WO2023223411A1 - ワーク自動搬送機 - Google Patents

ワーク自動搬送機 Download PDF

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Publication number
WO2023223411A1
WO2023223411A1 PCT/JP2022/020480 JP2022020480W WO2023223411A1 WO 2023223411 A1 WO2023223411 A1 WO 2023223411A1 JP 2022020480 W JP2022020480 W JP 2022020480W WO 2023223411 A1 WO2023223411 A1 WO 2023223411A1
Authority
WO
WIPO (PCT)
Prior art keywords
chuck
workpiece
robot hand
shaft
pair
Prior art date
Application number
PCT/JP2022/020480
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
平田周一
Original Assignee
株式会社Fuji
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 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/020480 priority Critical patent/WO2023223411A1/ja
Priority to JP2024521416A priority patent/JPWO2023223411A1/ja
Publication of WO2023223411A1 publication Critical patent/WO2023223411A1/ja

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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
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to an automatic work transfer machine equipped with a robot hand for stably holding a shaft work with a long shaft dimension.
  • the automatic workpiece transfer machine In machine tools, workpieces to be machined are transported from a stocker or the like, and automatic workpiece transport machines that grip and move the workpieces are used for transporting the workpieces.
  • the automatic workpiece transfer machine is equipped with a robot hand equipped with a chuck mechanism, and the workpiece is transferred to and from the machine tool by gripping and releasing the workpiece.
  • the automatic workpiece transfer machine disclosed in Patent Document 1 below has a robot hand that is attached to the lower end of the arm so as to be able to rotate around a rotation axis, and a drive that allows the robot hand to move in two orthogonal axes directions. It is composed of mechanisms.
  • the robot hand has a rotating bracket fixed to the rotating shaft, and two chuck mechanisms are symmetrically provided there.
  • the shaft workpiece is placed horizontally on two pedestals with V-shaped edges.
  • such a shaft work is gripped at the axial center (body) by the chuck claw of the robot hand, and is moved by a drive mechanism to be transferred to a predetermined position.
  • an object of the present invention is to provide an automatic workpiece conveyance machine that conveys a shaft workpiece in a stable posture in order to solve this problem.
  • first chuck claws and second chuck claws that grip two positions of a shaft workpiece are respectively provided on a pair of chuck blocks that are movable in directions toward and away from each other
  • the robot hand includes a chuck mechanism in which the first chuck claw is fixed to a chuck block, and the second chuck claw is slidably assembled to the chuck block while being biased by a spring member in an approaching direction. and a drive mechanism that supports and moves the robot hand to a predetermined position.
  • the shaft workpiece can be reliably gripped by both the first chuck jaw and the second chuck jaw and transported in a stable posture.
  • FIG. 1 is a front view showing an embodiment of a machine tool.
  • FIG. 3 is a side view showing a robot hand assembled to a lifting arm.
  • FIG. 2 is a partially cross-sectional view of a chuck mechanism that constitutes a robot hand.
  • FIG. 3 is a diagram showing the robot hand from the front side of the chuck mechanism.
  • FIG. 3 is a diagram showing the robot hand from the direction of the rotation axis.
  • FIG. 2 is a perspective view showing a chuck block of a chuck mechanism that constitutes a robot hand.
  • FIG. 3 is a cross-sectional view showing a part of the drive section of the chuck mechanism.
  • FIG. 1 is a front view showing the machine tool of this embodiment.
  • the machine tool 1 of this embodiment is an opposed two-spindle lathe with a bilaterally symmetrical structure, and although not shown in detail, a first spindle device and a first turret device, and a second spindle device and a second turret device are symmetrically arranged. It is located.
  • the first and second spindle devices have a structure in which the spindle chuck can rotate around a horizontal spindle in the width direction of the machine body, and each spindle chuck is configured to rotatably grip a workpiece. Then, the tool is rotated and indexed in the first turret device and the second turret device, and predetermined machining is performed on the workpiece in each.
  • the machine tool 1 is provided with an automatic workpiece transfer machine 3 for transferring the workpiece to such a spindle chuck.
  • the workpiece automatic transfer machine 3 provided in the machine tool 1 is of a gantry type, and the transfer section 10 can be moved to the left and right positions of the machine body, respectively, as indicated by the dashed-dotted lines.
  • a robot hand 12 for gripping a workpiece is provided on an elevating arm 11 constituting a transfer section 10.
  • the transfer unit 10 is configured such that the lifting arm 11 moves vertically (X-axis direction) to move the robot hand 12 up and down, and is further configured to be able to move in the body width direction (Z-axis direction) as described above. ing. Therefore, the automatic workpiece transfer machine 3 is configured with a drive mechanism that moves the robot hand 12 that grips the workpiece in three axial directions: the width direction, the front-rear direction, and the up-down direction of the machine body.
  • the machine tool 1 has an operation panel 61 at the front in the center, and opening/closing doors 63 and 65 are provided on both the left and right sides of the operation panel 61.
  • a first processing chamber with a first spindle device and a first turret device is provided behind the opening/closing door 63
  • a second processing chamber with a second spindle device and a second turret device is provided behind the opening/closing door 65.
