JPH0644589Y2 - Work transfer device on lathe - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention is a lathe-shaped work (material / product) in a lathe.
The present invention relates to a work transfer device in a lathe for transferring a work between a chuck for holding the work under a horizontal state and a stock table device arranged near the lathe and stocking the work under the vertical state.

(Prior Art) Conventionally, a work (material) to be stocked in a vertical state on a stock table device is appropriately moved to be transferred to a chuck of a lathe to an attachment position, or in a horizontal state of a chuck of a lathe. A transfer robot is used to transfer the workpiece (processed product) held in step 1 to an appropriate position on the stock table device.

The transfer robots are horizontal and vertical (vertical)
One gripping device for gripping a material / product is provided at the tip of an arm that can move and swing.

Therefore, the material or product is appropriately conveyed by grasping the material or the product by one gripping device and appropriately moving the arm horizontally or vertically and swinging the arm.

(Problems to be solved by the invention) However, in the conventional transfer robot as described above, in order to transfer the material on the stock table device to the attachment position of the chuck of the lathe, the product attached to the chuck of the lathe is temporarily It was necessary to transport the stock table device to an appropriate position.

Therefore, there has been a problem that the work transfer distance becomes long and the work time becomes long, resulting in poor productivity.

Further, it is necessary to swing the work when the work is placed in a horizontal state or a vertical state in order to attach / detach the work to / from the chuck or the stock table device. Since it is indirectly oscillated, there is a problem that the weight of the oscillating portion is large and the work cannot be precisely placed in the horizontal state or the vertical state.

Then, this invention aims at providing the conveying apparatus in the lathe which can solve the said problem.

(Means for Solving the Problem) (Means for Solving the Problem) In order to solve the above-mentioned conventional problems, in the present invention, a lathe-shaped work (material / product) is held in a horizontal state in a lathe. A work transfer device in a lathe for transferring a work between a chuck and a stock table device which is arranged in the vicinity of this lathe and stocks the work in a vertical state. A horizontal moving body that can horizontally move between a position close to the table device is provided, and an elevating arm extending vertically is provided on the horizontal moving body so that the elevating arm can be moved up and down. A material work gripping device for gripping and a product work gripping device for gripping a round bar-shaped product are provided so as to be horizontally rotatable respectively, and the material work gripping device and the product work gripping device are provided. For switching to a substantially vertical state and a substantially horizontal state in synchronism with, material for work gripping device, characterized in that in synchronization with the product for work gripping device in opposite directions formed by can swing.

(Operation) In the above configuration, the horizontal moving body is horizontally moved to the stock table device side and brought close to the stock table device. At this time, the material work gripping device is in the horizontal state and is oriented toward the stock table device side, and the product work gripping device is in the horizontal state and is oriented toward the chuck side.

Then, the elevating arm is lowered, and the work (material) stocked vertically on the stock table device is held by the work holding device for material. The work is stocked on the stock table device in a vertical state because the work has a round bar shape and easily falls down in a horizontal state.

After the work (material) is gripped by the material work gripping device, the elevating arm is raised to horizontally move the horizontal moving body to the chuck side to bring it closer to the chuck, and the material work gripping device and the product work gripping device. Oscillate synchronously in opposite directions. At this time, the product work gripping device is in a vertical state and faces the chuck, and the material work gripping device is in a vertical state. Then, the product work gripping device grips the work (machined product) held in the chuck under the horizontal state, and releases the chuck holding state. In order to release the holding state of the chuck, the horizontal moving body is slightly moved horizontally toward the stock table device.

After the holding state of the chuck is released, the pair of work holding devices is horizontally rotated so that the material work holding device faces the chuck. Then, the horizontal moving body is horizontally moved to the chuck side and brought close to the chuck, and the material gripped by the material work gripping device is held in the chuck under the horizontal state, and the gripping state of the material work gripping device is released. .

