JPH0551544U - Machine tool loading device - Google Patents

Abstract

(57) [Summary] [Purpose] The present invention is intended to eliminate interference between the arm and the turret by adopting a structure in which the arm is folded without rotating. [Structure] A pair of first and second arms connected to each other with relative rotation freely connected by a connecting shaft, and a motor. An output shaft of the motor is fixed to a base end of the first arm, and a second arm of the second arm is fixed. It is characterized in that the workpiece gripping means is attached to the tip, the connecting shaft and the output shaft are connected via a rotation transmission mechanism, and the base end of the second arm is fixed to the connecting shaft.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a workpiece loading device for a machine tool.

[0002]

[Prior Art]

 In machine tools with advanced automation such as numerically controlled lathes (NC lathes) and machining centers (MCs), the material or product that is the workpiece is loaded into or removed from the machining unit of the machine tool. In order to do this, a robot equipped with an arm that can grip the work piece at its tip is used, and the loading and unloading of the work piece is automated.

Conventionally, such a known workpiece loading robot generally employs a structure in which an arm holding a workpiece pivots toward a machining site. However, with such a rotating arm structure, the arm may collide with the turret and other parts during turning, so it cannot be used in some machine tools such as machining centers. Therefore, it has been proposed that the arm itself is expanded and contracted at the time of turning to eliminate the interference between the arm and the turret, but it was not sufficient.

[0004]

[Problems to be solved by the device]

 This invention is intended to eliminate the interference between the arm and the turret by adopting a structure in which the arm is folded without turning.

[0005]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, the means adopted by the present invention comprises a pair of first and second arms (13) and (14) connected by a connecting shaft (15) so that relative rotation is free, and a motor. Including (12), the output shaft (16) of the motor (12) is fixed to the base end of the first arm (13), and the workpiece gripping means (25) is attached to the tip of the second arm (14). The connecting shaft (15) and the output shaft (16) are connected via a rotary transmission mechanism, and the base end of the second arm (14) is fixed to the connecting shaft (15).

[0006]

[Work]

 The pair of first and second arms are connected by a connecting shaft so that relative rotation is freely performed, the output shaft of the motor is fixed to the base end of the first arm, and the work holding means is attached to the tip of the second arm. Install the chain between the first sprocket mounted on the output shaft of the motor and the second sprocket fixed to the connecting shaft that connects the pair of arms, and rotate the first sprocket. Since the second arm is fixed and the second arm is fixed to the connecting shaft, when the first arm is rotated by the operation of the motor, the second sprocket connected by the chain rotates and the second arm is connected via the connecting shaft. The arm is rotated. As a result, in the first and second arms, the tip of the second arm draws a predetermined locus corresponding to the arm ratio of both arms and the tooth number ratio of the first and second sprockets, and the first and second arms are drawn. The arm bends and stretches, and the workpiece can be loaded into the machining site of the machine tool by the workpiece gripping means attached to the tip of the second arm.

By setting the arm ratio of the first and second arms to 1: 1 and the gear ratio of the first and second sprockets to 2: 1, the tip of the second arm moves linearly.

By attaching a wrist shaft actuating mechanism including a motor and a gear mechanism to the tip of the second arm and allowing the wrist shaft to be actuated by the motor and the gear mechanism, the workpiece gripping means attached to the wrist shaft. The attitude can be controlled in any direction and angle.

[0009]

[Effect of the device]

 According to this invention, the work piece can be loaded into a desired processing portion by bending and extending the pair of arms, so that there is no possibility of colliding with the turret or other portions like the mechanism in which the arms rotate. Further, since it is a vertically arranged multi-joint type, the control is easy and the cost can be reduced.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the drawings. 1 to 3 show an example in which the workpiece loading device (1) of the present invention is connected to a machining center (2), and a moving line (3) extending horizontally along the front surface of a plurality of machining centers (2). The movable table (4) of the workpiece loading device (1) of the present invention is movably mounted on the moving line (3). The moving line (3) is composed of, for example, a screw rod, and the nut (5) and the motor (6) that bring about relative rotation with the screw rod are installed in the movable table (4). The movable table (4) moves forward or backward.

