JPS6110910Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a flexible loader for a machine tool, and particularly to a double-hand device thereof.

Machine tools, especially lathes, are equipped with an automatic workpiece loading device (autoloader) that takes out the processed product from the chuck attached to the tip of the spindle and then quickly grips the next material to be machined. This will significantly improve work efficiency.

The present applicant has already proposed an invention in Japanese Patent Application No. 55-52332 entitled "Flexible Loader Device for Machine Tools and Method of Using the Same", in which a base is fixed on the headstock of a machine tool, and the spindle axis is fixed to this base. A slide is mounted so as to be movable parallel to the main axis, an arm is mounted at one end of the slide so as to be rotatable about a first axis parallel to the spindle axis, and an arm is mounted at the other end of the arm so as to be rotatable about a first axis parallel to the spindle axis. , a wrist rotatable around a second axis parallel to the main shaft axis is attached, a hand rotatable around an axis perpendicular to the second axis is attached to the wrist, and the hand is a device for grasping a processed product or material that can be opened and closed by a cylinder fixed to it.
A device is equipped with a pair of fingers that can rotate the wrist and hand separately via a pair of servo motors attached to the other end of the slide and a transmission system installed inside the slide and the arm. is suggesting.

However, in this already proposed device, since there is only one pair of fingers, the same finger is used both for holding the processed product and for holding the material, so it is not effective in terms of workability of the machine tool. , it turns out that there is a slight problem.

Therefore, the object of the present invention is to improve the previously proposed device and to obtain a double-hand device for a flexible loader for a machine tool that can solve this problem.

In the present invention, in order to achieve this purpose, the wrist (hand) has two pairs of holding claws (fingers) that hold the material and a pair of holding claws (fingers) that take out the product. ), and is characterized in that these two pairs of holding fingers can be opened and closed separately, and rotated in unison.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to FIGS. 1 to 4 of the accompanying drawings showing one embodiment thereof.

As shown in Figure 1, the chuck 3
A base 6 is fixed by bolts to a headstock 5 which rotatably supports a main shaft of a lathe having a main shaft at the tip thereof.
is mounted so as to be slidable in the direction of an axis 17 parallel to the main axis 9 of the lathe. At one end of the slides 7 and 8, servo motors 11 and 12 and a gear box 13 for changing speed and transmitting the output from these motors are attached. In addition, gearbox 1
A nut (not shown) is attached to the lower side of the slide 3, and a similar screw such as a ball screw (not shown) that engages with this nut is attached to the base parallel to the direction of the axis 17 of the slides 7, 8. 6, and by rotating this with a servo motor (not shown) fixed to the base 6, the slides 7 and 8 can be slid along their axis 17. I have made it possible. Further, the output of the servo motor 11 attached to one end of the slides 7 and 8 is transmitted to the reduction gear box 5.
1 to a gear 52 in the gearbox 13, and this gear 52 meshes with a gear 54 attached to one end of a shaft 53 passing through the slide 7. On the other hand, the output shaft of the servo motor 12 is connected to the gear box 1 via the reduction gear box 55.
3, and this gear 56
meshes with a gear 58 attached to one end of a hollow shaft 57 coaxial with the shaft 53. A sprocket 5 is provided at the other end of the shaft 53 and the hollow shaft 57, respectively.
9 and 60 are installed.

Further, a support member 19 is attached to the other ends of the slides 7 and 8, and a hollow arm 18 is provided inside the support member 19, and a hollow arm 18 is rotatable around the axis 17 of the slide 7 at its base end. installed. A pivot is incorporated into this arm 18 near its base end so as to be rotatable in parallel with the axis 17, and a nut assembly is attached to the end of this pivot, while a support member 19 has a pivot mounted thereon. is equipped with another pivot rotatably parallel to the axis 17, a servo motor is attached to the end of this pivot, and a screw that engages with the nut of the nut assembly is attached to the shaft of this servo motor. It is fixed. In this way, arm 18 can be rotated about axis 17 via the screw and nut assembly when the servo motor is activated. However, this detailed illustration is omitted in FIG.

Further, near the free end of the arm 18, a hollow shaft 65 is provided on an axis 20 parallel to the axis 17 of the arm 18.
and a short shaft 66 disposed coaxially within this hollow portion are respectively rotatably attached, and sprockets 61 and 62 are attached to the hollow shaft 65 and the short shaft 66, respectively.
These sprockets 61 and 62 are connected via chains 63 and 64 to sprockets 59 and 60 which are respectively attached to the shaft 53 and hollow shaft 57 of the slide 7, as described above. . In this way, the servo motor 11 attached to one end of the slides 7 and 8
and 12 are actuated, the hollow shaft 65 and the short shaft 66 are respectively rotated separately.

