JPS60150940A - Feeding of workpiece onto machine tool by robot - Google Patents

Abstract

PURPOSE:To carry-out the unmanned work for the both surfaces of a workpiece by a robot unit equipped with an arm by converting the holding direction by once demounting the workpiece by the robot after one surface of the workpiece is worked and feeding said workpiece onto a machine tool and working the surface not yet worked. CONSTITUTION:A semiworked workpiece Wq is demounted from a chuck by a robot again and once loaded onto a reversing board 12 so that the worked surface 13 forms the upper surface, and then retreated by the elevation of a robot arm 9 and positioned so that a robot hanger 11 does not interfere with the workpiece Wq. After the direction of the hand 11 is switched upwardly by turning a swing motor 15 by 180 deg., the whole arm is lowered, and then a little raised through advance, and the undersurface of the workpiece Wq which is not yet worked is held by an upwardly directed hand 11. When the arm 9 is retreated in the opposite direction, the handle 11 passes through a cut part 28 and is pulled- out, holding the workpiece Wq. Therefore, when the workpiece Wq is transferred in the direction of a lathe 1 and delivered to the chuck 5 by turning the arm 9 again, the workpiece Wq is set in the state where the surface 14 not yet worked is faced to a tool T side, and unmanned work is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for supplying a workpiece to a machine tool by an industrial robot.

For example, on a lathe, if you try to process both the front and back of a disk-shaped workpiece by chuck work,
In each case, it is necessary to turn the workpiece over and reinstall it on the chuck. And - the above operation becomes necessary to be replaced by a robot when the weight of the workpiece to be handled becomes too large or when trying to save labor. The thing is,
Since a robot usually has only one hand and arm, it is not easy to realize this if only the robot itself takes into consideration changing hands. Furthermore, if a robot with two hands is used and the robot itself changes hands, the two hands may be used to achieve the change, but the control becomes extremely complicated. There are drawbacks.

Therefore, in view of the above fact, the present invention makes it possible to easily change the workpiece by using a unique reversing table even in a single robot having one arm. The present invention provides a new method for supplying workpieces to machine tools using robots, 1., which allows machining such as double-sided machining of workpieces to be performed quickly and unattended.

Examples will be described below based on the drawings.

Figure 1 shows the lathe (1), robot (2), unprocessed workpiece placement pallets (3), and processed workpiece placement pallets.
The lathe (1) is a type in which the main spindle chuck (5) and the turret turret (6) advance and retreat, and the rotation axis (7) are provided in parallel, and the lathe (1) is a type in which the main spindle chuck (5) and the turret tool rest (6) advance and retreat, and the rotation axis (7) are provided in parallel.
2) is a normal cylindrical coordinate type in which a horizontal arm (9) moves up and down along with a rotating support (8), and the horizontal arm (9) moves back and forth horizontally.

・At Rare l-(3)-hi, donut-shaped unprocessed workpieces (Wp) are stacked in three rows in multiple stages.
- The work (
5) Hold the inner diameter in the inner grip and use the lathe chuck (5)
), and the workpiece (5
) are transported by the robot (2) to the pallet (4)-H and stacked in 18 stages.
In particular, a reversing table (12) as shown below is installed between the unprocessed workpiece loading pallet (3) and the lathe (1).
) is gripped by the robot l-(2) again, and this time it can be fed to the lathe (1) with the other surface (14) facing towards the processing side. .

That is, to explain the robot hand (11) with reference to FIG. 3, the hand (11) in this example has an arm (9
) A frame (16) is connected to the end via a swing motor (15) and can rotate freely in the rotating direction (8), and a guide bar (17) provided within the frame (16) has a radial shape. The opening/closing drive mechanism (21) of the pattern (18) includes three external claws (18) movable in the direction and a rotating motor (19).
) and 12 constituting the drive mechanism (21).
The three screw shafts (22) that are open at 0 degrees each are connected to the rotating motor (1
9), when rotated via the bevel gears (23) and (24), the three pawls (18) threaded onto each screw shaft (22) open and close in a radial direction in a positive direction, thereby opening and closing the workpiece ( 5) Inner diameter (
25), and especially each type (18)
The rising height h) is sufficient to allow the inner diameter of the workpiece (25) to be grasped even from the underside of the inversion table (12), which will be described later.

