WO2017068644A1 - Robot pour transporter et attacher/détacher une pièce de fabrication - Google Patents

Robot pour transporter et attacher/détacher une pièce de fabrication Download PDF

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Publication number
WO2017068644A1
WO2017068644A1 PCT/JP2015/079557 JP2015079557W WO2017068644A1 WO 2017068644 A1 WO2017068644 A1 WO 2017068644A1 JP 2015079557 W JP2015079557 W JP 2015079557W WO 2017068644 A1 WO2017068644 A1 WO 2017068644A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
rotation axis
arm
work
supported
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Application number
PCT/JP2015/079557
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English (en)
Japanese (ja)
Inventor
周一 平田
鈴木　淳
Original Assignee
富士機械製造株式会社
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.)
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Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2017546310A priority Critical patent/JP6656262B2/ja
Priority to PCT/JP2015/079557 priority patent/WO2017068644A1/fr
Publication of WO2017068644A1 publication Critical patent/WO2017068644A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • the present invention relates to a workpiece transfer / detachment robot for transferring a workpiece and attaching / detaching a workpiece to / from a work module in a system in which a plurality of work modules are arranged side by side.
  • Patent Document 1 As a machining system in which a plurality of machining modules are arranged side by side and machining by the plurality of machining modules is sequentially performed on a workpiece, there is a technique described in Patent Document 1 below. On the other hand, there is a technique described in Patent Document 2 below as an articulated robot that transports a workpiece in a machine tool (machine tool).
  • the workpiece transfer / detachment robot of the present invention is: In a system in which a plurality of work modules are arranged side by side in the left-right direction, a work transporting / detaching robot used for transporting a work in the left-right direction and attaching / detaching the work to / from each of the plurality of work modules,
  • the base A support member having a pair of struts supported by the base, each extending in the vertical direction and standing upright apart from each other;
  • a first arm that is supported by an upper end portion of the pair of struts so as to be sandwiched between the pair of struts and is rotatable about a first rotation axis perpendicular to the vertical direction;
  • a second arm supported at a distal end portion of the first arm and rotatable about a second rotation axis parallel to the first rotation axis;
  • a wrist member supported at the tip of the second arm and rotatable about a third rotation axis parallel to the first
  • a machining system employing the robot can be configured in a compact manner.
  • This aspect is a basic aspect.
  • Various processing modules can be used. Specifically, for example, a vertical lathe module, which will be described later, a centering module that performs centering on the end face in the longitudinal direction, a horizontal lathe module that mainly uses a horizontal lathe, and a milling machine module that performs milling are adopted.
  • the system of this aspect can perform various workpieces by arranging various machining modules, and is versatile by exchanging machining modules with other machining modules. It becomes.
  • This aspect is simply an aspect in which the vertical lathe is modularized in the machining system. Conventionally, there is no system in which a vertical lathe is modularized. In this respect, this aspect is a unique and innovative system.
  • a centering processing module that performs centering processing on an upper end surface of the workpiece is disposed upstream of the vertical turning module in the workpiece conveyance direction.
  • the workpiece prior to the machining by the vertical lathe module, can be centered by another module.
  • This is particularly effective when it is necessary to perform centering in machining with a vertical lathe module.
  • the centering module may be capable of performing not only centering but also machining such as cutting the end face by milling.
  • the centering processing module in this aspect can also be configured to perform processing on the end faces on both sides by inverting the workpiece upside down.
  • the vertical lathe module is A spindle that supports the lower end of the workpiece and rotates the workpiece around an axis extending in the vertical direction; A column standing behind the spindle; A beam extending in the front-rear direction and supported by the column so as to be movable in the vertical direction and the front-rear direction; A turret supported at the front end of the beam and capable of intermittently rotating around an axis parallel to the axis of the spindle while holding a plurality of blades; A machining system according to item (11) or (12), further comprising: a beam moving device that moves the beam in the vertical direction and the front-rear direction in order to move the turret when machining the workpiece.
  • This aspect relates to the basic structure of the vertical lathe module. According to this aspect, since the column, the spindle, and the turret can be arranged in the front-rear direction, it is possible to realize a module having a narrow width in the left-right direction. Further, for example, by arranging the turret on the front side of the spindle, it is possible to easily exchange the blade held by the turret.
  • the processing can be easily performed without the beam interfering with the workpiece.
  • the width of the module in the left-right direction can be made to be a width corresponding to the diameter of the turret, and the module in the left-right direction can be made compact.
  • the vertical lathe module is A spindle cooling device including a duct having one end opened in a space provided around the spindle and a fan provided at the other end of the duct for sucking air in the duct (13 ) Or machining system according to item (14).
  • the spindle becomes a large heating element during processing, according to this aspect, the spindle can be effectively cooled by the cooling device.
  • the vertical lathe module is The machining system according to any one of (13) to (15), further comprising a center pushing device that pushes a rotation center of an upper end of a work supported by the spindle downward.
