JPH0645311Y2 - Work transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a work transfer device that can be used for loading and unloading works in various machine tools.

(Prior Art) When a pre-machining work is supplied to a work holding part of a machine tool by a work transfer device of this type, if foreign matter adheres to the end surface or the peripheral surface of the work tool, When the work holding part grips the work, the foreign matter is caught between the work supporting surface of the work holding part and the chuck, and the work cannot be gripped in a proper posture, which adversely affects machining. Result.

Therefore, it is necessary to remove foreign matter adhering to the work by air blow before supplying it to the work holding part of the machine tool. Conventionally, this work is done manually or near the work holding part of the machine tool. The air discharged from the nozzle arranged in the above is blown to the work held by the work holding means.

(Problems to be solved by the invention) It is not practical to manually perform the air blow work because it requires a lot of manpower and leads to a large increase in cost. Further, in the conventional method of arranging the air blow nozzle, since the nozzle must be arranged at a position where it does not interfere with the transfer of the work, the distance between the nozzle and the work becomes large, and the accurate air There was a drawback that the blowing effect was difficult to obtain. Of course, it is conceivable that the nozzle is configured to move closer to the work only when the air is blown, but the peripheral surface of the work gripped by the work holding part on the machine tool side is extremely complicated in structure. It was difficult to surely blow the whole body with air.

(Means for Solving the Problems) In order to solve the above conventional problems, the present invention provides
A manipulator for transferring a work to and from a work holding unit of a machine tool moves a loading work holding means and an unloading work holding means alternately between the work passing position and the standby position. And the work gripping means are rotatably supported on the movable support members around their respective axes, and the work gripping means are at least in the standby position. The manipulator is additionally provided with an air blow nozzle for blowing the air to the work gripped by the work gripping means at the standby position. The present invention proposes a work transfer device.

(Operation of Device) Prior to unloading for receiving a processed work from the work holding part of the machine tool, the loading work holding means holds the pre-working work. However, in order to perform unloading, when the movable supporting member is moved to move the unloading work holding means to the work transfer position, the loading work holding means holding the unprocessed work is switched to the standby position. Therefore, the loading work gripping means is rotationally driven by the driving means at a proper time while the loading work gripping means is in the standby position, and air is ejected from the air blowing nozzle to thereby load the loading work. The air discharged from the nozzle can be blown to the pre-workpiece which is rotating while being held by the holding means, to blow off the foreign matter attached to the entire circumference of the pre-workpiece.

If the processed workpiece is received from the workpiece holder of the machine tool by the unloading workpiece gripping means,
The movable support member is moved to move the unloading work holding means holding the processed work to the standby position, and at the same time, the loading work holding means holds the pre-worked work that has been air blown. Can be moved to the work transfer position, and thereafter, the pre-work work held by the loading work holding means can be supplied to the work holding portion of the machine tool.

(Embodiment) An embodiment of the present invention will be described below with reference to the attached exemplary drawings.

In Fig. 1 and tooth Fig. 2, 1 is a machine tool such as a numerically controlled machine tool (NC machine), which is provided with a work chuck 2 which is rotationally driven around a horizontal axis 2a as a work holding portion. ing. A work transfer device 3 is provided with a large number of work pallets 5 that can be rotated on the horizontal circulation path 4 at equal intervals. Reference numeral 6 denotes a work transfer device according to the present invention, which is a rotating frame 9 rotatable around a horizontal support shaft 8 with respect to a base frame 7, and is attached to the rotating frame 9 in a direction perpendicular to the axis of the horizontal support shaft 8. A main shaft 10 supported and capable of axial sliding and rotation, and an arm 11 fixed to the tip of the main shaft 10 at a right angle.
A manipulator 12 composed of is used, and a movable support member 13 is rotatably supported at the tip of the arm 11 in the manipulator 12 so as to be rotatable around an axis 13a parallel to the main shaft 10, and the movable support is supported. A loading work holding means 14 and an unloading work holding means 15 are provided at both ends of the member 13.

