JPH10202566A - Automatic working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic working machine in which rigidity to stand working can be obtained and miniaturization and high working accuracy can be realized. SOLUTION: Each component is made to be successively piled up on a turntable 4 and to be successively reduced in a working robot 3 of this automatic working machine. For instance, a frame 6 is freely slidably arranged on the turntable 4, an arm 9 is freely revolvably arranged on the frame 6, a slider 12 is freely slidably arranged on the arm 9, a head 81 is freely revolvably arranged on the slider 12 and a hand 100 clamping a work (b) is freely revolvably arranged on the head 81. A pair of rotary shafts provided at both the ends of the arm 9 are freely revolvably supported by a pair of bearings provided on the frame 6. A pair of rotary shafts provided at both the ends of the head 81 are freely revolvably by a pair of bearings provided on the slider 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic processing machine for automatically processing a workpiece (work) having a complicated shape, such as a wristwatch case, using a blade (tool).

[0002]

2. Description of the Related Art Conventionally, as an example of an automatic processing machine, a table (X-axis direction) for moving a work left and right, a saddle (Y-axis direction) for moving the work back and forth, and a main shaft for moving a tool up and down while rotating the tool. A head composed of three units (in the Z-axis direction) is known. The work is positioned or fixed on the table by a jig or the like.

[0003]

As described above, in a conventional automatic processing machine, it is necessary to position or fix a work on a table by a jig or the like. Therefore, every time the work is processed, it is necessary to attach the work to the jig or remove the work from the jig, and it is necessary to manually handle the work. In order to solve such inconveniences, a robot having a fixed spindle head and a robot rotatably mounted on the spindle head and holding and moving a workpiece to perform any machining is considered. Can be However, in order to realize such a robot, a structure such as a conventional assembling robot does not have sufficient rigidity to withstand machining, and is difficult to miniaturize and has poor machining accuracy. Can be considered.

It is an object of the present invention to provide an automatic processing machine capable of obtaining rigidity that can withstand processing, realizing miniaturization and achieving high processing accuracy.

[0005]

In order to achieve the above object, according to the first aspect of the present invention, a spindle spindle 2 for attaching a tool and a workpiece b to be machined by a tool a attached to the spindle spindle 2 are gripped. And a robot 3 for moving the robot spatially. The robot 3 rotates the hand with respect to the hand in order to position the hand at an arbitrary position and to have an arbitrary posture. It comprises a turning means for giving each motion of turning and linear motion, a turning means, and a linear moving means, and the turning means has a pair of turning shafts, and both the turning shafts are rotatably supported. I made it. As described above, according to the first aspect of the present invention, since the turning means has a pair of turning shafts and both the turning shafts are rotatably supported, high rigidity that can withstand machining is realized. it can.

According to a second aspect of the present invention, there is provided a turntable provided with the robot according to the first aspect rotatably, a turntable rotating means for rotating the turntable, and a turntable. A frame 6 slidably disposed on the frame 4, a frame sliding means for sliding the frame 6, an arm 9 pivotally disposed on the frame 6, and an arm rotating means for rotating the arm 9; A slider 12 slidably disposed on the arm 9, a slider sliding means for sliding the slider 12, a head 81 rotatably disposed on the slider 12, and a head rotating means for rotating the head 81; A hand 100 that is rotatably arranged on the head 81 and grips the work b;
A hand turning means for turning the hand 100; a pair of turning shafts 28 and 29 provided at both ends of the arm 9; and a pair of bearings 26 provided with the two turning shafts 28 and 29 on the frame 6. While being supported rotatably at 27,
A pair of turning shafts 85, 85 are provided at both ends of the head 81, and the two turning shafts 85, 85 are rotatably supported by a pair of bearings 86, 86 provided on the slider 12.

