JPS61214951A - Working-position indexing apparatus for machine tool - Google Patents

Abstract

PURPOSE:To avoid the need of setting the position relation for a robot to hold a work by obtaining the relation between the working standard position and the position dividing for a main shaft at present by a measuring apparatus and automatically shifting the angular original point in pisition-dividing the main shaft. CONSTITUTION:The original point of a machine is set Om, the center of a main shaft is set (o), and the set width on the drawing of the rib Ld of a work W is set t0, and a touch sensor TS equipped with a probe having a dimeter (d) is installed onto a tool rest. The touch sensor TS is allowed to contact with one edge part and the other edge part of the rib Ld, and the coordinate values X1 and X2 of the sensor are obtained from the original point Om of the machine. Therefore, the transfer angle thetad from the original point of C-axis (angular divided shaft of main shaft) is obtained. The transfer angle thetad and the angle theta1 at present from the angular original point are added, and the angular original point of a main-shaft position dividing apparatus is automatically shifted. A plurality of holes H on a work W are orientation-executed in sequence from the shifted angular original point, and automatic boring is performed. Therefore, the need for a robot to set the relation of position for holding the work is avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Industrial Application Field The present invention relates to a machining position indexing device for a machine tool, particularly in a turning center or the like, when a workpiece is loaded and unloaded by a robot or the like.

(2) Conventional technology Conventionally, when loading and unloading a workpiece using a robot, etc. in a machine tool, particularly a turning center, etc., the machining position for drilling, milling, etc., must be accurately set with respect to the machining reference point of the round workpiece. Then, the workpiece was attached to the spindle chuck, and a spindle positioning device (hereinafter referred to as spindle position indexing device) was used to calculate the required angle from the angle origin and process the workpiece.

(3) Problems to be solved by the invention When the above-mentioned spindle position indexing device indexes the position of the spindle of the workpiece and processes it, for example, when setting up the workpiece by placing it on a workpiece feeder, etc., the robot The positional relationship for gripping must be set accurately, and the setup time of today cannot be shortened, making the setup work troublesome, and there are problems in terms of labor-saving setup.

(4) Purpose The purpose of the present invention is to solve the problem in view of the above circumstances, and to automatically determine the relationship between the machining reference position and the current spindle position index position using a measuring device. The present invention provides a machining position indexing device for a machine tool that shifts the angular origin of spindle position indexing.

(5) Means and operation for solving the problem The present invention is a machining position indexing device for a machine tool that automatically shifts the angular origin for indexing the spindle position, which rotates the angular position of the spindle. a spindle position indexing device to control, a measuring device to detect a machining reference point of a workpiece to be machined, an input means for inputting a measurement setting value, and when the measuring device comes to a measurement position of a machining reference point of a workpiece to be machined. a position data sending means for taking in the current value; a calculation means for obtaining coordinate system shift data for automatically shifting the angular origin of the spindle position indexing device;
The means includes a measurement operation program memory for operating the measurement device and a central processing unit for controlling each of the above means.

A turning center is effective as a machine tool that can be used in the present invention. Further, the present invention is particularly suitable for automatic loading of odd-shaped workpieces, drilling of the end face of a workpiece from a specific position, or machining of a circumferential groove of a workpiece from a specific position.

Further, the workpiece to which the present invention is applied is very effectively used when the workpiece is mainly turned, and there is a lip or a hole that serves as a machining reference point.

By operating the device of the present invention using the data incorporated in the cutting program of the machine tool, the operator can simply place the workpiece to be machined on the workpiece feeder and the rest will automatically set the machining reference point. After shifting, a predetermined process such as drilling, outer circumferential groove machining, etc. is performed.

(6) Example Hereinafter, one embodiment of the present invention will be described in detail based on the drawings.

First, an outline of a machine tool to which the device of the present invention is used will be explained.