  • the tailstock device is A rotation center whose tip is pressed against the workpiece; A tailstock that holds the rotation center and is supported by the column so as to be movable in the vertical direction along the column;
  • This aspect relates to the basic structure of the tailstock device. For example, by combining the embodiment described above, that is, the embodiment in which the beam supporting the turret and the spindle are decentered in the left-right direction, and this embodiment, interference between the movement of the tailstock and the movement of the beam is avoided. It is possible to build a compact module in the left-right direction.
  • the tailstock is A casing, A holder which is held movably in the vertical direction in the casing and holds the rotation center; A liquid chamber which is partitioned by the casing and the holder and is filled with the working fluid, and whose volume is changed by the movement of the holder with respect to the casing; In order to generate a force that suppresses the movement of the holder relative to the casing with a magnitude corresponding to the amount of the movement, pressure is applied to the hydraulic fluid in the liquid chamber according to a change in the volume of the liquid chamber.
  • the tail pushing device is configured to generate a force by which the rotation center presses the workpiece depending on the pressure applying mechanism.
  • This aspect relates to the structure of the tailstock.
  • the tailstock is moved until the rotation center comes into contact with the work, and is further moved from the contacted position, so that the work is pushed with a pressing force according to the amount of further movement. It is possible. That is, by adopting a servo motor or the like as a drive source of the tailstock moving device, it is possible to accurately manage the pressing force.
  • a pressing force is generated through the hydraulic fluid, a relatively smooth pressing is possible, unlike a pressing force generated directly by a spring.
  • the pressure applying mechanism is An auxiliary liquid chamber communicating with the liquid chamber; A plunger that is disposed so as to enter the auxiliary liquid chamber, and is capable of advancing and retracting with respect to the auxiliary liquid chamber as the volume of the liquid chamber varies.
  • This mode is a mode related to a specific structure of the pressure applying mechanism of the tailstock.
  • This aspect does not exclude an aspect in which a plurality of plungers enter one auxiliary liquid chamber and the plurality of plungers are urged by a plurality of springs, respectively.
  • the diameter of each plunger can be reduced, so that a relatively compact pressure applying mechanism can be constructed.
  • the spring exchangeable with a spring having a different spring constant the magnitude of the pressing force can be changed within a relatively large range without greatly changing the moving amount of the tailstock.
  • the vertical lathe module is The machining according to any one of (13) to (24), further comprising a housing surrounding the work supported by the spindle and the turret in order to define a machining space on the front side of the column. system.
  • the housing is A workpiece transfer opening provided on the front side for loading and unloading of workpieces into the machining space;
  • the shutter is A plurality of shutter plates arranged so as to be lined up and down in a state where the shutter is closed, each partially covering the workpiece transfer opening; A telescopic type in which the plurality of shutter plates are moved up and down in conjunction with each other so as to selectively realize a state in which the plurality of shutter plates overlap each other and a state in which the plurality of shutter plates are aligned vertically to open and close the workpiece transfer opening.
  • the workpiece transfer opening can be made relatively large, and it is easy to carry in and carry out a relatively long workpiece.
  • the vertical lathe module comprises a center pushing device that pushes downward the rotation center of the upper end of the work supported by the spindle,
  • the tailstock device includes: (a) a rotation center whose tip is pressed against the workpiece; and (b) a tailstock that holds the rotation center and is supported by the column so as to be vertically movable along the column. (C) a tailstock moving device that moves the tailstock vertically.
  • the housing comprises: A beam opening that is provided on the rear side and allows the beam to be inserted into the housing; and a tailstock opening that allows the tailstock to enter the housing; and While maintaining the processing space section by the housing, the beam opening movement allowing mechanism for allowing the beam opening to move up and down accompanying the vertical movement of the beam, and maintaining the processing space section by the housing
  • a tailstock opening movement allowing mechanism for allowing the tailstock opening to move up and down accompanying the vertical movement of the tailstock is described in any one of (31) to (33). Machining system.
  • This mode is a mode related to the rear cover in the configuration including the beam supporting the turret and the tail pusher. According to this aspect, it is possible to effectively cover the rear side of the housing without hindering the movement of the beam and tailstock in the vertical direction.
  • Each of the beam opening movement allowance mechanism and the tailstock opening movement allowance mechanism includes: A frame that partitions the opening and can be moved up and down; A plurality of cover plates respectively disposed above and below the frame; A telescopic cover plate movement allowance mechanism that allows movement of the plurality of cover plates in association with movement of the frame between a state in which the plurality of cover plates overlap each other and a state in which the plurality of cover plates are aligned vertically (paragraph 34).
  • the telescopic cover since the telescopic cover is employed, it is easy to move the beam and the tailstock up and down a relatively large distance while covering the rear side of the housing.
  • the beam opening movement permission mechanism and the tailstock opening movement permission mechanism are each unitized and arranged side by side to each other, and the frame of the beam opening movement permission mechanism is provided with the frame. It is shaped to open toward the tailstock opening moving mechanism and the frame of the tailstock opening moving mechanism is formed so as to open toward the beam opening moving mechanism.
