WO2000066319A1 - Machine-outil a manipulateur - Google Patents

Machine-outil a manipulateur Download PDF

Info

Publication number
WO2000066319A1
WO2000066319A1 PCT/EP2000/001167 EP0001167W WO0066319A1 WO 2000066319 A1 WO2000066319 A1 WO 2000066319A1 EP 0001167 W EP0001167 W EP 0001167W WO 0066319 A1 WO0066319 A1 WO 0066319A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
gripper
clamping
machine tool
manipulator
Prior art date
Application number
PCT/EP2000/001167
Other languages
German (de)
English (en)
Inventor
Pavel Blazek
Original Assignee
Stama Maschinenfabrik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stama Maschinenfabrik Gmbh filed Critical Stama Maschinenfabrik Gmbh
Priority to EP00907559A priority Critical patent/EP1175278A1/fr
Priority to JP2000615190A priority patent/JP2002542954A/ja
Publication of WO2000066319A1 publication Critical patent/WO2000066319A1/fr
Priority to US10/045,366 priority patent/US20020086628A1/en

Links

Classifications

    • 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
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/04—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being arranged to operate simultaneously at different stations, e.g. with an annular work-table moved in steps
    • 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

Definitions

  • the present invention relates to a machine tool with a workpiece carrier for clamping a workpiece to be machined and a spindle head, in which a rotationally driven tool spindle is mounted, into which tools for machining the workpieces can be clamped, and a device for removing and holding the finished workpiece carrier machined workpiece for further machining.
  • Such a machine tool is known from EP 0 368 996 B1.
  • the known machine tool is a traveling column machine, on the machine bed of which a clamping device for workpiece bars is arranged.
  • the clamping device is provided with a rotary drive, so that a workpiece rod can be machined on all four long sides by means of a tool clamped in the tool spindle.
  • a gripping and swiveling unit is provided on the machine bed, which is mounted on its own cross slide.
  • the cross slide moves towards the workpiece and clamps it into its jaw chuck.
  • the workpiece is then separated from the bar and the cross slide is moved back a bit.
  • the jaw chuck is now swiveled upwards by 190 ° so that the cut side can be machined from above using a milling tool.
  • DE 196 35 258 Cl discloses a comparable machine tool, in which, however, the clamping device can be pivoted about an axis running transversely to the longitudinal axis of the workpiece rods. In this way it is possible to machine the four long sides as well as the end face of the workpiece remote from the clamping device.
  • the workpiece is largely separated from the rest of the workpiece rod using a circular saw that can be clamped into the tool spindle.
  • the clamping device is then moved back into its horizontal position so that the gripping and swiveling unit can move forward and grasp the workpiece on the end face that has now been machined.
  • the workpiece is then completely cut off, after which - as described above - the sixth side can also be processed.
  • the device comprises a manipulator for moving a gripper, through which a Workpiece carrier finished machined workpiece can be removed, and has a clamping station into which the gripper holding the workpiece can be inserted.
  • manipulator that is to say a type of robot arm
  • manipulators of this type have not previously been used to hold workpieces during processing.
  • tensioning station provided according to the invention, these disadvantages of the otherwise very inexpensive and simply constructed manipulator can, however, be eliminated in that the gripper of the manipulator is clamped in the tensioning station.
  • a clamping station arranged in a predetermined orientation ensures the accuracy and the necessary holding forces, while the handling is carried out by the manipulator.
  • the manipulator grips the workpiece in any position, whereupon it can be completely separated from the workpiece rod.
  • the manipulator then pivots the workpiece as it would for the next one Machining is required, and then places its gripper in the clamping station, where it is clamped accordingly.
  • the manipulator has a boom which can be pivoted about a vertical axis and on which the gripper is mounted so as to be pivotable about an axis of rotation running transverse to the vertical axis.
  • the advantage here is that the workpiece can be removed horizontally from the workpiece carrier in a simple manner.
  • the gripper then swivels the workpiece first by 90 ° and then moves laterally into the clamping station, where it is locked. After the fifth side has been machined in this clamping, the gripper moves out of the clamping station, rotates the workpiece through 180 ° and moves back into the clamping station, so that the sixth side can now be machined.
  • 6-sided machining is possible without the need for even a swivel drive in order to rotate a workpiece clamped for machining by 90 ° in such a way that its end face can be machined.
  • the boom is designed to be height-adjustable in the direction of the vertical axis.
  • the clamping station has clamping jaws adapted to an outer contour of the gripper for centering and holding the gripper.