FIG. 1 is a front view of the turning center, and FIG. 2 is a plan view of FIG. 1, particularly showing a state in which a work feeder device is also attached. In FIGS. 1 and 2, a column 2 is erected on a bed 1, and a headstock 4 is attached to the column 2. The rotation of the motor 5 is transmitted to the pole screw 6, and the headstock 4 rotates along the guides 3, 3 via the nut 7.
It is slid in the axial direction (vertical direction). The main shaft 8 is rotated by the rotation of the main shaft motor 10 being transmitted through a belt wound around pulleys 11 and 12. A chuck 9 is attached to the tip of the main shaft 8.
is attached to the chuck 9, the workpiece W is gripped by the chuck 9, and the workpiece is rotated to perform turning processing. A spindle position indexing device M is attached to the rear end of the spindle 8, and can orient the angular position of the workpiece. (Hereinafter, the angle indexing axis of the main shaft will be referred to as the C-axis.) On the other hand, a saddle 14 is placed on the bed 1, and the motor 1
7 is transmitted to the pole screw 19, and the saddle 14 is slid along the guide 13 in the Z-axis direction. saddle 14
A cross slide 16 is placed on top, and a tool rest 21 is attached to the cross slide 16. The rotation of the motor 18 is transmitted to the pole screw 20, and the tool rest 21 is slid along the guide 15.15 in the X-axis direction.

An indexing head 22 capable of indexing 90 degrees is attached to the tool rest 21, and the tool can be indexed in both the X-axis direction and the Z-axis direction. Further, an automatic tool changer 23 is placed on the tool post 21, and a tool magazine 24 for storing a plurality of tools is provided on the automatic tool changer 23. A twin arm 25 for automatically exchanging tools is attached to the automatic tool changer 23 so that it can move back and forth (in the X-axis direction) and rotate 180 degrees.

In response to the tool exchange command, the tool pot 24a in the exchange position of the tool magazine 24 rotates to a horizontal position, the twin arm 25 rotates, and the tool and tool pot 24a are inserted in the X-axis direction of the indexing head 22. The tool inserted into the tool is grasped, the tool is pulled out from the indexing head 22 and the tool box 24a, respectively, and the tool is rotated 180 degrees to perform automatic tool exchange.

The indexing head 22 is indexed in the X-axis direction (referred to as the fixed side) and is used for mainly turning tools, and indexed in the X-axis direction (referred to as the rotating side) and used mainly for milling. The tool is inserted. Indexing in the X-axis direction and in the X-axis direction is performed by an indexing motor 22a. Further, when the tool in the X-axis direction performs milling, it is rotated by the motor 26.

In FIG. 2, a workpiece feeder device 27 is installed in front of the turning center to supply the workpiece, and between the turning center and the workpiece feeder device 27, the workpiece W is transferred from the transfer position 27a to the main shaft. A robot device 28 is provided for transferring the chuck 9 to the chuck 9 attached to the tip of the chuck 8 .

The workpiece feeder device 27 places the workpieces W to be processed on an endless pallet (flashing) connected at regular intervals, rotates the pallet, and transports the workpiece W to be processed to the delivery position 27a.

The robot device 28 grips and lifts the workpiece W at the delivery position with the robot hand 28a, and then rotates and transfers it to the front surface of the chuck 9. The workpiece W held by the robot hand 28a is transferred to the chuck 9, and after the workpiece W is gripped by the chuck 9, the robot device 28 is moved backward in the X-axis direction and moves to a standby position. The work W held by the chuck 9 is subjected to predetermined turning and milling.

When predetermined machining is to be performed on the workpiece W, the machining position of the workpiece W is automatically determined by the apparatus of the present invention.

Next, the principle of construction of the device of the present invention will be explained.

Now, for example, the processing position indexing procedure when a round workpiece W having a plurality of ribs Ld shown in FIG. 3 is gripped by the chuck 9 and a plurality of drill holes H are milled is explained as shown in FIG. Done in the diagram.

In FIG. 4, Qm is the machine origin, and 6 is the center of the spindle, that is, the center of the workpiece W. The setting of the rib Ld of the workpiece W on the drawing is preset as to, and the moving angle from the C-axis origin is set as θd.

For example, when processing a workpiece W with an unstable lip width, the touch sensor TS having a probe with a diameter d on the tool post 21 is used to move the touch sensor TS to one end of the rib Ld (
4) (solid line in Figure 4) (measurement point Ⅰ), find the sensor coordinate value XI from the machine origin Qm, and then move the touch sensor TS to the other end of the rib Ld (double-dashed line' in Figure 4). (second measurement point) to find the sensor coordinate value x2 from the machine origin Qm.

