JPS5959334A - Automatic work replacement device - Google Patents

Abstract

PURPOSE:To have automatic replcement of works to be processed, which does not require any major space, by arranging a work holding device, in which the axis of work held is not in parallel with that stored in a work storage device, so as to be in relative inclination by a certain specified angle to a work which the replacement arm is going to grasp. CONSTITUTION:To replace works to be processed, a work replacement device 3 acts on the work holding device 2 of a machine tool 1. This replacement device 3 includes a work storage device 4 and a replacing arm device 5. A work is mounted on a pallet 6 with replaceability. A work mounting/demounting device 7 removes the work processed from a pallet 6, and an unprocessed work is mounted thereon. A pallet 6 with unprocessed work is mounted or demounted by the work replacement device 5 at a pallet mounting/demounting device 8. The replacing arm device 5 has a replacing arm 31. The arm 31 displaces round a column 180 deg. to be shifted from the vertical to horizontal position and performs the desired action.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece changing device for a machine tool.

Conventional machine tool workpiece rope l: As a workpiece changing device that automatically changes the main workpiece, there is a known workpiece changing device that moves two pallets back and forth between the processing position and the changing position at an alternating angle Tf. ing. Such conventionally known workpiece exchange devices require large equipment and a large space, and are not suitable for exchanging small-sized workpieces.

The present invention is suitable for automatic copulation of small-sized nodes, and moreover,
It is an object of the present invention to provide a device suitable for automatic exchange when the axes of the workpiece are not parallel when attached to a workpiece holding device of a machine tool during standby and loading.

The present invention has a storage device for storing workpieces, a workpiece holding device in which the axes of the workpieces are not parallel to each other in the manok storage device, and an exchange for exchanging and transferring the workpieces between the leakage storage device and the workpiece holding device. This was achieved by using a device in which the exchange arm has a surface that intersects with the axis of the workpiece at a desired angle or concavity.

According to the present invention, the workpiece axis during storage and machining +1S is not downward. Even in crop processing machines, leakage can be replaced automatically without requiring a large space. two.

Three details of the present invention will be explained based on 16 practical examples, not shown in the drawings.

In Fig. 1, the workpiece (5iS L,
In addition, for example, if the indexing device is
The workpieces are replaced and mounted by the machine 3.

The workpiece exchange device 3 has an I-workpiece storage device 4 and an exchange arm device 5.

The workpiece storage device 4 stores a plurality of workpieces, 10 in the illustrated example. The workpieces are exchangeably taken up by the barrels 1-6 (old 1).

Each bullet 6 is placed at a predetermined position of the workpiece storage device 4, for example, at the workpiece removal position 7. ];: Parebarre-Fi is installed at a predetermined position, for example, at the valet attachment/detachment position 8.
It is attached and detached by.

The workpiece storage device 4 is connected to a transport section JfA that circulates around the encircle.
' 9. For example, move the chain to the right). Although it is possible to use a heald or other appropriate parts in addition to the chil- n, an example of the chil- n will be described below.もT, -゜9 is the old J of volume 1 on the top 10 of the winding. 1° of the winding IJt wheel is the work storage device.'---/,] 14. It is fixed in Z and supported by a saw support shaft 12 via a bearing 13 so as to rotate 1".

Volume ij) The wheel 10, 19, is used as a drive wheel and U7, and the gear 14 is fixed as shown in FIG. The gear +
41; 21, the drive gear 15 meshes, and the drive gear 15
is fixed to the work storage device frame 11 and attached to the output shaft of the ζ drive moke 15.

Pockets 16 for attaching bullets 6 at predetermined intervals are already formed on the chain 9.

