JPH06190616A - Jaw replacing device and robot hand at turning center - Google Patents

Abstract

PURPOSE:To provide a jaw replacing device for a turning center in which different jaws can be easily replaced according to the shape and the like of a work. CONSTITUTION:To fit a jaw 23 to a chuck part 20 of a turning center, a jaw magazine 24 for holding the predetermined number of jaws 23 is held by a hand 27 of a robot 6 through a robot shank 25 engaged with the jaw magazine 24, the jaw magazine 24 facing the chuck part 20 is pressed onto the chuck part 20 by a tool rest 60 through a special center 26, and the jaw 23 is clamped by a jaw clamp 22 so as to fit the jaw 23 to the chuck part 20.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pawl exchanging device for a turning center and a robot hand, and is capable of exchanging pawls for a turning center fully automatically.

[0002]

2. Description of the Related Art A turning center (hereinafter, simply referred to as NCT) processes various kinds of works, and therefore it is necessary to replace a claw for gripping the work according to the kind of the work. Figure 1 shows the configuration of a conventional turning center
3 shows.

FIG. 13 (a) shows the replacement of a claw corresponding to one type of work for the NCT 1 (hereinafter simply referred to as AJC).
) And a work exchange (AWC), and a stationary fixed robot 2 having no hand exchange function is provided, and an automatic pallet changer (hereinafter, simply referred to as APC) 3 for placing a work is provided. In this system, the fixed robot 2 replaces the claw attached to the NCT 1, and the work gripped by the claw is replaced with a new work on the APC 3.

FIG. 13B shows a plurality of NCT1s.
The APC 3 is provided on the extension of the lined direction of the mobile robots, and the rail 5 extending in the lined direction is movable in the vertical direction and has a hand capable of AWC only.
And the work reversing table 7 is further provided. NC
After gripping the work 8 with the T1 claw and processing one end, the mobile robot 6 reverses the work 8 on the work reversing table 7,
The other end is processed.

FIG. 13C shows an APC 3 provided for each NCT 1 and a robot 6 having a hand that is movable in three axial directions perpendicular to each other and has only an AWC.

[0006]

However, as shown in FIG.
The turning center (a) can handle only one NCT for AJC and AWC, and the hand cannot be exchanged, which makes it impossible to handle many kinds of works, resulting in high equipment cost. Since the hands cannot be exchanged in the turning centers shown in FIGS. 13B and 13C, AJC cannot be performed, and the work cannot support various types. Further, since only simple movement in the direction of the orthogonal axis is possible, a mechanism for moving the work is required so that the robot can grasp and release the work, which complicates the apparatus and increases the cost. Further, since there are restrictions on the operation of the robot, it is not possible to easily deal with changing the type of work.

It cannot be changed automatically and in real time, including the number of stocks of a nail magazine as a jig for holding a nail for AJC and the number of robot hands.

Further, in the APC shown in FIGS. 13 (a) to 13 (c), the space used per single system is large and the cost of the entire system becomes high.

Therefore, an object of the present invention is to provide a pawl exchanging device for a turning center and a robot hand which solves the above problems.

[0010]

[Means for Solving the Problems] The structure of a pawl exchanging device for a turning center for achieving the above object is such that a plurality of pawls, which are detachably attached to a rotating body of the turning center, are present for each set of pawls. The nail magazine that temporarily holds the nail, the magazine stocker that stores the nail magazine that holds a pair of nails, the robot that can reciprocate between the turning center and the magazine stocker, and the jaw magazine Together with the robot shank that is gripped by the robot's hand, and the nail magazine is moved between the tool rest and the robot shank of the turning center to move the nail magazine through the tool rest, the nail becomes a rotating body in cooperation with the robot shank. It features a special center that clamps and unclamps the other way. The robot hand used for placement has a fixed shaft provided at the tip of the arm in a protruding state, a first rotation member rotatably provided on the fixed shaft, and a rod of a first cylinder connected to the arm for the first time. The movable member is rotatably connected in the vicinity of the outer peripheral surface thereof, and a plurality of coupling pins are provided so as to be movable in the radial direction around the fixed shaft. The hand is rotatably connected through a connecting member, while the hand is provided with an insertion hole into which the connecting pin is inserted, at a position corresponding to each connecting pin, and the hand is rotatably attached to the tip side of the fixed shaft. Two rotating members are provided, and the rod of the second cylinder connected to the arm is rotatably connected to the vicinity of the outer peripheral surface of the second rotating member and fixed on the second rotating member at a position sandwiching the fixed shaft. While a pair of drive pins that are approximately parallel to the axis are provided to project, A slider that is movable along a straight line that is substantially perpendicular to the fixed shaft and substantially parallel to each other so as to sandwich the fixed shaft is provided, and a groove that is substantially perpendicular to the moving direction is formed in each slider to insert the drive pin. Is characterized by.