  • the cover can be separated into the left and right, the cover can be easily cleaned, maintained, and the like.
  • the machining system is Items (1) to (36), including a workpiece transfer / detachment robot disposed in front of the base and configured to transfer a workpiece in the left-right direction and attach / detach the workpiece to / from each of the plurality of processing modules.
  • the machining system according to any one of the above.
  • This aspect is an aspect for the purpose of changing the category of the claimable invention. More specifically, this aspect relates to a workpiece transfer / detachment robot that can be used in the system described above. According to this aspect, in the above machining system, it is possible to transport and detach the workpiece with a high degree of freedom.
  • the workpiece transfer / removal robot is The base, A support member having a pair of struts supported by the base, each extending in the vertical direction and standing upright apart from each other; A first arm that is supported by an upper end portion of the pair of struts so as to be sandwiched between the pair of struts and is rotatable about a first rotation axis perpendicular to the vertical direction; A second arm supported at a distal end portion of the first arm and rotatable about a second rotation axis parallel to the first rotation axis; A wrist member supported at the tip of the second arm and rotatable about a third rotation axis parallel to the first rotation axis and the second rotation axis; A workpiece that is supported by the wrist member and holds the workpiece in a posture in which the longitudinal direction of the workpiece extends parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis.
  • the work holder is supported by the wrist member so as to be swingable about a swing axis extending parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis.
  • the workpiece transfer / removal robot is The machining system or workpiece transfer / detachment according to (42) or (43), wherein each of the workpiece holders includes a plurality of workpiece holders, and a plurality of workpieces can be simultaneously held by the plurality of workpiece holders. robot.
  • the workpiece transfer / removal robot is The machining system according to any one of (41), (41) ′ to (44), wherein the support member is supported by the base so as to be rotatable about a rotation axis extending in the vertical direction. Or a workpiece transfer / removal robot.
  • the support member By enabling the support member to rotate, according to this aspect, for example, it is possible to easily carry in the workpiece from the left and right sides of the machining system and carry out the workpiece to the left and right sides of the machining system. It becomes possible.
  • the workpiece transfer / removal robot is The machining system or workpiece transfer / removal robot according to any one of (41), (41) ′ to (45), further comprising a base moving device that moves the base in the left-right direction.
  • the workpiece can be transferred between the modules depending on the function of the base moving device.
  • the machining system of the embodiment includes a base 10 and a plurality of machining modules arranged on the base 10.
  • a machining system is a type of system in which a plurality of work modules are arranged side by side.
  • the plurality of processing modules are a centering processing module 12 and a vertical lathe module 14.
  • the centering module 12 and the vertical lathe module 14 are arranged side by side in the left-right direction so as to be adjacent to each other. Processing from the left side to the right side in FIG. 1 is sequentially performed on one workpiece by the centering processing module 12 and the vertical lathe module 14.
  • the workpiece is transferred to the front side of the base 10 and the workpiece is transferred to and removed from the centering module 12 and the vertical lathe module 14 respectively.
  • a detachable robot is installed.
  • a coolant tank is disposed inside the base 10, and the cutting waste generated by the processing by the centering processing module 12 and the vertical lathe module 14 and the coolant applied to the workpiece during the processing by the coolant are the coolant.
  • the cutting scraps collected and recovered in the tank are discharged backward by the cutting scrap conveyor 16, and the recovered coolant is circulated by the coolant pump 18.
  • This machining system is a system that performs centering and lathe processing on relatively long workpieces, and has a width in the left-right direction, that is, the direction in which the workpiece is conveyed (so-called “line length”).
  • line length the direction in which the workpiece is conveyed.
  • One feature is that it is considerably small.
  • the centering processing module 12 and the vertical lathe module 14 can be replaced with other processing modules, various types of machining can be performed according to the replacement, and a highly versatile system can be obtained. It has become.
  • the centering module 12 roughly includes a base 20, a column 22 standing on the base 20, and a column 22 as shown in FIG. And a workpiece holding device 24 that holds the workpiece and a machining head 26 for machining the workpiece held by the workpiece holding device 24.
  • Wheels 28 are provided on the base 20, while rails 30 are laid on the base 10 in a posture extending in the front-rear direction.
  • the centering module 12 is arranged on the base 10 so that the wheels 28 are on the rails 30, and the centering module 12 can move in the front-rear direction when the wheels 28 roll on the rails 30. It is said that.
  • the centering module 12 is positioned with respect to the base 10, and the centering module 12 can be pulled forward when the tool is replaced as described later. .
  • the centering processing module 12 can be pulled out rearward when it is replaced with another processing module.
  • the work holding device 24 is attached to a support shaft 32 rotatably supported by the column 22 and a front end of the support shaft 32. And the chuck 34 formed.
