KR19980053811U - Compact Gripper Rotator of Autoloader - Google Patents

Compact Gripper Rotator of Autoloader Download PDF

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Publication number
KR19980053811U
KR19980053811U KR2019960067001U KR19960067001U KR19980053811U KR 19980053811 U KR19980053811 U KR 19980053811U KR 2019960067001 U KR2019960067001 U KR 2019960067001U KR 19960067001 U KR19960067001 U KR 19960067001U KR 19980053811 U KR19980053811 U KR 19980053811U
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KR
South Korea
Prior art keywords
gripper
autoloader
compact
rack
shaft
Prior art date
Application number
KR2019960067001U
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Korean (ko)
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KR200149854Y1 (en
Inventor
이경조
Original Assignee
추호석
대우중공업 주식회사
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Priority to KR2019960067001U priority Critical patent/KR200149854Y1/en
Publication of KR19980053811U publication Critical patent/KR19980053811U/en
Application granted granted Critical
Publication of KR200149854Y1 publication Critical patent/KR200149854Y1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B13/00—Arrangements for automatically conveying or chucking or guiding stock
    • B23B13/12—Accessories, e.g. stops, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/02—Drive

Abstract

본 고안은 NC선반의 오토로더에서 공작물을 공급,배출하는 장치중 그리퍼(GRIPPER)의 자세제어에 관한 것으로, NC선반의 오토로더에서 그리퍼를 구성함에 있어서, 2개의 서보모터(24,25)의 구동제어를 받아 좌우상하로 이송되는 빔(5)의 하단부에 그리퍼 몸체(6)를 설치하고, 이 그리퍼 몸체(6)의 내부에는 실린더(7)의 로드에 연결된 랙(8)과, 이 랙(8)에 치합된 피니언(9)을 갖는 샤프트(11)를 회전자재되게 설치하고, 이 샤프트(11)에 배출용 그리퍼(3)와 공급용 그리퍼(13)를 구비한 그리퍼 지지대(4)를 연결하여서 된 것으로, 그리퍼 회전장치의 구성이 간단하여 콤팩트형 소형선반에 적용이 용이할 뿐만 아니라 설치비용도 대폭 절감시킬 수 있다.The present invention relates to the attitude control of the gripper (GRIPPER) of the apparatus for supplying and discharging the workpiece from the autoloader of the NC lathe, the drive control of the two servomotors (24, 25) in configuring the gripper in the autoloader of the NC lathe The gripper body (6) is installed at the lower end of the beam (5) to be transported up and down and up and down, and the rack (8) connected to the rod of the cylinder (7) and the rack (8) inside the gripper body (6). ), A shaft 11 having a pinion 9 engaged with it is rotatably installed, and a gripper support 4 having a discharge gripper 3 and a supply gripper 13 is connected to the shaft 11. The simple configuration of the gripper rotating device makes it easy to apply to compact compact lathes and can greatly reduce installation costs.

Description

오토로더의 콤팩트형 그리퍼회전장치Compact Gripper Rotator of Autoloader

본 고안은 NC선반의 오토로더에서 공작물을 공급,배출하는 장치중 그리퍼(GRIPPER)의 자세제어에 관한 것으로, 특히 그리퍼 회전장치의 구성이 간단하여 콤팩트형 소형선반에 적용이 용이하도록 한 오토로더의 콤팩트형 그리퍼회전장치에 관한 것이다.The present invention relates to the attitude control of the gripper among the devices for supplying and discharging workpieces from the autoloader of NC lathe. It relates to a gripper rotating device.

종래에는 그리퍼 회전장치를 고가의 제품을 사용하여 주로 구성하여 왔다. 가격이 고가일 뿐 아니라 종류가 다양하지 못하고 크기 및 형상의 제약에 따라 콤팩트형 소형선반에서 작동상 많은 제약이 따르게 된다.Conventionally, the gripper rotating device has been mainly constructed using expensive products. Not only is it expensive, but there are many types and restrictions on the size and shape of the compact compact lathes will cause many restrictions in operation.