Further, the distance from the center of the workpiece W to the center of the touch sensor TS is set as yO. Note that the distance between the center of the first measurement point and the center of the second measurement point is tl.

In the state shown in FIG. 4, if the distance from the center of the rib LO set on the drawing to the center of the actually measured rib Ld width is t, and the movement angle is θd, the following relational expression holds true.

t 1 =xt-X2 θd=jan'□ Therefore, the movement angle θd is determined, and the movement angle θd is added to the current value angle θ1 from the angle origin to automatically shift the angle origin of the spindle position indexing device M. Multiple holes H in the workpiece W are sequentially oriented from the shifted angular origin and are automatically drilled.

The configuration of the processing position indexing device of the present invention will be explained.

FIG. 5 is a control block diagram of the processing position indexing device of the present invention. In FIG. 5, NC data is inputted by the CPU 30 from the tape reader 31 for reading the NC data via its input circuit 31a, and the computer program memory 3
6 is temporarily stored and memorized. The rib width setting value to of the workpiece W and the probe diameter d of the touch sensor TS are set in advance, and the screen keyboard 32, which is an input/output means, is set in advance.
From there, the rib width setting value t is input via the input/output circuit 32a.

into the memory 34 of the probe diameter d and the memory 35 of the probe diameter d,
Furthermore, it is input as data to the measurement operation program memory 37 and stored. Further, the measurement point yO of the touch sensor TS in the Y-axis direction is also input as data from the keyboard with screen 32 via the input/output circuit 32 to the Y-axis direction measurement point memory 45 and the measurement operation program memory 37, and is stored therein.

Note that the CPU 30 has a mechanical origin Q on the X, Y, and Z axes.
A position data transmitting means 33 is connected to transmit position data from m and angular position data from the angular origin on the C axis.

The signal of the touch sensor TS is connected to the CPU 30 via the interface 38, and the current value data Xn of the X axis and the angular position data θn from the position data sending means 33 are taken in.

When the touch sensor TS is brought into contact with one end of the rib Ld of the workpiece W, a first measurement signal is generated, and with this first measurement signal, the current value data Xn passes through the AND gate 39 and is taken in as the sensor coordinate value X1. and stored in the coordinate value memory 40.

Next, when the touch sensor TS is brought into contact with the other end of the rib Ld of the workpiece W, a second measurement signal is emitted, and with this second measurement signal, the current value data Xn passes through the AND gate 40, and the sensor coordinates are It is taken in as the value X2 and stored in the coordinate value memory 41.

The arithmetic unit 43 calculates t1=)(+-X2) from X1X2 stored in the respective coordinate value memories 39 and 41.

The respective values of the probe diameter d, rib width setting value to, and tl calculated by the calculation unit 43 stored in the measurement operation program memory 37 are input to the calculation unit 44, and the calculations in the calculation unit 44 are processed.

The measurement point yo in the Y-axis direction when the touch sensor TS is brought into contact with one end and the other end of the rib Ld of the work W is fetched from the memory 45 and t calculated by the calculation unit 44 is imported into the calculation unit 46. , the arithmetic unit 46 performs arithmetic processing of θd=jan-'-O. The angular position data θn from the first measurement signal generated by the touch sensor TS in contact with one end of the rib Ld of the workpiece W passes through the AND gate 47, is taken in as the current value angle θ1 from the angle origin, and is stored in the coordinate value memory. 48. The current value angle θ1 stored in the coordinate value memory 48 and the movement angle θ calculated by the calculation unit 46
d into the arithmetic unit 49, and the arithmetic unit 49 calculates θ0=θ1.
+θd calculation processing is performed. The calculated value θ0 is stored in the memory 50 of the coordinate system shift data θ0.

The coordinate system shift data θO stored in the memory 50 automatically shifts the angular origin of the C-axis, starts the cannibal program stored in the cannibal program memory 36, and starts the cannibal program stored in the cannibal program memory 36, using the automatically shifted angular position as the machining reference point. A plurality of holes in W are processed.

The operation of the apparatus of the present invention will be explained based on the flowchart of FIG.

In the second step, the workpiece W having the rib Ld is loaded from the delivery position 27a of the workpiece feeder 27 onto the chuck 9, which is the tip of the main spindle 8, using the robot hand 28a of the robot 28.

