JPS61111875A - Workpiece loading and unloading device - Google Patents

Abstract

PURPOSE:To make the structure of a workpiece loading and unloading unit simple and to load a workpiece to be machined to and unload a workpiece from a machining area accurately at a high speed by combining single driving means and a cam. CONSTITUTION:A cam engaging means 11 is advanced to lead a conveyance means 2 to the position to take a workpiece in and out holding it through a holder 6. Then, a driving means 16 is reversed to release the rotor 11 engaged with a cam control means 8 from cam restraint in the ascending direction of a cam 10 by means of the rotation of the cam control means 8, and then to position the rotor 11a on the top of the cam 10 once again along the face of the cam 10 in the descending direction to the rotary direction of the rotor 11 by the aid of the work of a compression spring. This work leads the cam engaging means 11 to withdraw in the direction of the swing axis of the conveyance means 2 separating it from the position to take the workpiece in and out and loading the workpiece to the machining area. In the next step, a hook 14 is removed from a stopper 15 and the cam engaging means 11 is rotated in the same direction as the cam control means 8 by the aid of the cam control means 8 rotating the conveyance means 2.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for sequentially carrying workpieces stored in a chute or magazine stock into and out of a processing area.

The present invention is commonly referred to as a loading device, which transfers and attaches and detaches a workpiece to and from the chuck of a machine tool at a workpiece loading/unloading position and a machining position. Broadly speaking, there are two types: a slider type that moves directly between the loading and unloading position of the workpiece and the chuck of the machine tool, and an arm type that rotates. The present invention belongs to the latter category, and this type of device has an operational configuration that more specifically satisfies the function described in item 1. This is performed by a pivoting motion of the arm for transferring the workpiece, and a motion in the arm pivot axis direction for mutually attaching and detaching the workpiece to and from the workpiece loading/unloading position and the -1- chuck. The driving means that guides this operation is provided independently for each function, and in most cases a fluid actuator is used, but fluid control equipment and electric power are used to control this fluid actuator. Inevitably, control equipment is required.
The structure tends to be complicated and large. In particular, when the stroke of the movement in the direction of the arm pivot axis is larger than the overall length of the workpiece or the interference of the tool movement, it is even better if a corresponding linear cylinder is used. Also, in relation to this, economy - 1 - prices tend to increase. Furthermore, since it is an electrical sequence control, the response is poor, and if a defect occurs in any of the above-mentioned devices, it is likely to cause a failure.

In order to overcome these drawbacks, the present invention aims to provide a device that can stably carry in and out workpieces by simplifying the structure by reducing the number of drive means as much as possible. . Hereinafter, the structure of the present invention will be explained based on practical drawings.

1 is a workpiece loading/unloading device (hereinafter not referred to as the main body; 6.
), the workpiece is transferred between the loading and unloading position of the workpiece and the chuck of the machine tool at the processing position by the rotational movement of the arm, and the workpiece is attached and removed by movement in the direction of the arm rotational axis. It is. Reference numeral 2 denotes a conveying means that grips and conveys the workpiece by mutually rotating movement between the processing position and the workpiece loading/unloading position and relative movement in the direction of the rotation axis. The arm support shaft 4 has an arm rotation axis parallel to the child shaft axis of the main shaft 3,
It is supported by the main body 1 so as to be able to rotate relatively around the arm rotation axis and to reciprocate back and forth in the direction of the arm rotation axis, and is rotatable around the arm rotation axis on the arm support shaft 4. The loading/unloading arm 2.5 fixed to
The workpieces held in the chucks 7 of the machine tools at the workpiece stock carry-in and carry-out position and the processing position are grasped and transferred to each other via the gripping tool 6 attached to the carry-in/out arm 5. The gripper 6 can be of the claw or collet type or of other types and is operated via mechanical or fluid control means. A cam control means 8 is rotatable relative to the arm rotation axis, and is rotatably supported by the main body 1 via a bearing 9 while coaxially holding the arm support shaft 4. The control means 8 controls the rotation of the arm support shaft 4 about the arm rotation axis and the back and forth reciprocation in the direction of the arm rotation axis by rotating relatively around the rotation axis. The cam control means 8 is a cam cylinder or a cam!・The outer periphery of the cam cylinder has an opening space at an isosceles angle with a gradually increasing slope extending outward from one point on the outer periphery to the left and right along the direction of the arm rotation axis. Alternatively, a V-groove-shaped cam 10 is formed. The cam 10 shown as an embodiment of the present invention is a cam that gradually increases in the forward motion direction of the arm support shaft 4 that reciprocates back and forth in the arm rotation axis direction, and is connected by dividing an isosceles angle and a base into two equal parts. The straight line distance is the maximum stroke of the arm support shaft 4 in the direction of the arm rotation axis. Reference numeral 11 denotes a cam engagement actuation means coaxially with the arm support shaft 4 and fixed to the arm support shaft 4 via a key, and a trochanter body 12 of a roller or roller supported by the cam engagement actuation means 11. is the cam control means 8-
It is engaged with the cam 10 of 1-. , 13 are in pressure contact between the cam control means 8 and the cam engagement actuating means 11 at the arm rotation axis 1- of the arm support shaft 4, and are interposed such that they oppose each other relative to each other in the direction of the arm rotation axis. The spring, in one embodiment of the invention, is a compression spring. I4 is a locking piece that extends parallel to the arm rotation axis direction at a point on the outer periphery of the arm support shaft 4 and the same shaft 1-1, and extends in a protruding manner in the radial direction of the arm support shaft 4. The cam engagement actuating means 11 controls the rotation of the arm support shaft 4 and the relative back and forth reciprocating motion in the direction of the arm rotation axis through engagement with a stopper described later during rotation of the support shaft 4. It is equipped on the outer periphery 1-.