  • a workpiece W is transported from the left side to the right side in the drawing, and a predetermined process is performed in each processing chamber. Therefore, a workpiece stocker 7 is provided on the left side of the machine tool 1 in the drawing, and a plurality of workpieces to be processed are stored therein.
  • an inspection device 8 for inspecting a processed workpiece W is provided on the right side of the machine tool 1 in the drawing.
  • FIG. 2 is a side view showing the robot hand 12 assembled to the lifting arm 11.
  • FIG. 3 is a partially cross-sectional view of the chuck mechanism that constitutes the robot hand 12.
  • FIG. 4 is a diagram showing the robot hand 12 from the front side of the chuck mechanism.
  • FIG. 5 is a diagram showing the robot hand 12 from the direction of the rotation axis.
  • FIG. 6 is a perspective view showing the chuck mechanism that constitutes the robot hand 12.
  • FIG. 7 is a sectional view showing a part of the drive section of the chuck mechanism.
  • the robot hand 12 has a pair of chuck mechanisms 20 having the same structure on both the front and back sides (upper and lower sides in FIG. 2) of the robot main body 15 in which the drive section is incorporated.
  • the chuck mechanism 20 of this embodiment is configured to handle a shaft workpiece W having a long shaft dimension, as shown in FIG.
  • the robot hand 12 has a rotation axis O in the horizontal Y-axis direction perpendicular to the vertical lifting arm 11, and rotates so that the positions of the pair of chuck mechanisms 20 are exchanged. It is assembled via a mechanism.
  • the shaft workpiece W is transferred between the robot hand 12 of the automatic workpiece transfer machine 3 and the spindle device 60, which is the first spindle device or the second spindle device, indicated by the dashed line. be exposed.
  • the main spindle device 60 includes a main spindle chuck 63 on the front surface of which three chuck claws operate to open and close, and a seating portion 65 for positioning that is recessed in the center of the front so that the shaft workpiece W can be inserted therein. .
  • the tip of the shaft work W is inserted into the seating portion 65 of the spindle device 60, and the center portion in the axial direction is gripped by the spindle chuck 63.
  • the robot hand 12 maintains the shaft workpiece W being transported in the correct posture so that it does not interfere with the chuck claws on the spindle chuck 63 side during delivery and can be inserted without shifting its position with respect to the seating section 65. There is a need to. Therefore, when the robot hand 12 grips the shaft workpiece W, it is desirable to grip it near the center in the axial direction in consideration of balance. However, it is not possible to grip the position that overlaps with the spindle chuck 63, and it is especially difficult to maintain balance when the shaft workpiece W has a large diameter on the spindle device 60 side, and the posture during transportation may be tilted. It becomes more likely to occur.
  • the chuck mechanism 20 of the robot hand 12 is configured to grip the shaft workpiece W at two locations in the axial direction.
  • the parts to be gripped are near the center and the ends of the shaft work W.
  • many of the shaft works W used as mechanical parts have complicated shapes, and the diameters of the two parts to be gripped are different. Therefore, when chuck claws that grip two locations are integrally constructed, one of the chuck claws may not be able to grip the shaft workpiece W with sufficient force due to slight differences in dimensional tolerances or the like.
  • each chuck claw corresponding to the two locations can appropriately grip the shaft workpiece W by its respective operation.
  • the chuck mechanism 20 includes a pair of chuck blocks 21 each having a plurality of chuck claws 23, 25, and 27 symmetrically provided therein, and moving the chuck blocks 21 in a direction toward and away from each other to move the chuck claws 23, 27 or 27 symmetrically.
  • the shaft workpiece W can be gripped and released by the chuck claws 25 and 27. That is, the pair of chuck blocks 21 are synchronized by the drive unit, and the shaft workpiece W can be gripped by the chuck claws 23, 27 or the chuck claws 25, 27, which grip two positions.
  • the pair of chuck blocks 21 are fixed to a pair of opposing slides 31 that are movable in a direction parallel to the rotation axis O, and the pair of slides 31 are operated by the drive section of the robot hand 12.
  • a chuck cylinder 30 is configured.
  • a cylinder bore 32 is installed in the robot body 15, and a rack piston 33 is inserted so as to slide within the cylinder bore 32.
  • Pistons 331 and 332 are formed at both ends of the rack piston 33, and a rack gear 333 is formed between them.
  • a clamp passage 35 communicates with a pressurizing chamber on the piston 331 side, and an unclamp passage 36 communicates with a pressurizing chamber on the opposite side of the piston 332.
  • the rack piston 33 is configured to reciprocate due to ejection. Further, a spring 37 is loaded inside the chuck cylinder 30, and a biasing force is always applied to the piston 331, so that a clamping force can be obtained even when the oil pressure decreases.
  • a part of the cylindrical cylinder bore 32 is cut out, and a clamp gear 38 is engaged with a rack gear 333. Therefore, as the rack piston 33 moves in the linear direction, rotation is applied to the clamp gear 38.
  • a rotating plate (not shown) is configured to rotate together with the clamp gear 38, and two curved guide grooves 41 are formed in the rotating plate at positions shown by dashed lines.
  • a groove cam is formed by inserting a projection 42 fixed to the corresponding slide 31 into each guide groove 41. Therefore, as the rotating plate rotates together with the clamp gear 38, the guide groove 41 is displaced, and the protrusion 42 is moved accordingly, causing the slide 31 to move in a direction parallel to the rotation axis O. .