  • the chuck 34 has a structure in which the workpiece W is sandwiched between claws from the left and right. By rotating the support shaft 32 to an arbitrary angle, the workpiece W is fixed at an arbitrary angular posture.
  • the machining head 26 has a spindle held in a vertically extending posture and a tool holder held at the lower end of the spindle. Various tools such as a drill and an end mill are exchanged for the tool holder. Held possible.
  • the machining head 26 is moved in the front-rear direction, the left-right direction, and the up-down direction by the head moving device 36, and various machining processes such as drilling and milling are performed on the workpiece W according to the held tool. .
  • a tool magazine is accommodated, and a plurality of replaceable tools are held in the tool magazine.
  • the door 38 provided on the front side of the column 22 is opened, and the tool magazine protrudes forward. In this state, the tool is automatically changed.
  • the centering processing module 12 is a so-called machining center and is a general-purpose one. However, in this machining system, the centering processing at both ends of the workpiece W, that is, processing for forming a center hole, It is supposed to perform a process of cutting the end face. Incidentally, the processing on both ends is performed by turning the workpiece W upside down by the workpiece holding device 24.
  • FIG. 4 showing a state where a part of the exterior panel is removed
  • FIG. 5 showing a state where the exterior panel is completely removed
  • the vertical lathe module 14 A housing 50 is formed including a part of the housing 50.
  • the housing 50 is for partitioning a processing space, and is for preventing scattering of coolant, cutting waste, and the like accompanying lathe processing.
  • the vertical lathe module 14 is roughly installed on the base 20, the base block 52 fixed to the base 20, and the base block 52.
  • the column 54, the spindle device 56 supported by the base block 52, the beam 58 supported by the column 54, the turret 60 supported at the front end of the beam 58, and the rotational center of the upper end of the workpiece are pushed downward.
  • a tail pusher 62 a tail pusher 62.
  • the base 20 is the same as that of the centering processing module 12, and similarly, wheels 28 are provided. Similar to the centering module 12, the vertical lathe module 14 is arranged on the base 10 so that the wheels 28 ride on the rails 30, and the wheels 28 roll on the rails 30, which will be described later. When exchanging the cutting tool to be performed, it can be pulled forward. Similarly, when it is replaced with another processing module, it can be pulled out backward.
  • the base block 52 is arranged to be shifted to the right in the left-right direction of the vertical lathe module 14, and the spindle device 56 includes the base block 52. It is supported by.
  • the spindle device 56 includes a spindle 70 and a spindle case 72 that rotatably holds the spindle 70.
  • the spindle case 72 is fixed to the front end portion of the base block 52 in such a posture that extends in the vertical direction.
  • a pulley 74 is attached to the lower end portion of the spindle 70, and the rotation of the motor 76 disposed behind the base block 52 is transmitted through a timing belt 78 wound around the pulley 74, The spindle 70 rotates.
  • a chuck 80 for holding the workpiece W is attached to the upper end portion of the spindle 70, and the spindle 70 holds the workpiece W via the chuck 80.
  • a duct 82 is disposed in the base block 52 so as to extend in the front-rear direction, and the front end of the duct 82 opens into an annular space 84 that exists around the spindle case 72 and the duct 82.
  • the rear end is open to the rear end portion of the base block 52.
  • a fan 86 is disposed at the rear end of the duct 82, and the air in the duct 82 is sucked by the fan 86, and along with this, warm air around the spindle case 72 passes through the duct 82. Sucked. That is, the duct 82 and the fan 86 constitute a spindle cooling device for cooling the spindle 70.
  • the column 54 erected on the base block 52 is arranged to be biased to the right in the left-right direction of the vertical lathe module 14, and the beam 58 is supported by the column 54 on the left side surface of the column 54. Therefore, the beam 58 is arranged to be deviated to the left in the left-right direction of the vertical lathe module 14.
  • the beam 58 is supported in a posture extending in the front-rear direction so as to be movable in the front-rear direction and the up-down direction.
  • the turret 60 holds a plurality of blades 100 (specifically, “bite”) on a horizontal circumference on the holding board 102, and intermittently rotates the holding board 102, One blade 100 to be used for W cutting is positioned at a predetermined position.
  • the rotation axis of the turret 60 specifically, the rotation axis of the holding plate 102 is parallel to the rotation axis of the spindle 70.
  • the turret 60 is supported at the front end of the beam 58 on the left side of the turret 60 so as to be positioned at the center of the vertical lathe module 14 in the left-right direction.
  • the turret 60 is moved in the front-rear direction and the up-down direction in the cutting of the workpiece W, and this is performed by moving the beam 58 by the beam moving device 104.
  • the beam moving device 104 is configured to move the beam 58 in the front-rear direction and the up-down direction.
  • Tail pushing device is a device for pushing the center of rotation of the upper end of the work W supported by the spindle 70 downward, and a rotation center 110 whose tip is pressed against the work W from above.