As described above, according to the second aspect of the present invention, the frame 6, the arm 9, and the slider 1 are provided on the turntable 4.
2. The head 81 and the hand 100 are sequentially stacked. Further, a pair of turning shafts 28 and 29 are provided at both ends of the arm 9, and the two turning shafts 28 and 29 are rotatably supported by a pair of bearings 26 and 27 provided on the frame 6, and A pair of turning shafts 85, 85 are provided at both ends, and the two turning shafts 85, 85 are rotatably supported by a pair of bearings 86, 86 provided on the slider 12. For this reason, according to the second aspect of the present invention, it is possible to reduce the size of the robot and to achieve high rigidity that can withstand machining.

According to the third aspect of the present invention, in the second aspect of the present invention, the guide of the slider 12 is moved around the turning shafts 28 and 29 of the arm 9 toward the hand 100 from the turning shafts 28 and 29. The rails 51, 51, the pivot axes 85, 85 of the head 81, and the pivot axis of the hand 100 are arranged on substantially the same straight line. For this reason, according to the third aspect of the present invention, the positioning accuracy of the work b gripped and processed by the hand 100 is good, and the processing error is reduced, so that high-precision processing can be realized.

According to a fourth aspect of the present invention, in the second or third aspect, the frame 6, the arm 9,
The elements are sequentially reduced and arranged in the order of the slider 12, the head 81, and the hand 100. According to a fifth aspect of the present invention, in the second, third, or fourth aspect, the driving source of the head turning means is provided behind the head 81, and the head 81 and the driving source are linked. To connect. For this reason, in the invention described in claim 4, the entire robot can be reduced in size, and in the invention described in claim 5, the hand 1 further grips the work b.
The 00 side can be reduced in size, and interference with the spindle 2 and the tool a attached to the spindle 2 can be prevented.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the automatic processing machine according to the present invention will be described below in detail with reference to FIGS. FIG. 1 is a perspective view showing the overall configuration of the automatic processing machine according to this embodiment. FIG. 2 is a perspective view showing a configuration of a processing robot part of the automatic processing machine. FIG.
FIG. 3 is a diagram illustrating functions of the processing robot illustrated in FIG. 2. FIG. 4 is a front view of the processing robot shown in FIG.
FIG. 5 is a left side view of the processing robot shown in FIG. FIG. 6 is a plan view of the processing robot shown in FIG.

The automatic processing machine of this embodiment is mounted on a mounting table 1 as shown in FIG.
Is mounted on the main spindle 2 and the tool b mounted on the main spindle 2 mounted on the mounting table 1
The machining robot 3 is configured to position the workpiece b at an arbitrary position and to make the workpiece b have an arbitrary posture. As shown in FIG. 3, the machining robot 3 is a six-axis articulated robot, and is configured to rotate (J1), translate (J2), rotate (J3), translate (J4), and rotate (J).
5) and six functions of rotation (J6). For each of these functions, reference numerals corresponding to those in FIG. 2 are displayed. Here, "rotation" and "turning"
In the present specification, unless otherwise specified, it is possible to rotate in both directions.

Next, an outline of the configuration of the machining robot 3 having such functions will be described in association with the respective functions. As shown in FIG. 2, the machining robot 3 includes a turntable 4 that is rotatably provided, and the turntable 4 includes a first-axis direct drive motor 1.
6 to rotate. The rotation of the turntable 4 corresponds to the rotation (J1) in FIG. A base 5 is fixed on the turntable 4, and a frame 6 is slidably disposed on the base 5, and the frame 6 is configured to slide by a two-axis motor 22 (see FIG. 4). The sliding of the frame 6 is performed by the linear motion (J2) in FIG.
Corresponding to An arm 9 is rotatably arranged on the frame 6, and the arm 9 is configured to rotate by a three-axis motor 44. The turning of the arm 9 corresponds to the turning (J3) in FIG.

A slider 12 is slidably disposed on the arm 9, and the slider 12 is configured to slide by a four-axis motor 59 (see FIG. 5). This slider 1
2 corresponds to the linear motion (J4) in FIG. A head 81 is rotatably arranged on the slider 12, and the head 81 is configured to rotate by a five-axis motor 76. The turning of the head 81 corresponds to the turning (J5) in FIG. A hand 1 holding a work b is placed on the head 81
00 is rotatably arranged, and the hand 100 is configured to be rotated by a six-axis motor 91. The rotation of the hand 100 corresponds to the rotation (J6) in FIG.