The movable support member 13 has a direction (length direction) connecting the work gripping means 14 and 15 at both ends in a direction parallel to the arm 11, and the movable support member 13 is supported by an air motor 16 which supports the movable support member 13 by a rotating shaft. Forward and reverse rotation is driven in the range of degrees. However, by rotating the movable support member 13 forward and backward, the two work gripping means 14 and 15 can be alternately positioned at the work transfer position A on the side far from the main shaft 10 and the standby position B on the inside. The work gripping means 14 or 15 at the work transfer position A, when the main shaft 10 is vertically erected by the rotation of the rotating frame 9 and the arm 11 is horizontally laid down as shown by the solid line in FIG. Is positioned downwardly above the workpiece transfer position C in FIG. 2 and, as shown by the phantom line in FIG. 2, the rotation of the rotating frame 9 causes the spindle 10 to fall horizontally and the rotation of the spindle 10 causes the arm 11 to rotate. When it is laid down on the machine tool 1 side by a predetermined angle as shown in FIG. 1, it concentrically faces the work chuck 2 of the machine tool 1.

The work holding means 14 and 15 have the same structure,
As shown in FIG. 3, a rotary disc 18 rotatably supported by a movable support member 13 via a bearing 17, a chuck body 19 fixed to the rotary disc 18, and a chuck body 19 movably supported in the radial direction. Three circumferential rack gears 20, chuck claws 21 attached to each rack gear 20, pinion gears 22 that mesh with each rack gear 20 and are axially supported in the chuck body 19, and cylindrical columns that mesh with each pinion gear 22 at the same time. A rack gear 23, a cylinder unit 24 supported by the movable support member 13, a movable shaft 25 which is coupled to a piston rod 24a of the cylinder unit 24 and supports the cylindrical rack gear 23 so as to be rotatable only in an axial direction. , And a floating plate 26 for pressing the work. The floating plate 26 is supported by the center of the tip of the chuck body 19 via a support shaft 27 attached at a central position so that the floating plate 26 can be swung in any direction of 360 degrees.
Each of the chuck claws 21 is provided with a cut groove 28 into which the chuck claw 21 is loosely fitted so as to be movable in the radial direction.

Reference numeral 29 is a motor attached to the arm 11 via a bracket 30, the rotation shaft 29a of which is directed in the radial direction of the turntable 18 of the work gripping means 14 or 15 at the standby position B, and the rotation thereof is performed. In the rotating body 31 fixed to the shaft 29a,
Turntable of the work gripping means 14 or 15 at the standby position B
A friction drive ring 32 such as an O-ring that elastically abuts on the inner surface of 18 is fitted, and is in the standby position B by the turntable 18, the motor 29, the rotating body 31, and the friction drive ring 32. Rotation drive means for the work gripping means 14 or 15
33 are configured.

34 is an air blow nozzle and its air discharge port
34a is the work holding means 14 or 15 at the standby position B.
The arm 11 is attached to the arm 11 via a bracket 35, a support rod 36, and a racket 37 so as to face the peripheral portion of the work W gripped by the front side from the front. The support rod 36 is parallel to the axial direction of the turntable 18 and
The fixed position of the support rod 36 with respect to 35 can be arbitrarily adjusted in the length direction of the support rod 36, and the nozzle 34 is fixed by rotating the support rod 36 at an arbitrary angle by the bracket 37. In addition, the fixed position can be adjusted in the length direction of the support rod 36.

Next, the method of use will be described. As shown by the solid line in FIG. 2, the rotating frame 9 of the manipulator 12 in the work transfer device 6 is rotated to vertically raise the main shaft 10 and the arm 11 of the work transfer device 3. The loading work gripping means 14 at the work transfer position A is positioned right above the work transfer position C in the work transfer device 3 so as to face downward. In such a state, the spindle 10 is moved in the work pressing direction F, and the work gripping means 14, 15 are lowered to a predetermined level.

Next, the work pallet 5 at the work transfer position C of the work transfer device 3 is lifted by a lifter (not shown),
The unprocessed work on the work pallet 5 is pressed against the floating plate 26 of the work gripping means 14 from below, and the cylinder unit 24 of the work gripping means 14 is operated in this state to move the cylindrical rack gear 23 backward. By interlockingly moving the chuck claws 21 in the centripetal direction via the pinion gear 22 and the rack gear 20, the pre-workpiece W pressed against the floating plate 26 is gripped by the workpiece gripping means 14. After this, the spindle
After the 10 is moved backward in the backward direction R to the stroke limit, the rotary frame 9 is reversely rotated by 90 degrees, and the state shown by the phantom line in FIG. Return to the state of standing up.