As shown in Fig. 2.4, the reversing table (12) is configured so that the hand (11) approaches the workpiece ◇Vq) placed on the upper plate (26), 1 from both above and below. It has a table-like structure with legs (27) hanging down from the four corners of the top plate (26) so that it can be grasped, and at least the front leg spacing (S) is such that the hand (11) can freely pass through. - Upper plate (26) with a dog wider than the width of the hand (11)
A U-shaped notch (28) is formed in the surface so that the hand (11) can leave the reversing table (12) while holding the workpiece (Wq) by Mμ. The width of the notch (28) is wider than the inner diameter (25) of the workpiece (Fig. 4).
.

The robot hands (1, 1) and the reversing table (12) are configured as described above. Double-sided machining is possible.In other words, by the first transfer by the robot (2), the unprocessed workpiece is supplied from the loading barre l-(3) to the lathe (1), and the lathe (1) performs the pre-programmed machining. The processed workpiece (Wq) is machined only on one side facing the tool ('r>,
This semi-processed workpiece (Wq) is again removed from the chuck (5) by the robot (2) and placed on the reversing table (12) (solid line in FIG. 2). At this time, work (5)
is placed so that its inner diameter is located within the notch (28) (dashed line in FIG. 4).

The upper surface of the placed workpiece (Wq,) is the processed surface (13)
It has become.

Therefore, next, the robot arm (9) is raised in the direction of arrow A in FIG. motor (15) to 180
Rotate once and switch the hand (11) upwards (second
The arm (9) as a whole descends as shown by the arrow C, moves forward in the direction of the arrow 2, rises slightly, and lifts the workpiece (Wq) by the upward hand (11).
) from the lower surface, that is, from the unprocessed surface (14). (Figure 2, one-dot chain line) At this time, as mentioned above, the inner diameter of the workpiece (25) is
8), and the vertical height h) of the claw (18) is sufficiently wide, so that the workpiece (WQ) can be placed in the middle (11 ) to ensure secure grip. Then, when the arm (9) is moved back in the direction opposite to the arrow 2, the arm (11) is pulled out through the 1-29 notch (28) that grips the workpiece (Wq), so the arm (9) is pulled back again. 9) to transfer the workpiece (Wq) toward the lathe (1) and deliver it to the machine (5). Se.

will be tinged. Therefore, next, a pre-programmed predetermined machining is applied to the unmachined surface (14) in the same way as the one-sided side described above.
After completing double-sided processing, the robot arm (9
) is rotated, the workpiece (Wr) is anoroded from the lathe, and the workpiece (Wr) is stacked on the pallet (4) of the machined workpiece (Wlr).

By repeating the above operations, pare, 1.(3)-L
Unprocessed workpieces (\vp) can be fed one after another by one robot (2), and double-sided processing can be performed.

In the above embodiment, since the workpiece (w) was donut-shaped, an internal grasping type robot hand (11) was used, and the inversion table (12) was also used as a cutter through which the internal grasping claw (18) could pass. A piece with a notch (28) was used, but the workpiece (
If W) is a solid disc-shaped one, the structure is almost the same as the above-mentioned hand (11), and the claw (31) has a shape suitable for external grasping, as shown in Figure 5.6. The robot hand (32) of the external grasping type is used, and a mounting plate (33) whose width is narrower than the outer diameter of the workpiece (5) is protruded in a cantilevered manner as an inversion table, as shown in Fig. 5.6. Bracket stand (34)
The same operations as above can be performed using .