After releasing the gripping state of the material work gripping device, horizontally move the horizontal moving body to the stock table side to bring it closer to the stock table device, and synchronize the material work gripping device and the product work gripping device in opposite directions. And rock it. At this time, the material work gripping device is in the horizontal state and is oriented toward the chuck side, the product work gripping device is in the horizontal state and is oriented toward the stock table device side, and the product is in the vertical state. Then, the elevating arm is lowered to release the gripping state of the product work gripping device, whereby the product can be stocked in the stock table device in the vertical state.

(Example) Referring to FIG. 1, in the vicinity of the headstock 1 of the lathe, the material is
A stock table device 3 for temporarily stocking WA and product WB is arranged. Headstock 1 of the lathe,
At an appropriate position above the stock table device 3, the material WA stocked in the stock table device 3 is fed to the attachment position of the chuck 5 provided on the headstock 1 or the processed product attached to the chuck 5 A work transfer device 7 is provided to send the WB to the stock table device 3.

The stock table device 3 is provided with a work placement place 11 divided into 10 equal intervals on a rotatable disc-shaped work table 9 and capable of indexing a predetermined work placement place 11. Is.

The work transfer device 7 has a vertical direction (in other words, an x-axis direction and a vertical direction in FIG. 1), a horizontal direction (in other words, a z-axis direction, and a diagonally upper left direction in FIG. 1).
Material WA,
Two work gripping devices 15 for gripping the product WB
It is provided so as to be rotatable around the axis and the β axis. Here, the β axis refers to the axis of the lifting arm 13 parallel to the x axis, and the α axis refers to the axis orthogonal to the β axis and the x axis. The work gripping device 15 includes a material work gripping device 15a for gripping the material WA and a product work gripping device 15b for gripping the product WB.

As understood from the above configuration, the x-axis moving body 13
The workpiece gripping device 15 appropriately moves in the axial and z-axis directions, and the workpiece gripping device 15 appropriately swings and rotates about the α-axis and β-axis. The material WA loaded and supported on is moved to the attachment position of the chuck 5. In addition, the product work holding device 15b
Thus, the product WB attached to the chuck 5 is moved to a predetermined work placement place 11.

Regarding the details of the work transfer device 7, a z-axis support member 17 extending in the left-right direction (z-axis direction) is provided at an appropriate position of a frame (not shown), and the z-axis support member 17 is moved in the left-right direction. The running portion 21 is attached to the z-axis guide 19 that is extended.
The horizontal moving body 23 is provided so as to be horizontally movable in the left-right direction via the.

An x-axis guide (not shown) is provided on the horizontal moving body 23, and the elevating arm 13 extending in the vertical direction (x-axis direction) is provided on the x-axis guide so as to be vertically movable.

At the lower end of the elevating arm 13, the material work holding device 15a for holding the round bar-shaped material WA and the round bar-shaped product WB.
The product work holding device 15b for holding the product is provided. The work holding devices 15a and 15b for materials and products are interlocked with a rotating device (not shown) such as a motor provided at an appropriate position of the elevating arm 13.

With the above configuration, the material and product work holding devices 15a and 15b are appropriately horizontally rotated (turned) about the β axis by appropriately operating the rotating device.

The details of the work gripping device 15 are shown in FIGS.
Referring to FIG. 4 and FIG. 4, a housing 25 is provided at the lower grip of the elevating arm 13, and the left and right of the lower part of the housing 25 (front and back in FIG. At the appropriate position (up and down in FIG. 4)
Two rotatable rotary shafts 29 via bearings 27
a and 29b are provided.

At one end of each of the rotating shafts 29a, 29b, a work holding device 15a, 15b for holding a material WA and a product WB for holding a material WA
Are provided respectively.

More specifically, the rotary shafts 29a and 29b are integrally provided with hand supporting members 31a and 31b, respectively, and the hand supporting members 31a and 31b are provided with hands 33a and 33b, respectively. In order to grip the material WA or the product WB, fingers 35 that can approach and separate from each other are opposed to the hands 33a and 33b (front and back in FIG. 2 and FIG. 4, left and right, and FIG. 3 toward the paper). Is provided. Finger above
A gripping cylinder 37 is provided in each of the hands 33a and 33b so that the hands 35a and 33b move toward and away from each other.

