JPH0556342U - Automatic work changer for machining center - Google Patents

Abstract

(57) [Summary] [Objective] By effectively utilizing the three-axis control function of the moving table and the spindle provided in the machining center, the work stored in the work magazine installed apart from the machining center is transferred to the machining center. To provide an automatic work exchanging device that can be transferred between the provided index holding device and the work magazine. [Constitution] A delivery robot hand 8 is provided on a sub-table 3a placed on the moving table 3 which is movable in the X and Y axis directions. On the other hand, the work magazine 10 installed away from the machining center is
It is configured to move forward and backward toward the delivery robot hand 8 and deliver the jig 20 with a holder between the work magazine 10 and the delivery robot hand 8. Further, the jig 20 with the holder is delivered from the delivery robot hand 8 to the spindle robot hand 7 inserted into the spindle 4, and then the spindle robot hand 7 is delivered.
The work index is transferred to and held by the work index holding device 5.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to an automatic work changing device for a machining center, and more particularly to a work magazine attached to the machining center and a work index for the machining center by utilizing a three-axis control function of a moving table and a spindle provided in the machining center. The present invention relates to an improvement of an automatic work changing device that exchanges a jig with a holder in which a plurality of works are attached to a holding device.

[0002]

[Prior Art]

 As this type of automatic work changing device, there are those described in, for example, JP-A-61-293749 and JP-A-62-264845.

Since the above-mentioned device uses the control function of the existing machining center to automatically exchange the work, it is not necessary to provide a dedicated control device for exchanging the work, and the equipment cost can be greatly saved. It is said that.

[0004]

[Problems to be solved by the device]

 On the other hand, in the above conventional device, since the work magazine is configured to move together with the moving table of the machine tool, the large weight of the work magazine accommodating a large number of works is constantly loaded on the moving table, and the accuracy of the machine is increased. In addition to adversely affecting the operation of the moving table, it requires extra power to move the moving table, and there is no cover to prevent splashing of cutting oil during work processing. There was a problem.

The present invention has been made to solve the above-mentioned problems, and the work magazine is installed away from the machine tool, and at the same time, it has a simultaneous three-axis control function of the movable table and the main spindle of the machine tool. It is an object of the present invention to provide an automatic work changer capable of effectively changing a work by effectively utilizing it.

[0006]

[Means for Solving the Problems]

 In order to achieve the above object, the automatic work changer of the present invention is provided with a transfer robot hand on the movable table, the work magazine is installed away from the machining center, and the transfer robot is provided. It is configured to move forward and backward toward the hand to transfer the jig with the holder to and from the transfer robot hand, and further, the jig with the holder is transferred from the transfer robot hand to the hand. After being delivered to the spindle robot hand, the spindle robot hand is delivered to and held by the workpiece index holding device.

The holder-equipped jig is held by a work index holding device of the machining center via a heart coupling, and is pressed by a center of a tailstock arranged to face the work index holding device. Therefore, it is preferable to support them in a double-supported state.

[0008]

[Action]

 With the above configuration, the jig with holder housed in the work magazine and indexed at the predetermined delivery position is delivered to the delivery robot hand on the moving table by the forward movement of the work magazine. Then, by the movement of the movable table in the X-axis and Y-axis directions and the movement of the main spindle in the Z-axis direction, the holder-equipped jig is moved from the transfer robot hand to the main spindle robot hand. Then, the work is delivered from the spindle robot hand to the work index holding device and held there. In this state, the work fixed to the jig with the holder is sequentially processed through a predetermined processing process. When the processing of all the works is completed, the jig with the holder to which the processed works are attached is stored in the predetermined position of the work magazine again through the reverse order of the above-mentioned transfer procedure.

[0009]

【Example】

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view of a main part of a machining center equipped with an automatic work changer according to the present invention, and FIG. 2 is a plan view of the same. The machining center 1 is movable on the bed 2 in the X-axis direction (left and right) and in the Y-axis direction (front and rear), and a sub-table 3a placed on the movable table 3 and movable in the X-axis direction. And a main shaft 4 movable in the Z-axis direction (vertical) and rotatable. A work indexing / holding device 5 is fixedly mounted on the movable table 3, and a tailstock 6 is disposed so as to face the work indexing / holding device 5 in the X-axis direction.

A spindle robot hand 7 that holds a jig 20 with a holder, which will be described later, is detachably attached to the spindle 4. The spindle robot hand 7 can be replaced with a tool stored in a tool magazine (not shown) by an automatic tool changer (ATC) (not shown) provided in the machining center 1. The delivery robot hand 8 is fixed to the sub-table 3a.

The work magazine 10 is installed at a position near the machining center 1 apart from the machining center 1. In the work magazine 10, an endless chain 13 in which a large number of cups 14 are connected at a fixed pitch is arranged on a magazine body 12 placed on a base 11, and each cup 14 can be indexed to a predetermined transfer position A. Is becoming Further, the magazine body 12 is slidably attached to the base 11 via the linear guide 15 in the Y-axis direction, and has a holder attached to the cup 14 indexed to the transfer position A. The jig 20 (see FIG. 2) can be moved forward and backward toward the transfer robot hand 8. As shown in FIG. 4, each cup 14 is provided with a tapered hole 16 and a ball clamp 18 biased by a spring 17 for detachably mounting and holding a jig 20 with a holder. ing.

