WO2023203631A1 - 工作機械 - Google Patents

工作機械 Download PDF

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Publication number
WO2023203631A1
WO2023203631A1 PCT/JP2022/018111 JP2022018111W WO2023203631A1 WO 2023203631 A1 WO2023203631 A1 WO 2023203631A1 JP 2022018111 W JP2022018111 W JP 2022018111W WO 2023203631 A1 WO2023203631 A1 WO 2023203631A1
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WO
WIPO (PCT)
Prior art keywords
robot hand
workpiece
work
machine tool
automatic
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2022/018111
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English (en)
French (fr)
Japanese (ja)
Inventor
林孝洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
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 Fuji Corp filed Critical Fuji Corp
Priority to JP2024515771A priority Critical patent/JP7772921B2/ja
Priority to PCT/JP2022/018111 priority patent/WO2023203631A1/ja
Publication of WO2023203631A1 publication Critical patent/WO2023203631A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the present invention relates to a machine tool that has an automatic workpiece transport device that grips and transports a workpiece with a robot hand, and that is equipped with a chuck mechanism and that improves work efficiency in changing stages of the robot hand.
  • the machine tool is integrally equipped with an automatic workpiece transport device for transporting the workpiece to the internal processing device.
  • the automatic workpiece transport device has a robot hand equipped with a chuck mechanism for gripping the workpiece, and automatically transports the workpiece by moving the robot hand.
  • the automatic workpiece transport device transports an unprocessed workpiece from a supply side stocker, delivers it to a processing device inside a machine tool, and then takes out a processed workpiece and transports it to a recovery section.
  • the machine tool of Patent Document 1 automates the chuck exchange of the automatic workpiece transport device, but it is necessary to provide a storage stand for storing the chuck, and the automatic workpiece transport device has a long travel distance. This results in an increase in size. Therefore, chuck replacement in automatic workpiece conveyance devices is generally performed manually by an operator. In this case, the robot hand must be moved to a position where the work can be easily performed, or the worker must approach the position of the robot hand. However, when the movement of the robot hand is controlled by manual operation by a worker, there is a risk of damage due to collision of the robot hand within the machine. On the other hand, in order for a worker to work on the robot hand in the retracted position, the work load is heavy, such as the need to prepare a stepladder for the high work position, for example.
  • a machine tool includes a processing device that processes a workpiece in a processing chamber, and a workpiece automatic device that grips the workpiece with a robot hand equipped with a chuck mechanism and transfers the workpiece to and from the processing device. It drives and controls a transfer device, the processing device, and the automatic workpiece transfer device, and after the processing device and the automatic workpiece transfer device are brought to an emergency stop for a changeover operation for the robot hand, the automatic workpiece transfer device is operated. and a control device including a changeover work section that moves the robot hand to a work position by controlling the drive of the device.
  • the processing device and the automatic workpiece transfer device are brought to an emergency stop, and then the drive control for the automatic workpiece transfer device is performed.
  • the robot hand is moved to a working position corresponding to the opening/closing door formed in the processing chamber, so that the worker can efficiently perform the changeover work.
  • FIG. 1 is an external perspective view showing an embodiment of a machine tool.
  • FIG. 1 is a perspective view of an internal structure of an embodiment of a machine tool.
  • FIG. 2 is a perspective view showing a mounting structure of an automatic workpiece transport device in a machine tool.
  • FIG. 2 is a side view showing the automatic workpiece conveyance device.
  • 1 is a diagram conceptually showing a control system for a machine tool.
  • FIG. 3 is a flowchart diagram showing processing of a setup change work program.
  • FIG. 1 is an external perspective view showing the machine tool of this embodiment
  • FIG. 2 is a perspective view showing its internal structure
  • FIG. 3 is a perspective view showing an attachment structure for an automatic workpiece transport device in a machine tool
  • FIG. 4 is a side view showing the automatic workpiece transport device.
  • FIG. 5 is a diagram conceptually showing a control system for a machine tool.
  • This machine tool 1 is a multi-tasking machine that has the functions of both an NC lathe and a machining center by having various processing devices. Specifically, a first workpiece spindle device 3 and a second workpiece spindle device 4 that grip the workpiece W, and a first turret device 5 and a second turret device 6 each having a plurality of tools are symmetrically arranged. This is a two-axis facing lathe. Furthermore, in order to perform processing that is difficult to do with a turret tool, a tool spindle device 2 is provided at the center of the machine body.
  • the direction parallel to the main axes of the coaxial first and second work spindle devices 3 and 4 is defined as the Z-axis
  • the vertical direction perpendicular to the Z-axis is defined as the X-axis