  • the gripper has exchangeable jaws which are adapted to an outer contour of the workpiece.
  • This measure again leads to an increase in accuracy because the workpiece can be held even more securely by means of adapted jaws than by standard jaws.
  • this measure also has constructive advantages, because in the case of a transition to machining a workpiece with a different geometry, only the jaws of the gripper have to be readjusted, all other units of the machine tool remain unchanged without the accuracy or machining speed suffering.
  • the workpiece carrier has a clamping device which can be pivoted transversely to the vertical axis and by means of which the workpiece can be brought into a vertical orientation for processing its side remote from the clamping device.
  • This measure which is already known from DE 196 35 258 Cl, enables five sides to be processed in a single clamping.
  • the manipulator grasps the vertically aligned workpiece, which is then separated from the workpiece rod. The manipulator then swivels to the clamping station, while simultaneously rotating the gripper by 180 °. In this position, the gripper is clamped in the clamping station, whereupon the sixth side of the workpiece now faces upwards so that it can be machined.
  • Figure 1 is a schematic side view of the new machine tool.
  • FIG. 2 shows a plan view of the machine tool from FIG. 1, likewise in a schematic view; 3 shows a representation like FIG. 2, but with the workpiece pivoted through 90 °;
  • FIG. 4 shows a plan view of a gripper clamped in a clamping station
  • FIG. 5 shows the gripper from FIG. 4 in an isolated representation.
  • FIG. 1 generally designates a machine tool shown there very schematically in a side view, which has a machine bed 11.
  • the spindle head 14 can be moved in the usual manner in the three spatial directions with respect to the machine bed 11.
  • a tool spindle 15 is rotatably mounted, into which tools 16 can be used for machining a workpiece 18 which is held in a workpiece carrier 19.
  • the workpiece carrier 19 comprises a clamping device 21, in which the workpiece 18 is clamped.
  • the tensioning device 21 can be pivoted about a pivot axis indicated at 22, as is indicated by an arrow 23.
  • the workpiece 18 is machined on its side 24 remote from the clamping device 21.
  • a device 26 for removing and holding a workpiece 18 finished in the clamping device 21 is arranged on the machine bed 11.
  • This device 26 comprises a manipulator 27 which carries a gripper 28 at its outer end. Behind the manipulator 27 there is also indicated a clamping station 29, into which the gripper 28 can be clamped in a manner to be described.
  • a depositing station 31 is indicated on the right next to the manipulator 27 in FIG. 1, on which the manipulator 27 deposits finished workpieces 18.
  • the manipulator 27 comprises a cantilever 33 which is mounted on a post 34 so as to be pivotable about a vertical axis 35 extending transversely to the pivot axis 22, as is indicated by an arrow 36.
  • the gripper 28 is pivotally mounted on the boom 33 about an axis of rotation 38 which extends transversely to the pivot axis 22 and to the vertical axis 35, as is indicated by an arrow 39.
  • FIG. 2 shows the machine tool from FIG. 1 in a top view, the spindle head 14 and the tool spindle 15 being indicated only by dashed lines.
  • Fig. 2 it can be seen that the clamping device 21 is mounted on a base 41, on which a motor 42 is also provided for pivoting the clamping device 21 about the pivot axis 22.
  • the clamping station 29 has two clamping jaws 44 which can be moved towards one another and which each have a curved surface 45 which points towards one another, the contour of which is adapted to an outer contour of the gripper 28 indicated at 46.
  • a recess 47 is provided between the clamping jaws 44, so that the gripper 28 can be inserted between the clamping jaws 44 without a workpiece 18 which may protrude downward being displaced or coming into contact with a contact surface 48 for the clamping jaws 44.
  • the manipulator 27 grips the workpiece 18 with its gripper 28, whereupon the tool shown in FIG. 1, which is a circular saw, separates the workpiece 18 from the remaining workpiece rod.
  • the manipulator 27 then swings to the side in the direction of the arrow 36, while at the same time moving the gripper 28 about the axis of rotation 38 rotated so that the end face 24 of the workpiece 18 now points downward.
  • the jaws 50 have a contour 51 which is adapted to the outer contour of the workpiece 18.
  • the contour 51 can be seen better in FIG. 5, where the gripper 28 is shown without a clamping station 29.
  • a further holding jaw 53 is shown there, which can be used for even better centering and holding the gripper 28.
  • FIG. 4 compressed air or pneumatic hoses are shown in FIG. 4, through which the jaws 50 of the gripper 28 are moved up and down.
  • the clamping forces that can be applied in this way are relatively low, but are sufficient so that the position of the workpiece does not change during the movement between the clamping device 21 and the clamping station 29.
  • the clamping jaws 44 now exert pressure on the jaws 50, as a result of which the workpiece 18 is held securely in the jaws 50.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)
  • Turning (AREA)

