JPH0321874Y2 - - Google Patents

Description

[Detailed description of the invention] (1) Industrial application field The present invention is characterized in that a workpiece transfer device for transferring a workpiece onto the table of the machine tool is provided beside a machine tool, and the workpiece transfer device is The present invention relates to a workpiece transfer device for a machine tool that is installed nearby and transfers a workpiece to a delivery position.

(2) Prior art A plurality of work cases containing a plurality of workpieces are stored in a workpiece stocker, and when necessary, the workpieces are taken out from the workpiece stocker by an external transfer device such as a robot, and then transferred to another device such as a roller conveyor. It has been known for a long time to transport a workpiece to a designated location using a transport device.

Therefore, the conventional device described above is a machine tool or
This is very advantageous as a means of taking out and carrying a workpiece from a workpiece stocker when transporting it to another designated location, that is, any designated location. However, in order to transport the work to be actually machined to the side of the machine tool, other transport equipment such as a roller conveyor is required. It was unsuitable as a transfer device with attached equipment, and lacked flexibility for changes in capital investment.

Therefore, as a result of various studies, the applicant installed a workpiece transfer device equipped with a workpiece stocker in the vicinity of the machine tool, and simply carried the workpiece in and out of the workpiece stocker, and then transferred the workpiece to the delivery position. This is a streamlined, labor-saving, flexible and space-saving machine in which the workpiece is transferred onto the table of the machine tool using the workpiece transfer device, and the processing of the workpiece by the machine tool is operated by the control device. We devised a mechanical workpiece transfer device.

The present applicant has already filed an application for the above-mentioned workpiece transfer device for a machine tool as Japanese Patent Application Laid-open No. 111873/1983.

(3) Problems to be solved by the present invention This is an improvement in the specific structure of the work case lifting means in the workpiece transfer device for machine tools presented in JP-A No. 61-111873. The aim is to simplify the process and adopt a more reliable mechanical mechanism.

(4) Purpose The purpose of the present invention is to simplify the specific structure of the work case lifting means proposed by the present applicant in Japanese Patent Laid-Open No. 111873/1983 in the workpiece transfer device of a machine tool, and to The object of the present invention is to provide a workpiece transfer device for a machine tool that eliminates synchronization deviation and is reliable by adopting a cylinder and a mechanical mechanism.

(5) Means and effects for solving the problem In order to achieve the above-mentioned purpose, the present invention has a workpiece transfer system installed on the side of a machine tool having a worktable on the front side to transfer the workpiece onto the table. A workpiece transfer device is installed near the device.

The workpiece transfer device includes a workpiece stocker section that stores the workpieces and the loaded workcases, and a workpiece transfer section that transfers the workcases from the workpiece stocker section to a delivery position. The workpiece transfer section includes a workcase transfer means for loading and unloading the workcases at the top and bottom of the workpiece storage section and transporting the workcases to the delivery position, and a workcase transfer means for transferring the workcases to the workpiece cradle. a work case engaging means that engages when placed; a work case raising and lowering means that raises and lowers the work case between the top and bottom;
A work case lifting means for lifting and lowering the loaded work cases in the work stocker section, and a work case lifting means that engages with the work case in conjunction with the work case lifting means when lifting and lowering the loaded stocker cases. Equipped with matching pawl interlocking means. Further, the work case lifting means includes a rotational drive source, a cam fixed to the shaft of the rotational drive source, and an engagement member that is linked to rotation of the cam, and is swingable about one end as a fulcrum. a first link, a connecting member pivotally supported at the other end of the first link, a support member pivotally supporting the other end of the first link as a swing fulcrum, and a lower end of the connecting member. It consists of lifting stands provided on both sides of the work case to lift the loaded work case.

The workpiece transfer device for a machine tool according to the present invention is installed upright near the machine tool, and all that is required is to load the workcase containing the workpieces onto, for example, a 10-tier truck, and then manually store the truck in the workpiece storage section. ,
Subsequent work is performed automatically by the control device.

(6) Example Hereinafter, one embodiment of the present invention will be described in detail based on the drawings.

First, an overview of the machine tool workpiece transfer device of the present invention will be explained.

FIG. 1 is a plan view for explaining the work transfer device of the present invention, FIG. 2 is a front view taken along the line - - in FIG. 1, and FIG. 3 is a side view taken in the direction shown in FIG. 2.

