JPS61197144A - Method to use flexible loading device for machine tool - Google Patents

Abstract

PURPOSE:To make it possible to improve work efficiency and safety by fixing the fundamental motion of a loading device and modifying the operation program for delivery or the like of a workpiece to a chuck. CONSTITUTION:A ROM 32 gives the fixed operation command of a flexible loading device having been determined. And a RAM 33 inputs and outputs the operation modify command capable of modifying operation freely other than the fixed operation. The ROM 32 and RAM 33 are combined with the micro computer 31 connected with an instructional operation panel 30 for controlling the operation of the flexible loading device. The RAM 33 is provided with the memory area 33A corresponding to the operation modify command to make this memory area 33A perform each operation according to the order of a plurality of operations of the flexible loading device. And the modification of the amount of the operation allows to modify the operation command.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a machine tool for supplying materials and unloading workpieces, particularly to a machine tool.

The present invention relates to a method of using a flexible loader device built into a numerically controlled lathe.

Machine tool, 4? General industrial robots are used to automate the supply of materials to numerically controlled lathes and the unloading of workpieces to enable continuous machining work. There were some drawbacks. That is, extra floor space is required to install the loader device separately from the machine tool, and this also obstructs the operator's work of changing tools. Furthermore, the range of action of the worker and the range of operation of the loader device partially overlap, which poses a problem in terms of safety. Furthermore, it is necessary to change the operation of the loader device depending on the shape and size of the workpiece, but this work is complicated and requires a long time even for a skilled worker.

Accordingly, an object of the present invention is to provide a method for using a flexible loader device that is particularly easy to operate, is highly safe, and does not increase the required area, and is particularly connected to a numerically controlled lathe. .

Hereinafter, one method of the present invention will be explained based on FIGS. 1 to 11 of the accompanying drawings.

1 and 2 show a numerically controlled lathe 2 incorporating a flexible loader device 1 to which the present invention is intended to be used.
shows. The loader device 1 is.

It is arranged inside a splash guard 4 that covers the processing area where the material is gripped by the chuck 3 and processed.

This loader device 1 is installed in the third. Shown in FIGS. 4 and 5. A base 6 is fixed by bolts onto a headstock 5 which rotatably supports a main shaft having a chuck 3 at its tip. The base 6 has a guide member 10 that guides the slides 7 and 8 in a direction parallel to the spindle axis 9. A servo motor 11.12 and a gear box 13 for changing the speed and transmitting the output from the servo motor 11.12 are attached to one end of the slide 7.8, and a screw 14 such as a ball screw is attached to the lower side of the gear box 13. A mating nut 15 is attached. Since the screw 14 is rotated by a servo motor 16 fixed to the base 6, the slide 7.8 can be moved forward and backward by the rotation of the servo motor 16. At the other end of slide 7.8, slide 7.
A member 19 is attached to support the arm 18 rotatably about the axis 17 of the arm 18 . A wrist 21 is provided at the tip of the arm 18 and is rotatable about an axis 20 parallel to the axes 9 and 17. Further, the wrist 21 is provided with a wrist 21 that is rotatable about an axis 22 that is orthogonal to the axes 20. A hand 26 is attached.

A pair of fingers 25 that are opened and closed by a cylinder 24 are attached to this hand 23. Arm 18
is rotated by a servo motor 26 fixed to the member 19 (this mechanism is
0.11), and the wrist 21 and hand 26 are connected to the gearbox 13. The slide 7.8 and the arm 18 are driven by the aforementioned servo motors 11 and 12, respectively, via a transmission line formed by a combination of elements such as shafts, gears and chains arranged inside the slide 7.8 and the arm 18. The configuration of the transmission line for this purpose is shown in FIG. The output shaft of the servo motor 11 is connected to the gear box 1 via the reduction gear box 51.
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 a gear 56 in the gear box 13 via a reduction gear box 33.
This gear 56 meshes with a gear 58 attached to one end of the hollow shaft 57. The shaft 5I and the hollow shaft 57 are arranged concentrically so that the former passes through the hollow portion of the latter. The other end of the shaft 53 and the hollow shaft 57 (arm 18
A sprocket 59 and a sprocket 1-60 are respectively attached to the sprocket 59 and the sprocket 1-60. Sprockets 59 and 60 each have sprockets 31 and 32 arranged on axis 20 at the lower end of arm 18;
They are connected via chains 63 and 64 placed inside the arm 18. The sprocket 31 is attached to one end of a hollow shaft 65 that is rotatably supported around the axis 20, and the wrist 21 is attached to the other end of the hollow shaft 65. The sprocket 32 is attached to one end of a rotatable shaft 66 arranged concentrically in the hollow part of the hollow shaft 65, and a bevel gear 67 is attached to the other end of this shaft 66. This bevel gear 67.