As shown in FIG. 3, the bullet 6 includes a support base 17 for removably fixing the workpiece, and a boulder fixed to the support base 17.
It has 18. The tip shaft 19 of the holder 18 is the support base 17
It is inserted into the center hole of the tip shaft 19, screwed onto the threaded portion of the tip shaft 19, and fixed to the support base 17 by the saw nano 1-20. The boulder 4 has an annular groove 21 for inserting the exchange arm, a tapered shaft part 22 that forms a part to be attached to the '7-ri holding device 2, and a clamp for holding it at the j''I position after installation. It has a clamp shaft part 23 on which the device acts. Support 1) Stand 17
A suitable lower step such as a tapped hole or an 'I' groove for fixing the workpiece is provided, but any known means can be used.

A hollow hole 24 into which the tapered shaft 22 of the boulder 18 of the barrel 1-6 can be inserted into the bokeno 116 and a clamp shaft 23
A hole 25 is formed into which a hole 25 can be inserted.

Bokeso 1 river 6 is given a borosu 1 number in advance, and the number for the first blur 1 is 1, especially ノ, (〆(1 detection 7
26 HB books are installed, and each Bokeh/1/I
(This is where the blurred display part 27 is installed.J,
% A first detection switch 28 that detects the YII' number detection member 26 and a second detection switch 29 that detects the pocket display section 27 are respectively placed at the bullet attachment/detachment position 8 to detect the presence of a pocket. There is. In addition, a third detection switch 3o is installed at the position 8 of the Nihararesol l-IP and Th mounting position 8, and a third detection switch 3o is installed at the - position of the l-I Ei.The third Hiyama switch 3o detects the presence of the clamp shaft pi 23. It is detected whether or not there is a baren 1-A (iP in the pogaso 116).

The exchange arm device 5 has an exchange arm 31 in FIGS. 4 to 4 (as shown in FIG. J). Exchange J! ! 5. The arm 31 is rotatable with two claws 32 and 33 supported by a pin 346.
It has an arm 35 that supports the arm 35, and a base 36 that supports the arm 35 so as to be movable along the center line. The arm 35 is slidably supported on the base 36 by any known method such as an antlion shell 1, and the arm 35 and the base 36 form a telescopic arm. Su36 is actually 5°!
J in terms of r? Body pressure bisnon cylinder formed by 1
, the piston 37 is movable 1y7, 11hi6, 1 degree incline, and the arm 35 is attached to the end of the screw 1in, which is fixed to the piston 37; It is fixed. .

...-The first sealing parts 1, 43 and the 21st-J base CL 40 are attached to both ryli and i of the hollow part of the space 36, and the hollow part is phantom to the outside and is sealed. . The 11th/1st block + A39 is the base of the base 36! '! A fluid chamber 43 that communicates with the first flow path 41 formed in 36XJ via an annular groove 42 formed on the outer periphery of
Pass the fluid that exerts pressure through the YT cylinder and screw I-neck 37. The second sealing part +A404 has a fluid chamber 46 connected to and filled with the second fluid 44 of the base 3fi through an annular groove 45. 24th, 1st block JfA'4
0 is Bistonro Nodo 38 is 11 in the form of a liquid seal.)
is formed. The first flow path 41 and the second flow path 44 are each connected to a pressure purification source via a control valve or the like 4. When the piston 37 exerts a force in the direction shown in the figure under control L7 (not shown), the arm 35 moves toward the force relative to the base 36, and the arm extends. Bunun Nijisu 1-37 When a force is applied in the direction 11 in Figure 2, the right cover of arm 3511 moves and 1-18 contracts. The figure shows the state in which AJ3 is contracted.

The right side of the base 36 (i'41 in the figure) is taken up by the W lowering device 47.

Nail 32.33 of arm 35 01ii 4: J No. Piff concave 48 for the pawl and 2nd screw 1 for the pawl so that they are in contact with each other
49 is installed, and both screws 1 and 48.49 are attached to the arm 3.
5 is slidably mounted in a common cylinder hole 5o. Channel 5 in the center of cylinder hole 5o]
Open 1:, 1 L, fluid is supplied to press both screws 1 48, 49 against the rear ends of pawls 32, 33. Channel 5
1 communicates with a third flow path 53 provided in the base 3G through a boss 52. The tips θ111 of the claws 32 and 33 are given the habit of approaching each other due to the pressing force of the piston 49 and gripping the holder 18 of the barrel 1-6 between them.