1, 2, and 3, a column 1 of the machine tool main body that performs milling etc. is moved by a servo motor 2 via a ball screw 3 to Z in the figure.
It is designed to be able to slide in the axial direction. Column 1
A main shaft head 4 is attached to the front surface of the main shaft head 4, and a main shaft 5 is rotatably attached to the main shaft head 4, and can be slid in the Y-axis direction by a servo motor 6. An automatic tool changer 7 (FIG. 3) is attached to the side end of the spindle 5, so that tools can be automatically inserted into and removed from the spindle 5.

A table 9 placed on a head 8 is provided on the front surface of the column 1, and the table 9 can be slid in the X-axis direction by a servo motor 10.
On the table 9 is a pallet 11 on which the workpiece W is placed.
The workpiece W placed on the pallet 11 is attached to a workpiece jig (for example, a mass block, etc.) 12, and necessary processing is performed using a tool attached to the tip of the spindle 5.

A workpiece W to be processed is grasped by a robot 13 of a workpiece transfer device installed near the side wall of the column 1 from a workpiece transfer position A, which will be described later, and is transferred to a workpiece transfer position B on a pallet 11 (Fig. 1). . That is, the robot 13 transfers the workpiece W placed at the workpiece transfer position A to the Yr-axis sliding (vertical movement) servo motor (not shown) and the Zr-axis.
The shaft sliding servo motor 14 causes the shaft to slide backward in the Zr axis direction and further rise upward in the Yr axis direction. Next, it is rotated 90 degrees by the rotation motor 15 (the state shown in Fig. 1), and then lowered in the Yr axis direction, gripped the workpiece W with the hand 13a of the robot 13, and lifted up, and then moved forward in the Z axis direction. After sliding, the hand 13a of the robot 13 is rotated 180 degrees to transfer the workpiece to the workpiece transfer position B on the pallet 11 (second
figure). A control panel 16 is attached to the right end of the machine tool, and controls the drive of the entire machine tool.

The workpiece transfer device of this invention is column 1 of the machine tool.
It is erected near the side wall of. The workpiece transfer device consists of a workpiece stocker section A and a workpiece transfer section B.

For example, 4 pieces of work W are placed in the work stocking part A.
A cart 18 loaded with 12 individual work cases 17 is manually transported from the direction of arrow C, stopped by positioning means (not shown), and stored (FIG. 1).

The work cases 17 stored in the work stocker part A are loaded and unloaded at the top and bottom of the work stocker part A in the work transfer part B, and the work cases 17 are transferred to the delivery position A.
a work case transfer means B1 for transferring the work case 17; a work case raising and lowering means B2 for raising and lowering the work case 17 between the top and bottom; A work case lifting means B3, a claw interlocking means B4 that engages with the work case 17 in conjunction with the work case lifting means B3 when lifting and lowering the loaded work case 17, and a work case. and a work case engaging means that engages when the work case is placed on the work case holder by the transfer means.

(a) Work stocker section A will be explained.

As shown in FIGS. 1 and 3, means (to be described in detail later) for gripping and lifting the work case 17 are provided on both sides of the work stocker section A. The work case 17 in which the work W is stored is mounted on a multi-stage 12-stage trolley 1 in FIG.
Place it on the pedestal 20 of No.8. The work cases 17 may have any shape as long as they are simply stacked in order in the height direction. The point is that they should be stacked, and then grasped and lifted from the outside.

The trolley 18 has wheels 2 at four locations below the pedestal 20.
1 is attached via a bracket 22, and a support for a handle 23 is embedded in one end of the pedestal 20.

Therefore, the cart 18 on which the work cases 17 are loaded in multiple stages on the pedestal 20 is manually transported and stored in the work stocker section A. The trolley 18 is stopped and positioned at a predetermined position.

Any known positioning means may be used, and illustrations thereof are omitted.

(b) The work case lifting/lowering means B2 for raising and lowering the work case 17 between the uppermost and lowermost parts of the transfer section B will be explained.

In Figure 3, column 2 of the workpiece transfer device
A servo motor 25 is attached to the upper end of 4. Rotation is transmitted to a ball screw 26 that is pivotally supported at the tip of the servo motor 25. A work case pedestal 27 on which a work case 17 is placed is attached via a support member 28 to a guide member 29 having a nut 29a screwed into a ball screw 26. Therefore, the rotation of the work case holder 27 is transmitted from the servo motor 25 to the ball screw 26, and the nut 2
It is raised and lowered via 9a.