따라서 본 고안은 콤팩트형 소형선반에서 사용할 수 있는 그리퍼 회전장치의 간단한 구성으로 오토로더 구성이 더욱 콤팩트화가 가능하도록 한 오토로더의 콤팩트형 그리퍼회전장치를 제공함에 그 목적이 있다.Therefore, an object of the present invention is to provide a compact gripper rotating device of an autoloader, which enables the autoloader to be more compact with a simple configuration of a gripper rotating device that can be used in a compact compact lathe.

상기의 목적을 달성하기 위한 본 고안의 구체적인 수단은, NC선반의 오토로더에서 그리퍼를 구성함에 있어서, 2개의 서보모터의 구동제어를 받아 좌우상하로 이송되는 빔의 하단부에 그리퍼 몸체를 설치하고, 이 그리퍼 몸체의 내부에는 실린더의 로드에 연결된 랙과, 이 랙에 치합된 피니언을 갖는 샤프트를 회전자재되게 설치하고, 이 샤프트에 배출용 그리퍼와 공급용 그리퍼를 구비한 그리퍼 지지대를 연결하여서 된 것을 특징으로 한다.The specific means of the present invention for achieving the above object, in the configuration of the gripper in the autoloader of the NC lathe, the gripper body is installed at the lower end of the beam to be moved left and right under the control of the drive of two servo motors, Inside the gripper body, a rack connected to the rod of the cylinder and a shaft having a pinion engaged with the rack are rotatably installed, and a gripper support having a discharge gripper and a supply gripper is connected to the shaft. It is done.

도 1은 오토로더 및 그리퍼 회전장치의 작동상태도.1 is an operating state of the autoloader and gripper rotating device.

도 2는 도 1의 A-A선에서 본 부분 단면도.FIG. 2 is a partial sectional view seen from the line A-A of FIG. 1; FIG.

도면의 주요 부분에 대한 부호의 설명Explanation of symbols for the main parts of the drawings

4 : 그리퍼 지지대 3 : 배출용 그리퍼 5 : 빔4: gripper support 3: discharge gripper 5: beam

6 : 그리퍼 몸체 7 : 실린더 8 : 랙6: gripper body 7: cylinder 8: rack

9 : 피니언 17 : 조절나사 11 : 샤프트9: pinion 17: adjusting screw 11: shaft

13 : 공급용 그리퍼13: Gripper for Supply

이하, 첨부된 도면을 참조하여 본 고안의 실시예를 상세히 설명한다.Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

도 1,2에 도시된 바와 같이 서보모터(25)에 의해 상하운동을 하고, 다른 서보모터(24)에 좌우운동을 하는 빔(5)의 하단부에는 그리퍼 몸체(6)가 조립되어 있다.As shown in FIGS. 1 and 2, the gripper body 6 is assembled at the lower end of the beam 5 which moves up and down by the servo motor 25 and moves left and right by the other servo motor 24.

상기 그리퍼 몸체(6)의 내부 상부에는 실린더(7)가 고정 설치되어 있고, 이 실린더(7)의 로드에는 상하 슬라이딩 지지되는 랙(8)이 연결되어 있고, 이 랙(8)은 이의 직선운동을 회전운동으로 전환시키기 위해 샤프트(11)의 피니언(9)에 치합되어 있고, 상기 샤프트(11)에는 배출용 그리퍼(3)와 공급용 그리퍼(13)를 구비한 그리퍼 지지대(4)가 연결되어 있다.A cylinder 7 is fixedly installed on an inner upper portion of the gripper body 6, and a rack 8, which is supported to slide up and down, is connected to a rod of the cylinder 7, and the rack 8 has its linear motion. Is engaged with the pinion 9 of the shaft 11 to convert it into rotational movement, and the shaft 11 is connected with a gripper support 4 having a discharge gripper 3 and a supply gripper 13. It is.

따라서 실린더(7)에 의해 랙(8)의 상하운동에 의해 그리퍼 지지대(4)는 90도 회전운동을 반복하게 되어 있다.Therefore, the gripper support 4 repeats the 90-degree rotational movement by the up-and-down movement of the rack 8 by the cylinder 7.