As can be understood from the above-mentioned configuration, the material and product work holding devices 15a and 15b switch between the horizontal state and the vertical state as shown in FIGS. 1 and 3, so that the rotary shafts 29a and 29b.
It is possible to oscillate in opposite directions synchronously around the α axis via b. Further, by appropriately operating the gripping cylinder 37, the fingers 35 can approach and separate from each other to grip the material WA and the product WB, or to release the gripped state.

An α-axis oscillating device 39 is provided to oscillate the material and product work holding devices 15a and 15b in the opposite directions synchronously about the α-axis.

More specifically, a double-acting swing cylinder 41 is provided inside the housing 25, and a round rod-shaped rack member 45 is provided on the piston rod 43 that can freely project downward from the swing cylinder 41. is there. Further, in order to confirm whether or not the stroke end has been reached, a stroke end confirmation device 47 such as a sensor is provided at an appropriate position of the swing cylinder 41.

In order to mesh with the rack member 45, each rotating shaft 29
Pinions 49a and 49b are integrally attached to appropriate positions of a and 29b. In order to prevent the pinions 49a, 49b from moving in the axial direction of the rotating shafts 29a, 29b, the rotating shafts 29a, 29b
A spacer 51 is provided at an appropriate position on 29b in contact with the pinions 49a and 49b.

As can be understood from the above configuration, by appropriately operating the swing cylinder 41, the rack member 45 moves up and down,
The pinions 49a and 49b oscillate 90 ° in opposite directions in synchronization with each other about the α axis. Therefore, for material,
By swinging the product work holding devices 15a and 15b in opposite directions synchronously about the α axis, the work work holding devices 15a and 15b can be switched between a horizontal state and a vertical state.

In the present embodiment, the material and product work holding devices 15a and 15b swing only 90 ° about the α axis, but the stroke of the swing cylinder 41 can be adjusted in three steps, for example. It is also possible to oscillate 180 ° around the α axis by using an appropriate means such as.

Stoppers 53a and 53b are provided at appropriate positions of the housing 25 so that the work gripping devices 15a and 15b for materials and products swing only within a predetermined range.

More specifically, stopper brackets 55a and 55b are integrally provided at appropriate positions on the housing 25. Bolts 57 and 59 are provided by screwing on the stopper brackets 55a and 55b, respectively.The lock nuts 61 and 59 are attached to these bolts 57 and 59, respectively.
63 is provided by screwing.

With the above configuration, by appropriately operating the stopper devices 53a, 53b to move the bolts 57, 59 in and out, the hand supporting members 31a, 31b are used for the material within the swing position range where the hand supporting members 31a, 31b contact the bolts 57 and 59. The product work holding devices 15a and 15b swing about the α axis.

For details of the stock table device 3, refer to No. 5
Referring to FIG. 6 and FIG. 6, an upper frame 67 is provided on the side frame 65 of the stock table device 3, and a support housing 69 is provided at an appropriate position of the upper frame 67. The support housing 69 is provided with a rotatable table shaft 73 via a bearing 71, and the work table 9 is integrally attached to the table shaft 73.

A Geneva mechanism 75 is provided for indexing the predetermined work placement location 11 on the work table 9. More specifically, the driven wheels 77 of the Geneva mechanism 75 are integrally provided on the lower surface of the work table 9, and the driven wheels 77 are formed with ten grooves 79 extending in the radial direction at equal intervals. is there.