[0011]

In the turning center claw exchanging device according to the first aspect, the robot carries the claw magazine holding the claws from the magazine stocker to the turning center by gripping the robot shank fitted to the claw magazine, and the special center is set. By pressing the robot shank through the tool rest, the nails are collectively attached to the rotating body from the nail magazine. Conversely, remove the nail from the rotating body to the nail magazine,
Store the nail magazine with the nails in the magazine stocker.

In the robot hand according to the second aspect, the arm is moved closer to the hand, and then the first rotating member is rotated by the first driving means to insert the connecting pin into the insertion hole. Connect to the arm. And
By rotating the second rotating member by the second driving means and reciprocating the pair of sliders in which the pair of drive pins are inserted, the pair of fingers are opened and closed to grip the work or the like.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings. Since the present embodiment is an improvement of a part of the conventional pawl exchanging device for a turning center, the same parts as those in the prior art are designated by the same reference numerals, and the description thereof will be omitted.

(A) Turning center pawl exchanging device FIG. 12 shows the structure of a turning center using the turning center pawl exchanging device according to the present invention. As shown in FIG. 12, a plurality of NCTs 1 are arranged in parallel in the left and right directions.
A traveling carriage 10 is provided on a rail 5 provided in a direction in which the NCTs 1 are lined up via a gantry 9, and the articulated robot is movable on the traveling carriage 10 in a horizontal direction perpendicular to the extending direction of the rail 5. 6 is provided. One articulated robot 6 is provided for every two NCTs. Then, in front of the NCT 1, the work temporary placing table 1 is sequentially installed from the left.
1, work reversal stand 12, two AGV stations 1
3, a hand stand 14 is provided, and a pair of safety shelves 15, 1
5 are provided. A magazine stocker 17 for stocking a nail magazine 24 described later is installed on the right side of the NCT 1. Work 8 on work temporary stand 11
An automated guided vehicle 18 that travels along the direction in which the rail 5 extends is provided for transporting the vehicle.

The NCT 1 is shown in FIG.
As shown in FIG. 3, a rotary body 19 that is driven to rotate is provided. The chuck portion 20 of the rotary body 19 is provided with three movable bodies 21 that are movable in the radial direction, and each movable body 21 has a claw clamper. A claw 23 for holding the work 8 via 22 is detachably attached. This claw 23
Has various shapes depending on the type of the work 8 and needs to be replaced according to the type of the work 8.

A pawl magazine 24 for holding the three pawls 23 at the same time is provided so that the robot 6 can be used to simultaneously attach or detach the three pawls 23 to or from the moving body 21. The nail magazine 24 is shown in FIG.
As shown in FIG. 3, a cylindrical hole 24a is formed on one side of the cylinder, and a through hole 24b is formed in the center thereof. A groove 24c for holding the claw 23 is formed at every angle. In the groove 24c, the groove 2
A pin 24d that projects in a direction perpendicular to the direction of 4c and is biased by a spring is provided, and the claw 23 is held by the pin 24d. In order to allow the articulated robot 6 to grip the nail magazine 24, a robot shank 25 for fitting into the through hole 24b is provided. As shown in FIG. 4, the robot shank 25 has a hollow sleeve shape, and its left end is fitted into the large diameter portion of the through hole 24b. The cutouts 2 are provided above and below the right end.
5a is formed, and the inner diameter dimension in the AA direction is larger and the inner diameter dimension in the BB direction is smaller than the length L of the engagement member 26a described later. Besides this, Fig. 5
As shown in (a) and (b), a special center 26 is provided to intervene between the tool rest and the robot shank 25 in order to press the nail magazine 24 against the chuck portion 20 of the NCT 1 using the tool rest of the NCT 1. To be An engaging member 26a shown in FIGS. 6A and 6B is coupled to the tip of the special center 26 via a bolt (not shown).

There are various types of nail magazines 24 shown in FIG. 3 because they have different shapes according to the types of nails, and the magazine stocker 17 for storing these nail magazines 24 is as shown in FIG. It is provided. As shown in FIG. 7, the magazine stocker 12 has a pair of vertical frames 12a to which a plurality of horizontal frames 12b arranged in the vertical direction are attached, and each horizontal frame 12b has a plurality of support bases 12c arranged in the horizontal direction. It is attached, and one claw magazine 24 is placed for each support 12c.