That is, the workpiece (Wq) whose one side has been machined is unloaded from the lathe by the robot hand (32), and placed on the mounting plate (33) of the bracket stand (34) so that the front end of the workpiece (Wq) is slightly touched by the mounting plate. (33) and place it in a state where it is removed (Fig. 5.6). Next, do the same hand as above (32
) with respect to the arm (9) to change the grasping direction from downward to upward, and then rotate the upward hand (
32), the workpiece (Wq) is gripped from below the mounting plate (33). At this time, the three claws (31) are attached to the mounting plate (
33), the mounting structure for the arm (9) of the hand (32) and the bracket base (34) are installed in advance.
The installation location should be set in the appropriate city. Then, the hand (32) that grips the workpiece (Wq) from below is moved back along the longitudinal direction of the mounting plate (33) to gently hold the workpiece (W(1)). Take it out and lathe again (1)
The other side (unprocessed side (14)) is delivered to (5).
Processing is performed.

In all of the -1- examples, the workpiece (5) is placed on the flat plate (26) (33), and then the direction of the hands (13) (32) is changed. Since the workpiece can be changed by grasping it, for example, even if the workpiece (0V') has an approximately truncated cone shape, a thin plate shape, or a rough shape such as large and small donuts, It can be stably placed on the inversion table (2) (34), and there will be no problems such as gripping errors or dropping of the workpiece due to the workpiece's position shifting when changing the position. If the shape is simple and there is little risk of it falling over even if it is placed on the rli, it is also possible to perform 4 [2 changes] using the following inversion table (41).

That is, as shown in Fig. 7.8, a recess (41a) having the same shape as the circumferential surface of the semi-finished workpiece (Wq) is formed on the upper surface, and the workpiece allowance is inserted into the recess (41a). If you use the inversion table (41) to place the robot hand (3
In 2), as in the case of the previous two examples, by changing the mixing direction between the top and bottom, it is possible to change the mixing direction between the left and right (Figure 7). In this case, the hand must be moved upward to remove the workpiece (Wq) from the reversing table (41). ), the method of the present invention can be carried out without any problem regardless of the type of 2.7 de.

Further, in all of the above examples, a cylindrical coordinate type robot is used as the robot, but the type of robot 1 is not limited to the cylindrical coordinate type, and the type of hand is not limited to the upper one.

In any case, as is clear from the above explanation, in the method for supplying a workpiece to a machine tool by a robot according to the present invention, after the machine tool finishes machining one side of the workpiece,
The robot removes the semi-finished workpiece -E1 and places it on the reversing table -H, and then the robot hand, which changes the bending direction between the front and back sides of the workpiece, holds the workpiece again and supplies it to the machine tool. Since the other side of the workpiece is machined, machining, such as double-sided machining on a lathe, can be completely unmanned using one robot with one arm, and since it is a robot, it can be dangerous if done manually. Even heavy workpieces can be processed quickly and reliably.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a workpiece machining system that implements the method of the present invention, Fig. 2 is a side view showing a state in which a workpiece is placed on an inversion table by a robot, and Fig. 3 is a longitudinal section of a robot hand. Figure 4 is a plan view of the reversing table, Figure 5 is a schematic side view showing another example of how the robot changes the workpiece, Figure 6 is the same plan view, and Figure 7 is a further example of another example. A schematic side view showing the method of changing the workpiece in the example,
FIG. 8 is also a front view. (1)...Lathe, (2)...Robot, (]1)・
...Robot Hunt, (13)...One side (processed side), (14)...Other side (unprocessed side), (12)-ff Donation, (WXWp) (Wq) (W
r) -ry -ri. Section 2 Figure 3 Figure 4 727 Schiff 5 Near 34□ Figure 5 Figure 60 Figure 7 32 Figure 8 1

Claims (1)

[Claims] In a process where an industrial robot supplies a workpiece to a machine tool and the machine tool performs processing such as turning or grinding, the robot temporarily removes the half-processed workpiece after the machine tool has finished machining one side of the workpiece. After that, the workpiece is placed on the reversing table, and then the workpiece is held again by the robot hand, which changes the pushing direction between the front and back sides of the workpiece. Features: A method for feeding workpieces to machine tools using robots.