The claws 32 and 33 fit into the annular grooves 21 of the holder 18, respectively, and are formed at the ends of the arms 35, which are formed with concave-shaped parts at the edges of the annular grooves 21. In order to hold the boulder 1) 3, the claws 32 and 33 are inserted into the router 111, and a circle is brought into contact with the outer periphery of the holder 18 to position it with respect to the holder 18. A contact portion 54 is provided at the bottom (with the surface facing 1).
N positioning F! ++44' 55 is taken by Jino.

The elevating device 47 is not shown in FIGS. 7 and 8. It is rotatably supported by a bearing 57 on a lifting unit Ll 6, and includes a saw post 58 and a support base 59 fixed to the top of the post 58. and,
Turn the cylinder device 61 point fixed at 60 to the right.

A gear 62, for example, a full tooth jlj, is fixed to the support 58,
The gear wheel fi2 meshes with a drive gear 63, for example, all drive teeth. The drive gear 63 is fixed to the gauging 56 and to the output shaft of a saw drive motor 64, for example a v'-bo motor. The column 58 is rotated through 180 DEG by the drive motor 64, for example.

Abutment 591 LTI support pillar 58 fixed to the top of the pillar 58
(= replacement arc L at J plane 66, 3
The base 3B of the base 36 of 1 is formed to be fixed. In addition, by the 180° rotation of the column 58, the abutment 59 moves between the position shown by the solid line and the position shown by the chain line, and the direction of the center line 65 is changed by 90°.

Passages 67 and 68 are formed which communicate with the abutment 59 and the strut 58 by &, l, respectively, and which extend by 1tll from the first passageway 41, the second passageway 44, and the third passageway 53 of the base 36, respectively. .

The passages 67 and 68 are each connected to a fluid source via a conduit (not shown) by a known rotation stopper 69.

As shown in FIG. 7 and FIG.
A stopper part 70 is fixed to the i part, which is formed as a -. The first stopper pin 71 and second stopper pin 72 screwed into the gauging 56 are connected to the protrusion of the stopper part 70. The support column 58 can be rotated until it contacts 4 degrees.

The strut 58 has a first operating ring 73 and a second operating ring 74.
are fixed so as to be able to adjust their positions in the circumferential direction, and a stop rotation deceleration instruction switch 75 and a reverse rotation deceleration instruction switch 7 are respectively fixed to the casing 56 as shown in FIG. 1O.
6 and 4 (+1-switch 77) for one stop and reverse rotation are provided.

The 4:1 gauging 56 is fixed to a piston 117 77 of the cylinder device 61 , and the piston 117 77 is fixed to a piston 79 sliding within the cylinder gauging 78 of the cylinder device 61 . The cylinder gauging 78 has a fluid supply port 80 and a fluid supply port 81, and the piston 79 can be moved by a known external fluid supply control. Lower the exchanger J131.

The cylinder casing 78 has the first one, Jl: 182
and the second roller 83 are rotatably supported, and the second roller 83 is rotatably supported.
When the Jl: 182 and the second screw 183 are respectively inserted into the guide grooves 84 and 85 of the machine frame 87, the cylinder device 61 is held in a predetermined vertical state.
:Well, it can move horizontally. Machine frame 87
The well-known hydraulic cylinder system for horizontal movement fixed to w8
The first screw 6 (not shown) is connected to the cylinder casing 78, and the cylinder casing 78, including the straw support 58, is connected to the cylinder casing 78 by the expansion and contraction movement of the piston I; ! : To i “The whole body moves horizontally.

The operation of the workpiece exchange device according to the present invention is as follows.

When the exchange arm device is in the standby position shown in FIG. 1, the arm 35 is moved relative to the base 36 by actuation of the screw 37, and the arm is extended. Due to dirt, the claw 32 of the exchange arm 31 is inserted into the annular groove 21 of the boulder 18 of the pallet 6 which has been previously selected and stopped at the valet attachment/detachment position 8.
．． 33 is engaged and the holder 8 is gripped by 4.