한편, 그리퍼 지지대(4)의 90도 회전각도의 미세 조절은 그리퍼 몸체(6)에 나사결합되어 상기 랙(8)의 상하 이동을 제한하는 조절나사(17)에 의해 척(2)과의 상관위치를 맞추게 되어 있다.On the other hand, fine adjustment of the 90 degree rotational angle of the gripper support 4 is correlated with the chuck 2 by an adjustment screw 17 which is screwed to the gripper body 6 to limit the vertical movement of the rack 8. It is supposed to be in position.

이와 같이 구성된 본 실시예의 작동상태를 설명한다.The operating state of this embodiment configured as described above will be described.

빔(5)을 좌우 이송용 서보모터(24)에 의해 하강위치(30)로 이동시킨 후 다시 상하이송용 서보모터(25)에 의해 빔(5)을 하강시켜 그리퍼 몸체(6)를 소재공급장치(21)에 접근시켜서 공급용 그리퍼(13)로 미가공소재(22)를 클램핑하여 다시 상승한 뒤 실린더(7)의 작동으로 랙(8)에 치합된 피니언(9)의 회전으로 샤프트(11)에 연결된 그리퍼 지지대(11)가 90도 회전을 하고 최초의 대기위치(31)로 이동하여 공작물 가공의 완료를 기다리게 된다.The beam 5 is moved to the lowered position 30 by the left and right transport servo motor 24, and then the beam 5 is lowered by the shanghai transport servo motor 25 to transfer the gripper body 6 to the material supply device. Approaching (21), clamping the raw material (22) with the supply gripper (13) and raising it again, followed by rotation of the pinion (9) engaged with the rack (8) by the operation of the cylinder (7) to the shaft (11). The connected gripper support 11 rotates 90 degrees and moves to the initial standby position 31 to wait for the completion of workpiece machining.

이후, 선반에서 공작물 가공이 완료되면 서보모터(25)에 의해 대기위치(31)에 있던 그리퍼 몸체(6)가 하강하여 척(10)의 위치와 배출용 그리퍼(3)의 위치가 일치되게 된다.Subsequently, when the workpiece machining is completed in the lathe, the gripper body 6 in the standby position 31 is lowered by the servo motor 25 so that the position of the chuck 10 and the position of the discharge gripper 3 coincide. .

따라서 척(10)에 물려있는 가공소재(P)는 배출용 그리퍼(3)로 배출되고, 다시 공급용 그리퍼(13)가 척(10)의 위치와 일치되게 하강하여, 이 척(10)에 미가공된 소재를 공급한 후 다시 대기위치(31)로 상승하게 된다.Accordingly, the workpiece P held by the chuck 10 is discharged to the discharge gripper 3, and the supply gripper 13 is lowered to coincide with the position of the chuck 10, so that the chuck 10 is lowered. After supplying the raw material is raised to the standby position 31 again.

이와 같이 각 서보모터(24,25) 및 실린더(7)는 하나의 프로그램에 의해 제어되고 상기와 같이 소재공급장치(21)와 척(10)으로부터 미가공소재와 가공소재를 서로 교환하여 연속적인 공급, 배출을 수행할 수 있다.In this way, each servomotor 24 and 25 and the cylinder 7 are controlled by one program, and as described above, the raw material and the workpiece are exchanged continuously from the material supply device 21 and the chuck 10 for continuous supply. The discharge can be carried out.

상술한 바와 같이 본 고안에 의하면 실린더의 직선운동을 90도 회전운동으로 바꾸어 그리퍼 지지대를 회전제어토록 함으로 그 구성이 간단하여 콤팩트형 소형선반에서 오토로더 그리퍼를 콤팩트하게 할 수 있을 뿐만 아니라 설치비용도 대폭 절감시킬 수 있다.As described above, according to the present invention, by changing the linear motion of the cylinder into a 90-degree rotational motion to control the gripper support rotation, the configuration is simple, which makes the autoloader gripper compact in a compact compact lathe and greatly increases the installation cost. Can be saved.