It meshes with a bevel gear 69 provided at one end of a shaft 68 that is rotatable about the axis 22 .

The aforementioned hand 23 is attached to the other end of the shaft 68. Note that the piston rod of the cylinder 24 extends through the hollow portion of the shaft 68 and is connected to the link device of the finger 25. It is clear that with the above configuration, one wrist 21 and the hand 23 can be rotated by operating the servo motors 11 and 12. by the way,
Since the servo mechanism is formed while the servo motor 12 is stopped, the hand 26 also rotates (rotates around the axis 22). That is, since the bevel gear 67 is in a fixed state and the bevel gear 69 meshing with it revolves around the wrist 21, the bevel gear 69 also rotates. Therefore, by rotating only the wrist 21, the hand 2
In order to prevent the parts 3 from rotating relative to each other, the servo motor 12 is also operated.

The shaft 66 may be rotated in the same direction as the hollow shaft 65 at the same rotation speed. By doing this, the bevel gear 67 and the bevel gear 69
Since there is no relative rotation between the hand 23 and the handle 23, the hand 23 does not rotate. This simplifies operation and improves operability. Further, the rotational speed ratio of the sprockets 59 and 31 and the rotational speed ratio of the sprockets 60 and 32 are configured to be equal (the number of teeth of the four sprockets may be made equal for the simplest method). As a result, when the arm 18 is rotated about the axis 17, the rotations of the sprockets 31 and 32 are equal, so that no relative movement occurs between the wrist 21 and the hand 23. Furthermore, the reduction gear box 5
The reduction ratios of gears 1 and 33 are made the same, and the gear ratio between gears 52 and 54 is made equal to the gear ratio between gears 56 and 58. Then, when driving the servo motor 11, if the same number of pulses is given to the servo motor 12 in the same direction, the shaft 66 and the hollow shaft 65 will rotate in the same manner, and one wrist 2
No relative rotation occurs between 1 and hand 23.

Next, the drive mechanism of the arm 18 will be explained based on FIGS. 10 and 11.

Arm 18 rotatably incorporates a first pivot 81 having an axis parallel to axis 17, and a nut assembly 82 is attached to the end of pivot 81. On the other hand, the member 19 supporting the arm 18 has an axis 1
A second pivot 83 having an axis parallel to 7 is rotatably incorporated, and a servo motor 26 is attached to the end of this pivot 83 via a bracket 84. A screw 85 that engages with a nut of a nut assembly 82 is fixed to the shaft of the servo motor 26 . Therefore, it is rotated as a servo motor center. By adopting such a configuration, the arm drive mechanism is miniaturized, so that operability and workability will not be impaired even if it is placed inside the splash guard of a machine tool.

Next, the operation of this loader device will be explained based on FIGS.

Figures 6-6 schematically show side views of the loader device corresponding to Figure 5. First, FIG. 6(2) shows the state before the loader device starts operating. The splash guard 4 is opened from this state. To do this, a retaining member (
(not shown) to move the arm 18 toward the axis lv>. However, a separate air cylinder dedicated to opening and closing the splash guard may be provided and the splash guard may be opened by this air cylinder. The arm 18 is then returned to the intermediate position. Next.

Rotate the wrist 21 clockwise, open the fingers 25, and then rotate the arm 18 (counterclockwise) so as to approach the workpiece 27 held by the chuck 6, and move the arm 18 back in the direction of the axis 17. Then, close the fingers 25 and grasp the workpiece 27 after machining is completed (Fig. 6). When the fingers 25 grip the workpiece 27, the chuck 3 and the workpiece 27 are removed from the chuck 3.

Next, rotate the arm 18 clockwise and rotate the wrist 2.
1 in the counterclockwise direction to bring it into the state shown in Fig. 6θ. Next, the hand 23 is rotated 90 degrees to the state shown in FIG. 60,
Further, one wrist 21 is rotated to position the workpiece 27 on the flat conveyor 28 as shown in FIG. 6, and the fingers 25 are opened to return the wrist 21 to the state shown in FIG. 6θ.

This places the workpiece 27 on the conveyor 28.

Next, the arm 18 is moved forward in the axial direction to move the conveyor 2
Bring it close to another material 29 on top of the material 8 and grab it as shown in Fig. 6-2. Next.

Rotate the wrist 21 and hand 23 to lift it as shown in Fig. 6Φ, and further rotate the wrist 21 to bring it into the state shown in Fig. 6■1.
Next, the arm 18 is rotated to position the material 29 in front of the chuck 3 as shown in FIG. Next, the arm 18 is moved back in the direction of the axis 17, the material 29 is put into the chuck 3, and the chuck claws are closed to grasp it.