Next, by the operation of the piston 79, the lifting device 47 moves to I/W.
11iII L and C when the exchange arm 31 is loaded, the pallet 8 is extracted from the blanks 1 to 1 of the manok storage device 4.

Next, the column 58 is rotated by the operation of the drive motor 64.
The exchange A,/, 3'l is displaced to the state shown by the chain line in FIG. -・In the example, the direction of replacement arm J1 is 180°
Displaced around the center line of the support column 58, and furthermore, the abutment 5
Since the direction of the center line 65 of 9 is displaced, the punch/throat 6Q)
- The center line of the 1st culver 18 is converted from a vertical state where it enters the leak storage device to a horizontal state.

In this state, the exchange arp is moved horizontally by the operation of the cylinder device B6, for example in the direction of arrow 88 in FIG. 1, and the pallet 8 is mounted on the work holding device 2.

Then, by the operation of the piston 37, the exchange arm 31'h<
It is shortened and the C claws 32 and 33 are separated from the pa and so 1-.

When replacing the workpiece after the loading process is completed, return the pallet to the workpiece storage device using the reverse operation described in I; w, 2. Repeat the work described in 1- below.

” 1 shows an example of rotating the support 58 by 180 degrees,
The angle is not limited to this, and any angle can be selected. In the case of a gong, it is necessary to appropriately select the angle of the abutment 59 with respect to the center line.

As the workpiece holding device 2, it is possible to use an indexing device (4') which can be taken up - by way of example - in a machine tool. In the case of an indexing device, an example of its structure is the 11th
As shown in the figure.

A rotating shaft 91 is rotatably supported by the eight index casings, and a worm plate 92 is fixed to the rotating shaft 91. The worm wheel 92 is rotatably supported by an index sink 89, and is driven by a gearbox (not shown). Ohm 9
34; Nika), it is ゛.

A boulder hole 94 into which the boulder 18 of Pareno 1-6 is inserted is provided at the end of the rotation M91.

A sleeve 95 whose tapered surface is in close contact with the tapered surface of the tapered heel 22 of the boulder 18 is slidably inserted into the boulder hole 94, and the sleeve 95 and the rotating shaft 9H are connected to each other.
5: Spring 141 and spring 7 are installed between surface 96 and press sleeve 95 outward -1. The sleeve 95 is prevented from escaping outward by a ring 98 fixed to the rotation shaft 9I.

A cylinder hole 99 is formed at one warped end of the rotating shaft 91, and a piston 100 is mounted so as to be movable tt1. The cylinder hole 1)9 is covered with a cap 1()■. The cap 101 can rotate together with the rotating shaft 91, and the flow path shaft 1 fixed to the index casing 89
02 is inserted, and liquid 1...l is kept between the cap 101 and the channel axis 1'02 by the sealing device. Opposite the insertion side of the flow path axis 102 of the cap 101 (1!11 &
This guide hole 103 is formed, and the chi 1 hole 103M:
4; El Clamp)' device I O4 cut Fxq'JI can be installed.
106 hollow ring bodies having a hollow hole 105 in which the end protrusion 23a of the clamp shaft 23 of I8 can slide and one or several UjJTl holes 106 extending in the radial direction across the hollow hole 105; It has a ball 108 inserted into the V trace hole 106. The hollow ring body 106 is fixed to the piston IO (+), and as the piston 100 moves, it slides through the kite hole 103 in a larger size.

An annular recess 109 is formed in the first position of the guide hole 103 facing the piston 100. 5. Hollow ring body j07 is full opposite to boulder hole 94 by piston 100
When pressed, @nn large hole 10G ball 1 (nn8 is hollow hole 3
05, the raised part 23a of the clamp shaft 2;) hooks on the ball 10B, and the boulder I8 is clamped by the clamp device +04. When moved in the opposite direction by o, the ball 10B of the annular portion 109 becomes annular 11! When the pallet 8 is pulled out, the ball 108 can be inserted into the bulge 23 ix l and outwardly.
l The order is given and the bulge fζII 23 a is allowed to pass through OJ. That is, the clamp is divided by 1f1te.