The jig 20 with a holder has a structure in which a holder 22 is integrally provided at one end of a jig body 21 to which a large number of works (not shown) are attached. As shown in FIG. 4, the holder 22 has a flange portion 23 provided with an annular groove 24 and a rotation-preventing key groove 25, which serve as a gripping portion of the spindle robot hand 7 and the delivery robot hand 8, and is connected to the flange portion 23. It has a short taper fitting portion 26 provided and a pull stud 27 protruding from the end surface of the taper fitting portion 26, and the tooth portion 28 of the hearth coupling C1 is formed in a ring shape on the end surface of the flange portion 23. Has been done. Further, a positioning key 29 is fixed to the end surface of the flange portion 23, and by engaging the key 29 with the positioning groove 19 provided at the inlet end of the cup 14, the jig 20 with a holder can be positioned and maintained on the cup 14. It is supposed to be held.

As shown in FIG. 5, the work index holding device 5 has an index disk 30 that is index-rotated by a fixed angle, and a short cylindrical support 31 is fixed to the disk 30. .. The support 31 has a cavity 32 at the center thereof into which the pull stud 27 of the jig 20 with a holder enters, and the ring body 33 fixed to the end is provided with the tooth portion 34 of the hearth coupling C2. Then, the seal ring 35, which is externally fitted and fixed to the ring body 33, covers the tooth portion 34. The seal ring 35 has a structure that seals the meshed portion when the toothed portion 28 of the jig 20 with a holder is meshed with the toothed portion 34. On the other hand, a rotary coupling 36 having a connection port 37 is rotatably fitted on the support 31 so that the compressed air supplied through the connection port 37 is provided in the support 31 with an annular flow path 38 and teeth 34. The air blow holes 39 formed in the valleys are blown to the meshing portions of the tooth portions 34 and 28 of the heart couplings C1 and C2 to clean the engaging surfaces of the tooth portions 34 and 28.

In the spindle robot hand 7, as shown in FIG. 6, a support frame 41 is fixed to a shank 40 which is inserted into a fitting hole of the spindle 4 and clamped through a tapered shank holder (not shown). A finger 42 having two claws and a finger 43 having one claw are vertically opposed to each other on the support frame 41, and are rotatably attached with a pin 44 as a fulcrum. Both fingers 42, 43 are biased by a spring 45 so that they can be closed freely, and their rotation is restricted by a stopper pin 46. A rotation stopping claw 47 is fixed to the support frame 41.

As shown in FIG. 7, in the transfer robot hand 8, a support frame 51 is laterally projected and fixed to a support column 50 that is fixedly attached to the sub-table 3a. The support frame 51 has a finger of one claw. 52 and a finger 53 having two claws vertically face each other, and are rotatably attached with a pin 54 as a fulcrum. Both fingers 52, 53 are connected to piston rods 56, 56 of a return hydraulic cylinder 55 attached to the support frame 51 so that they can be simultaneously opened and closed. A rotation stopping claw 57 is fixed to the support frame 51.

Next, the operation of the automatic work changing device having the above configuration will be described.