Thereafter, the fingers 25 are opened, and while the material 29 is held by the chuck 3, the arm 18 is moved as shown in FIG.
Return to initial position.

At that time, close the splash guard 4. This puts the material 29 in a processable state.

As is clear from the above explanation, this flexible loader device is built into the inside of the numerically controlled lathe, so there is no need for extra space for the loader device, and the required floor space does not increase. Most of the operations of the loader device are performed inside the splash guard, and the operations outside are also performed away from the operator, so safety is extremely high.

In addition, since the hand 26 can be rotated 90 degrees,
In the case of a cylindrical workpiece as shown in Figs.
The material (raw material) can be gripped by the fingers 25 and held by the chuck in a predetermined manner, and after processing, it can be stood vertically on the flat conveyor. Therefore, it is also possible to attach a cylindrical workpiece by using a V block or the like as in the past.

The configuration and basic operation of the loader device to which the present invention is intended have been described above.

Next, a method of the present invention using this loader device will be explained.

It is necessary to change the position of weiring and the position of gripping the workpiece after machining is completed. Therefore, for each workpiece,
The controller of the loader device must be taught and memorized the operation shown in the figure below. However, this type of work is generally complex; for example, when using conventional industrial robots, it takes a very long time to teach and memorize the movements that correspond to the workpiece. Therefore, when a general industrial robot is used to process a relatively small number of workpieces, the ratio of the time required to teach the robot to the actual machining time becomes too large, resulting in extremely low efficiency.

In view of these points, the method of the present invention provides a method that makes it extremely easy to change the operation of a loader device.

The basic idea of the method of the present invention is to fix the basic operation of the loader device as unchangeable and to make it possible to modify only the operation that must be changed for each workpiece. .

FIG. 7 is a block diagram showing a controller for carrying out the method of the present invention for a flexible loader device to which the present invention is intended.

A teaching operation panel 30 is connected to a microcomputer 31, and the microcomputer 31 also has a ROM.
(Read Only Memory) 32 and RAM (Random Access Memory) 36 are coupled. The ROM 52 stores a control program for the microphone computer 31 that controls the loader device. Area 32A of this ROM 32 stores an operating program for the loader device.

The microcomputer 31 reads this program and generates operation commands for the loader device. RAM
33 changes the data content when the microcomputer 31 processes the data.

It is used to store operating sequences, create operating commands, and store and correct them. The operation storage area 33A of the RAM 53 changes the operation of the loader device stored in the area 32A to the content stored in the area 33A. Operation commands from the microcomputer 31 are transmitted to the servo amplifiers 34, 33, 36 and 37, thereby causing the servo motors 26. ? 6. lf and 12, respectively. Furthermore, feedback signals are given to the servo amplifiers 54, 33, 36 and 67 from pulse generators 313, 39, 40 and 41 provided in the servo motors 26, 16, 14 and 12, respectively.

With the above configuration, the loader device is operated.Next, the program stored in the area 32k will be shown and specifically explained.

The area 32A contains programs similar to those of ordinary numerically controlled machine tools, such as the following.

N 11 Z 200 CR----1゜X-
50OR・・・・・・λ Y −300OR・・・・・・3゜M 1jOR・・・・・・・・・ 4゜H01CR
・・・・・・・・・ 5゜M +2OR・・・・・・ 6゜M
140R・・・・・・ lz 100 CR・
・・・・・・ 8゜Step 1. is the movement number 11.

z200 means moving the arm 18 in the direction of the spindle axis 9 by 200 pulses. Step 2゜X-50
Step 3 rotates the arm 18 counterclockwise by 50 pulses. For Y-300, turn wrist 21 clockwise 3
Rotate by 00 pulses and repeat step 4. The Mth number means opening the chuck 3. Step 5. HDl is a command for teaching the operation, and for this purpose, a memory area for HO2 is reserved in area 33A of RAM 33. No example is initially stored in this memory area for HDl. FIG. 8 shows a flowchart for teaching motion in HOI. When HOl is read from ROM area 32A, the corresponding RAM area 3
It is determined whether or not the memory area for HDl in 3A is stored.

If the memory exists, each servo motor operates the operating elements (rotation of the hand 26, rotation of the wrist 21, rotation of the arm 18, movement of the arm 18) by a predetermined amount according to the memory. For example, the following memory is given to the memory location scheduled for HOl.

W23: Rotation of the hand 26 Y12: Rotation of the wrist 21 Completed.

Enter the next step 6.

During teaching operation, first execute W25.