  • the direction orthogonal to the Z-axis is defined as the Z-axis.
  • a spindle side chuck is attached to the spindle of the head stock, and the gripped work is driven by a spindle motor to determine the phase during machining and to rotate at a predetermined speed.
  • the first and second turret devices 5 and 6 rotate and index a plurality of installed tools (turret tools) by controlling the rotation of an indexing servo motor, and the tools are rotated to the corresponding first or second turret device. It is configured to move relative to the workpiece gripped by the workpiece spindle devices 3 and 4.
  • the tool spindle device 2 in the center of the machine has a spindle head in which a tool (spindle head tool) can be replaced, and has a structure capable of processing a workpiece gripped by the first or second work spindle device 3 or 4. are doing.
  • each of the above-mentioned devices is covered by a machine cover 11, and a left front door 13 and a right front door 14 are formed on both the left and right sides of the front of the machine.
  • a movable operation panel 15 is arranged.
  • a first processing chamber 17 is configured behind the left front door 13 in which a first work spindle device 3 and a first turret device 5 are located, and a second work spindle device 4 and a second work spindle device are located in the back of the right front door 14.
  • a second processing chamber 18 in which the turret device 6 is located is configured.
  • the tool spindle device 2 is arranged in the center of the machine where the operation panel 15 is located.
  • the machine tool 1 is provided with an automatic tool changer 7 at the front center of the machine body for automatically changing tools to the tool spindle device 2.
  • the automatic tool changer 7 is provided with a tool magazine 19 on the top that stores a plurality of tools (spindle head tools), and has a tool change mechanism that moves the tools to and from the spindle head for exchange.
  • the operation panel 15 is arranged at a height that can be operated from the operator's H's line of sight, so the tool magazine 19 is located at a height further above it.
  • the machine tool 1 includes automatic workpiece transport devices 8 for automatically transporting workpieces in a first workpiece spindle device 3 in a first processing chamber 17 and a second workpiece spindle device 4 in a second processing chamber 18. It is provided.
  • a rail stand 33 equipped with two running rails 31 and one running rack 32 in the machine width direction is fixed to the upper front side of the frame structure 10, and a running rail is mounted on the rail stand 33.
  • a traveling table 34 that slides on the 31 is provided.
  • a Z-axis servo motor 35 is fixed to the traveling table 34, and a pinion 36 fixed to the rotating shaft of the Z-axis servo motor 35 meshes with the traveling rack 32, thereby enabling movement in the width direction of the machine body.
  • a slide member is fixed to the upper surface of the traveling table 34, and a slide base 37 is provided which is provided with a slide rail on which the slide member slides and which moves in the longitudinal direction of the machine body.
  • a rack 38 for moving back and forth is fixed to the side surface of the slide table 37, and a Y-axis servo motor 39 is fixed to the traveling table 34 via a bracket. Therefore, by meshing the pinion fixed to the rotating shaft of the Y-axis servo motor 39 with the longitudinal movement rack 38, the slide base 37 can be moved in the longitudinal direction.
  • the slide table 37 protrudes forward from the frame structure 10, and a lifting arm 41 that moves up and down is provided at its tip.
  • a support column 42 equipped with a lifting rail is fixed to the slide table 37 in a vertical position, and a lifting arm 41 equipped with a slide member is configured to move along the lifting rail.
  • An X-axis servo motor 43 is fixed to the top of the support column 42, and a belt is stretched between a pulley fixed to the rotation shaft of the X-axis servo motor 43 and a pulley pivotally supported at the bottom of the support column 42.
  • a lifting arm 41 is connected to the belt, and can be moved up and down by driving an X-axis servo motor 43.
  • a robot hand 45 for gripping the workpiece W is attached to the lower end of the lifting arm 41.
  • the robot hand 45 includes a pair of front and back chuck mechanisms 48, and is configured to rotate around a rotation axis O in the Y-axis direction perpendicular to the lifting arm 41, and to be able to position in up, down, left and right directions.
  • a control device 50 that controls the driving of the machine tool 1 is connected to a microprocessor (CPU) 51, a ROM 52, a RAM 53, a nonvolatile memory 54, an I/O unit 55, etc. via a bus line 57.
  • the CPU 51 centrally controls the entire control section
  • the ROM 52 stores system programs executed by the CPU 51, control parameters, etc.
  • the RAM 53 temporarily stores calculation data, etc.
  • the non-volatile memory 54 stores information necessary for processing executed by the CPU 51, such as a machining program for the multi-tasking machine 1, a workpiece conveyance program for the automatic workpiece conveyance device 8, and especially a changeover for the robot hand 45 in this embodiment. Work programs are stored.
  • the control device 50 is provided with a programmable logic controller (PLC) 56 connected to an I/O unit 55, which performs various types of processing such as the tool spindle device 2 of the multi-tasking machine 1 using a sequence program created in a ladder format. The drive unit control of the device is performed.
  • PLC programmable logic controller