First, the endless chain 13 of the work magazine 10 is driven to move the jig 20 with the holder to be replaced to the transfer position A. Subsequently, the magazine body 12 advances toward the delivery robot hand 8, and the holder 22 of the holder-equipped jig 20 is held by the delivery robot hand 8. At this time, the fingers 52 of the transfer robot hand 8 are engaged with the annular groove 24 of the holder 22, the fingers 53 are engaged with the flange portion 23 of the holder 22, and the key 57 is the detent key groove 2. 5 is engaged and the jig 20 is held in a fixed posture. Then, the sub-table 3a placed on the moving table 3 moves in the X-axis direction, and the jig 20 is pulled out from the cup 14. When the jig 20 is pulled out from the cup 14, the magazine body 12 retracts to the position shown in FIGS. After that, the sub-table 3a is moved in the X and Y directions to the position of the main spindle robot hand 7 which is attached to the main spindle 4 via the tapered shank holder, and the jig 20 is transferred from the robot hand 8 for transfer to the main spindle robot hand 7. Hand over. As shown in FIG. 8, the two-finger fingers 42 of the spindle robot hand 7 engage with the flange portion 23 of the holder 22, and the one-finger finger 43 engages with the annular groove 24, as shown in FIG. As a result, the transfer robot hand 8 is performed without interfering with both fingers 52, 53. The robot hand 8 that has transferred the jig 20 to the spindle robot hand 7 is in an unclamped state, and the sub-table 3a moves to the position shown in FIG. 2 and returns to the standby position. On the other hand, the main spindle robot hand 7 holding the jig 20 moves in the Z-axis direction and positions the holder 22 of the jig 20 to the work index holding device 5. At this time, the movable table 3 provided with the work index holding device 5 and the tailstock 6 is moved in the X-axis direction and the Y-axis direction to be aligned with the main spindle robot hand 7, and the main spindle robot hand 7 is grasped. The tooth portion 28 of the hearth coupling provided in the holder 22 of the jig 20 is indexed to the tooth portion 34 of the hearth coupling C2 on the side of the holding device 5, and the tooth portions 28 and 34 are loosely bitten. To match. In this state, the compressed air supplied through the connection port 37 blows out from the air blow hole 39 to the meshing portion of the tooth portions 34 and 28, and the engagement surfaces of the tooth portions 34 and 28 are cleaned. Subsequently, the center of the tailstock 6 is pressed against the end surface of the jig body 21 so that the teeth 28 and 34 are brought into complete contact with each other, and the jig 20 is fixed to the work index holding device 5. Hold it. At this time, the meshing portion of the tooth portions 34 and 28 is sealed by the seal ring 35, so that the pressure of the compressed air supplied through the air blow hole 39 increases. If this increase in pressure is detected by the pressure switch, the engagement of the hearth couplings C1 and C2 can be easily confirmed. When it is confirmed that the jig 20 is fixedly held by the work index holding device 5, the jig 20 is removed from the spindle robot hand 7 by moving the moving table 3. Then, the spindle robot hand 7 and a machining tool (not shown) are exchanged by the ATC of the machining center 1, and the workpiece (not shown) attached to the jig body 21 is machined by the tool. At this time, it is possible to machine a plurality of surfaces of the work by the indexing operation of the work indexing and holding device 5. When the processing is completed, the spindle robot hand 7 is again attached to the spindle 4 by the ATC, the operation opposite to the above is performed, and the jig 20 is returned to the work magazine 10. Hereinafter, the above operation is repeated.

[0019]

[Effect of the device]

 Since the present invention has the above-mentioned configuration, the three-axis control function of the moving table and the spindle provided in the machine tool is effective for the work stored in the work magazine installed away from the machining center. It can be used for automatic exchange.

[Brief description of drawings]

FIG. 1 is a side view of a main part of a machining center including an automatic work changing device according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a perspective view of the same main components.

FIG. 4 is a vertical sectional side view of a main part of the work magazine.

FIG. 5 is a vertical sectional side view of a main part of the work index holding device.

FIG. 6 is a side view (a) and a front view (b) of a spindle robot hand.

FIG. 7 is a front view (a) and a side view (b) of a delivery robot hand.

FIG. 8 is a plan view of an essential part showing a state of transferring a work from the transfer robot hand to the spindle robot hand.

[Explanation of symbols]

 1 Machining Center 3 Moving Table 3a Sub-table 4 Spindle 5 Work Indexing and Holding Device 6 Tailstock 7 Spindle Robot Hand 8 Handing Robot Hand 10 Work Magazine 20 Jig with Holder 21 Jig Body 22 Holder 28, 34 For Heart Coupling Tooth 35 Seal ring 39 Air blow hole

Claims (4)

[Scope of utility model registration request] 1. A work magazine, which accommodates a large number of jigs with holders to which a plurality of works are attached and which can be indexed at a predetermined transfer position, is attached to a machining center, and a moving table provided in the machining center is provided. Using the three-axis control function of the spindle, and by using the spindle robot hand attached to the spindle, the jig with holder is exchanged between the workpiece index holding device provided in the machining center and the workpiece magazine. An automatic work changer configured, wherein a transfer robot hand is provided on the moving table, the work magazine is installed apart from the machining center, and the work robot moves forward and backward toward the transfer robot hand. With the holder between it and the transfer robot hand Further, the jig is configured to be transferred, and further, after the jig with the holder is transferred from the transfer robot hand to the spindle robot hand, the jig is transferred from the spindle robot hand to the work index holding device. An automatic work changing device for a machining center, which is configured to be delivered and held. 2. The holder of the jig with a holder has a flange portion which is a gripping portion of the spindle robot hand and the transfer robot hand, a taper fitting portion which is continuously provided to the flange portion, and the taper fitting portion. And a tooth portion of the hearth coupling is annularly provided on the end surface of the flange portion, and the work indexing / holding device is the hearth coupling of the holder. The other tooth portion of the hearth coupling that meshes with the tooth portion of is provided, the holder of the jig with the holder held by the spindle robot hand, after engaging the tooth portions of the both hearth couplings, The end face of the holder-equipped jig is pressed by the center of the tailstock arranged so as to face the workpiece index holding device to support the holder-equipped jig. Automatic workpiece changer of the machining center according to claim 1, wherein is configured. 3. The work indexing / holding device supplies a seal ring for protecting the meshing portions of both tooth portions of the hearth coupling from cutting dust, coolant, etc., and compressed air for the purpose of cleaning the meshing portions. The automatic work changing device for a machining center according to claim 2, further comprising an air blow hole. 4. The automatic work changing device for a machining center according to claim 3, wherein the engagement of said hearth coupling is confirmed and detected by an increase in air pressure in said air blow hole.