A vertically extending screw rod (7) is arranged on the movable table (4) while being supported by a support frame (8) and screwed by a motor (9) mounted on the upper surface of the support frame (8). The rod (7) is driven and rotated. The movable frame (10) of the loading device (1) is attached to the support frame (8) so as to be movable upward and downward, and the screw rod (7) is screwed into the movable frame (10). As the rod (7) rotates, the movable frame (10) vertically moves up and down. A workpiece loading means (11) and a motor (12) for driving the means (11) are attached to the movable frame (10). The workpiece loading means (11) includes a pair of first and second arms (13) and (14) connected to each other, and grips the workpiece at the tip of the second arm (14) while moving the workpiece. By bending and stretching in the horizontal direction orthogonal to the line (3), the work piece can be loaded into or removed from the work part of the machining center (2).

With reference to FIGS. 4 to 11, the pair of first and second arms (13) and (14) constituting the workpiece loading means (11) includes a tip of the first arm (13) and a second arm. The arm (14) is connected at the base end thereof by a connecting shaft (15) so as to be relatively rotatable, and the two arms (13) (14) can bend and extend with the shaft (15) as a fulcrum. .. The output shaft (16) of the motor (12) is fixed to the base end of the first arm (13), and the first arm (13) is rotated by driving the motor (12). The output shaft (16) of the motor (12) and the connecting shaft (15) are respectively supported by first and second sprockets (17) (18), and between the sprockets (17) (18). The chain (19) is mounted on. The first sprocket (17) is non-rotatably connected to the base frame of the motor (12) by a pin (20), and the second sprocket (18) is fixed to the connecting shaft (15). The connecting shaft (15) and the first arm (13) are free to rotate relative to each other, and the base end of the second arm (14) is fixed to the connecting shaft (15). Further, a third sprocket (21) is rotatably supported by the connecting shaft (15) while allowing relative rotation, and the third sprocket (21) is fixed to the tip of the first arm (13). A wrist shaft (22) is axially inserted at the tip of the second arm (14) with relative rotation freely, and a fourth sprocket (23) is fixed to one end of the wrist shaft (22). A chain (24) is mounted between the sprocket (21) and the sprocket (21). A workpiece gripping means (25) is attached to the other end of the wrist shaft (22).

As shown in FIG. 4, when the pair of arms (13) and (14) are folded, the motor (12) is operated to fix the first arm (13) fixed to the output shaft (16). When the first arm (13) is rotated, the second sprocket (18) connected by the chain (19) is rotated and the second sprocket (18) is rotated at the same time. The axis (15) also rotates. By the rotation of the connecting shaft (15), the second arm (14) fixed to the connecting shaft (15) is rotated so as to swing the tip toward the machining center (2) as shown in FIG. At this time, if the arm ratio of the first and second arms (13) and (14) is set to 1: 1 and the tooth ratio of the first and second sprockets (17) and (18) is set to 2: 1, When the arm 13 rotates + x °, the second arm 14 rotates − (2 × X °). Therefore, the tip of the second arm (14) linearly moves in the horizontal direction.

Next, when the second arm (14) is rotated, the fourth sprocket (23) connected to the third sprocket (21) by the chain (24) is rotated accordingly, and the wrist shaft ( 22) is rotated, but if the ratio of the number of teeth of the third and fourth sprockets (21) (23) is set to 1: 2, the work holding means (25) fixed to the wrist shaft (22) The gripping means (25) always keeps a fixed direction regardless of the movement of the first arm (13) by rotating relative to the second arm (14). Thus, the workpiece gripped by the gripping means (25) is linearly moved in the horizontal direction toward the machining center (2) while holding a fixed direction, and the workpiece is loaded into the machining site. Or you can take it out. When the motor (12) is rotated in the opposite direction to the above, the first arm (13) rotates in the direction away from the machining center (2), and the gripping means (25) crosses the moving line (3) in the opposite direction. Since it can be moved, the work piece can be moved across the movement line (3).

The operation mechanism of the workpiece gripping means (25) including the third and fourth sprockets (21) and (23) and the wrist shaft (22) is merely an example. FIG. 12 shows a modification, in which a motor (26) is attached to the tip of the second arm (14) and the motor (26) is connected to the wrist shaft (22) via a bevel gear mechanism (27). The workpiece gripping means (25) is activated by the operation. The motor (26) is rotated along with the movement of the second arm (14) to control the direction and posture of the gripping means (25) so that the gripping means (25) is always held in a constant direction.

