JPH0742596Y2 - Work table - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chain drive pallet rotary type work table for a machine tool with a robot.

[0002]

2. Description of the Related Art Conventionally, a robot 101 as shown in FIG.
The attached machine tool 102 needs a stocker and a product stocker, and one of the formats of this stocker is a pallet rotary work table 103. This work table 103
As for the shape of the pallet of FIG. 5, there are many circular pallets 104 or square pallets as shown in FIG. 4, and when the diameter of the work W is smaller than the pallet diameter, the space efficiency is poor, and therefore, as shown in FIG. Further, a method of stacking works in multiple stages or a method of arranging a plurality of works W in a plane as shown in FIG. 6 is adopted. In addition, methods such as a rectangular pallet 106 as shown in FIG. 7 or an L-shaped work table for increasing the number of pallets with a small diameter pallet 107 as shown in FIG. 8 are adopted.

[0003]

The method of FIG. 5 for stacking works in a multi-tiered manner described in the prior art requires a work guide 105 and a lifter for each pallet, and is also not suitable for an axial work. The method of FIGS. 6 and 7 in which a large number of workpieces are arranged on a pallet in a plane is provided in the robot side in order to transfer a large number of workpieces to the robot sequentially.
A palletizing function that can move freely in the Y-axis direction is required, which causes a problem of increasing the cost of the robot. Further, the method of FIG. 8 in which the pallet diameter is reduced and the number of pallets is increased is structurally limited, and there is a problem in that the structure becomes complicated and expensive because it has to be L-shaped or multi-row. . The present invention has been made in view of the above problems of the prior art, and an object thereof is to provide a large number of small dedicated spaces that can accommodate a simple cylindrical coordinate system robot with a small number of axes. It is intended to provide a work table capable of accommodating a work.

[0004]

In order to achieve the above object, a work table according to the present invention is a chain drive pallet rotary type work table for a machine tool with a robot, which has vertical holes fixed to the chain at equal intervals. A connecting plate, a lower base with a ball caster movably mounted on the table, a central base of the lower base, which is fixed through the vertical base and rotatably fitted in the vertical hole, and an engaging groove at the lower end. And a rectangular pallet having an upper end of the connecting shaft fixed substantially in the center, and is provided outside the chain on the table in parallel to the chain and so as to be interrupted at a work transfer position. A guide for keeping the longitudinal direction of the pallet at right angles to the moving direction by engaging the engaging groove as much as possible, and one of the pallet swivel moving parts of the table. Are those which comprise a means for turning to any angle the pallet engages with the guide groove said indexed to workpiece handover position deviated from the guide provided by the.

[0005]

The pallet is intermittently moved by the chain drive, and when indexed to the work transfer position, the engaging groove at the lower end of the connecting shaft fixed to the pallet is disengaged from the guide, and instead, the upper end of the rotary actuator of the pallet revolving means is located in two directions. Engage with the catch to pivot the pallet approximately at right angles to the robot arm. In this way, the pallet becomes a state in which the work can be transferred by the rotational positioning of the robot arm in the horizontal plane according to the program on the robot side.

[0006]

EXAMPLES Examples will be described with reference to FIGS. An oval chain drive pallet rotary type work table 2 is installed on the floor near the lathe equipped with the robot 1 with the longitudinal direction being the main shaft axis direction of the machine (Z axis direction). A drive shaft 4 is vertically and rotatably supported at a position near the right end of the frame 3 of the work table 2, and a bevel gear 5 fitted to the drive shaft 4 outputs an output of a motor 6 fixed to the frame 3. It is meshed with a bevel gear 7 fitted to the shaft. Further, a sprocket wheel 8 is fitted on the upper end of the drive shaft 4, and a chain 11 is stretched between the sprocket 8 and a sprocket wheel (not shown) rotatably provided at a position near the left end of the frame 3 so as to be rotatable. It is set up. As the chain 11, a chain with attachments is used in which links 11a having convex portions for attaching a connecting plate described later are used at equal intervals, and one end of the connecting plate 12 is fixed to the convex portions of the link 11a. .

A vertical hole 12a is formed in the other end of the connecting plate 12, and the rectangular pallet 1 is formed in the vertical hole 12a.
A connecting shaft 14 fixed vertically to the lower surface center of 3 is rotatably fitted, and the lower part of the connecting shaft 14 has the same shape as a pallet movably mounted on the upper plate 3a of the frame 3 by a ball caster 16. The lower base 15 is vertically penetrated and fixed to the lower base 15, and an engaging groove 14a is formed in the lower end of the connecting shaft 14 at right angles to the longitudinal direction of the pallet 13. The ball casters 16 are attached to the four corners of the lower surface of the lower table 15, and the pallet 13 is moved on the upper plate 3a of the table in parallel outside the movement path of the chain 11. When the pallet is moved, the engaging groove 14a at the lower end of the connecting shaft 14 is movably engaged so as to straddle a guide 17 provided in a convex shape on the upper plate. The pallet 13 always keeps its longitudinal direction perpendicular to the guide 17.

In the work table 2, the intersection of the center line passing through the axis of both chain wheels and the guide 17 on the robot side is set as the center point of the work transfer position, and the guide 17 is interrupted at this work transfer position. A pneumatic rotary actuator 19 is vertically and upwardly fixed below the transfer position.
The rotation angle is adjusted to 90 ° by the rotation angle adjusting stopper 18. The indexing shaft 21 fitted to the upper end concentric with the output shaft of the actuator 19 penetrates the upper plate 3a and is located at the interrupted portion of the guide 17, and the indexing shaft 2 of this guide interrupted portion is provided.
1 is provided with a two-way chamfer having the same width as the guide 17, and the turning end position of the actuator 19 is set so that the two-way chamfer is parallel or perpendicular to the guide 17. Therefore, in the work transfer position, when the two-way picking portion is parallel to the guide 17, the interrupted part of the guide is connected to this two-way picking portion. Further, dogs 22 and 23 are fitted on the drive shaft 4 of the chain 11, and the forward / reverse limit switch LS is provided at the dog-corresponding position of the frame body 3.
1 and LS2 are fixed.

On the other hand, the robot 1 mounted on the lathe
Is configured such that the main bodies 25A and 25B can swivel 90 ° in a vertical plane in the main axis direction (Z-axis direction) and the main body 25A can move along a guide on the main body 25B. Is swiveled in the horizontal plane when swiveled 90 ° toward the work table 2 side, and swung in the vertical plane in the X-axis direction when swiveled 90 ° backwards toward the machine side. The hand 28 can be opened and closed and 90 ° and 180 degrees from the wrist
° It is supposed to be able to turn.

Next, the operation of this embodiment will be described.
The work W is now the same as the turning radius R of the robot arm 27 on the plurality of rectangular pallets 13 on the work table 2.
Are arranged side by side in an arc shape. The pallets 13 which are intermittently sent by the motor 6 are closely arranged in the linear moving portion with a gap at a pitch with the short side as a reference, and are opened in a fan shape in the turning moving portion, and at a transfer position with the robot,
Change the direction by 0 °. In the pallet 13 indexed to the delivery position, the engaging groove 14a at the lower end of the connecting shaft 14 is disengaged from the guide 17 and engages with the two-way take-up portion at the upper end of the indexing shaft 21. Next, the pallet 13 is turned 90 ° by the pneumatic rotary actuator 19 so that the pallets 13 are at right angles to the axes of both sprocket wheels, and the workpieces W are lined up on the locus along which the gripping center of the robot hand 28 passes. Then, the work W is transferred one by one by changing the turning position of the robot arm 27 by a program on the robot side. The turning angle of the pallet 13 at the delivery position is 9
The angle is not limited to 0 °, and it is needless to say that the angle can be set to an arbitrary angle depending on the layout of the work table with respect to the robot.

[0011]

Since the present invention is configured as described above, it has the following effects. After the chain-driven rectangular pallet is indexed at the workpiece transfer position provided in the swivel movement part, it is swung at an arbitrary angle so that it is almost perpendicular to the robot arm, and the center of the pallet's robot hand grip By changing the rotation index position of the robot arm and passing a plurality of workpieces arranged on the turning trajectory that passes through one by one, it is possible to convey rectangular pallets at intervals in the linear movement part. Space saving can be achieved by combining with a simple robot. Further, by setting the pallet turning angle of the transfer unit to an arbitrary angle, there is a large degree of freedom in layout, and horizontal placement with high stability can be performed on a shaft-shaped work with a simple stand.

[Brief description of drawings]

FIG. 1 is a top view of a work table and a lathe with a robot according to the present embodiment.

FIG. 2 is a side sectional view of a work table.

FIG. 3 is a view taken along the line AA of FIG.

FIG. 4 is a perspective view of a pallet rotary type work table having a conventional round pallet.

FIG. 5 is a perspective view showing a large number of works stacked on a round pallet.

FIG. 6 is a perspective view showing a large number of works arranged in a plane on a round pallet.

FIG. 7 is a perspective view showing a state where works are arranged in a line on a rectangular pallet according to a conventional technique.

FIG. 8 is a perspective view of an L-shaped rotary table laid out so as to reduce the number of pallets and increase the number of pallets in the related art.

FIG. 9 is a top view of a conventional work table and a robot-equipped machine tool.

[Explanation of symbols]

1 Robot 2 Work Table 3 Frame 11 Chain 12 Connection Plate 13 Pallet 14 Connection Shaft 14a
Engagement groove 15 Lower stand 16 Ball caster 17 Guide 19 Rotary actuator 21 Indexing shaft 27 Robot arm 28 Robot hand

Claims (1)

[Scope of utility model registration request] 1. A chain drive pallet rotary type work table for a machine tool with a robot, comprising a connecting plate fixed to the chain at equal intervals and having vertical holes, and a ball caster movably mounted on the table. Shimodai,
A connecting shaft which is fixed vertically through substantially the center of the lower base and which is rotatably fitted in the vertical hole and has an engaging groove at the lower end, and a rectangular pallet in which the upper end of the connecting shaft is fixed substantially in the center. And is provided outside the chain on the table so as to be parallel to the chain and to be interrupted at a work transfer position, and movably engages with the engaging groove to move the pallet in the longitudinal direction with respect to the moving direction. And the guide groove that is indexed to the work transfer position provided on one of the pallet rotation moving parts of the table and is out of the guide, and rotates the pallet at an arbitrary angle. And a work table.