The above mechanism is almost the same as the mechanism disclosed as an embodiment of the invention in the above-mentioned Japanese Patent Application No. 55-52332, and a hand device 100 having a workpiece gripping and conveying function is disposed at the free end of this arm 18. The two pairs of fingers 131 attached thereto are operated via these hollow shafts 65, short shafts 66, etc., and the details thereof will be explained below in the embodiments shown in FIGS. 2 to 4. I will explain based on this.

As shown in FIG. 2, a hollow shaft 65 is attached to the arm 18 via a bearing 101 so as to be rotatable about the axis 20, and one end of the short shaft 66 is attached to the arm 18 via a bearing 102. , the intermediate portion is rotatably supported via a bearing 103 provided in the hollow portion of the hollow shaft 65. A gear box 105 is attached to the hollow shaft 65.
is fixed, and the gear box 105 is rotatable about the axis 20 with respect to the arm 18 via the hollow shaft 65 and the bearing 101. A second hollow shaft 106 is attached to the gear box 105 via a bearing 107 so as to be rotatable around an axis 22 perpendicular to the axis 20 . Moreover, this second hollow shaft 106
A bevel gear 108 is fixed near the lower end of the shaft 66, and this bevel gear 108 meshes with a bevel gear 109 fixed to the end of the short shaft 66. An outer sleeve 111 having a small diameter portion 110 at its lower end is fitted into the inner hole of the second hollow shaft 106 so as to be slidable in the direction of the axis 22 .
A plate-shaped shifter 112 is disposed at a small diameter portion 110 of the outer sleeve 111 at right angles to the axis 22, and the shifter 112 is fitted into the outer sleeve 111 by a lock nut 114 via a thrust bearing 113. It is worn. This shifter 11
2 is fixed to the upper end of a piston rod 116 of a fluid cylinder 115 mounted in the direction of the axis 22 at the bottom of the gear box 105. Further, in the inner hole of the small diameter portion 110 of the outer sleeve 111, a shaft 119 is movably fixed to the upper end of a piston rod 118 of a fluid cylinder 117 attached to the bottom of the gear box 105 in the direction of the axis 22. There is. An outer sleeve 11 is attached to the upper end of this shaft 119.
an inner sleeve 12 slidably fitted into the inner hole of 1;
0 is rotatably supported on the shaft 119 by a support shaft 122 via a thrust bearing 121 at its bottom. Furthermore, this inner sleeve 1
A shaft 123 slidably fitted into the inner hole of the outer sleeve 111 is secured to the shaft 20 at its lower end, and a connector 124 is mounted at right angles to the axis 22 at its upper end. It protrudes through a slot 125 formed in the peripheral wall of the upper end portion of the sleeve 111 in the direction of the axis 22.

On the other hand, a hand 90 for gripping a workpiece is provided at the upper end of the second hollow shaft 106 protruding from the gear box 105. That is, the hollow shaft 1
A pair of walls 130, which serve as the base of the hand 90, are provided on the outer end surface of the hand 90 symmetrically and parallel to the axis 22.
A pair of fingers 131 and 131 are provided on the opposing outer surfaces of each wall 130 at points equidistant from the plane C including the axes 20 and 22.
The proximal end of each finger 1 is rotatably mounted by pivots 132, 132.
31, 131, one end of each connecting link 133 is connected to the pivot 134 above the pivot 132.
It is rotatably mounted by. Further, the other end portions of each connecting link 133 are rotatably connected to each other via a pivot 135, and further,
Each pivot 135 has a connecting member 1 attached to a connector 124 fixed to the shaft 123.
36 and a connecting member 137 attached to the upper end of the outer sleeve 111. Note that these connecting members 136 and 137 are capable of sliding in the direction of the axis 22 in slots 138 that are formed in the vertical wall 130 symmetrically with respect to the plane C, so that the entire as a pair of hands 90
It consists of

Therefore, each of the pair of fingers 131 of the pair of hands 90 is connected to the fluid cylinder 115 or 1
17, they can be opened and closed independently of each other.

Further, when the short shaft 66 is rotated through the transmission system described above, the second hollow shaft 106 is connected to the axis 22 within the gear box 105 via the mutually meshing bevel gears 109 and 108. Since the vertical walls 130, 130 fixed to the second hollow shaft 106 also rotate, each pair of fingers 131 also rotate around the axis 2.
Rotate around 2. In this case, the outer sleeve 1
11, the shaft 123, and the inner sleeve 120 integrated therewith also rotate, but the outer sleeve 111
Since the inner sleeves 120 and 120 are connected to the fluid cylinders 115 and 117 via the thrust bearings 113 and 121, respectively, their rotation is not hindered.