Abstract

L'invention concerne une machine-outil (10) équipée d'un porte-pièce (19) pour la fixation d'une pièce à usiner (18) et d'un plateau de broche (14) dans lequel est montée une broche d'outil (15) dans laquelle peuvent être fixés des outils (16) pour l'usinage de la pièce (18). En outre, il est prévu un dispositif (26) pour la prise et le maintien de la pièce déjà usinée (18) dans le porte-outil (19) en vue d'une autre opération d'usinage. Le dispositif (26) comprend un manipulateur (27) pour un processus faisant intervenir une pince de préhension (28) permettant la prise d'une pièce déjà usinée (18) dans le porte-outil, ainsi qu'une station de serrage (29) dans laquelle peut être insérée la pince (28) maintenant la pièce (18).
PCT/EP2000/001167 1999-04-30 2000-02-12 Machine-outil a manipulateur WO2000066319A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP00907559A EP1175278A1 (fr) 1999-04-30 2000-02-12 Machine-outil a manipulateur
JP2000615190A JP2002542954A (ja) 1999-04-30 2000-02-12 マニピュレータを有する工作機械
US10/045,366 US20020086628A1 (en) 1999-04-30 2001-10-29 Machine tool with a manipulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19919647A DE19919647C2 (de) 1999-04-30 1999-04-30 Werkzeugmaschine mit einem Manipulator
DE19919647.8 1999-04-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US10/045,366 Continuation US20020086628A1 (en) 1999-04-30 2001-10-29 Machine tool with a manipulator

Publications (1)

Publication Number Publication Date
WO2000066319A1 true WO2000066319A1 (fr) 2000-11-09

Family

ID=7906376

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/001167 WO2000066319A1 (fr) 1999-04-30 2000-02-12 Machine-outil a manipulateur

Country Status (5)