(c) Work case transfer means B1 for loading and unloading work cases at the top and bottom of the work stocker section A and transferring the work case 17 to the delivery position A will be explained.

In FIGS. 1 and 3, guides 31a and 31b extend in the X-axis direction (perpendicular to the plane of the drawing) at both ends of the fixed base 30.

The support member 32 for transporting the work case 17 is moved in the X-axis direction along the guides 31a and 31b. The driving means for transferring is a bracket 33 attached to the lower part of the support member 32.
The support member 32 is moved by being driven by an X-axis servo motor 34 fixedly installed therein.

Next, move the work case 17 to the work stocker A.
The transfer means for pulling out and inserting the work case holder 27 at the upper or lower stage will be explained.

In FIGS. 1 and 3, two ball guides 3 are provided on both sides of the lower surface 24a of the column 24.
5a and 35b are attached, and the ball guide 3
5a and 35b are guided on the guide member 36.

The guide member 36 is mounted on the support member 32. . A cylinder 3 for moving the column 24 in the Z-axis direction is provided at one end 32a of the support member 32.
The rear end of 7 is attached. Support member 32
The other end 32b is provided on the front surface of the cylinder 37. Therefore, by actuating the cylinder 37, the rod 38 extends forward, and the rod 28
Since the lower surface portion 24a attached to the column moves forward, the column 24 is moved along the ball guides 35a and 35b. By transferring the column 24, the work case holder 27 is inserted into the work stocker section A, or conversely pulled out from the work stocker section A to the transfer section B.

(d) When lifting the work case 17 from the work case lifting means B3, the four claws 3
9, the pawl interlocking means B4 that engages with the work case 17 and operates will be explained.

In FIGS. 1 and 3, four claw members 39 are engaged with the flanges of the lowermost work case 17 by actuating drive means (not shown). After engagement, the work case 17 is lifted by the claw member 39.

(e) When the uppermost case of the loaded work cases 17 is placed on the work case holder 27 at the top of the work storage unit A, it is engaged with the claws 40 at four locations on the work case holder 27. In FIGS. 1 and 3, the work case engaging means B5 includes two cylinders 4 provided at the lower part of the support member 28 supporting the work case holder 27.
1 and the rod 42, the four claws 40 engage the work case 17.

The work transfer device of the present invention operates according to the following steps.

(a) The worker stores, for example, 4 works W in the work case 17, and stores the work case 17, for example, 12
The workpiece is loaded onto the platform truck 18, and the truck 18 is transported to the workpiece storage section A.

(b) Trolley 18 brought to Works Stock Section A
contacts the notch and is positioned and fixed.

(c) The work case 17 with the work case holder 27 positioned and loaded on the work stock holder part A
It moves to the top of the workpiece stocker A and is inserted into the workpiece stocker A.

(d) The work case engaging means B5 acts on the work case 17 at the top, and the work case holder 2
7 and the work case 17 are engaged.

(E) Pull out the uppermost work case 17 to the tension position using the work case transfer means B1,
It is further transported to the delivery position A.

(F) Work case 17 transferred to delivery position A
The workpiece W inside is grasped by the robot 13,
It is delivered to the delivery position B on the work table 9.

(g) The workpiece W delivered onto the worktable 9 is fixed by a workpiece jig 12, and is then subjected to a predetermined processing using a tool fitted to the main shaft 5 of the machine tool. When the predetermined processing is completed, the work W is stored in the work case 17 at the delivery position A by the robot 13.

(H) Work W stored in work case 17
Repeat the above operation for all four items.

(li) When all four works W stored in the work case 17 have been subjected to the specified processing, the work cases are transferred to the tensioning position in the work stocking part A and the mounting part B by the work case transfer means B1. , the work case lifting/lowering means B2 is operated to lower the work case 17 to the lowest position.

(N) Next, the work case lifting means B3 of the work stocking section A is activated, and one of the 12 stages is
The entire work case 17 loaded with 11 tiers is lifted up slightly above the 1st tier. At this time, the pawl interlocking means B4, which operates in conjunction with the work case lifting and lowering means B3, acts so that the pawl member 39 engages with the flange of the lowermost work case 17 and lifts the work case 17.

(l) With the loaded work cases 17 in a lifted state, the work case transfer means B
1, insert the work case 17 of the processed work W into the work stocker section A.

(E) When the work case 17 is inserted into the work stocker section A, the work case lifting means B3 is activated and lowered to set it to its original state. At this time, the pawl interlocking means B4 is interlocked, and the engagement with the work case is released, resulting in a standby position.