The total length of the engagement piece 11 in the direction of the arm rotation axis is equal to the maximum stroke of the arm support shaft 4 whose operation is controlled by the cam 10 of the cam control means 8 in the direction of the arm rotation axis. Reference numeral 15 is mounted on the main body 1 around the rotation axis of the arm support shaft 4, and controls the rotation angle of the arm support shaft 4 and the chuck of the machine tool and the workpiece and workpiece stock to the loading/unloading position. One stopper 15a regulates the attachment/detachment position of the workpiece to/from the chuck 7 of the machine tool, and the other stopper 15b restricts the attachment/detachment position of the workpiece to/from the workpiece stock loading/unloading position. Both stoppers 15a
The engagement 11 and the piece 14 are interposed between the cam control means 8 and the cam control means 8, and can be held together by relative rotation of the cam control means 8.

Reference numeral 16 denotes a drive means connected to the cam control means 8, and a rotary actuator or an actuator that converts linear motion into rotary motion is used. 17 is a workpiece held by the chuck 7;

Next, the present invention will be explained in detail.

In the engagement relationship between the cam l·0 of the cam control means 8'' and the trochanter body 12 of the cam engagement actuation means 11,
is located at the vertex of the isosceles corner of the cam 10, and the locking piece 1
The cam control means 8 is activated by the actuation of the drive means 16 when the cam 4 is not engaged with any of the stoppers 15a and 15b arranged on the left and right sides around the rotation axis of the conveying means 2.
When the cam rotates in the direction of the workpiece loading/unloading position, the trochanter 12 located at the apex of the cam 10 is biased by the compression bias 3, and the above relationship is maintained, and the cam rotates. The engagement actuation means 11 is rotated in the same direction. During this operation, the conveying means 2 turns toward the workpiece loading/unloading position, and the second register 11-piece 14 comes into contact with the stopper 15a located on the workpiece loading/unloading position side, and the drive means 16
When the cam 10 continues to rotate in the action direction, the trochanter 12 comes off the apex of the cam 10-1 and is restrained by the cam surface in the direction of the rotation of the cam 10, and the workpiece is In accordance with the attachment/detachment stroke, the cam 10 moves forward in the direction of the pivot axis of the conveying means 2 by a distance corresponding to the entire stroke length of the cam 10 .

This operation causes the cam engagement actuating means 11 to move forward.
[The conveyance means 2 is guided to the workpiece carry-in/export position, and the workpiece is gripped via the gripper 6. Thereafter, when the drive means 16 rotates in the opposite direction to the rotation direction indicated by ``-'', the cam control means 8 (the trochanter body IJ engaged with this The cam 10 is released from the restraint of the cam 10, and through the action of the cam 10 is compressed and moves downward in the direction of rotation, along the cam surface that has been up until now, and reaches the top of the cam 10 again.