As described above, the reception of the pre-processing work W is completed, but when the processing of the work W held by the work chuck 2 of the machine tool 1 is completed, the movable support member 13 is moved by the air motor 16 to 18
Workpiece holding means 15 for unloading is rotated by 0 degree.
Is set to the work transfer position A and the loading work holding means 14 is set to the standby position B, the spindle 10 is rotated by a predetermined angle, and the arm 11 is tilted to the machine tool 1 side as shown in FIG. The unloading work holding means 15 is opposed to the work chuck 2 of the machine tool 1.

When the work gripping means 14 or 15 at the work transfer position A is moved to the standby position B by the rotation of the movable support member 13, the work gripping means 14 or 15 reaching the standby position B as shown in FIG. The rotating body 31 on the inner surface of the turntable 18 of 15
The friction drive ring 32 is automatically brought into sliding contact.
Of course, at this time, the work W gripped by the work gripping means 14 and 15 does not enter the inside of the air blowing nozzle 34 from the lateral side and collide with the nozzle 34.

Next, the spindle 10 is again moved in the work pressing direction F, and the floating plate 26 of the unloading work holding means 15 is pressed against the processed work W held by the work chuck 2 on the machine tool 1 side. In such a state, the work chuck 2 on the machine tool 1 side is released, and each chuck claw 21 of the work gripping means 15 is moved in the centripetal direction by the cylinder unit 24 as described above, so that the work chuck 2 on the machine tool 1 side is moved. The machined work W held is held by the work holding means 15. After that, the spindle 10 is forcibly moved in the backward direction R to the stroke end, and the worked workpiece W is separated from the workpiece chuck 2 on the machine tool 1 side.

After that, the movable support member 13 is rotated by 180 degrees by the air motor 16, and the positions of the loading work holding means 14 holding the pre-worked work W and the unloading work holding means 15 holding the processed work W are set. Although they are switched to each other, as shown in FIG. 3, while the positions of the workpiece gripping means 14 and 15 are switched at an appropriate time, that is, while the loading workpiece gripping means 14 gripping the pre-workpiece W is in the standby position B, as shown in FIG. The rotating body 32 is rotated by the motor 29 shown, and the work gripping means 14 is forcibly driven to rotate via the friction driving ring 32 and the rotary disk 18. Then, by ejecting air from the air ejection port 34a of the air blow nozzle 34, air is blown from the front to the peripheral portion of the unprocessed work W rotating with the work gripping means 14, and the entire circumference of the work W is surrounded. If there is a foreign substance or the like attached to the surface and the outer end face, it is blown off by the air.

After the above air blow is completed, the movable support member as described above
When the loading work holding means 14 holding the unworked work W by the rotation of 13 reaches the work transfer position A, the spindle 10 is moved again in the work pressing direction F,
The unworked workpiece W is pressed against the workpiece chuck 2 on the machine tool 1 side. In this state, the cylindrical rack gear 23 is moved forward by the cylinder unit 24, and the chuck claws 21 are interlocked in the centrifugal direction via the pinion gear 22 and the rack gears 20 to release the gripping action of the pre-work workpiece W, Then, the work W is gripped by the work chuck 2 on the machine tool 1 side.

After that, the spindle 10 is forcibly moved in the backward direction R to the stroke end, and the work gripping means 14 is disengaged from the pre-workpiece W, whereby the loading of the pre-workpiece W is completed.