Note that the workpieces W to be placed on the workpiece feeder device 27 need only be placed with their front and back surfaces unified, and the operator does not need to consider the angular position.

As the second stage, the tool rest 2 is activated by the measurement operation program.
Transfer the touch sensor TS attached to 1, X axis,
The probe is moved in the Y-axis and Z-axis directions to one end of the rib Ld of the workpiece W, that is, to the first measurement point.

In step (2), when the touch sensor TS is moved to the first measurement point, it may come into contact with the end face of the lip Ld, so the touch signal is Determine whether there is. If there is a touch signal in the Z-axis direction, in step (2), a C-axis rib width avoidance operation is performed to avoid the touch sensor TS from the rib Ld. Z
If there is no touch signal in the axial direction, the process moves to step (2) without passing through step (2). In step (2), processing position indexing of the present invention is started. That is, the orientation of the C-axis, that is, the workpiece W is rotated at a low speed. C until the probe of the touch sensor TS comes into contact with one end of the rib Ld of the workpiece W.
Rotate the axis.

When the probe of the touch sensor TS comes into contact with the rib Ld in the (2) stage and generates a first measurement touch signal, the C-axis stop positioning is performed in the (2) stage.

At this stage (2), the sensor coordinate value x1 is taken in.

Next, in step (2), the probe of the touch sensor TS is moved to the other end side of the rib Ld of the workpiece W, and the touch sensor T
When the probe S is moved until it comes into contact with the other end of the rib Ld of the workpiece W, a second measurement touch signal is emitted in step (2), and the sensor coordinate value x2 is taken in.

When moving the touch sensor TS toward the other end, it is sufficient to apply a movement amount that exceeds the maximum allowable rib width.

In the [phase] stage, as shown in the control block diagram shown in FIG. 5, the distance 11.1, the movement angle θd, and the C-axis coordinate system shift data θO are calculated.

In the ■th stage, the value θ1+θd obtained in the [stock] stage is
The angular origin of the C-axis is shifted at 0, and a predetermined drilling process is performed at the @ stage.

In this embodiment, in order to make the explanation easier to understand, a workpiece W with a rib is used and the rib is used as a processing reference point, but there is no problem in using a part other than the lip as a processing reference point. As another typical example, a hole drilled in the work W may be used as a machining reference point, and a touch sensor probe may be inserted into the hole to determine the machining reference point. Furthermore, various other means may be used.

(7) Effects The present invention uses a measuring device to determine the relationship between the machining reference point position and the position of the spindle position indexing device and automatically shifts the angular origin of the spindle position indexing device, so that the robot can There is no need to set the positional relationship for gripping the workpiece. Therefore, the operator only has to place the workpiece to be machined on the workpiece feeder device, which is effective in shortening the setup time and, in turn, contributing to saving labor in setup.

[Brief explanation of drawings]

FIG. 1 is a front view of the turning center, and FIG. 2 is a plan view of FIG. 1 with a workpiece feeder attached. FIG. 3 is a perspective view of an example of a workpiece with four ribs. FIG. 4 is an explanatory diagram for determining a machining reference point using the apparatus of the present invention. FIG. 5 is a block diagram of the configuration of the apparatus of the present invention. FIG. 6 is a flowchart diagram illustrating the present invention in detail. W... Workpiece M... Machining position indexing control device Lo, Ld... Rib to, t... Lip width Od... Shift angle TS... Touch Sensor d... Probe diameter 22... Cutler support stand 27... Work feeder device 27a... Delivery position 28... Robot 28a... Robot hand 30...CP
U31... Input means 32...
Human power means with screen

Claims (1)

[Claims] a spindle position indexing device that rotationally controls the angular position of the spindle;
a measuring device for detecting a machining reference point of a workpiece to be machined, an input means for inputting a measurement setting value, and a position data sending means for taking in a current value when the measuring device comes to a measurement position of a machining reference point of a workpiece to be machined. , comprising calculation means for obtaining coordinate system shift data for automatically shifting the angular origin of the spindle position indexing device, a measurement operation program memory for operating the measurement device, and a central processing unit for controlling each of the above-mentioned means. A machining position indexing device for a machine tool, which is characterized by: