JPS61293749A - Work replacement construction of index table - Google Patents

Abstract

PURPOSE:To enhance the rate of service of a machine and to reduce improper clutching or fixation by allowing a work magazine to hold two or more work mounting holders separably and by performing replacement of works on an index table for each holder. CONSTITUTION:When any single operator is to operate a plurality of machining centers, replacement of works W is so made that two or more works W are always pooled in each work magazine 3, which will eliminate necessity for stopping the machine for work replacement to lead to enhancement of the rate of service of machine. Each work W is held in work magazine 3 in such a condition as mounted in the holder 6 and is mounted and demounted on/from a rotary shaft 20 of index table 5 altogether, i.e. with the holder 6. Accordingly, even when works have different forms and/or are in small size, the works can be surely transported by a manipulator 7 by the use of the gripping part of the holder 6 and be fixed to the rotary shaft 20 of index table 5 surely through utilization of the shunk 9, which should lead to reduction of failure in gripping or fixation.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention provides for
The present invention relates to an index table provided with a workpiece magazine, in particular a CNG (Computer Built-in Numerical Control) index table.

(Prior art and its problems) N/C milling machines and machining centers are generally equipped with ATC (automatic tool change) devices that automatically change cutting tools, but today there are also devices that further automate the loading and unloading of workpieces, such as 1) A labor-saving machine equipped with a bot hand device, a pallet changer device, etc. is desperately needed.

When one person operates several machining centers that do not have conventional automatic changing devices, for example, the workpieces are fixed on an index table, and when the machine stops after all machining is completed, the operator is notified by a signal. In response to this, the worker replaces the workpiece on the machine that issued the signal, and once the replacement is complete, presses the start button again. When the machining start button is pressed in sequence for several machining centers in this way, several machining centers may issue a stop signal at the same time. At this time, if the parts are replaced one by one manually, other machines will have to be stopped and the operating rate of the machines will not be good.

On the other hand, as mentioned above, there are two types of automatic workpiece changing devices: the robot hand type and the pallet changer type.
The robot hand method is a method in which the workpiece is directly gripped with fingers on the tool at the end of the hand, the workpiece is held in a fixing jig, etc., and the workpiece is automatically attached and detached.The one-type pallet changer is a method in which the workpiece is held on the -H pallet. The pallet is fixed to a fixing device on the machine table in a releasable manner.

In the method of directly gripping the workpiece with a robot hand, it is necessary to prepare a hand tip tool that matches the shape of the workpiece and change the tool for each workpiece. There are cases where you cannot grasp it. When the workpiece is cylindrical, such as in a lathe, it is relatively easy to directly grip the workpiece, but in the case of a rectangular workpiece, such as a machining center workpiece, it is difficult to directly grip the workpiece. In many cases, it becomes impossible to hold it. That is, there is a limit to the shape of the workpiece that can be applied.

Furthermore, in the direct gripping method of a robot hand, the part gripped by the fingers and the part gripped by the fixing device are always separate from each other, so when the workpiece is small or irregularly shaped, it may be difficult to grasp it. Grasping and applying the two objects becomes fixed, and Vt
R2 and grip may become incomplete, which can easily lead to an accident.

With a one-type pallet changer, the workpiece is attached to a pallet, and the pallet is placed on a dedicated pallet rail and fed to the machine.This movement is performed by the pallet changer, and the pallet on the machine is fixed by a fixing device on the machine table. Fixed or released. This method is mainly applied to heavy and large workpieces, but for automatic exchange of medium and small workpieces, the moving speed, freedom of direction change, and machine size are important for the largeness of the de-anger device. It doesn't match.

(Means for Solving the Problem) In order to solve the above problem, the first, second, and third inventions of the present application provide a workpiece magazine with a plurality of workpieces each mounted with a workpiece as a workpiece. Each holder has a grip part that can be gripped by a manipulator, a protrusion for attachment and detachment is formed at the end of the holder handle, and a rotation axis of the index table has a grip part that can be held by a manipulator. ,
In addition to providing a center hole into which the holder is inserted and fitted, a locking mechanism that can fix and release the protrusion from the rotating shaft is provided so that the manipulator can grip the gripping part of the holder and exchange the workpiece together with the holder. I have to.

In addition, in the second invention, in order to simplify the attachment/detachment and transportation of the workpiece and to simplify the control device, the vertical movement of the machine main shaft and the longitudinal and horizontal movement of the machine table are utilized.
It is possible to attach and detach workpieces and transport them. That is, in addition to the above common configuration, a manipulator for gripping the holder is detachably attached to the main shaft of a machining center, etc., and the holder is gripped by the manipulator by moving the machine table of the machining center and vertically moving the main shaft. are doing.

Further, in the third invention, in addition to the above configuration, the holder is provided with an axial positioning collar in order to accurately and easily perform axial positioning when mounting the workpiece, and when the holder is mounted on the index table. The end face of the flange portion is brought into contact with the end face of the rotating shaft.

(Example) In Fig. 1, a machining center is rotatably equipped with a vertical machine main shaft 1 for mounting tools, and a workpiece magazine 3 and an index table 5 are fixed on a machine table 2 of the machining center. There is. The machining center is controlled by an N/C (numerical control) device, and the machine table 2 is operated to move back and forth and left and right. A robot hand 7 that grips a workpiece holder -6 is removably inserted into and fixed to the main shaft 1 of the machine. The robot hand 7 has an annular groove (grip part) 8 for an A1''C (automatic tool change) device, and is used as a manipulator for an ATC device.
This makes it possible to freely replace the 11 tools in the tool magazine. That is, it is fitted and held onto the machine main shaft 1 only when the workpiece W is being replaced and transported.

The workpiece magazine 3 includes a rotary plate 8, and a plurality of workpiece attachment holders 6 are held on the rotary plate 8. The holder 6 has a handle 9 and a bolt 10 for attachment/detachment.
The enlarged end portion of the magazine 3 is locked by the lock pin 11 of the magazine 3. The lock pin 11 is urged toward the bolt by a spring '12.

A workpiece mounting jig 14 is fixed to the workpiece holder 6 on the side opposite to the handle 9, and an annular V-groove 15 for gripping by the robot hand 7 is formed in the center. Jig 14
The workpiece WS is fixed to. The index table 5 includes a rotating shaft 20, a stepping motor 22, a cylinder W133 for attaching and detaching a holder, and the like.

In FIG. 2 showing an enlarged sectional view of the index table 5, the handle portion 9 is divided into a cylindrical holder shaft portion 16 and a tapered cone 17. The inner circumferential circle and cylindrical surface of the tapered cone 17 fit into the shaft portion 16 so as to be movable in the axial direction, and
It is biased in the force direction of arrow F' by a disc spring 18 and locked by a slip ring 19. The rotating shaft 20 of the index table 5 has a central hole taper 21 for mounting a holder, and is integrally fixed to a boss portion 25 with bolts 23. The boss part 25 is an index table.
- It is rotatably supported by the base 26 via a bearing 27. The boss portion 25 includes a worm gear 28, and the worm gear 28 meshes with a worm screw 29 for index rotation. The A-mu screw 29 is operatively connected to a stepping motor 22 (FIG. 1) that is controlled by an N/C device (controller).

A locking mechanism consisting of a slide tube 31, a locking ball 32, a cylinder device 33, etc. is connected to the inner peripheral portion of the rotating ring 20, and the workpiece holder 6 can be fixed and released by this locking mechanism.

As shown in FIG. 3, the slide tube 31 is fitted onto the inner circumferential surface of the rotating shaft 20 so as to be movable in the axial direction.
A plurality of taper holes 35 are provided at the tip of the side, and a locking ball 32 is inserted into the taper hole 35 so as to be movable radially outward. A tapered cam surface 36 is formed on the inner circumferential surface of the rotating shaft 20, and the diameter becomes smaller toward the arrow F' side.
' side), the ball 32 protrudes toward the shaft center and engages with the enlarged portion of the attachment/detachment bolt 10. The slide [31 is connected to the cylinder--device shown in FIG. 2 via the connecting bolt 37! It is connected to the piston 38 of f33.

The piston 38 is fitted into the cylinder case 40 so as to be movable in the axial direction, and moves inside the cylinder case 40 with the first, first and second pistons.
It is divided into second hydraulic chambers 41 and 42. First hydraulic chamber 41
is in communication with the clamp oil hole 43, and the second hydraulic chamber 42 is in communication with the release oil hole 44. Both single holes 43 and 44 are connected to a hydraulic switching device, and by pressurizing hydraulic oil into the first hydraulic chamber 41, the piston 38 is moved in the direction of arrow 1=' to lock the holder 6, and the second hydraulic chamber 42 By pressurizing hydraulic oil into the piston 38, the piston 38 is moved toward the arrow F side, and the holder 6 is released.

゛Also, there is a cleaning air supply hole 46 in the cylinder mounting W133.
The hole 46 communicates with the center hole 21 of the rotating shaft 20 via the air passage 48 of the cylinder case 40, the inside of the boss portion 25, and the air hole 47 of the slide cylinder 31, and is compressed when exchanging workpieces. Air is sent to the center hole 21 of the rotating shaft 20 to clean the tapered fitting surface of the center hole 21.

(Function) When one person is in charge of operating several machining centers,
A plurality of workpiece holders 6 to which workpieces W are attached are attached to the workpiece magazine 3 of each machining center.

Movement of the machine table 2 back and forth and left and right by the workpiece WLtN/C device of the workpiece magazine 3 and the robot hand 7
As the machine main shaft 1 is moved up and down, the groove 15 portion is gripped by the robot hand 7, carried to the index table 5, and inserted into the center hole 21 of the rotating shaft 20.

Will the index table 5 slide when the holder 6 is inserted? i31 is in a state II (released state) protruding toward the arrow F side as shown by the imaginary line in FIG. The disk spring 18 is in close contact with the circumferential surface.
begins to be compressed, and the end surface 6b of the collar 6a of the holder 6 on the arrow F' side comes into contact with the end surface 20a of the rotating shaft 20 on the arrow F side.

This allows the holder 6 to be positioned in the axial direction.

Therefore, when the holder is attached, the axial position of the holder 6 is always constant, and the axial longitudinal position is accurately stabilized.

Positioning in the circumferential direction is performed by a positioning key 50. When the holder 6 is inserted, hydraulic oil is pressurized into the first hydraulic chamber 41 of the cylinder device 33, and the slide cylinder 31 moves in the direction of arrow F', whereby the lock ball 32 is moved by the cam action of the cam surface 36. It is pushed inward to lock the attachment/detachment bolt 23.

After installation is completed, the robot hand 7 of the machine spindle 1 (Fig. 1)
is replaced with a desired cutting tool in the tool magazine by an automatic tool changer, and the tool is rotated by the rotation of the machine main shaft 1 to perform cutting work. The holder 6 during cutting is cooled with cutting oil or the like. On the other hand, the index table 5 is operated by a stepping motor 22 controlled by an N/C equipment.
By driving the workpiece W, the workpiece W is indexed and rotated to the necessary rotation angle and rotation speed. When the instructed program is completed, a work operation completion signal is transmitted to the N/C snow control in the main body of the machine.

When automatically replacing the workpiece after cutting, the robot hand 7 is automatically attached to the machine main shaft 1 by an automatic tool changer, and the index table 5
Hydraulic oil is pressurized into the second hydraulic chamber 42 of the cylinder device 33, and the rotating shaft 2o is pushed in the direction of arrow F to release the lock. Then, by moving the machine table 2 back and forth, left and right, and moving the machine spindle 1 up and down, the workpiece W after machining is gripped by the groove 15 of the holder 6 and removed from the index table 5, for example. The workpiece is returned to the workpiece magazine 3, and then the holder 6 of the new workpiece W is grasped and taken out from the workpiece magazine 3, and mounted on the rotating shaft 20 of the index table 5. As described above, axial positioning is performed by the contact between the end surface 6b of the collar portion 6a and the end surface 20a of the rotary shaft 20, and circumferential positioning is performed by the key 50.

Further, by pressurizing hydraulic oil into the second hydraulic chamber 42 of the cylinder equipment ff133, the slide W431 is moved in the direction of the arrow F' force, and the holder 6 is locked.

When replacing the workpiece, the workpiece is replaced by only moving the machine spindle 1 up and down and the machine table 2 as described above, so there is no need to rotate the rotary plate 8 of the workpiece magazine 3. Therefore, in order to move the machine spindle 1, the index table 5 on the machine table, and the workpiece magazine 3 relative to each other using the machining center's N/C system, a controller dedicated to workpiece replacement is required. -Ra is not necessary.

Further, when replacing the workpiece, compressed air from the air supply hole 46 of the cylinder device ff133 is blown into the center hole 21 of the rotating shaft 20 to remove chips, dirt, etc., and maintain the viscosity of the installation.

One operator replaces workpieces in each workpiece magazine 3 of each machining center so that several unprocessed workpieces are always pooled between the completed workpiece and the workpiece. At this time, the workpiece is attached to the holder and loaded into the workpiece magazine 3, and the workpiece can be accurately fixed to the holder 6 while checking with hands and eyes.

(Effects of the Invention) As explained above, the first, second, and third inventions of the present application have an index table provided together with a workpiece magazine on a machine table of a machining center, and each workpiece magazine 3 has a workpiece. Detachably holds a plurality of workpiece mounting holders 6 to which workpieces are attached,
Each holder 6 is formed with a grip part that can be gripped by a manipulator (robot hand 7), and a projection part (bolt 10) for attachment and detachment is formed at the end of the holder handle part 9.
The rotary shaft 20 of the index table is provided with a center hole 21 into which the holder 6 is inserted and fitted, and is also provided with a locking mechanism that can fix and release the protrusion from the rotary shaft. Since the grip and the workpiece on the index table are replaced together with the holder 6, there are the following advantages.

(1) - When operating several machining centers by one person,
If workpieces are replaced so that several workpieces are always pooled in each workpiece magazine, there is no need to stop the machine when replacing workpieces, and the operating rate of the machine can be improved.

(2) The workpiece is held in the workpiece magazine 3 with the workpiece attached to the holder 6, and the holder 6 is attached to and removed from the rotating shaft of the index table. Compared to the case where the workpiece is replaced by grasping it, even if the workpiece is oddly shaped or small, the workpiece can be reliably transported by the manipulator using the grip part of the holder, and the handle part can be used to transport the workpiece securely. Can be securely attached to the rotating shaft of the index table.

Therefore, the structure for connecting the rotating shaft of the holder and index table can be the most ideal device and structure, regardless of the shape of the workpiece itself, and the occurrence of poor gripping and fixing will be reduced. .

In addition, variations in the accuracy of processed products due to poor installation (unstable variations due to dust or the shape of the positioning surface) can be minimized. It is especially suitable for irregularly shaped, medium and small workpieces.

(3) Since a gripping portion is formed on the holder 6, a manipulator 1 for gripping the workpiece, for example, a one-piece robot hand 7 can be used.
It is only necessary to prepare a tip tool part that matches the shape of the gripping part of the holder 6, and therefore there is no need to replace the tool of the robot hand every time the shape of the workpiece changes.

In addition, in the second invention, the vertical movement of the main shaft of the machine and the movement of the machine table back and forth and left and right can be used to attach, detach, and transport the workpiece, so a specialized control device for transporting the workpiece There is no need to prepare for this, and the investment amount can be saved.

Incidentally, when attempting to perform unmanned operation using a robot dedicated to transporting workpieces, a two-material supply device, etc., as long as the processing capacity of the device is increased, unmanned operation can be achieved accordingly. However, if you try to increase the processing capacity, the amount of money invested will increase significantly compared to the capacity. Furthermore, the more complicated the operation program of the transfer robot, the more expensive the controller dedicated to the robot will be. In addition, equipment must be added to improve quality reliability, and in multi-component production, setup changes become exaggerated and the operating rate decreases.

In the third invention, the flange 6a is formed on the handle 9 of the holder 6, and positioning in the axial direction is performed by the contact between the flange 6a and the end surface of the rotating shaft 20 of the index table. , preventing axial variations in the workpiece and stabilizing the axial dimensional viscosity.

[Brief explanation of drawings]

FIG. 1 is a partial front view of a machining center equipped with an index table to which the first, second, and third inventions of the present application are applied, FIG. 2 is an enlarged line lWi blood diagram of the index table, and FIG. It is an enlarged view of the main part. 1... Machine spindle, 2... Machine table, 3... Workpiece magazine, 5... Index table, 6... Workpiece holder, 7... Robot hand (example of manipulator) , 9--Handle part, 10--Attachment/detachment bolt (attachment/detachment protrusion), 15...Annular groove (grip part), 21...
・Center hole, 31.32.33...Slide tube, lock ball, cylinder mounting [(lock mechanism)

Claims (3)

[Claims] (1) In an index table installed together with a workpiece magazine on a machine table such as a machining center, the workpiece magazine removably holds a plurality of workpiece mounting holders each having a workpiece attached thereto. , each holder is formed with a grip part that can be gripped by a manipulator, and a protrusion for attaching and detaching is formed at the end of the holder handle, and the holder is inserted and fitted into the rotation axis of the index table. Along with providing a center hole,
An index table characterized in that the protrusion is provided with a locking mechanism that can be fixed to and released from the rotating shaft, and the workpiece can be exchanged with the holder by grasping the gripping part of the holder with a manipulator. Workpiece replacement structure. (2) In an index table installed together with a workpiece magazine on a machine table such as a machining center, the workpiece magazine removably holds a plurality of workpiece mounting holders each having a workpiece attached thereto. , each holder is formed with a grip part that can be gripped by a manipulator, and a protrusion for attaching and detaching is formed at the end of the holder handle, and the holder is inserted and fitted into the rotation axis of the index table. Along with providing a center hole,
A locking mechanism is provided that can fix and release the protrusion on the rotating shaft, and by grasping the gripping part of the holder with a manipulator, the workpiece can be exchanged with the holder,
A manipulator for gripping the holder is detachably attached to the main shaft of a machining center, etc., and the holder is gripped and transported by the manipulator by moving the machine table of the machining center and moving the main shaft up and down. A workpiece replacement structure of an index table characterized by the following. (3) In an index table installed together with a workpiece magazine on a machine table such as a machining center, the workpiece magazine removably holds a plurality of workpiece mounting holders each having a workpiece attached thereto. , each holder is formed with a grip part that can be gripped by a manipulator, and a protrusion for attaching and detaching is formed at the end of the holder handle, and the holder is inserted and fitted into the rotation axis of the index table. Along with providing a center hole,
A locking mechanism is provided that can fix and release the protrusion on the rotating shaft, and by grasping the gripping part of the holder with a manipulator, the workpiece can be exchanged with the holder,
A workpiece replacement structure for an index table, characterized in that the holder is provided with a collar for positioning in the axial direction, and when the holder is attached to the index table, the end face of the collar comes into contact with the end face of the rotating shaft.