As shown in FIG. 2, the processing robot 3 has a frame 6 slidably disposed on a turntable 4, an arm 9 slidably disposed on the frame 6, and The slider 12 is slidably arranged,
Each component is sequentially stacked on the turntable 4 such that the head 81 is rotatably disposed on the slider 12 and the hand 100 holding the work b is rotatably disposed on the head 81, and Frame 6, arm 9, slider 12, head 81, and hand 100
Are sequentially reduced in this order.
The reason for this arrangement is to realize a reduction in the size of the processing robot 3 and a high rigidity that can withstand the processing.

Next, the configuration of each part of the processing robot 3 will be described in detail. First, the configuration of the turning mechanism of the turntable 4 will be described. As shown in FIG. 7, the turntable 4 includes a motor case 13 fixed to the mounting base 1.
Is rotatably mounted on a bearing 14 provided in the opening of the second member. The bearing 14 is held by a bearing holder 15. A one-axis direct drive motor 16 is fixed in the motor case 13, and an output shaft 17 of the motor 16 is fixed.
Is a coupling 18 by meshing face gears.
Is connected to the lower part of the turntable 4 via a. On the turntable 4, a base 5 is fixed. With such a configuration, the one-axis direct drive motor 1
When the 6 rotates, the turntable 4 can rotate. The rotation of the turntable 4 corresponds to the rotation (J1) in FIG.

Next, the configuration of the sliding mechanism of the frame 6 will be described. As shown in FIG. 8, two biaxial guide rails 20 are provided in parallel on the base 5, and two biaxial guide rails 20 are provided on each biaxial guide rail 20.
The shaft slide unit 21 is fitted so as to be slidable and linearly movable. The frame 6 is connected to the two-axis slide unit 21. On the base 5,
As shown in FIG. 7, the two-axis motor 22 is fixed. The output shaft of the two-axis motor 22 is connected to a two-axis ball screw 23 which is supported by a bearing 23 a by a coupling 19.
4 are engaged. The nut 24 is fixed to a biaxial nut holder 25 as shown in FIG.
Is fixed to the lower surface of the frame 6. With this configuration, when the two-axis motor 22 rotates, the two-axis ball screw nut 24 moves, so that the frame 6 integrated with the nut 24 is guided by the two-axis guide rails 20 and performs a linear motion. The linear motion of the frame 6 corresponds to the linear motion (J2) in FIG.

Next, the structure of the turning mechanism of the arm 9 will be described. As shown in FIG. 9 and FIG.
Bearings 26 supported by bearing holders 7 and 8
The left and right turning shafts 28 and 29 of the arm 9 are supported by the bearings 26 and 27. Bearing 26, 2
Reference numeral 7 is pressed by bearing retainers 7a and 8a and is covered with bearing lids 7b and 8b. Also, bearing holders 7, 8
Is covered by lids 7c and 8c. As shown in FIG. 10, shafts 31, 31 are provided on the left and right of the rear end of the arm 9, and the shafts 31, 31 are supported by bearings 32, 32 provided on one of the links 33, 33. Link 3
Bearings 34, 34 are provided on the other of the members 3, 33, and a connecting shaft 35 is supported by the bearings 34, 34.

One end of the connecting shaft 35 is connected to the lower end of a triaxial guide shaft 37 via a triaxial guide holder 36 as shown in FIG. As shown in FIG. 11, the triaxial guide shaft 37 is inserted into a linear bush 38 provided at one end of the frame 6 so as to be able to move up and down.
At its lower end, a triaxial guide holder 36 is attached by a nut 39. The upper opening of the linear bush 38 is closed by a bush lid 40. Connecting shaft 3
The other end of 5 is provided with a through hole 35a as shown in FIG. 10, and the lower end of the triaxial ball screw 41 is inserted into this through hole 35a. A triaxial ball screw nut 45 is engaged with the triaxial ball screw 41, and the triaxial ball screw nut 45 is rotated by a triaxial guide holder 46 so as not to rotate.
Is fixed inside. The lower end of the triaxial guide holder 46
The upper surface of the other end of the connection shaft 35 comes into contact with the upper surface.