  • a predetermined machining is performed on the workpiece W according to a machining program or the like.
  • the workpiece W to be processed is carried from the entrance side stocker to the processing position by the automatic workpiece transfer device 8.
  • the work W gripped by the robot hand 45 is transported to the first work spindle device 3 and the second work spindle device 4, and transferred to the spindle side chuck 11, and then transferred to the first turret device 5 and the second turret device.
  • a predetermined machining is performed using the rotated and indexed tool.
  • machining by the tool spindle device 2 may also be performed.
  • the driving of the Z-axis servo motor 35, Y-axis servo motor 39, and X-axis servo motor 43 is controlled according to the workpiece transport program, and the driving of the traveling table 34, slide table 37, and lifting arm 41 is controlled. moves in each direction of the Z-axis, Y-axis, or X-axis, and the workpiece W gripped by the robot hand 45 is transported to a predetermined position.
  • the spindle chucks of the first and second workpiece spindle devices 3 and 4 that grip the workpiece W and the robot hand 45 of the automatic workpiece transfer device 8 change accordingly. It may also be necessary to replace the chuck jaws.
  • the changeover work for this purpose is performed by the worker H, but the work load on the automatic workpiece transport device 8 is especially heavy.
  • the main spindle chucks of the first and second work spindle devices 3 and 4 operate in front of the operator H when the left front door 13 or right front door 14 is opened. 45 is because it returns to the retracted position 20 (original position) shown by the dashed line in FIG.
  • the operator H in order for the operator H to replace the chuck claw of the robot hand 45, the operator H must either work at the retracted position 20 or manually move the robot hand 45 into the first processing chamber 17, for example.
  • the reason why it is moved to the first processing chamber 17 is because it is closer to the retreat position 20 than the second processing chamber 18 .
  • the robot hand 45 at the retreat position 20 is located at a high position, and the worker H has to prepare a stepladder and climb there to work.
  • the worker H manually operates the workpiece automatic transport device 8 using the operation pendant, and moves the robot hand 45 to the position where the left front door 13 is opened.
  • the robot hand 45 and the like may collide with each other when being moved into the first processing chamber 17.
  • a slightly protruding valve or the like may collide with the shutter at the entrance to the first processing chamber 17 when it opens and closes. If damage occurs due to a collision, repairs will be required, which will further increase the workload and take longer to restart. Furthermore, in order to avoid such collisions, careful operation is required, and the changeover operation also requires a long time.
  • FIG. 6 is a flowchart showing the processing of the setup change work program. If it is necessary to replace the chuck jaws, the emergency stop button on the operation panel 15 is pressed, the machine tool 1 is temporarily turned off, the drive is stopped, and the changeover work program is started. First, the start of the changeover work for the robot hand 45 is confirmed by the presence or absence of a power ON command after the emergency stop (S101). That is, the power is turned on when the operator H releases the emergency stop button (S101: YES), and then the presence or absence of an operation preparation command is checked (S102).
  • the robot hand 45 moves in the Z-axis direction from the original position (retreat position 20), stops above the first processing chamber 17 with the ceiling shutter open, and then descends in the X-axis direction to move inside the first processing chamber 17. and stop at the working position.
  • the work position at which the stage change is performed is at a height that is easy for the worker H to perform the work, and is set, for example, at 1500 mm above the floor.
  • the robot hand 45 rotates around the rotation axis O so that chuck claws can be easily replaced, and a pair of front and back chuck mechanisms 48 are positioned in the vertical direction.
  • the chuck jaws are replaced on such a robot hand 45.
  • the operation pendant can be used to turn it upside down or change the direction of the chuck mechanism 48 in the left and right directions. You can also do this.
  • the automatic work transfer device 8 is automatically controlled for the machine tool 1 in a stopped state, and the robot hand 45 is moved from the original position to the working position, so that the worker H can Changing the chuck jaws can be performed right in front of the left front door 13. Furthermore, in the present embodiment, the machine tool 1 enters a retracted state in which all the drive parts are moved to their original positions during preparation for operation, so the robot hand 45 can be moved to the working position without colliding with the robot hand 45.
  • the present invention is not limited thereto, and various changes can be made without departing from the spirit thereof.
  • the machine tool has been described using as an example a multi-tasking machine equipped with a gantry-type automatic work transfer machine 9, but the present invention is not limited to this.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/018111 2022-04-19 2022-04-19 工作機械 Ceased WO2023203631A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024515771A JP7772921B2 (ja) 2022-04-19 2022-04-19 工作機械
PCT/JP2022/018111 WO2023203631A1 (ja) 2022-04-19 2022-04-19 工作機械