Next, the operation of the pawl exchanging device of the turning center will be described with reference to FIG. NCT1 in FIG.
When attaching the nail to the nail, the multi-joint robot 6 is run along the rail 5, the nail magazine 24 holding the nail 23 is picked up from the magazine stocker 17, and the corresponding N
Carry to the vicinity of the chuck unit 20 of CT1. The grip of the nail magazine 24 by the articulated robot 6 is performed by grasping the robot shank 25 fitted into the through hole 24b of the nail magazine 24 with the hand 27 as shown in FIG. As shown in FIGS. 1A and 1B, the claw magazine 24 is brought close to the chuck portion 20 to a position where the claw clamper 22 can engage with the claw 23, and then the robot shank 25 as shown in FIG. 1C. Center 2 with the left end in contact with the right end of
Via the NCT1 tool rest 60 via the claw magazine 24
Is pressed against the chuck portion 20. At this time, the engaging member 26a attached to the special center 26 is AA of FIG.
The robot shank 25 is released from the hand 27 by being inserted into the circumferential groove 25b along the. Then, the claw clamper 22 having a clamp function clamps the claw 23 on the claw magazine 24, and the claw 23 of the claw 23 is clamped.
The move to is completed. After that, the chuck portion 20 is rotated clockwise by 90 ° so that the engaging member 26a moves to the position shown in FIG.
When it comes to a position along the line BB in the circumferential groove 25b of (b), the nail magazine 24 is slightly pulled out by using the tool rest 60 as shown in FIG.
When the engaging member 26a returns to the position along the line A-A in FIG. 4B, the robot shank 25 is moved by the hand 27.
Is grasped and the tool rest 60 is returned to the original position. After this,
The robot 6 stores the nail magazine 24 without the nail 23 in the stocker 1
Return to 7. When the claw 23 is pulled out from the chuck portion 20, held in the claw magazine 24 and returned to the stocker 17, the operation is the reverse of the above. However, the claw 23 by the claw clamper 22
The clamp function of will be changed to the unclamp function. By automatically selecting and executing the series of operations from the nail magazine 24 on the magazine stocker 17, it is possible to automatically replace the nails corresponding to many kinds of works.

As shown in FIG. 7, since the magazine stocker extends in the vertical direction, space can be saved and a large number of claw magazines 24 can be collectively managed. Further, it can be shared by a large number of NCTs 1, and as a result, the number of nail magazines 24 can be reduced.

(B) Robot Hand (Embodiment 1) Next, a robot hand which is the hand 27 of the articulated robot 6 for gripping the robot shank 25 will be described. As shown in FIGS. 8A and 8B, the arm 28
The flange portion 30a integral with the fixed shaft 30 is fixed to the tip of the frame 29 that constitutes the above. The fixed shaft 30 is rotatably provided with a first rotating member 31 and a second rotating member 32 through a bearing 33. To be A support plate 34 is fixed to the frame 29, and two large and small rising portions 34a are formed on the supporting plate 34. The rising portion 34a has a fixed shaft 30 as a center.
A coupling pin 35, which is reciprocally movable in the radial direction every 20 °, is inserted through a bush 36. Then, the inner end portion of each coupling pin 35 and the outer peripheral portion of the first rotating member 31 are connected via a connecting member 54 whose both ends are rotatably connected. In order to drive the first rotating member 31 configured as described above, the tip of the rod 38a of the first cylinder 38 that is rotatably coupled to the support plate 34 via the stay 37 has the first rotating member 31. 31a protruding toward the outside of the
Is rotatably connected to the tip of.

On the other hand, as shown in FIG. 9, in the hand 27, the hand body 40 framed in a quadrangle is joined to the base 44, and the bush 39 having the insertion holes for inserting the three connecting pins 35 is provided in the hand body. It is provided at the tip of a column 40a that rises from three places.

Next, as shown in FIGS. 8 (a) and 8 (b), a drive pin 42 is rotatably provided via a pin 41 at a position of 180 degrees relative to each other on the second rotation member 32. . The drive pin 42 is provided so as to project from the second rotating member 32. The second rotating member 32 configured as described above
A rod 44 in a second cylinder 44 rotatably coupled to the support plate 34 via a stay 43 for driving
It is rotatably connected to the tip of a or the outer peripheral portion of the second rotating member 32.