Country Link
US (1) US20020086628A1 (fr)
EP (1) EP1175278A1 (fr)
JP (1) JP2002542954A (fr)
DE (1) DE19919647C2 (fr)
WO (1) WO2000066319A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE50211104D1 (de) 2001-05-17 2007-12-06 Chiron Werke Gmbh Werkzeugmaschine und Verfahren zur Bearbeitung eines stangenförmigen Werkstücks
DE10145674B4 (de) * 2001-05-17 2005-12-15 Chiron-Werke Gmbh & Co Kg Werkzeugmaschine zur Bearbeitung eines stangenförmigen Werkstücks
DE50212129D1 (de) 2001-05-17 2008-06-05 Chiron Werke Gmbh Werkzeugmaschine zur Bearbeitung eines stangenförmigen Werkstücks
DE102004054191A1 (de) * 2004-11-10 2006-05-11 Cross Hüller GmbH Fertigungsstraße zur Bearbeitung von Werkstücken
DE102006007700A1 (de) * 2006-02-13 2007-08-16 Stama Maschinenfabrik Gmbh Werkzeugmaschine und Verfahren zur spanabhebenden Bearbeitung von Werkstücken, insbesondere von metallischen Werkstücken
DE102006013418B4 (de) * 2006-03-14 2016-11-10 Stama Maschinenfabrik Gmbh Werkzeugmaschine zur spanabhebenden Bearbeitung von Werkstücken, insbesondere von metallischen Werkstücken
DE102009050476B4 (de) * 2009-10-23 2015-06-18 Airbus S.A.S. Bohrvorrichtung
DE102010007890B4 (de) 2010-02-08 2019-01-03 Chiron-Werke Gmbh & Co Kg Werkzeugmaschine zum Bearbeiten von schlanken Werkstücken
DE102013008709A1 (de) * 2013-05-22 2014-11-27 Gleason-Pfauter Maschinenfabrik Gmbh Verfahren zum Erzeugen und/oder Bearbeiten einer Verzahnung und Verzahnungsmaschine
CN106312097B (zh) * 2015-07-01 2019-05-31 中国五洲工程设计集团有限公司 一种大长细比推进剂组合式自动车药装置
JP6250900B2 (ja) * 2015-09-29 2017-12-20 ファナック株式会社 工作機械とロボットとの協働によってワークを加工する方法
CN108213500A (zh) * 2018-02-08 2018-06-29 江西景旺精密电路有限公司 一种钻孔自动作业设备及作业方法
CN109051752A (zh) * 2018-08-16 2018-12-21 深圳市智坤机械设备有限公司 素子入铝壳上料装置
CN110076635A (zh) * 2019-06-03 2019-08-02 东莞智富五金制品有限公司 一种多工位柔性五金加工中心及其加工方法
EP3778086B1 (fr) * 2019-08-16 2022-10-19 United Grinding Group Management AG Module de traitement pour une plaque de base et procédé de traitement d'une plaque de base
CN112676901A (zh) * 2020-12-08 2021-04-20 重庆机电职业技术大学 一种用于钢板材料铣床加工的自动上料机

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4753044A (en) * 1985-09-06 1988-06-28 Bula & Fils S.A. Machine for finishing cast or machined parts
EP0368996B1 (fr) * 1988-06-03 1992-08-19 Stama Maschinenfabrik Gmbh Machine a aleser et a fraiser
DE9204108U1 (fr) * 1992-03-27 1993-07-22 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
DE19635258C1 (de) * 1996-08-30 1998-02-12 Stama Maschinenfabrik Gmbh Bohr- und Fräswerk zum Verarbeiten von Werkstoffstangen

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3382564D1 (de) * 1982-03-10 1992-06-25 Renishaw Plc Werkzeugmaschine.
DE3440762A1 (de) * 1984-11-08 1986-05-07 Pittler Maschinenfabrik Ag, 6070 Langen Vertikal arbeitende werkzeugmaschine mit handhabungsgeraet

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4753044A (en) * 1985-09-06 1988-06-28 Bula & Fils S.A. Machine for finishing cast or machined parts
EP0368996B1 (fr) * 1988-06-03 1992-08-19 Stama Maschinenfabrik Gmbh Machine a aleser et a fraiser
DE9204108U1 (fr) * 1992-03-27 1993-07-22 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
DE19635258C1 (de) * 1996-08-30 1998-02-12 Stama Maschinenfabrik Gmbh Bohr- und Fräswerk zum Verarbeiten von Werkstoffstangen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Robot vision adds flexibility to finishing", TOOLING AND PRODUCTION., vol. 50, no. 1, April 1984 (1984-04-01), HUEBER PUBLICATION INC. SOLON., US, pages 70 - 72, XP002140314, ISSN: 0040-9243 *

Also Published As

Publication number Publication date
DE19919647A1 (de) 2000-11-09
DE19919647C2 (de) 2003-08-21
US20020086628A1 (en) 2002-07-04
EP1175278A1 (fr) 2002-01-30
JP2002542954A (ja) 2002-12-17

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