The unloading work gripping means 15 gripping the processed work W reversely rotates the main shaft 10 to raise the arm 11 as shown by the phantom line in FIG. 2, and then positively rotates the rotary frame 9. The main shaft 10 is erected, the arm 11 is horizontally laid down toward the work transfer device 3, and the movable support member 13 is rotated 180 degrees. Can be located at. On the other hand, in the work transfer device 3, since the specific work pallet 5 set for receiving the processed work W is called at the work transfer position C, the spindle 10 is moved in the work pressing direction F. After lowering the work gripping means 14 and 15 to a predetermined level, the lifter lifts the work pallet 5, and the work pallet 5 is already moved.
The processed work W (or the empty work pallet 5) transferred above is pressed against the lower end surface of the processed work W held by the work holding means 15. After releasing the chuck claws 21 of the work holding means 15 in such a state as described above, the main shaft 10 is forcibly moved in the backward direction R to the stroke end, and the work pallet 5 is lowered by the lifter. The processed work W gripped by the gripping means 15 is transferred onto the work pallet 5 for receiving the processed work.

As described above, the loading of the unworked work and the unloading of the processed work are completed.

In the above embodiment, the loading work holding means 14
The unloading work holding means 15 and the unloading work holding means 15 are attached to both ends of the movable support member 13 which rotates in the opposite direction by 180 degrees.
It is also possible to arrange them side by side on a movable support member that can reciprocate in the longitudinal direction. In this case, the standby position of the loading work gripping means 14 and the unloading work gripping means
Since the standby position of 15 is different, the drive unit 33 and the air blow nozzle 34 may be provided only on the standby position side of the loading work holding unit 14. Also, the work gripping means
It is also possible to incorporate a rotation drive means in each of 14, 15.

(Effect of device) As described above, in the work transfer device of the present invention,
Air is blown automatically to the workpiece before it is supplied to the work holding part of the machine tool, and if there is any foreign matter that adheres, it can be blown off with air and washed before being supplied to the work holding part of the machine tool. Therefore, it is possible to eliminate the inconvenience caused by the adhesion of foreign matters. Especially, according to the configuration of the present invention, the air blow nozzle may be attached to the manipulator itself, and the nozzle for moving the nozzle on a specific locus can be used. Despite the fact that no special means is required, the nozzle can be blown with air sufficiently close to the necessary location of the pre-workpiece to be held by the loading work holding means, and the pre-workpiece can be rotated. By making it possible to perform air blow,
It is possible to surely obtain a high air blow effect for necessary parts including the entire peripheral surface of the work.

Further, by setting the standby position for the air blow, and enabling the loading work gripping means and the unloading work gripping means to be moved alternately between the standby position and the work transfer position, the machine tool The unloading for receiving the machined workpiece from the workpiece holder and the loading for supplying the workpiece before machining to the workpiece holder can be continuously and efficiently performed, and the cycle required for replacing the workpiece with the workpiece holder of the machine tool. It has also become possible to shorten the time.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a usage state of the work transfer device, FIG. 2 is a side view of the same, and FIG. 3 is a vertical cross-sectional side view showing a main part of the work transfer device. 1 ... Machine tool, 2 ... Work chuck (work holding part), 3 ... Work transfer device, 5 ... Work pallet,
6 ... Work transfer device, 7 ... Base frame, 9 ...
… Rotating frame, 10 …… Spindle, 11 …… Arm, 12 …… Manipulator, 13 …… Movable support member, 14 …… Loading work gripping means, 15 …… Unloading work gripping means, 16 …… Air motor , 19 ... chuck body, 20 ... rack gear, 21 ... chuck jaws, 22 ... pinion gear, 23 ... cylindrical rack gear, 24 ... cylinder unit, 26 ... floating plate, 29 ... motor, 32 ... ... Friction drive ring, 33 ... Rotation drive means, 34 ... Air blow nozzle, A ... Work transfer position, B ... Standby position, C ... Work transfer position in the work transfer device 3, W ……work.

Claims (1)

[Scope of utility model registration request] 1. A manipulator for delivering a work to and from a work holding portion of a machine tool, a loading work holding means and an unloading work holding means, and both work holding means at a work passing position and a standby position. Attached via a movable supporting member for alternately moving to each other, the both work gripping means are rotatably supported with respect to the movable supporting member around their respective axial centers,
Rotational drive means for rotating and driving the work gripping means about its axis when at least each of the work gripping means is at the standby position is provided, and air is added to the work gripped by the work gripping means at the standby position. A work transfer device which is provided with an air blow nozzle for blowing air onto the manipulator.