By repeating the above operations (a) to (e) 12 times, machining of all the workpieces W loaded on one cart is completed. When the predetermined processing is completed, the worker transports the cart of the transfer device to a designated location.

Next, a specific embodiment of the work case lifting means B3, which is the main part of the present invention, will be described.

<Embodiment 1> FIG. 4 is an enlarged side sectional view of only the work case lifting and lowering means B3.

In FIGS. 1, 3, and 4, four columns 44 are erected on a fixing table 43 in the work stocking section A, and a support plate 45 with a hollow center at both ends is mounted on the columns 44. Place it. A drive section C of the work case lifting and lowering means B3 is mounted on the support plate 45. The drive section C is covered with a cover 46. Four guide bars 47 are erected on both inner side ends of the four upright pillars 44, and lifting tables 48 are fitted on both sides so as to slide up and down.

One cylinder 50 is attached to the center of the right end of the support plate 45 via two brackets 49.

A rod 51 extends from the tip of the cylinder 50, and a rack 51a is carved in a part of the rod 51. A pair of bearing brackets 52 are attached to substantially the center of both ends of the support plate 45, and a shaft 53 is pivotally supported between each bracket 52.

A driving pinion 54 and a heart cam 55, which are engaged with the rack 51a, are fixed to the shaft 53 on the bearing bracket 52. Furthermore, respective brackets 56, which are first supports, are attached to both ends of the support plate 45, and one end 57a of a first link 57, which is a first connecting member, is attached to a pin 58 at the upper end of each bracket 56. It is pivoted by. A cam floor 59 is pivotally supported at an intermediate portion of the first link 57, and the cam floor 59 and the heart cam 55 are in contact with each other.
The other end 57b of the first link 57 and the lifting platform 4
A second link 61, which is a second connecting member, is pivotally supported by pins 62 and 63, respectively, between the bracket 60 attached at the upper end of the frame 8.

To explain the operation of the embodiment, when the cylinder 50 is actuated and the rod 51 is pushed out, the rod 5
The rack 51a carved in the drive pinion 5
4, the driving pinion 54 is rotated counterclockwise. A heart cam 55 having the same shaft as the driving pinion 54 is the driving pinion 54.
The first link 57 is rotated in the same direction as the first link 57 is rotated via a cam floor 59 that is pivotally supported at the intermediate portion of the first link 57.

As the heart cam 55 rotates, the first link 57
rotates upward as shown by the two-dot chain line using the pin 58 as a fulcrum. As the first link 57 rotates, the second link 61 is lifted upward as shown by the two-dot chain line. By lifting the second link 61 upward, the lifting table 48 is guided by the guide bar 47 and lifted. As a result, the lifting platform 48 engages and lifts the work case 17 with the claw member 39 by the claw interlocking means.

When lowering the work case 17, the operation described above is reversed, and a series of operations is performed by pulling the rod 51 with the cylinder 50, and the work case 17 is lowered.

<Embodiment 2> FIG. 5 is a diagram showing another embodiment of the drive section C of the work case lifting and lowering means B5. In addition, the fifth
The names and symbols of each member in the figure will be explained as being the same as in FIG. 3.

In FIG. 5, the mounting state of the support plate 45, guide 47, and lifting platform 48 is the same as in FIG. 3.

A cylinder 50 is pivotally supported at the right end of the support plate 45 via a bracket 49 with a pin 50a.

A rod 51 extends from the tip of the cylinder 50. A pair of bearing brackets 52, which are second supports, are attached slightly to the left end on both ends of the support plate 45, and a shaft 5 is installed between each bracket 52.
3 is pivoted. One end of a driving link 64, which is a third connecting member, is fixed to the shaft 53, and the other end of the driving link 64 is pivotally supported by a pin 65 at the tip of the rod 51.

Furthermore, a pair of brackets 56, which are the first supports, are attached to the left end of the support plate 45, and one end 57a of the first link 57 is pivotally supported by a pin 58 at the upper end of each bracket 56. A cam floor 5 which is an engaging member is located in the middle part of the first link 57.
9 is pivotally supported, and the cam floor 59 and the heart cam 5
5 is in contact. The other end 5 of the first link 57
7b and a bracket 60 attached at the upper end of the lifting platform 48, a second link 61 is pivotally supported by pins 62 and 63, respectively.