On the other hand, the framed hand body 40 is shown in FIG.
(A) Three guide rods 45 extending in the left-right direction,
46 and 47 are attached to the guide rod 45,
An L-shaped slider 48 is provided movably over 46, and an L-shaped slider 49 is movably provided over the guide rods 46, 47. Sliders 48, 4
9 has a groove 50 perpendicular to the guide rod,
The drive pins 42 are fitted into the pair of grooves 50, respectively. Fingers 51 and 52 extending downward of the hand body 40 in the figure are coupled to the sliders 48 and 49, respectively. A positioning hole 53 for fitting the tip of the fixed shaft 30 is provided at a central position of the central guide rod 46 across the pair of sliders 48 and 49. This positioning hole 53
Is a pair of sliders 48, 49 so that they function as positioning holes when the pair of sliders 48, 49 come into close contact with each other.
It is formed half by half over 49 spaces.

Next, the operation of such a robot hand will be described. To attach the hand 27 to the tip of the arm 28,
First, the front end of the fixed shaft 30 is inserted into a positioning hole 53 formed between the pair of sliders 48 and 49 at the center of the hand 27 for relative positioning, and at the same time, the pair of drive pins 42 are connected to the pair of sliders. Groove 5 formed in 48, 49
Insert into 0 respectively. After that, the hand 27 is fixed to the fixed shaft 30.
Is rotated about the center of the connecting pin 35 and the bush 39 to match the positions of the bush 39 in the circumferential direction. Next, the first cylinder 3
By projecting the rod 38a of No. 8, the first rotating member 31 is rotated clockwise in FIG. 8 (a). Then, the connecting pins 35 pushed by the connecting member 54 are inserted into the three bushes 39, respectively, and the hand 27 is completely connected to the arm 28 as shown in FIG.

To grip the robot shank 25 of FIG. 1 with the pair of fingers 51 and 52, the rod 44 of the second cylinder 44 is used.
8a is pulled out and the second rotating member 32 in FIG. 8A is rotated counterclockwise. Then, the pair of sliders 48 and 49 in FIG. 9A move toward each other, and the fingers 51 and 52 fixed to the sliders 48 and 49 grip the robot shank 25. By exchanging the fingers 51 and 52, it also serves as a hand for gripping the work. Since the robot's hand can be easily changed, it can handle a wide range of workpieces such as a robot shank.

(C) Robot Hand (Second Embodiment) Next, a second embodiment of the robot hand will be described. Since only a part of the first embodiment is modified in the second embodiment, the same parts are designated by the same reference numerals, and the description thereof will be omitted. Only different parts will be described.

Most of the arm 28 is the same as that of the first embodiment, but instead of the fixed pin 30 for positioning, the positioning pin 69 is separately provided at the position shown by the chain double-dashed line in FIG. 8A.
Book is provided.

On the other hand, the hand 27 is constructed as shown in FIG. As shown in FIGS. 11B and 11C, a pair of guide plates 62 are provided with their outer ends coupled to the hand body 40, and the positioning pins are provided on the inner ends of the respective guide plates 62. A positioning hole 63 for inserting 69 is formed. The guide rods 45, 47 include a pair of sliders 4
Return spring 64 for urging the members 8 and 49 in the direction of abutting each other
Is attached. In addition, the hand 27 is shown in FIG.
A guide pin 66 protruding upward is provided on the mounting table 65 for mounting on the mounting table 65 of (c), while a guide plate 67 having an L-shaped cross section is coupled to the back of the hand body 40. The guide plate 67 is provided with a mounting hole 68 for inserting the guide pin 66.

Next, the operation of such a robot hand will be described. As shown in FIG. 11B, the hand 27 is mounted on the mounting table 65 by inserting the guide pins 66 into the mounting holes 68 formed in the guide plate 67 on the back.
To attach the hand 27 to the arm, the arm 28 is advanced in the direction shown by the arrow in FIG.
Is guided along the guide plate 62 and inserted into the positioning hole 63. At this time, the pair of drive pins 42 are simultaneously inserted into the grooves 50 of the sliders 48 and 49. Next, the arm 28 is stopped from entering, and thereafter the same operation as in the first embodiment is performed to perform the hand 2 operation.
7 is connected to arm 28. In this embodiment, the slider 4
Since the return spring 64 acts on 8, 49, when the hand 27 is separated from the arm 28, the slider 48,
49 are pressed toward each other toward the center.

[0030]

As is apparent from the above description, claim 1
According to the pawl exchanging device for the turning center according to the present invention, the pawl magazine, the robot, the robot shank, and the special center are provided, so that various pawl exchanging operations corresponding to works of various shapes can be performed automatically. . Further, since the robot shank and the special center are provided, even a heavy claw can be attached to or removed from the rotating body of the turning center with high accuracy without burdening the robot.