Further, when the hollow shaft 65 is rotated about the axis 20 with respect to the arm 18 via the above-described transmission system, the gear box 105 is rotated about the axis 20, and therefore, the gear box 105 is attached to the arm 18. finger 1
31 as a whole can also be rotated around the axis 20.

Although the present invention has the above configuration,
Next, its operation will be explained.

Actuation of fluid cylinder 115 or 117 causes its piston rod 116 or 118 to move along axis 22.
When the outer sleeve 111 is moved in the direction of the shifter 11
2 through the second hollow shaft 106 in the direction of the axis 22, and the shaft 123 is slid within the inner sleeve 12.
0 in the direction of the axis 22,
a connecting member 137 fixed to the outer sleeve 111;
Alternatively, a connecting member 136 secured to shaft 123 via connector 124 slides along slot 138 in vertical wall 130 in the direction of axis 22. Therefore, one end of each pair of fingers 13 is connected to the connecting member 136 or 137 via a pivot 135, and the other end of the connecting link 133 is connected to the other end of the connecting link 133 via a pivot 134.
1 rotates around a pivot 132 at its base end, and opens and closes its distal end (the third
and Figure 4).

Since the device of the present invention has the above-described structure and function, when it is used in combination with a lathe, one pair of fingers 131 holds the material while the other fingers 131 hold the material. Since the machined product can be held by the pair of fingers 131, in this state, by moving the arm 18 away from the chuck 3 in the direction of the axis 9 of the main shaft of the lathe, the chuck 3 can be held. The processed product is taken out from the machine, and then the finger 131 is immediately moved around the axis 22.
After a rotation of 180°, the material can be attached to the chuck 3 by again moving the arm 18 in the direction of the axis 9 of the main shaft towards the chuck 3. Therefore, not only can products and materials be exchanged quickly, but in this case, 2
Since the individual drive sources, that is, the fluid cylinders 115 and 117, do not rotate around the axis 22, the piping or wiring for operating the drive sources twists as the finger 131 rotates around the axis 22. You can also get the effect of not having to worry about anything.

As described above, when the present invention is incorporated into a machine tool, particularly a lathe, processed products and materials can be quickly attached to and removed from the chuck, thereby increasing the productivity of the lathe. Moreover, the problems in the previous proposals can also be solved.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing the device of the present invention mounted on the headstock of a lathe, Fig. 2 is a longitudinal sectional front view showing an embodiment of the main part of the invention, and Figs. 3 and 4 are the same as those shown in Fig. 2. FIG. 3 is a side view of the hand seen in the direction of arrows and . 18...Arm, 90...Hand, 105...
Gear box, 106... Second hollow shaft, 111... Outer sleeve, 115, 117... Fluid cylinder, 1
23... Axis, 130... Vertical wall, 131... Finger, 132, 134, 135... Pivot, 1
33... Connection link, 136, 137... Connection member.

Claims (1)

[Claims for Utility Model Registration] 1. A base disposed near a workpiece gripping device of a machine tool, which is rotatable about an axis 17 parallel to the main axis 9 of the machine tool, and which
An arm 18 is supported at its base end so as to be movable in the direction 7, and a gear box 105 is attached to the other end of the arm 18 so as to be rotatable around a first axis 20 parallel to the axis 17. A pair of hands 90 are provided in this gear box 105 so as to be rotatable around a second axis 22 perpendicular to the first axis 20 and facing each other, and a hollow shaft 106 is attached inside these hands 90. An outer sleeve 111 is arranged inside the hollow shaft 106, and a shaft 123 is arranged inside this outer sleeve 111,
A pair of fingers 131 are connected to the outer sleeve 111 and the shaft 123 through connecting members, respectively.
In order to open and close the outer sleeve 111 and the shaft 123 separately in the direction of the axis 22, drive sources 115 and 117 are connected to the gear box 1.
Double hand device in flexible loader for machine tools installed in 2005. 2. Slots 13 are provided at the ends of the hollow shaft 106 as substrates for the pair of hands 90, respectively.
8 along the axis 22
The vertical wall 130 is erected to face the
A pair of fingers 131 is attached to each of the fingers 131 at its base end via a pivot 132 so that the fingers 131 can be opened and closed.
The pair of connecting rings 133 are connected at one end by a separate pivot 134 and at the other end by a common pivot 135 guided in the slot 138 and movable in the direction of the axis 22. The double hand device according to claim 1, which is connected to the shaft 123 and the outer sleeve 111 via a utility model.