  • the rotation direction of the clamp gear 38 is switched by hydraulic control of the chuck cylinder 30, and the pair of chuck blocks 21 perform clamping/unclamping operations.
  • the pair of chuck blocks 21 perform clamping/unclamping operations.
  • two sets of chuck mechanisms 20 are configured on the robot body 15, and the drive section shown in FIG. 7 is one of them, and the other chuck mechanism 20 also has a drive section with the same structure. It is configured within the robot body 15.
  • the pair of chuck blocks 21 are brought close to each other, and the chuck claws 23 and 27 are brought into contact with the shaft workpiece W, as shown in FIG. 6, for example.
  • the three chuck jaws 23, 25, 27 that operate integrally are fixed to the chuck block 21 with bolts, and the chuck jaw 27 located at the center is movable with respect to the chuck block 21. It is assembled. Note that the first chuck pawl described in the claims is the chuck pawl 23, the second chuck pawl is the chuck pawl 27, and the third chuck pawl is the chuck pawl 25.
  • a guide block 51 in which a guide groove is formed is fixed to the chuck block 21, and a chuck claw 27 is slidably fitted therein.
  • the sliding direction of the chuck claws 27 is the same as the moving direction of the chuck block 21. Further, the chuck claws 27 are urged from the outside toward the inside, which is the gripping direction, by the spring 52.
  • a spring cover 53 is fixed to the guide block 51 with bolts, and a spring 52 is inserted into a recess formed inside the spring cover 53. Further, there is a stopper 54 on the opposite side of the spring 52, and the chuck claw 27 is normally pressed against the stopper 54.
  • a predetermined machining is performed on the workpiece according to the machining program.
  • the shaft workpiece W to be processed is carried from the workpiece stocker 7 on the entrance side to the processing position by the workpiece automatic transport device 3.
  • the shaft workpiece W gripped by the robot hand 12 is sequentially carried to the first spindle device and the second spindle device, is delivered to the spindle chuck, and then rotated and indexed by the first turret device and the second turret device. Machining is performed using a tool.
  • the shaft workpiece W that has undergone predetermined machining is sent to the inspection device 9, where the machining dimensions are checked.
  • the robot hand 12 rotates around the rotation axis O according to the direction and posture of the shaft workpiece W, and the chuck mechanism 20 changes from a horizontal state to a vertical state by changing the direction by 90 degrees, as shown in FIG. be able to. Therefore, the workpiece automatic conveyance machine 3 grabs and takes out the vertically placed shaft workpiece W in the workpiece stocker 7, changes its posture horizontally during conveyance, and moves it to the spindle device 60.
  • the pair of chuck blocks 21 are simultaneously displaced in the direction in which they approach each other via the grooved cam.
  • the auxiliary chuck jaws 27 first come into contact with the shaft workpiece W. Then, as the pair of chuck blocks 21 come closer together, the chuck claws 27, which cannot move any further, move relative to the chuck blocks 21 while compressing the spring 52.
  • the main chuck claw 23 hits the shaft workpiece W, and the movement of the chuck block 21 is stopped.
  • the shaft workpiece W thus gripped is gripped by the hydraulic pressure that operates the chuck cylinder 30 via the chuck jaws 23, and also by the biasing force of the spring 52 compressed through the auxiliary chuck jaws 27. Ru.
  • the shaft work W is inserted into the seating portion 65 of the spindle device 60, and transferred by gripping the spindle chuck 63.
  • the chuck mechanism 20 that transfers the shaft work W moves in a direction in which the pair of chuck blocks 21 are separated, and the chuck claws 23 are first separated from the shaft work W.
  • the chuck claws 27 urged by the spring 52 separate from the shaft workpiece W at a position where they hit the stopper 29. Note that such workpiece gripping and releasing operations are the same even when the chuck jaws 25 and 27 are used.
  • the shaft workpiece W which has a long shaft dimension compared to its diameter dimension, is reliably gripped at two locations by the chuck claws 23, 27 or 25, 27, so that it can be transported in a stable posture. Can be done.
  • the auxiliary chuck claw 27 can grip the shaft workpiece W with a force greater than a certain level due to the biasing force of the spring 52 without being limited to a position where it hits the shaft workpiece W. Therefore, the chuck claws 23, 27 or 25, 27, which are integrally gripped by the chuck cylinder 30, can reliably grip the shaft workpiece W at two locations.
  • the robot hand 12 is equipped with a pair of chuck mechanisms 20, each of which operates a plurality of chuck jaws 23, 25, 27 by a single chuck cylinder 30, so it has a compact configuration.
  • one chuck mechanism 20 includes two sets of chuck jaws 23, 27 and chuck jaws 25, 27, so that the shaft workpiece W in the opposite direction can be moved without rotating the robot hand 12. can be grasped.
  • the present invention is not limited thereto, and various changes can be made without departing from the spirit thereof.
  • the automatic work transfer machine of the embodiment has a gantry type structure, but the structure is not limited to this.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Feeding Of Workpieces (AREA)
PCT/JP2022/020480 2022-05-17 2022-05-17 ワーク自動搬送機 WO2023223411A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2022/020480 WO2023223411A1 (ja) 2022-05-17 2022-05-17 ワーク自動搬送機
JP2024521416A JPWO2023223411A1 (enrdf_load_stackoverflow) 2022-05-17 2022-05-17