The support housing 69 is provided with a driving shaft 83 which is rotatable via a bearing 81, and the driving shaft 83 has a supporting plate.
85 is integrated. The supporting plate 85 is integrally provided with a driving wheel 87 having a sliding surface 87a for sliding with the sliding surface 77a of the driven wheel 77, for engaging with a groove 79 of the driven wheel 77. Pin 89 is provided. The lower end of the drive shaft 83 is interlocked with a motor 91 mounted on the support housing 69. In order to detect the rotation speed of the motor vehicle 87, a rotation speed detection device 93 is provided at an appropriate position on the support housing 69.

With the above configuration, by appropriately operating the motor 91, the driving shaft 83 and the driving wheel 87 rotate, and the sliding surface 87 of the driving wheel 87 is rotated.
a slides on the sliding surface 79 of the driven wheel 77, and the pin 89 engages with the groove 79 of the driven wheel 77. Then, the sliding surface 87 of the motor vehicle 87 and the driven vehicle
Even after the sliding state of the sliding surface 77a of 77 is released, the pin 89 still engages with the groove 79 of the driven wheel 77, so that the driven wheel 77 is rotated once for one rotation of the driving wheel 87. / 10 rotations only. Therefore, by appropriately rotating the motor 91, the work can be indexed into the predetermined work placement locations 11 divided into 10.

A vertically movable disc-shaped tray 95 for loading and supporting the material WA and the product WB in a vertical state (in one mode of stock) is provided at each of 10 divided work loading locations 11 on the work table 9. Is provided.

More specifically, a hole 11a is formed in each work loading place 11, and a base plate 97 having substantially the same shape as the tray 95 is fixedly provided. Each of the base plates 97 is formed with a plurality of holes 97a and a plurality of elongated holes 97b extending in the radial direction, and these elongated holes 97b are each provided with a vertically extending guide bar 99. The position is adjustable. Further, each of the base plates 97 is mounted with the tray 95 having the base 101, and each of the trays 95 is formed with a plurality of elongated holes 95a for guiding the guide bar 99 in the vertical direction (seventh embodiment). See figure).

In the case of the doughnut-shaped material WA and the product WB, it is possible to make appropriate changes such as additionally providing a vertically extending guide bar at the center of the base plate 97.

With the above structure, the tray 95 moves up and down while being guided by a plurality of guide bars 99 whose positions are adjusted according to the sizes of the material WA and the product WB.

In order to appropriately move the tray 95 on which the material WA and the product WB are loaded and supported up and down, two vertical movement moving devices 103 having the same configuration are arranged in the front and rear direction (front and back in FIG.
(Upper and lower sides in the figure). Vertical movement device 10
Reference numeral 3 includes a rear-side material up-and-down motion device 103a and a front-side product up-and-down motion device (not shown).

More specifically, a vertical cylinder device 105 is provided at an appropriate position on the side frame 65, and a piston rod 107 that can project upward from the vertical cylinder device 105 includes:
A plurality of operating bars 111 extending in the vertical direction via the connecting member 109 are provided at equal intervals. A guide support member 113 is provided at an appropriate position on the upper frame 67 to guide and support the operation bar 111 in the vertical direction.

With the above configuration, by appropriately operating the up-and-down cylinder 105, the upper end portion of the operation bar 111 penetrating the hole 11a of the work placement place 11 and the hole 97a of the base plate 97 is moved to the tray 95.
The tray 95 is brought into contact with an appropriate position on the lower surface of the tray to move the tray 95 up and down.

Therefore, by appropriately operating the material up-and-down movement device 103a, it is possible to raise the tray 95 on which the material WA is loaded and supported via the operation bar 111. In addition, by appropriately operating the vertical movement moving device for products, the tray 95 on which the products WB are loaded and supported via the operation bar 111.
Can be lowered.

A height detection device 115 such as a light sensor is provided to detect that the highest portion of the material WA and the product WB stacked and supported on the tray 95 have reached a predetermined height position.

More specifically, a supporting member 117 extending in the vertical direction is provided at an appropriate position on the upper frame 67, and the supporting member 117 is provided.
In the upper part of the photo detector 121 for material in the height detection device 115,
A product floodlight 123 is provided. Also, the upper frame 67
Support bracket 125 extending vertically at an appropriate position
A material projector 127 and a product receiver 129 are provided at appropriate positions on the support bracket 125.