When the execution of W2S is completed, the hand lamp on the teaching operation panel lights up to notify completion, and the loader device does not operate until the first start command is given by the operator. The worker gives movement commands as necessary. As a result, the hand 23 of the loader device continues to rotate in the instructed direction as long as the instruction is given. When the movement command is stopped at a desired time, the command value is corrected to that value, and when the first start command is given, the first step Y12 is executed. When the execution of Y12 is completed, the wrist lamp on the teaching operation panel lights up to notify the completion. The operator changes the movement amount (command amount) of the wrist 21 by giving a movement command as necessary. Similarly, the command amounts for the rotation and axial movement of the arm 18 can also be set to desired values. When this operation is completed, the newly set command amount is area 33A.
is memorized. Then move on to the next step 6.

If there is no memory from the beginning in the memory area corresponding to the HOI in the area 33A, the teaching request lamp on the teaching operation panel 30 lights up.

The operator sequentially memorizes the command amount for each operating element according to its operating order. That is, when an operating element is specified, a lamp corresponding to the operating element lights up, and when a movement direction command is given, the specified element moves in the commanded direction. Stop the movement at a predetermined time,
The amount of movement is memorized. After performing this operation for each motion element and all motions have been memorized.

Give a start command and proceed to the next step 6.

The chuck 3 grips the workpiece at M+2 in step 6.

Chuck 3 opens with M14 in step Z, and step 8
At Zloo, the arm 18 moves in the axial direction to completely remove the workpiece from the chuck 3.

I have explained part of the program above.

Regarding the operation of grabbing the material from the flat conveyor 28, apart from other fixed operations, the program of operation commands for that operation can be easily changed, and the method is the same as described above. You can use .

As is clear from the above explanation, in the method of using the loader device according to the present invention, the basic operation of the loader device is fixed, and the workpieces are transferred to the chuck, and the workpieces and materials are transferred to the flat conveyor. The receiver can easily modify the operating program only for the transfer.

Therefore, the teaching content is extremely reduced, the teaching work can be completed in a short time, and the flexible loader device can be used efficiently even for products with a small quantity.

[Brief explanation of the drawing]

Fig. 1 is a front view of a numerically controlled lathe equipped with an example of a flexible loader device to which the present invention is intended to be used, Fig. 2 is a side view of the numerically controlled lathe shown in Fig. 1, and Fig. 3 is a loader device. A perspective view of. Fig. 4 is a front view of the loader device shown in Fig. 3, Fig. 5 is a side view of the loader device shown in Fig. 4, and Figs. FIG. 7 is a block diagram of a controller when the loader device shown in FIGS. 1 to 6 is used according to the method of the present invention, and FIG. 8 is a flowchart for teaching operation. FIG. 9 is a sectional view showing the transmission line of the loader device shown in FIGS. 1 to 6, FIG. 10 is a front view showing the arm drive mechanism, and FIG. 11 is a line taken along the line XI-XI in FIG. 10. FIG. 1. Flexible loader device, 2. Numerical control lathe,
6... Chuck, 4... Splash guard, 5... Headstock, 6... Base, 7° 8... Slide, 9... Spindle axis, 10... Guide member, 11.12... Servo motor, 13・・Gearbox, 14・Fist screw, 15−・Natsuto. 16.9 servo motor, 17.O axis, 18..arm, 19..member, 20.-axis M121..wrist, 22..
・Axis line, 23...Hand, 24#-linda, 25・Φ
Finger, 26e・Servo motor, 27... Workpiece, 2
8 Buildings・Flat conveyor% 29-・Material, 30・Φ teaching operation panel, 31・-Microcomputer, 52'
-ROM 33-- RAM%34, 33, 36°3
7... Servo amplifier, 38, 39, 40, 41... Pulse generator, 51... Reduction gear box, 52... Gear, 53...
・Shaft, 54...Gear, 33...Reduction gear box, 56...Gear, 57...Hollow shaft. 5a-・Gear, 59,60,31,32・・Sprocket, 65.64・・Chain, 65・・Hollow shaft. 66...shaft, 67...bevel gear, 68...shaft. 69...Bevel gear, 81 Fist/pivot, 82...Nut assembly, 83...Pivot, 84...Bracket, 85
··screw.

Claims (1)

[Claims] 1. In a method using a flexible loader device engaged with a numerically controlled lathe, the flexible loader device (1
ROM (read-only memory) (32) that provides fixed operation commands determined in advance for the above-mentioned fixed operation, and RA that inputs and outputs operation modification commands that can arbitrarily modify operations other than the fixed operation.
M (random access memory) (33) and a teaching operation panel (
30) is coupled to the connected microcomputer (31), and the RAM (Random Access Memory) (33) is provided with a storage area (33A) corresponding to the operation modification command.
This storage area (33A) has a flexible loader device (
1) A method using a flexible loader device, which is characterized in that each operation is performed in accordance with a plurality of operation orders, the amount of movement is re-memorized, and the operation command is thereby corrected.