The triaxial guide holder 46 is connected to the lower end of a triaxial guide shaft 47 as shown in FIG. The triaxial guide shaft 47 is configured to be able to move up and down like the triaxial guide shaft 37. Further, the triaxial ball screw 41 is rotatably supported by a bearing 43 provided in a triaxial motor bracket 42, and the upper end side thereof is connected to a triaxial motor 44 via a coupling 43a. A bearing nut 48 into which the upper end of the triaxial ball screw 41 fits is provided in the triaxial motor bracket 42.
A cover 49 of the bearing 43 is provided in a lower opening of the shaft motor bracket 42. With such a configuration, when the three-axis motor 44 rotates, the three-axis ball screw 41 rotates, and the three-axis ball screw nut 45 meshing with the three-axis ball screw 41 performs the elevating operation. Therefore, the connecting shaft 35 moves up and down, so that the arm 9 connected to the connecting shaft 35 via the links 33 and 33 turns around the turning shafts 28 and 29 (see FIG. 15). The turning motion of the arm 9 corresponds to the turning (J3) in FIG.

Next, the configuration of the sliding mechanism of the slider 12 will be described. As shown in FIGS. 9 and 12, the four-axis guide rails 51, 5
The four-axis guide rails 51, 51 have four
The shaft slide units 52, 52 are slidably fitted. The four-axis slide units 52 are mounted on left and right side walls of the slider 12 housed in the arm 9. At the rear end of the slider 12, as shown in FIG.
The ball nut screw 54 is fixed, and the tip side of the 4-axis ball screw 55 is engaged with the ball nut screw 54. The four-axis ball screw 55 is rotatably supported by a bearing 57 provided inside a cylinder 56 provided at the rear of the arm 9. Further, the rear end of the four-axis ball screw 55 is connected to a shaft of a four-axis motor 59 by a coupling 58. The four-axis motor 59 is attached to the rear opening of the cylinder 56. With such a configuration, when the four-axis motor 59 rotates, the four-axis ball screw nut 54 can move back and forth, so that the slider 12 integrated with the nut 54 is guided by the four-axis guide rails 51 and 51 in the front-rear direction. Can reciprocate. The linear motion of the slider 12 is
This corresponds to the linear motion (J4) in FIG.

Next, the structure of the turning mechanism of the head 81 will be described. As shown in FIG. 13, a bearing case 61 is provided integrally with the slider 12 at a rear portion of the slider 12. As shown, bearings 62, 62 are disposed in the bearing case 61, and a rotating shaft 64 is rotatably supported by the bearings 62, 62. Bearing 62 and bearing 6
2, a spacer 63 is interposed. Both ends of the rotating shaft 64 are rotatably fitted to left and right five-axis bush holders 65, 65 as shown. The five-axis bush holders 65, 65 are provided with a linear bush 66, and the five-axis guide shafts 67, 67 are slidably supported by the linear bush 66. The rear ends of the five-axis guide shafts 67, 67
8 are attached to both ends by nuts 69. As shown in FIG. 16, a 5-axis nut holder 71 is mounted on the guide block 68, and a 5-axis ball screw nut (not shown) that engages with the 5-axis ball screw 72 is provided in the 5-axis nut holder 71. Are fixed so that they cannot rotate.

The five-axis ball screw 72 is rotatably supported by a bearing 74 provided in a five-axis motor bracket 73 as shown in FIG. It is connected to the. 5-axis motor 7
6 is fixed to the 5-axis motor bracket 73. 5
Both lower ends of the shaft motor bracket 73 are connected to left and right bush holders 65, 65, as shown in FIG. As shown in FIG. 13, a cylindrical portion of a 5-axis guide holder 77 is inserted into the front end side of each of the left and right 5-axis guide shafts 67, 67, and the cylindrical portions are attached to the 5-axis guide shaft 67 by nuts 78, 78. Fixed. As shown in FIG. 14 (B), bearings 79, 79 supported by bearing holders 79a, 79a are provided at lower end portions of the left and right five-axis guide holders 77, 77. The shafts 82, 82 provided at both ends of the upper part are supported. Each opening of the bearings 79 and 79 is closed by a lid 83. Further, as shown in FIG. 12, projecting pieces 84, 84 are provided on the left and right sides on the opening side of the head 81, and left and right turning shafts 85, 85 are provided outside the projecting pieces 84, 84. The turning shafts 85 of the head 81 are rotatably mounted on bearings 86 provided on a front portion of the slider 12.