According to the robot hand of claim 2,
Since the hand is connected to the arm by inserting the connecting pin that is movable in the radial direction into the insertion hole, the force for releasing the connection is equal to the shearing force of the material of the connecting pin. Therefore, the hand does not come off from the arm. Since the driving means is provided on the arm side instead of the hand and the driving method is the rotation method, the thickness of the hand can be reduced. Further, the distance from the hand to the position of the tip of the finger gripping the work can be reduced, the load moment can be reduced, and the transportable weight does not decrease.

[Brief description of drawings]

FIG. 1 is a diagram for explaining the action of pawl exchange according to a pawl exchanging device for a turning center according to the present invention.

FIG. 2 is an explanatory view of the action of pawl exchange according to the pawl exchanging device for a turning center according to the present invention.

3A and 3B relate to a pawl magazine of a pawl exchanging device for a turning center according to the present invention, FIG. 3A is a front view, and FIG. 3B is a sectional view taken along line CC of FIG.

4A and 4B relate to a robot shank of a pawl exchanging device for a turning center according to the present invention, FIG.
Is a right side view.

FIG. 5 is a left side view and (b) a front view of a special center of a pawl exchanging device for a turning center according to the present invention.

6A and 6B are a front view and a right side view of an engaging member of a pawl exchanging device for a turning center according to the present invention.

7A and 7B relate to a magazine stocker of a pawl exchanging device for a turning center according to the present invention, FIG. 7A is a front view, and FIG. 7B is a sectional view taken along line DD of FIG. 7A.

8A and 8B relate to an arm showing Embodiment 1 of a robot hand according to the present invention, FIG. 8A is a plan view, and FIG. 8B is a front sectional view.

9A and 9B are a front view and a right side view, respectively, of a hand showing a first embodiment of a robot hand according to the present invention.

FIG. 10 is an assembly diagram showing a connected state of the arm and the hand according to the first embodiment of the robot hand according to the present invention.

FIG. 11 relates to a hand showing a robot hand according to a second embodiment of the present invention, (a) is a plan view, (b) is a front view,
(C) is a right side view.

FIG. 12 is a configuration diagram of a turning center according to the present invention.

FIG. 13 is a block diagram of a conventional turning center.

[Explanation of symbols]

 6 ... Robot 17 ... Magazine stocker 19 ... Rotating body 22 ... Claw clamper 23 ... Claw 24 ... Claw magazine 25 ... Robot shank 26 ... Special center 27 ... Hand 28 ... Arm 30 ... Fixed shaft 31 ... First rotating member 32 ... No. Two rotation members 35 ... Coupling pin 38 ... First cylinder 39 ... Bushing 42 ... Drive pin 44 ... Second cylinder 38a, 44a ... Rod 45, 46, 47 ... Guide rod 48, 49 ... Slider 50 ... Groove 51, 52 ... Finger 54 ... Connecting member

Claims (2)

[Claims] 1. A claw magazine that is detachably attached to a rotating body of a turning center and that temporarily holds various types of claws for each set of claws, and a claw magazine that holds a set of claws are stored. The magazine stocker, a robot that can reciprocate between the turning center and the magazine stocker, a robot shank that is fitted into the nail magazine and is gripped by the robot hand, and a turning center tool post and robot shank. Turning with a special center that intervenes between them and moves the claw magazine through the tool post to cooperate with the robot shank to clamp the claw to the rotating body or unclamp it conversely. Center claw changer. 2. An arm is provided with a fixed shaft in a projecting state, a first rotating member is rotatably provided on the fixed shaft, and a rod of a first cylinder connected to the arm is attached to an outer periphery of the first rotating member. Connected rotatably near the surface, and provided a plurality of connecting pins movably in the radial direction around the fixed shaft, connecting the inner end of each connecting pin and the vicinity of the outer peripheral surface of the first rotating member. While being rotatably connected via a member, the hand is provided with an insertion hole into which the connecting pin is inserted, at a position corresponding to each connecting pin, and the second rotating member is rotatably attached to the tip side of the fixed shaft. Is provided, and the rod of the second cylinder connected to the arm is rotatably connected to the vicinity of the outer peripheral surface of the second rotating member and is substantially parallel to the fixed shaft at a position on the second rotating member that sandwiches the fixed shaft. While a pair of drive pins are provided so as to project, the fixed shaft is sandwiched between the hand and the fixed shaft. A robot hand characterized in that sliders that are movable at substantially right angles to each other and that are substantially parallel to each other are provided, and a groove that is substantially perpendicular to the movement direction is formed in each slider for inserting a drive pin.