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/020480 WO2023223411A1 (ja) 2022-05-17 2022-05-17 ワーク自動搬送機

Publications (1)

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WO2023223411A1 true WO2023223411A1 (ja) 2023-11-23

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PCT/JP2022/020480 WO2023223411A1 (ja) 2022-05-17 2022-05-17 ワーク自動搬送機

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WO (1) WO2023223411A1 (enrdf_load_stackoverflow)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5537175U (enrdf_load_stackoverflow) * 1978-08-30 1980-03-10
JPS58211885A (ja) * 1982-06-02 1983-12-09 松下電器産業株式会社 複合把持装置
JPS62241685A (ja) * 1986-10-15 1987-10-22 ア−ム・ロボ株式会社 ロボツト用ハンド
JPS637077U (enrdf_load_stackoverflow) * 1986-07-02 1988-01-18
JP2010017815A (ja) * 2008-07-11 2010-01-28 Ihi Corp ロボットハンド

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5537175U (enrdf_load_stackoverflow) * 1978-08-30 1980-03-10
JPS58211885A (ja) * 1982-06-02 1983-12-09 松下電器産業株式会社 複合把持装置
JPS637077U (enrdf_load_stackoverflow) * 1986-07-02 1988-01-18
JPS62241685A (ja) * 1986-10-15 1987-10-22 ア−ム・ロボ株式会社 ロボツト用ハンド
JP2010017815A (ja) * 2008-07-11 2010-01-28 Ihi Corp ロボットハンド

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