To explain the operation of this embodiment, when the cylinder 50 is actuated and the rod 51 is pushed out, the drive link 64 rotates counterclockwise together with the shaft 53. A heart cam 55 having the same axis as the driving link 64 causes the first link to swing in the same direction as the driving link 64 rotates via a cam floor 59 pivotally supported at the intermediate portion of the first link 57.

As the heart cam 55 rolls, the first link 57 rotates upward about the pin 58 as shown by the two-dot chain line. The rotation of the first link 57 causes the second link 6 to
1 is lifted upward as shown by the two-dot chain line. Second
By lifting the link 61 upward, the lifting table 48 is guided by the guide bar 47 and lifted. As a result, the lifting platform 48 engages the work case 17 with the claw member 39 by the claw interlocking means and lifts it up.

When lowering the work case 17, the operation described above is reversed, and a series of operations is performed by pulling the rod 51 with the cylinder 50, and the work case 17 is lowered.

(7) Effect The present invention installs a workpiece transfer device near the machine tool, so that the operator can store multiple workpieces in a workcase, simply stack the workcases, place them on a trolley, and transfer the workpieces to the machine tool. Since the cart is simply transported to the work stocker section of the work transfer device and simply set, the input/output work by the operator is extremely simple.

The present invention solves the problem of synchronization by driving a rotary drive source using one cylinder as a means for lifting and lowering a work case. At the same time, since a mechanical mechanism is adopted, the structure is not only simplified and costs reduced, but also the drive transmission is ensured. Also, by using the heart cam when the power is cut off, safety is ensured by the dead point.

[Brief explanation of the drawing]

FIG. 1 is a plan view for explaining the workpiece transfer device of the present invention, FIG. 2 is a front view taken along the line - in FIG. 1, and FIG. 3 is a side view taken in the direction shown in FIG. 2.
FIG. 4 is an enlarged side sectional view showing a work case lifting means, which is the main part of the present invention. FIG. 5 is a diagram showing another embodiment of the driving section of the work case lifting and lowering means, which is the main part of the present invention. A... Work stocking department, B... Transfer department, B1
...Workcase transfer means, B2...Workcase lifting and lowering means, B3...Workcase lifting and lowering means, B4...Workcase gripping means, B5
...Work case engaging means, W...Work, 1...
...Machine tool column, 4... Spindle head, 5...
Main axis, 9...Table, 11...Palette, 12
...Work jig, 13...Robot, 17...Work case, 18...Dolly, 19...Stopper,
21... Wheel, 23... Handle, 24... Column of transfer device, 25... Servo motor, 26... Ball screw, 27... Work case holder, 28
...Supporting material, 29...Guiding member, 30...Fixing base, 32...Supporting member, 34...X-axis servo motor, 36...Guiding member, 37...Cylinder, 3
9, 40... Claw portion, 43... Fixing base, 44... Support column, 45... Support plate, 47... Guide bar, 48
... Lifting platform, 50 ... Cylinder, 51 ... Rod, 55 ... Heart cam, 57 ... First link, 61 ... Second link, 64 ... Driving link.

Claims (1)

[Scope of Claim for Utility Model Registration] A work stocking section that is installed near a machine tool having a work table for fixing the workpieces and stores a plurality of workcases in which a plurality of workpieces are placed; A workpiece transfer device having a workpiece transfer unit that transfers a work case from a handle unit; and a workpiece that is fixedly installed at the base of the machine tool and that transfers the workpiece between the work table and the workpiece transfer unit. A workpiece transfer device in a processing system including a delivery device includes a workpiece stocker body forming a base of the workpiece stocker portion and holding the plurality of workcases inside, and a workpiece stocker body provided on the workpiece stocker body and holding a rod. a cylinder that moves forward and backward; a first support provided at one end of the work stocker main body opposite to the rod; and one end supported by the first support and swingably extended toward the work case. a second connecting member that is swingably provided at an end of the first connecting member and supports a cradle for receiving a plurality of work cases at one end; a second connecting member provided on the workpiece stocker body at an intermediate position between the second connecting member and the first support body;
a support body; a rotatable cam supported by the second support body; and a third cam rotatable integrally with the second support body and rotatably engaged with one end of the rod. a connecting member; and an engaging member provided at an intermediate portion of the first connecting member and abutting the cam, and when the work case is lifted, the cam is rotated by the action of the cylinder to engage the engaging member. The engaging member is configured to be able to stop on the cam so that the lifting position of the work case can be maintained even if the cylinder stops moving while the member is in contact with the cam. A workpiece transfer device for machine tools.