  • a tailstock 112 that is supported by the column 54 so as to be able to move in the vertical direction while holding the rotation center 110, and a tailstock movement device 114 that moves the tailstock 112 in the vertical direction.
  • the tailstock moving device 114 includes a servo motor 116 and drives the tailstock 112 through a ball screw mechanism 118. By controlling the servo motor 116, the vertical position of the tailstock 112 can be accurately controlled.
  • the tailstock 112 includes a casing 130 and a holder 132 that is held in the casing 130 so as to be movable in the vertical direction.
  • the holder 132 includes an inner cylinder 134 and an outer cylinder 136 that can rotate relative to each other, and the rotation center 110 is inserted into and held by the inner cylinder 134.
  • an annular liquid chamber 138 that is partitioned by them and filled with hydraulic fluid is formed.
  • FIG. 8A shows a state in which the holder 132 is positioned at the forward end with respect to the casing 130
  • FIG. 8B shows a state in which the rotation center 110 abuts against the workpiece W and the holder 132 is somewhat to the casing 130.
  • This is a state where the distance l 1 is retracted.
  • the volume of the liquid chamber 138 decreases due to the retraction of the holder 132 relative to the casing 130. That is, the volume of the liquid chamber 138 is changed by the movement of the holder 132 with respect to the casing 130.
  • an auxiliary liquid chamber 140 filled with a working fluid is formed in the casing 130, specifically, in a portion near the holder 132.
  • the auxiliary liquid chamber 140 is defined by a hole 142 provided in the casing 130, a holding cylinder 144 inserted into the hole 142, and a plunger 146 held by the holding cylinder 144.
  • the plunger 146 is disposed so as to enter the auxiliary liquid chamber 140, and can advance and retreat with respect to the auxiliary liquid chamber 140.
  • the plunger 146 is urged downward by a compression coil spring 148 accommodated in the holding cylinder 144.
  • the liquid chamber 138 and the auxiliary liquid chamber 140 are in communication with each other.
  • the hydraulic fluid is interposed between the liquid chamber 138 and the auxiliary liquid chamber 140. Flows in and out.
  • the plunger 146 moves forward and backward with respect to the auxiliary fluid chamber 140, and as the hydraulic fluid moves forward and backward, the urging force of the compression coil spring 148 on the plunger 146 changes.
  • the biasing force is transmitted to the holder 132 via the hydraulic fluid, and a force corresponding to the biasing force acts on the holder 132.
  • the plunger 146 moves backward by the distance l 2 as shown in FIG.
  • the holder 132 is biased downward depending on the biasing force of the compression coil spring 148 corresponding to the distance l 2 .
  • the force due to the bias becomes the force with which the rotation center 110 presses the workpiece W.
  • the mechanism constituted by the auxiliary liquid chamber 140, the plunger 146, the compression coil spring 148 and the like generates a force that suppresses the movement of the holder 132 relative to the casing 130 with a magnitude corresponding to the amount of the movement.
  • the pressure applying mechanism 150 applies a pressure corresponding to a change in the volume of the chamber 138 to the hydraulic fluid in the liquid chamber 138.
  • the tail pushing device 62 depends on the pressure applying mechanism 150, and the rotation center 110 has a work piece. It is comprised so that the force which presses W may be generated.
  • the force with which the rotation center 110 presses the workpiece W varies depending on the amount of movement of the holder 132 relative to the casing 130. Therefore, the rotation of the tail support 112 after the rotation center 110 abuts against the workpiece W.
  • the pressing force that is, the pressing force of the workpiece W can be controlled with high accuracy.
  • a pressing force is generated through the hydraulic fluid, so that a relatively smooth pressing is possible, unlike a pressing force generated directly by a spring.
  • auxiliary liquid chamber 140 only one auxiliary liquid chamber 140, plunger 146, compression coil spring 148, etc. are provided.
  • a coil spring 148 and the like are provided.
  • the turret 60 is positioned on the near side, when the vertical lathe module 14 is pulled out from the base 10 and the blade 100 is replaced, the amount of the drawer can be reduced.
  • the rotation center O ′ of the turret 60 exists in the vicinity of the center line CL of the vertical lathe module 14 in the left-right direction, whereas the rotation center O of the spindle 70 is relatively decentered to the right. Yes. Therefore, the beam 58 supporting the turret 60 is eccentric to some extent on the left side, so that even when processing a relatively long workpiece, the beam 58 can be easily processed without interfering with the workpiece. is there. Further, the eccentric arrangement of the beam 58 on the left side facilitates the arrangement of the tail pusher 62.
  • the beam 58 is eccentrically arranged on the left side, in other words, the spindle 70 is eccentrically arranged on the right side. This also contributes to avoiding interference with the operation of the tailstock 112.
  • each component is the vertical lathe module 14 having the above-described positional relationship, it is possible to make the machine itself compact and the entire machining system compact in the left-right direction.