In the above-mentioned embodiments and modified examples, the output shaft (16) pivotally mounting the first arm (13) and the connecting shaft (15) or coupling shaft (15) pivotally mounting the second arm (14). 15) and wrist shaft (22) were connected by sprockets (17) (18) (21) (23) and chains (19) (24), but not limited to these, timing belts, gears It will be easily understood by those skilled in the art that a mechanism or other appropriate rotation transmission mechanism may be adopted.

Further, although the tip of the second arm (14) is linearly moved in the horizontal direction, the arm ratio of the first and second arms (13) and (14), or the first and second sprockets ( 17) By changing the gear ratio of (18), the tip of the second arm (14) can be moved not along a straight line but along an arc track, or can be displaced vertically rather than horizontally. It is possible, and it is possible to appropriately select the machining center (2) according to the processing site, direction, and the like.

[Brief description of drawings]

Fig. 1 Perspective view of the work loading device of the present invention connected to a machining center. Fig. 2 Front view of the work loading device of the present invention connected to a machining center. Fig. 3 The work loading device of the present invention connected to a machining center. Fig. 4 Side view of the state Fig. 4 Perspective view showing the work loading device of the present invention Fig. 5 Cross-sectional view showing the work loading device of the present invention Fig. 6 Perspective view of the work loading device of the present invention in the folded state 8 is a perspective view of the workpiece loading device in an extended state. FIG. 8 is a diagram showing the operation of the first and second sprockets and the chain. FIG. 9 is a diagram showing the operation of the first and second sprockets and the chain. FIG. 11 is a diagram showing the operation of the sprocket and the wrist shaft. FIG. 11 is a diagram showing the operation of the third and fourth sprockets and the wrist shaft. FIG. 12 is a perspective view showing a modification.

[Explanation of symbols]

 (1) Workpiece loading device (2) Machining center (3) Moving line (4) Moving stand (5) Nut (6) Motor (7) Screw rod (8) Support frame (9) Motor (10) Movable frame (11 ) Workpiece loading means (12) Motor (13) First arm (14) Second arm (15) Connecting shaft (16) Output shaft (17) First sprocket (18) Second sprocket (19) Chain (20) Pin (21) 3rd sprocket (22) Wrist shaft (23) 4th sprocket (24) Chain (25) Workpiece gripping means (26) Motor (27) Bevel gear mechanism

Claims (8)

[Scope of utility model registration request] 1. A pair of first and second arms (13) and (14) connected by a connecting shaft (15) so that relative rotation is free, and a motor (1
2), the output shaft (16) of the motor (12) is fixed to the base end of the first arm (13), and the work holding means (25) is attached to the tip of the second arm (14) to connect them. Machining into a machine tool characterized in that the shaft (15) and the output shaft (16) are connected via a rotation transmission mechanism, and the base end of the second arm (14) is fixed to the connecting shaft (15). Object loading device. 2. The arm ratio of the first and second arms (13, 14) is set to 1: 1 and the rotation ratio of the output shaft (16) and the connecting shaft (15) is set to 2: 1.
The workpiece loading device according to claim 1, wherein 3. The rotation transmission mechanism comprises a sprocket (17) (18) and a chain (19), according to claim (1) or
(2) The workpiece loading device as described above. 4. The wrist shaft (22) is mounted on the tip of the second arm (14) with relative rotation freely, and the connecting shaft (15) and the wrist shaft (22).
The workpiece loading device according to claim 1, wherein the and are connected via a rotation transmission mechanism. 5. The workpiece loading device according to claim 4, wherein a rotation ratio of the connecting shaft (15) and the wrist shaft (22) is 1: 2. 6. A third sprocket mounted on a connecting shaft (15).
(21) is integrated with the rotation of the first arm (13), and the second arm (1
The wrist shaft (22) is mounted on the tip of 4) with relative rotation freely, and the fourth sprocket (23) is fixed to the wrist shaft (22), and the third and fourth sprockets (21) (23) are fixed. The work loader according to claim 4 or 5, characterized in that a chain (24) is mounted between the two, and a work holding means (25) is attached to the wrist shaft (22). . 7. The workpiece loading device according to claim 6, wherein the tooth ratio of the third and fourth sprockets (21) (23) is 1: 2. 8. A motor (26) is attached to the tip of the second arm (14), and the motor (26) and the workpiece gripping means are connected to the gear mechanism (2).
7. The workpiece loading device according to claim 1, wherein the workpiece loading device is connected via 7).