With such a configuration, when the 5-axis motor 76 rotates, the 5-axis ball screw 72 rotates. However, the 5-axis ball screw nut (not shown) fixed in the 5-axis nut holder 71 engaged therewith. ) Is guided by the left and right five-axis bush holders 65, 65 and the five-axis guide shaft 6
7 and 67 are linearly moved back and forth. Therefore, the shafts 82, 82 of the head 81 supported by the bearings 79, 79 (see FIG. 14) of the five-axis guide holders 77, rotate, whereby the left and right turning shafts 85, 85 of the head 81 rotate. As the head 81 moves, the head 81 turns around the turning shafts 85, 85 (see FIGS. 15 and 16). The turning of the head 81 corresponds to the turning (J5) in FIG.

Next, the structure of the rotating mechanism of the hand 100 will be described. As shown in FIG. 12, a hollow quill (hollow shaft) constituting the hand 100 is provided in the head 81.
87 is rotatably supported by bearings 88 and 89. A 6-axis motor 91 is fixed to the rear surface of the head 81,
The output shaft of the six-axis motor 91 is connected to a quill 87 via a speed reducer 92. With such a configuration, 6
When the shaft motor 91 rotates, the rotation is reduced by the speed reducer 92 to rotate the quill 87.
The hand 100 is integrally formed with the fingers 97 and 97 and rotates. The rotation of the hand 100
This corresponds to the rotation (J6) in FIG.

Next, the structure of the gripping mechanism of the hand 100 composed of the fingers 97, 97 will be described. As shown in FIG. 12, the opening of the quill 87 is closed by a block 93, and the cylinder 9 is closed by the space closed by the block 93.
4 is formed, and a piston 95 is disposed in the cylinder 94 so as to be able to reciprocate. The piston 95 is connected to the rod 9
6 is connected. The block 93 is provided with left and right mounting portions on the distal end side for mounting a pair of left and right fingers 97, 97, and the fingers 97, 97 are rotatably mounted on the mounting portions by pins 98.
The rear end of each finger 97 is
It is attached to the tip of.

At the front of the head 81, a reference plate 101 for supporting the rear of the work b is provided. Therefore, as shown in FIGS. 4 and 6, the work b has two front surfaces supported by the left and right fingers 97, 97, and a rear portion supported by the reference plate 101. With this configuration, when the piston 95 is moved back and forth by controlling the air in the cylinder 94, the pins 98, 9
The fingers 97, 97 rotate about 8. For this reason,
As shown in FIG. 6, when the fingers 97, 97 press two positions on the front surface of the work b toward the reference play 101, the movement of the work b is restricted by the reference plate 101, and the fingers 97, 97 are held by the fingers 97, 97. become.

In this embodiment, as can be seen from FIGS. 2 and 3, the pivots 28 and 29 of the arm 9 (corresponding to J3 shown in FIGS. 2 and 3) are centered. From the direction 29 to the hand 100, the guide rails 51, 51 of the slider 12 (corresponding to J4 shown in FIGS. 2 and 3) and the pivots 85, 85 of the head 81 (to J5 shown in FIGS. 2 and 3). The quill (hollow shaft) 87 for rotating the hand 100 (corresponding to J6 shown in FIGS. 2 and 3) is arranged on substantially the same straight line. With such an arrangement, the positioning accuracy of the work b gripped and processed by the hand 100 is good, and the processing error is reduced, so that high-precision processing can be realized.