  • the housing 50 shown in FIG. 4 is configured to include a part of the exterior panel, and divides a processing space for the purpose of preventing splashing of coolant, cutting waste, and the like accompanying lathe processing. .
  • the housing 50 surrounds the work supported by the spindle 70 and the turret 60.
  • the housing 50 has a pair of side walls in addition to a pair of left and right side walls.
  • a workpiece transfer opening 158 (see FIG. 11) is provided on the front side wall, and a shutter 160 for opening and closing the workpiece transfer opening 158 is provided.
  • the shutter 160 includes a plurality of upper shutter plates 162 and a lower shutter plate 164 which are a plurality of shutter plates arranged vertically.
  • the upper shutter plate 162 covers the upper half of the workpiece transfer opening 158
  • the lower shutter plate 164 covers the lower half of the workpiece transfer opening 158, respectively.
  • a left side of the upper shutter plate 162 and the lower shutter plate 164 is slightly inclined with respect to the vertical direction (hereinafter referred to as shutter 160).
  • the first guide 166 and the second guide 168 extending in parallel with each other are provided, and the upper shutter plate 162 and the lower shutter plate 164 are respectively provided with the first guide 166.
  • the second guide 168 are movable in the vertical direction, that is, in a predetermined movement direction.
  • the main body of the housing 50 is provided with an upper shutter plate moving mechanism 170 including a motor, a ball screw mechanism and the like as a mechanism for moving the upper shutter plate 162 in the shutter plate moving direction.
  • an upper rack bar 172 is fixed to the main body of the housing 50 in a posture extending in the vertical direction on the right side of the upper shutter plate 162.
  • a pinion 174 that meshes with the upper rack bar 172 is rotatably supported on the right side surface of the upper shutter plate 162, and a lower rack bar 176 that meshes with the pinion 174 is supported on the right side surface of the lower shutter plate 164. It is fixed in a posture that extends in the vertical direction.
  • the shutter 160 includes a first guide 166, a second guide 168, an upper shutter plate moving mechanism 170, an upper rack bar 172, a pinion 174, a lower rack bar 176, and the like.
  • the shutter plates 162 and 164 are interlocked with each other so as to selectively realize a state in which the shutter plates 162 and 164 overlap each other and a state in which the shutter plates are aligned vertically.
  • It has a telescopic shutter plate moving mechanism that moves up and down.
  • the vertical lathe module 14 can make the workpiece transfer opening 158 relatively large in the vertical direction, and is relatively long. This makes it easy to load and unload a workpiece.
  • a tailstock opening movement permitting mechanism is provided that allows vertical movement of the tailstock. That is, there is provided a mechanism that allows the beam opening 192 and the tailstock opening 194 to move in the vertical direction while preventing the coolant or the like from splashing backward from the processing space.
  • the beam opening 192 and the tailstock opening 194 are partitioned by frames 196 and 198 through which the base ends of the beam 58 and tailstock 112 can pass, respectively.
  • a plurality of cover plates 200 and 202 are disposed above and below each of 198. More specifically, four cover plates 200 are arranged above and below the frame 196 that defines the beam opening 192, and three covers each above and below the frame 198 that defines the tailstock opening 194.
  • a plate 202 is disposed.
  • the state shown in the figure is a state in which the beam 58 and the tailstock 112 are located at the uppermost position in the movable range.
  • the four cover plates 200 disposed on the frame 196 that defines the beam opening 192 are overlapped in the front-rear direction, and the four cover plates 200 are disposed below the frame 196.
  • the cover plates 200 partially overlap each other, the cover plates 200 are generally arranged one above the other.
  • the three cover plates 202 arranged on the frame 198 that defines the tailstock opening 194 are overlapped in the front-rear direction, and are arranged below the frame 198 3.
  • the cover plates 202 are partially overlapped with each other, they are generally aligned vertically.
  • the frames 196 and 198 also move in the vertical direction.
  • the cover plate 200 disposed on the frame 196 expands in the vertical direction and is disposed below the frame 196.
  • the cover plate 200 overlaps in the vertical direction.
  • the cover plates 200 arranged on the frame 196 are partially overlapped with each other, although they partially overlap each other.
  • the cover plate 200 arranged in the state of FIG. Similarly, when the tailstock 112 moves downward, the cover plate 202 disposed on the frame 198 expands in the vertical direction, and the cover plate disposed below the frame 198. 202 overlaps in the vertical direction.
  • the cover plates 202 arranged on the frame 198 are partially overlapped with each other, although they partially overlap each other.
  • the cover plate 202 disposed below the entire plate overlaps the front and rear.
  • the frame 196, 198 and the plurality of cover plates 200, 202 are included, and the cover 190 is moved by the movement of the plurality of cover plates 200, 202 accompanying the movement of the frames 196, 198.