As can be understood from the above configuration, the upper and lower material for the highest portion on the predetermined saucer 95 can be operated by appropriately operating the material vertical movement moving device 103a.
When the WA is positioned at the predetermined height position, the light beam projected by the material projector 127 is blocked by the highest material WA and is not received by the material light receiver 121. Then, the material receiver 121
A signal for stopping the operation of the material up-and-down moving device 103a is sent from the material and the highest material WA on the predetermined saucer 95 is positioned at a predetermined height position.

Similarly, when the upper and lower product WB on the predetermined tray 95 is located at the predetermined height position by appropriately operating the product vertical movement device, the product receiver 129 moves the product vertical movement motion. A signal is sent to stop the operation of the device,
The uppermost product WB is located at a predetermined height on the 95.

Therefore, at the predetermined height position, the material WA can be taken out by the material work holding device 15a,
The product WB can be loaded and supported on the pan 95.

The operation of this embodiment will be described based on the above configuration.

First, a large number of materials WA are vertically supported and supported on the pan 95 of the stock table device 3 (an aspect of stock).
Excuse me. At this time, since the product WB is loaded and supported, the predetermined tray 95 does not load and support the material WA.

In the state where both the material and product work holding devices 15a and 15b are directed downward, the elevating arm 13 was horizontally moved to an appropriate position in the left-right direction and moved to an appropriate position in the up-down direction via the horizontal moving body 23. Thereafter, the α-axis rotating device 39 is appropriately operated to synchronously swing the material and product work holding devices 15a and 15b by 90 ° in opposite directions about the α-axis. At this time, the material work gripping device 15a is in a horizontal state and is oriented toward the stock table device 3 side, and the product work gripping device 15b is in a vertical state and is oriented toward the chuck 5 side. Then, by appropriately operating the material work gripping device 15a, the highest material WA stacked and supported in a vertical state on the saucer 95 on the predetermined work placement place 11 indexed through the Geneva mechanism 75. Grasp the appropriate position of.

Next, the α-axis rotating device 39 is operated to bring both the material and product work holding devices 15a and 15b into a vertical state, and the material and product work holding devices 15a and 15b are appropriately centered on the β axis. Rotate 180 degrees horizontally. Then, after appropriately moving the elevating arm 13 horizontally to the left, the product work holding device 15b holds the product WB held in the horizontal position on the chuck 5 of the lathe and holds the product WB at an appropriate position. Cancel.

After appropriately rotating the workpiece gripping devices 15a, 15b for materials and products by 180 ° about the β axis, the workpiece gripping device 15a for materials is appropriately operated to place the material WB at the mounting position of the chuck 5 of the lathe. Install.

After the elevating arm 13 is appropriately horizontally moved to the right, the α-axis rotating device 39 is operated to synchronize the material and product work holding devices 15a and 15b in opposite directions about the α-axis. 9
Swing 0 °. Then, the product work holding device 15b is appropriately operated to load and support the product WB on the tray 95 for loading and supporting the product WB.

Then, when all of the material WA on the predetermined tray 95 has been taken out, the Geneva mechanism 75 is appropriately operated to index another predetermined work placement place 11 and the same operation as described above is performed. In addition,
The saucer 95 on which the product WB is loaded and supported is a saucer 95 from which all the materials W are taken out.

According to this embodiment, the work transfer device 7 in the lathe is
Material work gripping device 15a and product work gripping device 15b
Since the product WA is held in the chuck 5, the material WA stocked in the stock table device 3 is not transferred to the stock table device 3 once and the chuck 5
Can be held at. Therefore, the transport distance and transport time of the work (material / product) WA, WB can be shortened, and the production of the product WB can be improved.

Further, when the works WA, WB are placed in the horizontal state or the vertical state, the work W is not moved by swinging only the work holding devices 15a, 15b.
Since A and WB are oscillated, the weight of the oscillating portion is reduced, and the works WA and WB can be precisely brought into a horizontal state or a vertical state.

