @2 of natural nails, Fig. 1.7 is an explanatory diagram showing the shape and dimensions of the third pattern of raw jaws, Figures 3 and 8 are explanatory diagrams showing the shape and method of forming the fourth pattern of raw jaws, and Figure 9 is an explanatory diagram showing the shape and dimensions of the third pattern of raw jaws. An explanatory diagram showing the barrier settings when the inner jaw is attached to the chuck. Figure 20 is an explanatory diagram showing the barrier setting when the inner jaw is attached to the chuck. Figure 21 is a list showing the data items to be written to the memory element of the tool. 1. Fig. 22 is a list showing day and evening items to be written into Joe's memory element, and Fig. 23 is a perspective view showing a pallet on which rings are mounted. FIG. 24 is a perspective view without showing the weave hand that grips the ring. ...Automatic processing equipment VO ...Transportation device 0 ... Sumitsuka 0 ... Traveling trolley 0 ... Pallets i 0.95 ...Control device r]0...First main shaft 16...Guide device 70...Jaw 74...Normal jaw 60... ... Jaw hand 62 ... Finger]. O...No.] Joes 1-Tsuka 20...
...Second jaw 1 - Tsuka 10...Compound machining lathe 30...Stocker device 50...External measuring device 70...Fork bag punching 112...Chuck 130...Second spindle 172...Base jaw = 175...Ring Figure 5 Patent applicant Yamazaki Mazatuku Co., Ltd. Agent Patent attorney Enaki Numagata (2 others)Figure 10Figure 12Figure 15Figure 17Figure 16Figure 18Figure 19Figure 20Figure 22

Claims (1)

[Scope of Claims] 1. In an automatic processing device equipped with a multi-tasking lathe, a conveyance device for transporting parts to the multi-tasking lathe, and a control device for controlling the entire device, the multi-tasking lathe has a main spindle; a tool rest having a turret that moves along an axis perpendicular to the axis of the machine; The stocker device is equipped with a transport robot that runs on its own, an arm attached to the transport robot that extends and retracts in the vertical direction, and a hand that is replaceably attached to the tip of the arm. a pallet having a memory element, a setup member having a memory element, and means for exchanging data between the memory element, the control device achieving automatic setup of the multi-tasking lathe based on data in the memory element of the pallet. Automatic processing equipment equipped with means. 2. The setup member is a jaw attached to the chuck of the main spindle, and the control device automatically adjusts the free jaw of the jaw based on data regarding the workpiece given from the memory element of the pallet and data given from the memory element of the jaw. 2. The automatic processing apparatus according to claim 1, further comprising means for forming the material. 3. The setup member is a jaw attached to the chuck of the main shaft, and the control device controls the chuck holding the work based on the data regarding the work given from the memory element of the pallet and the data given from the memory element of the jaw. 3. The automatic processing apparatus according to claim 1, further comprising means for automatically setting a barrier around the main body and the chuck jaws.