  • the telescopic cover plate movement allowance mechanism to be allowed is configured, each including the telescopic cover plate movement allowance mechanism, and the beam aperture movement allowance mechanism and the tailstock opening movement allowance mechanism described above. Is configured. By adopting these mechanisms, the housing 50 ensures that the beam 58 and the tailstock 112 are moved a relatively large distance in the vertical direction, while preventing the coolant or the like from splashing backward from the processing space. It can be prevented.
  • the cover 190 is attached as shown in FIG. 13A, but the frame 196 that defines the beam opening 192 has a U-shape, more specifically, on the right side. And a frame 198 that defines the tailstock opening 194 is U-shaped, specifically, toward the left (beam) As shown in FIG. 13 (b), the cover 190 is separable left and right by opening the shape (toward the opening movement allowing mechanism). Furthermore, the beam opening movement allowance mechanism and the tailstock opening movement allowance mechanism that are arranged side by side are each unitized, and can be removed as two units 204 and 206 so as to be separated into left and right. It is.
  • the cover 190 can be separated from the housing 50, the cover 190 can be removed without being disturbed by the beam 58 and the tailstock 112 existing in the processing space. Yes. As a result, the cover 190 can be easily cleaned and maintained.
  • [D] Workpiece transfer / removal robot As described above, the work transfer for transferring the work to the front side of the base 10 and for attaching / detaching the work to / from each of the centering processing module 12 and the vertical lathe module 14 is performed. ⁇ A detachable robot is installed. Referring to FIG. 14, the workpiece transfer / removal robot 210 is disposed in front of the base 10, specifically, supported on the front side surface of the base 10.
  • the workpiece transfer / removal robot 210 is roughly divided into a main body 214 having a base 212 and a base moving device 216 that moves the base 212 in the left-right direction in order to move the main body 214 in the left-right direction. be able to.
  • the base movement device 216 uses a servo motor as a drive source, and the movement operation of the base 212 is controlled by a robot control device (not shown).
  • the main body 214 of the workpiece transfer / removal robot 210 attaches / detaches the workpiece to / from the centering processing module 12 and the vertical lathe module 14 shown in FIG.
  • FIG. 16 showing the posture at the time of attachment / detachment, which is the posture at the time
  • the base 212, the support member 218, the first arm 220, the second arm 222, the wrist member 224, and the work holder 226 are roughly described. It is comprised including.
  • the main body 214 is a so-called articulated robot.
  • the support member 218 includes a base plate 228 and a pair of support columns 230 erected on the base plate 228. Each of the pair of support columns 230 extends in the vertical direction, and is erected with a space between each other.
  • the support member 218 is supported by the base 212 on the base plate 228 so as to be rotatable around a rotation axis L 0 extending in the vertical direction.
  • the base 212 incorporates a support member rotation device, and the support member rotation device rotates the support member 218 around the rotation axis L 0 .
  • the first arm 220 is supported by the upper end portion of the pair of support columns 230 at the base end portion thereof so as to be sandwiched between the pair of support columns 230 of the support member 218.
  • the first arm 220 includes a pair of arm plates 232 that are fixedly connected to each other with a space therebetween.
  • the first arm 220 is rotatable about a first rotation axis L 1 perpendicular to the vertical direction with respect to the support member 218.
  • the second arm 222 is supported at the base end portion of the second arm 222 at the distal end portion of the first arm 220 so as to be sandwiched between the pair of arm plates 232.
  • the second arm 222 is rotatable with respect to the first arm 220 around a second rotation axis L 2 parallel to the first rotation axis L 1 .
  • the wrist member 224 is supported at the tip of the second arm 222 so as to be rotatable around a third rotation axis L 3 parallel to the first rotation axis L 1 and the second rotation axis L 2 .
  • the work holder 226 mainly includes a clamp 236 including a pair of gripping claws 234 that grip the work W. Then, by providing two pairs of gripping claws 234, that is, two clamps 236, a plurality of work holders 226, more specifically, two work holders 226 are provided. These two workpiece holders 226 hold the workpiece W, respectively, so that the workpiece transfer / removal robot 210 can hold a plurality of workpieces W, specifically two workpieces W at the same time.
  • the work holder 226 swings on the wrist member 224 about a swing axis L 4 extending parallel to a plane perpendicular to the first rotation axis L 1 , the second rotation axis L 2, and the third rotation axis L 3. Held possible.
  • each of the first arm 220, the second arm 222, and the wrist member 224 and the swinging operation of the work holder 226 are performed by an operating device using a servo motor as a driving source. It is controlled by the robot control device described in 1. above.
  • This workpiece transfer / removal robot 210 employs the first arm 220 and the second arm 222 that are connected to each other, that is, two arms that are serially linked, so that the posture of the main body 214 is high. Therefore, it is possible to attach and detach workpieces with a high degree of freedom.
  • the workpiece transfer / removal robot 210 can hold the workpiece W in a compact posture and transfer it between the centering processing module 12 and the vertical lathe module 14, and the machining system itself is compact. It contributes to becoming.
  • the position where the workpiece to be machined by the vertical lathe module 14 is mounted is a position biased to the right from the center in the left-right direction of the module 14.