Further, since the material work gripping device 15a and the product work gripping device 15b are rocked in synchronization, the material work gripping device 15a and the product work gripping device 15b are rocked by the common rocking cylinder 41. Therefore, the structure of the work transfer device 7 is simplified, and the manufacturing cost of the work transfer device 7 can be reduced.

In particular, the material work gripping device 15a and the product work gripping device 15b are configured to swing in opposite directions, and when one work gripping device is oriented toward the stock table device 3 side, Since the work gripping device is oriented toward the chuck 5, the other work gripping device stocks one work gripping device without interfering with the stock table device 3 and the workpieces WA and WB stocked in the stock table device 3. The table WA can be sufficiently close to the table apparatus 3, and the works WA and WB can be easily and appropriately attached to and detached from the stock table apparatus 3.

Since the stock table device 3 is provided with the saucer 95 for loading a plurality of material WAs and product WBs, a large number of material WAs and product WBs are provided as compared with the case where the material WAs and product WBs are flatly stocked. Can be stocked in the stock table device 3. Therefore, the troublesomeness of frequently sending the product WB of the stock table device 3 to the next process and newly supplying the material WA to the stock table device 3 is released.

(Effect of the Invention) As can be understood from the above description of the embodiments, since the work transfer device in the lathe of the present invention includes the material work holding device and the product work holding device, the work holding device is held by the chuck. The material stocked in the stock table device can be held in the chuck without transporting the product to the stock table device once. Therefore, the work (material / product) carrying distance and carrying time are shortened, and the working efficiency is improved.

Further, when the work is placed in the horizontal state or the vertical state, the work is swung by swinging only the work gripping device without swinging the elevating arm. It becomes smaller, and the work can be precisely horizontal or vertical.

Furthermore, since the material work gripping device and the product work gripping device are configured to swing in synchronization with each other, the material work gripping device and the product work gripping device can be swung by a common actuator. It is possible to simplify the structure of the device and reduce the manufacturing cost of the work transfer device.

Particularly, the material work gripping device and the product work gripping device are configured to swing in opposite directions, and when one work gripping device is oriented toward the stock table device side, the other work gripping device is used. Is oriented toward the chuck side, it is possible to bring one workpiece gripping device sufficiently close to the stock table device without the other workpiece gripping device interfering with the stock table device and the workpieces stocked in this stock table device. Therefore, the work can be easily attached to and detached from the stock table device.

[Brief description of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view of a carrying device including a stock table device and a lathe spindle. FIG. 2 is a sectional view showing a main part of this embodiment. FIG. 3 is a side view of FIG. FIG. 4 is a view taken along the line IV-IV in FIG. FIG. 5 is a sectional view of the stock table device. FIG. 6 is a plan view of the stock table device. FIG. 7 shows VII-VII in FIG.
It is sectional drawing which followed the line. 7 ... Work transfer device 13 ... Elevating arm 15 ... Work holding device 15a ... Material work holding device 15b ... Product work holding device

Claims (1)

[Scope of utility model registration request] 1. A chuck for holding a round bar-shaped work (material / product) in a horizontal state on a lathe, and a stock table device arranged near the lathe and stocking the work under a vertical state. And a work transfer device in a lathe for transferring a work, which is provided with a horizontal moving body capable of horizontally moving between a position close to the chuck and a position close to the stock table device. A lifting arm extending in the same direction is provided so that it can be raised and lowered, and at the lower end of this lifting arm, a material work holding device that holds a round bar-shaped material and a product work holding device that holds a round bar-shaped product can be horizontally rotated. Since the material work gripping device and the product work gripping device are synchronously switched between the substantially horizontal state and the substantially vertical state, the material work gripping device and the product work gripping device are provided. A work transfer device for a lathe characterized in that the gripping device is configured to be swingable in synchronization in opposite directions.