Next, the operation of the embodiment configured as described above will be described. In the automatic processing machine according to this embodiment, the tool a is attached to the spindle 2 while the hand 100 of the machining robot 3 grips the workpiece b.
A predetermined processing of the work b is performed with the fixed. For this reason, the processing robot 3 positions the work b at an arbitrary position and makes the work b have an arbitrary posture, so that the turning operation of the turntable 4, the sliding operation of the frame 6, the turning operation of the arm 9, and the sliding operation of the slider 12 are performed. Moving operation, turning operation of the head 81,
Each operation of the rotation operation of the hand 100 is performed individually or in combination.

The turning operation of the turntable 4 is performed by driving a one-axis direct drive motor 16. The sliding operation of the frame 6 is performed by driving the two-axis motor 22. That is, when the two-axis motor 22 rotates, the two-axis ball screw nut 24 moves with this rotation.
The frame 6 integrated with the nut 24 is guided by the biaxial guide rails 20. The turning motion of the arm 9 is 3
This is performed by driving the shaft motor 44. That is, when the three-axis motor 44 rotates, the three-axis ball screw 41 rotates, and the three-axis ball screw nut 45 meshed with the three-axis ball screw 41 performs the elevating operation. As a result, as shown in FIG. 15, the connecting shaft 35 moves up and down.
The arm 9 connected via 3 and 33 is a pivot shaft 28,
Turn around 29.

The sliding operation of the slider 12 is performed by a four-axis motor 5.
9 is performed. That is, when the four-axis motor 59 rotates, the four-axis ball screw nut 54 moves back and forth, and the slider 12 integrated with the nut 54 is guided by the four-axis guide rails 51 and 51 to reciprocate in the front-rear direction. The turning operation of the head 81 is performed by driving a 5-axis motor 76. That is, when the 5-axis motor 76 rotates, the 5-axis ball screw 72 rotates, and the 5-axis ball screw nut (not shown) fixed in the 5-axis nut holder 71 engaged with the 5-axis ball screw 72 Bush holder 6
The five-axis guide shafts 67, 67 are linearly moved back and forth. Therefore, FIG. 14 and FIG.
As shown in FIG.
The shafts 82, 82 of the head 81 supported by the heads 9, 79 rotate, and thereby the left and right turning shafts 85, 85 of the head 81 rotate, so that the head 81 turns around the turning shafts 85, 85. I do. The rotation operation of the hand 100 is performed by the six-axis motor 9.
1 is performed. That is, when the six-axis motor 91 rotates, the rotation is reduced by the speed reducer 92 to rotate the quill 87, so that the hand 100 including the fingers 97, 97 rotates.

As described above, in this embodiment, as shown in FIG. 2, each element is sequentially placed on the turntable 4 in the order of the frame 6, the arm 9, the slider 12, the head 81, and the hand 100. It was arranged to be reduced. A pair of turning shafts 28 and 29 provided at both ends of the arm 9 are rotatably supported by a pair of bearings 26 and 27 provided on the frame 6 and a head 81.
Are pivotally supported by a pair of bearings 86 provided on the slider 12. For this reason, in this embodiment, the size of the processing robot 3 can be reduced, and the rigidity that can withstand the processing can be increased.

In this embodiment, a 5-axis motor 76, which is a driving source of the head 81, is provided on the rear side, and the head 81 and the 5-axis motor 76 are connected by a link. For this reason, in this embodiment, the hand 100 side of the machining robot 3 can be downsized, and interference with the spindle 2 and the tool a attached to the spindle 2 can be prevented.

[0033]

As described above, according to the present invention, the turning means has a pair of turning shafts, and the two turning shafts are rotatably supported. Rigidity can be realized. In the present invention, the frame, the arm, the slider, the head, and the hand are sequentially stacked on the turntable, and the pair of pivots provided at both ends of the arm are rotated by a pair of bearings provided on the frame. In addition to being freely supported, a pair of turning shafts provided at both ends of the head are supported by a pair of bearings provided on the slider, so that the robot can be downsized.
High rigidity that can withstand processing can be realized.