  • the position where the workpiece is mounted is the center position of the module 12 in the left-right direction. That is, the work mounting positions in the modules 12 and 14 are different in the left-right direction.
  • the difference of such mounting position, in the workpiece transfer-detachable robot 210, in a state in which to position the main body 214 to the front of each module 12, 14, swinging the work holder 226 about the oscillation axis L 4 To deal with it. That is, since the work holder 226 is swingable, the work can be attached and detached with a very high degree of freedom.
  • the workpiece transfer / removal robot 210 has a plurality of workpiece holders 226, and each of the workpiece holders 226 can hold a workpiece at the same time. Therefore, it is possible to continuously perform the work detachment (unloading) from one module and the work loading (loading) to that module, and the time required for attachment / detachment can be shortened. is there.
  • the main body 214 that is, the base 212
  • the main body 214 can rotate around the rotation axis of the workpiece transfer / removal robot 210, the workpiece before being processed into the machining system can be transferred to the machining system. It is possible to unload workpieces after machining. More specifically, when the main body 214 is positioned in front of the centering module 12, the main body 214 takes a leftward posture so that a workpiece is loaded from the left side of the centering module 12. In a state where the portion 214 is positioned in front of the vertical lathe module 14, it is possible to carry the workpiece to the right side of the vertical lathe module 14 by causing the main body portion 214 to take a rightward posture. .
  • the two modules 12 and 14 are arranged on the single base 10.
  • the base is enlarged or two or more bases 10 are provided. It is also possible to arrange three or more modules by configuring one base side by side. In that case, for example, it is also possible to arrange one or more vertical lathe modules 14.
  • the centering processing module 12 and the vertical lathe module 14 are arranged.
  • other processing modules such as a horizontal lathe module can be arranged.
  • Base 12 Centering processing module [machining module] 14: Vertical lathe module [machining module] 50: Housing 54: Column 56: Spindle device 58: Beam 60: Turret 62: Tail pusher 70: Spindle 72: Spindle case 100: Blade 104: Beam moving device 110: Rotation center 112: Tailstock moving device 114: Tailstock moving device 130: Casing 132: Holder 138: Liquid chamber 140: Auxiliary liquid chamber 146: Plunger 148: Compression coil spring 150: Pressure Giving mechanism 158: Work transfer opening 160: Shutter 162: Upper shutter plate 164: Lower shutter plate 170: Upper shutter plate movement Structure 190: Cover 192: Opening for beam 194: Opening for tailstock 196, 198: Frame 200, 202: Cover plate 210: Workpiece transfer / removal robot 212: Base 216: Base moving device 218: Support member 220: First arm 222: Second arm 224: Wrist member 226: Work holder 230: Post

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Turning (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot à haute utilité pour transporter et attacher/détacher une pièce de fabrication. La présente invention concerne un robot articulé (214) pour transporter et attacher/détacher une pièce de fabrication qui est utilisé pour transporter une pièce de fabrication dans un système dans lequel une pluralité de modules opérationnels sont disposés côte à côte et attacher/détacher la pièce de fabrication vers/depuis chacun de la pluralité de modules opérationnels, le robot étant configuré pour comprendre un premier bras (220) et un deuxième bras (222) qui sont reliés en série l'un à l'autre, et étant en outre configurés de sorte que, pendant le transport d'une pièce de fabrication (W), le premier bras et le deuxième bras sont stockées dans un état plié entre une paire de colonnes de support (230) pour soutenir le premier bras. Étant donné qu'il est possible de maintenir et transporter la pièce de fabrication dans une orientation compacte, un système mécanique dans lequel ce robot est utilisé peut être configuré de manière compacte.
PCT/JP2015/079557 2015-10-20 2015-10-20 Robot pour transporter et attacher/détacher une pièce de fabrication WO2017068644A1 (fr)

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JP2017546310A JP6656262B2 (ja) 2015-10-20 2015-10-20 機械加工システム
PCT/JP2015/079557 WO2017068644A1 (fr) 2015-10-20 2015-10-20 Robot pour transporter et attacher/détacher une pièce de fabrication

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PCT/JP2015/079557 WO2017068644A1 (fr) 2015-10-20 2015-10-20 Robot pour transporter et attacher/détacher une pièce de fabrication

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JPH054186A (ja) * 1991-06-26 1993-01-14 Murata Mach Ltd ローダのワーク把持ハンド
JPH11267838A (ja) * 1998-03-18 1999-10-05 Toshiba Eng Co Ltd 溶接ロボット
JP2008036716A (ja) * 2006-08-01 2008-02-21 Komatsu Machinery Corp ワーク把持装置
WO2015145576A1 (fr) * 2014-03-25 2015-10-01 富士機械製造株式会社 Bras de robot articulé

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019063930A (ja) * 2017-09-29 2019-04-25 アイシン・エィ・ダブリュ株式会社 ワーク搬送装置

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