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/018111 WO2023203631A1 (ja) 2022-04-19 2022-04-19 工作機械

Publications (1)

Publication Number Publication Date
WO2023203631A1 true WO2023203631A1 (ja) 2023-10-26

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PCT/JP2022/018111 Ceased WO2023203631A1 (ja) 2022-04-19 2022-04-19 工作機械

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02106207A (ja) * 1988-10-17 1990-04-18 Hitachi Seiki Co Ltd チャック爪と搬送装置フィンガー用ストッカ装置
JPH0388683U (https=) * 1989-12-27 1991-09-10
JPH04111753A (ja) * 1990-08-31 1992-04-13 Yamazaki Mazak Corp 数値制御旋盤における段取方法
JP2001150376A (ja) * 1999-11-22 2001-06-05 Honda Motor Co Ltd ワーク組立装置における治具交換方法
JP2017052054A (ja) * 2015-09-10 2017-03-16 富士機械製造株式会社 工作機械
JP2019098426A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 加工システム
CN210756368U (zh) * 2019-06-13 2020-06-16 广东润星科技有限公司 一种自动化上下料的柔性线

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3088683U (ja) 2002-03-19 2002-09-20 高橋 正満 介護補助具

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02106207A (ja) * 1988-10-17 1990-04-18 Hitachi Seiki Co Ltd チャック爪と搬送装置フィンガー用ストッカ装置
JPH0388683U (https=) * 1989-12-27 1991-09-10
JPH04111753A (ja) * 1990-08-31 1992-04-13 Yamazaki Mazak Corp 数値制御旋盤における段取方法
JP2001150376A (ja) * 1999-11-22 2001-06-05 Honda Motor Co Ltd ワーク組立装置における治具交換方法
JP2017052054A (ja) * 2015-09-10 2017-03-16 富士機械製造株式会社 工作機械
JP2019098426A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 加工システム
CN210756368U (zh) * 2019-06-13 2020-06-16 广东润星科技有限公司 一种自动化上下料的柔性线

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JP7772921B2 (ja) 2025-11-18

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