Due to this action, the cam engagement actuating means 11 retreats in the direction of the rotation axis of the conveying means 2, and the conveying means 2 moves away from the workpiece loading/unloading position and conveys the workpiece into the processing area. The operation described so far is the operation of attaching and detaching the workpiece to the conveying means 2 at the workpiece loading/unloading position. Next, in the action described in item 1, when the trochanter body 12 moves the entire length of the stroke of the cam 10 necessary for the attachment/detachment operation and reaches the apex of the cam 10, the locking piece 14 is released from the stopper 15a and the cam is controlled. Due to the rotation of the means 8, the trochanter body 12 located at the apex of the cam 10 is biased by the compression spring 13, and the cam engagement actuating means 11 is moved in the same manner as described above while maintaining the relationship described in item 1 above. direction. This rotation causes the conveyance means 2 to pivot over the processing area, and when the locking piece 14 comes into contact with the stopper 15b located at the processing position, the rotation operation of the conveyance means 2 is stopped. During this time, the workpiece is transported in the processing area -1-.

Subsequently, the driving means 2 is operating in the same direction, and the rotation of the cam control means 8 causes the trochanter body 12 located at the apex of the cam 10 to come off the apex of the cam 10, and the cam surface in the upward direction in the direction of rotation. When the unloading means 2 is moved by the entire length of the cam stroke, the unloading means 2 advances in the direction of the group m1 axis toward the chuck of the machine tool at the processing position, and when it reaches the chuck position, the unloading means 2 is moved through the gripper 6 of the conveying means 2. After the workpiece is delivered to the chuck, processing begins at the processing position, so the conveying means 2 temporarily retreats from the processing area and returns to the workpiece carry-out/loading position. The operation during this time is accomplished by rotating the drive means in the opposite direction, according to the steps described at the beginning of the operation. At this time, the conveyance means 2 should be held at a position away from the processing area (... After the machining is completed, the conveyance means 2 moves the workpiece to the processing position in order to take it out from the chuck. This is achieved by performing the same operations as transfer and attachment/detachment, and the workpiece is carried out (1) from the processing area.
■ Transported to location. In one embodiment of the present invention, the workpiece and the workpiece gripping tool are shared on the loading/unloading arm. Although the working process of the invention can be further simplified, its structure is completely the same as that shown in the drawings for carrying out the invention.

As described above, in the present invention, since the structure is a combination of one driving means and a cam, the structure is simple, and the mechanical sequence operation 1[1 unique to the cam is performed. Accurate loading and unloading of workpieces and workpieces is essential for high speed.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view showing one implementation of the device of the present invention, FIG. 2 is a cross-sectional view of the main part taken along the arrow line AA in FIG. , FIG. 4 is a front sectional view of the main part of the device of the present invention, FIG. 1-A diagram showing the relative position of the stopper and the stopper in FIG. 5(A).

Claims (1)

[Claims] In a device that transports workpieces into and out of a processing area, a conveyor that grips and transports workpieces by mutual rotational movement and relative movement in the direction of the rotation axis between the processing position and the workpiece stock loading/unloading position. means 2, and a cam 10 that holds the conveying means 2 on the same axis and extends outward from a point on the outer periphery of the conveying means 2 to the left and right along the rotation axis of the conveying means 2 to gradually increase the number of cams on the rotation axis. The cam control means 8 controls the rotation of the conveyance means 2 around the rotation axis and the reciprocating movement in the rotation axis direction by relatively rotating the rotation axis, and the cam control means 8 on the rotation axis of the conveyance means 2. a cam engagement actuating means 11 which is in pressure contact with a spring 13 interposed therebetween, is fixed on the same axis as the conveying means 2, and engages with the cam control means 8; A locking piece 14 that controls mutual conversion of the rotation of the conveyance means and the relative reciprocating motion of the conveyance means 2 in the direction of the rotation axis by engagement with a pair of stoppers described later in FIG. A workpiece loading/unloading device consisting of a pair of stoppers 15 that can be adjusted to control the turning angle of the conveyance means 2, the processing position, and the loading/unloading position of the workpiece to/from the workpiece stock loading/unloading position.