According to the present invention, the guide rail of the slider, the pivot axis of the head, and the pivot axis of the hand are aligned on the same straight line with the pivot axis of the arm as the center, and from this pivot axis toward the hand. Since the workpieces are arranged, the positioning accuracy of the workpiece to be processed by being gripped by the hand is good, and the processing error is reduced, so that high-precision processing can be realized. Further, according to the present invention, since the components are sequentially reduced and arranged in the order of the frame, the arm, the slider, the head, and the hand, the entire robot can be downsized.

Further, in the present invention, the driving source of the head turning means is provided behind the head, and the head and the driving source are connected by a link. It is possible to prevent interference with the tool attached to the, and to reduce the movable range.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an overall configuration of an automatic processing machine according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a configuration of a part of a processing robot of the automatic processing machine.

FIG. 3 is a view for explaining functions of the machining robot shown in FIG. 2;

FIG. 4 is a front view of the processing robot shown in FIG. 2;

FIG. 5 is a left side view of the processing robot shown in FIG. 2;

FIG. 6 is a plan view of the processing robot shown in FIG. 2;

FIG. 7 is a sectional view showing a drive mechanism of the turntable.

FIG. 8 is a sectional view taken along line DD of FIG. 4;

FIG. 9 is a sectional view taken along line CC of FIG. 5;

FIG. 10 is a sectional view taken along line EE of FIG. 5;

FIG. 11 is a sectional view taken along line FF of FIG. 10;

FIG. 12 is a sectional view taken along line GG of FIG. 5;

FIG. 13 is a sectional view taken along line BB of FIG. 16;

14A is a cross-sectional view taken along line AA of FIG.
(B) is a front view of the turning part of the head.

FIG. 15 is a cross-sectional view taken along line HH of FIG. 4 when the head is at a tilted position and the three axes are at tilted positions.

FIG. 16 is a cross-sectional view taken along line HH of FIG. 4 when the head is at a vertical position and three axes are at a horizontal position.

[Explanation of symbols]

 a tool b work 2 spindle spindle 3 machining robot 4 turntable 6 frame 9 arm 12 slider 16 1 axis direct drive motor 22 2 axis motor 26, 27 bearing 28, 29 turning axis 44 3 axis motor 51 4 axis guide rail 59 4 axis Motor 76 5-axis motor 81 Head 85 Revolving shaft 86 Bearing 91 6-axis motor 100 Hand

Claims (5)

[Claims] 1. A spindle for mounting a tool, and a robot for spatially moving a workpiece to be machined by the tool attached to the spindle, the robot comprising: a hand for gripping the workpiece; In order to position the hand at an arbitrary position, and to have an arbitrary posture, a turning unit that gives each of rotation, turning, and linear motion to the hand, a turning unit, and a linear moving unit An automatic processing machine, wherein the turning means has a pair of turning shafts, and both turning shafts are rotatably supported. 2. The robot according to claim 1, further comprising: a turntable rotatably provided; turntable rotating means for rotating the turntable; a frame slidably disposed on the turntable; A frame sliding means for sliding, an arm rotatably disposed on the frame, an arm rotating means for rotating this arm, a slider slidably disposed on the arm, and sliding the slider A slider sliding means; a head rotatably disposed on the slider; a head turning means for rotating the head; a hand rotatably disposed on the head and gripping the work; A hand turning means for turning, a pair of turning shafts are provided at both ends of the arm, and both turning shafts are provided on the frame. In addition to being rotatably supported by a pair of bearings, a pair of turning shafts are provided at both ends of the head, and both the turning shafts are rotatably supported by a pair of bearings provided on the slider. The automatic processing machine according to claim 1, wherein 3. A guide rail of the slider, a turning axis of the head, and a turning axis of the hand are substantially the same from a turning axis of the arm toward the hand from the turning axis. 3. The automatic processing machine according to claim 2, wherein the automatic processing machine is arranged on a straight line. 4. The apparatus according to claim 2, wherein the components are sequentially reduced in the order of the frame, the arm, the slider, the head, and the hand.
Or the automatic processing machine according to claim 3. 5. A driving source for the head turning means is provided behind the head, and the head and the driving source are connected by a link.
Or the automatic processing machine according to claim 4.