Claims (2)

NC선반의 오토로더에서 그리퍼를 구성함에 있어서, 2개의 서보모터(24,25)의 구동제어를 받아 좌우상하로 이송되는 빔(5)의 하단부에 그리퍼 몸체(6)를 설치하고, 이 그리퍼 몸체(6)의 내부에는 실린더(7)의 로드에 연결된 랙(8)과, 이 랙(8)에 치합된 피니언(9)을 갖는 샤프트(11)를 회전자재되게 설치하고, 이 샤프트(11)에 배출용 그리퍼(3)와 공급용 그리퍼(13)를 구비한 그리퍼 지지대(4)를 연결하여서 된 것을 특징으로 하는 오토로더의 콤팩트형 그리퍼회전장치.In constructing the gripper in the autoloader of the NC lathe, the gripper body 6 is installed at the lower end of the beam 5 which is transported from side to side and under the control of the two servomotors 24 and 25. 6) inside the rack (8) connected to the rod of the cylinder (7), and the shaft (11) having a pinion (9) meshed with the rack (8) is rotatably installed, and on this shaft (11) A compact gripper rotating device for an autoloader, characterized by connecting a gripper support (4) having a discharge gripper (3) and a supply gripper (13). 제 1항에 있어서, 상기 그리퍼 지지대(4)의 90도 회전각도의 미세 조절은 그리퍼 몸체(6)에 나사결합되어 상기 랙(8)의 상하 이동을 제한하는 조절나사(17)에 의해 이루어 지도록 한 것을 특징으로 하는 오토로더의 콤팩트형 그리퍼회전장치.The method of claim 1, wherein the fine adjustment of the 90 degree rotational angle of the gripper support (4) is made by the adjustment screw (17) which is screwed to the gripper body 6 to limit the vertical movement of the rack (8) Compact gripper rotating device of an autoloader characterized in that.
KR2019960067001U 1996-12-31 1996-12-31 Gripper rotation device KR200149854Y1 (en)

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KR2019960067001U KR200149854Y1 (en) 1996-12-31 1996-12-31 Gripper rotation device

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Application Number Priority Date Filing Date Title
KR2019960067001U KR200149854Y1 (en) 1996-12-31 1996-12-31 Gripper rotation device

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KR200149854Y1 KR200149854Y1 (en) 1999-06-15

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710393A (en) * 2016-02-22 2016-06-29 江苏博尚智能装备有限公司 Blank feeding device of full-automatic numerically-controlled lathe for turning steel balls
CN108107356A (en) * 2017-12-26 2018-06-01 浙江奔龙自动化科技有限公司 Breaker temporal properties detection device
CN108120923A (en) * 2017-12-26 2018-06-05 浙江奔龙自动化科技有限公司 Breaker time-delay characteristics detection device
CN108435942A (en) * 2018-01-29 2018-08-24 江苏森威集团飞达股份有限公司 A kind of punching machine automatic charging clamping jaw device and its feeding technique
CN115284049A (en) * 2022-08-09 2022-11-04 苏州派恩精密机械有限公司 Set up blank transfer apparatus between two digit control machine tools
CN117260118A (en) * 2023-09-28 2023-12-22 黑龙江省公路建设中心 Road and bridge construction template auxiliary processing device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710393A (en) * 2016-02-22 2016-06-29 江苏博尚智能装备有限公司 Blank feeding device of full-automatic numerically-controlled lathe for turning steel balls
CN108107356A (en) * 2017-12-26 2018-06-01 浙江奔龙自动化科技有限公司 Breaker temporal properties detection device
CN108120923A (en) * 2017-12-26 2018-06-05 浙江奔龙自动化科技有限公司 Breaker time-delay characteristics detection device
CN108435942A (en) * 2018-01-29 2018-08-24 江苏森威集团飞达股份有限公司 A kind of punching machine automatic charging clamping jaw device and its feeding technique
CN115284049A (en) * 2022-08-09 2022-11-04 苏州派恩精密机械有限公司 Set up blank transfer apparatus between two digit control machine tools
CN117260118A (en) * 2023-09-28 2023-12-22 黑龙江省公路建设中心 Road and bridge construction template auxiliary processing device
CN117260118B (en) * 2023-09-28 2024-04-09 黑龙江省公路建设中心 Road and bridge construction template auxiliary processing device

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