The saw first fluid 1/i'G 110 formed on the rotating shaft 91
The bottom surface of the cylinder hole 99 is opened at 16゛C, and the fluid is routed from the screw 1 pin 108 to the cylinder hole 108.
(1'l;'J"J offer, clamp li9]
Move the piston 108 in the direction of actuating Q4.
The fluid path 110 is for the 1st middle class 1// of the camp 10'I.
61st supply 1/ of channel axis 1()2 via G I J I
Pass through i'G I I 2. The second fluid passage 115 formed in the rotating shaft 91 is connected to the piston I (first y
Af body 1t! 81 + Fluid is supplied from the opposite side from the o') &: It opens into the two cylinder hole 99. The second fluid path 115 is connected to the flow path axis 102 @2 supply 1# through the second width vISI I6.
Pass through G I 17.

Every time f fluid is supplied to the second fluid path 115,
The current is 100 and the current is 6t. 4, and the clamp device 104 is placed in the released state. Palette Jl'll
The pallet can be deposited on one floor by adjusting the timing of X arrival and switching of the first fluid path and the second fluid 1 to 8.

・As for the FUN°・Lux device, when rotating Pa U ~ Nodo G, 41 losses・1 activation "is shifted by 4' if-sure (,::
(You can hold 5 Ij) 6: Set LJ, rotation axis 916. 2F retainer ring] Holds 14 in place. The retaining ring 114 has a 17 positioning hole 113 t:: IrSi
The positioning pin 117 is fixed.

[Brief explanation of the drawing]

Figure 1 is an overall iF view showing the fNI section of this machine tool, and Figure 2 is a workpiece! ! 3 is a partial sectional view of the pallet, 4 is a plan view of the exchange arm, 51 is a 11-plane 1-plane view of the exchange arm,
Fig. 6 is a side view of the exchanger J., Fig. 7 is a sectional view of the lifting device I, Fig. 8 is a partial side view of part 1 of Fig. 7, and Fig. 9 is I>IIXIυ1 of Fig. 7. 10 is a sectional view taken along line XX in FIG. 7, and FIG. 11 is a sectional view of the indexing device. ■...Machine tool 2...Work protection (,5'' device 3...Leak exchange device 4...No-kil'i
' Retention device 5... exchange arm l (i... baren 1
9...1ift i&ffl visit
1 G...boro-]1-17...lI'T't
6Ei...1 anti-f/1 plane (swivel plane) attorney-1 Takehisa Ito

Claims (1)

[Scope of Claims] [+1 Workpiece W having a plurality of pockets provided at predetermined intervals in a transport section H that circulates endlessly; (a plurality of barrels that can be removed from the workpiece storage device)
-, a manoke holding device installed in the machine tool, and an i-nork exchange arm that transfers and detaches the ballen 1 between the workpiece storage device and the workpiece holding device; and the workpiece storage device and the workpiece holding device. The insertion axis of the ball 1 extends in a direction perpendicular to the U, and the workpiece exchange arm is aligned at a predetermined angle with respect to the ballen I/insertion axis of the workpiece storage device and the pallet insertion axis of the workpiece holding device. 1 for the angle! r4 A workpiece changing device for a machine tool, characterized in that it is formed to be able to turn within an inclined plane, and that by turning at a predetermined angle, the top surface of the changing arm is tilted 90' or relative. (2) The workpiece changing device according to claim 1, wherein the workpiece holding device is formed by an indexing device. (3) Every time the 111-fold plane of the workpiece exchange arm is tilted by 45 degrees with respect to each of the pallet insertion axis and the ball L-insertion axis of the workpiece holding device, the exchange arm is rotated 180 degrees around the rotation axis. The workpiece changing device described in Scope 1 J@ of Patent No. 111, characterized in that: