JPH0325302B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an apparatus for gripping a workpiece to be fixed to the chuck of a machine tool such as a surface grinder and removing machining debris from the chuck.

(Prior Art) In a machine tool such as a surface grinder, grinding debris is generated by grinding the surface of a workpiece fixed on a chuck, and the grinding debris is deposited on the chuck. When the grinding operation on one workpiece is completed, the workpiece is removed from the chuck and a new workpiece is then installed on the chuck. At this time, grinding debris deposited on the chuck must be removed from the chuck.

As one of the devices for removing debris from the chuck,
A device using a brush-like debris removal tool that moves like a wiper has been proposed (Utility Model No. 52-
Publication No. 157585). However, in this scrap removing device, since the scrap removing tool and its driving machine are mounted on the machine tool itself, it is necessary to protect the scrap removing tool from debris during machining, and the structure of the device is therefore complicated. Furthermore, in this known device, the debris removal device obstructs the robot that attaches and detaches the workpiece to the machine tool from attaching and detaching the workpiece to the chuck.

Another device for removing debris from a chuck is a roller brush-like debris removal tool attached to the spindle head of a machine tool, and the debris removed by rotating the debris removal tool around an axis extending in the horizontal direction. A device for removing debris from the outer peripheral surface of a removal tool has been proposed (Japanese Utility Model Publication No. 164984/1984). However, with this scrap removal device, it is necessary to remove the processing tool and attach a scrap removal tool in its place when removing scrap, so it takes time to replace the tool.
As a result, it takes a long time to remove debris and replace the workpiece.

As one device for removing debris from the fingers of a robot that attaches and detaches workpieces to machine tools, a device has been proposed in which a cleaning fluid spout is formed in the fingers of the robot (Utility Model No. 49). -124773). However, since this device only squirts the cleaning fluid from the robot's fingers, even if it is applied to a device for removing debris from the chuck of a machine tool, it will remove debris stuck to the chuck due to the adhesive force of machine oil. It cannot be removed.

(Problem to be Solved) The present invention is a simple device that can reliably remove debris on the chuck of a machine tool in a short time without interfering with tool and workpiece replacement.
The object of the present invention is to provide a workpiece gripping and debris removal device.

(Solution, Operation, Effect) The present invention provides a rod that is moved along a first axis extending in the vertical direction and a second axis extending in the horizontal direction, and rotated around the first and second axes. The present invention relates to a device that is attached to the rod of a robot, which grips a workpiece to be fixed to the chuck of a machine tool, and removes machining debris from the chuck.

The debris removal device of the present invention includes a support that is attached to the rod and that is displaced between a first position and a second position with respect to the chuck by rotating the rod about the second axis. means, workpiece gripping means attached to the support means and disposed on the side of the chuck when the support means is displaced to the first position; debris removal means disposed on the side of the chuck when the chuck is displaced to the second position.

The debris removal means includes a rotation source supported by the support means, and an elongated slide seal connected to the rotation source and brought into contact with the chuck when the support means is disposed on the side of the chuck. The slide seal is provided with a slide seal that is rotated by the rotation of the rotation source around an axis orthogonal to the longitudinal direction of the slide seal.

During machining, the debris removal means together with the workpiece gripping means are displaced away from the chuck. Therefore, the debris removing means does not interfere with the machining performed by the machining tool, and debris is prevented from adhering to the debris removing means.

The attachment and detachment of the workpiece to and from the chuck is effected by the workpiece gripping means when the support means is displaced into the first position. At this time, since the debris removing means is disposed at a different position from the workpiece gripping means, the debris removing means does not interfere with attachment and detachment of the workpiece.

During debris removal, the support means is displaced to the second position;
In this state, the long slide seal is rotated by the rotation source while being in contact with the chuck. As a result, the slide seal is slid on the top surface of the chuck multiple times, and as a result, debris adhering to the chuck due to machine oil, etc. can be reliably removed, and a wide area on the chuck can be reliably removed in a short time. Can be cleaned. Further, during cleaning, by giving the rod of the robot a reciprocating angular rotation about the first axis, it is possible to reliably remove debris over a wider range.

(Examples) Hereinafter, the present invention will be described in detail based on drawings showing examples thereof.

FIG. 1 shows an embodiment in which a workpiece gripping and debris removal device of the present invention is mounted on a well-known three-dimensional control robot.

In FIG. 1, the three-dimensional control robot 1 has a column 4 rotatably supported on a base 3 in the direction of arrow A-A', and a column 4 that is supported vertically in the direction of arrow B-B'. A movably supported elevating body 5, two rods 6 disposed on the elevating body 5 so as to be extendable and retractable in the front and rear directions as shown by arrow C-C', and these rods 6.
and a mover 7 fixed to the tip of the slider.

The workpiece gripping and debris removal device 2 includes an arm 8 attached to a mover 7 of the three-dimensional control robot 1.
and a concave bracket 9 rotatably attached to the tip of the arm 8 with respect to the axis D of the arm 8.
and one branch 9a of the bracket 9 (lower side in the figure)
a geared motor 1 attached to the other branch 9b of the bracket 9 extending substantially parallel to the branch 9a of the bracket 9;
3, and a debris removing means 14 attached to the output shaft 13a of the geared motor 13.

As shown in FIG. 2, the debris removing means 14 is a frame member 1 having a concave cross-sectional shape, which is attached to the output shaft 13a of the geared motor 13 (see FIG. 1).
5 and is fixed to the frame member 15, with the tip end attached to the frame member 1.
5 and a slide seal 16 made of wear-resistant rubber that protrudes from the slide seal 16. The tip protrusion of the slide seal 16 has two edges 17 and 18 bent away from each other. Both edges 17,1
8 defines a depression 19 between them.

The workpiece gripping and debris removal device according to this embodiment is as follows:
It consists of the above configuration and operates as follows.

In FIG. 1, the workpiece 22 is gripped by the claws 11 of the workpiece gripping means at a predetermined position (not shown), and in this state, the workpiece 22 is lifted up to the top of the chuck 21 by the movement of the column 4 and the lifting body 5 of the robot 1. By being transported, it is placed in the magnetic chuck 21 of the surface grinder.

When performing a grinding operation on the workpiece 22, the workpiece 22 is removed from the claw 11 of the workpiece gripping means and held by a chuck, and the bracket 9 is used as a grindstone (not shown) for grinding the workpiece 22. be evacuated to a position where it will not come into contact with the

When the grinding work is completed, the bracket 9 is moved above the workpiece 22, the workpiece 22 is gripped by the claws 11 of the workpiece gripping means, and then the bracket 9 is slightly lifted upward (in the direction B in the figure). . This causes the workpiece 22 to be lifted slightly upwards from the chuck 21.

The bracket 9 is then rotated by 180° around the axis D while still being raised. As a result, the workpiece gripping means has its claws 1
1 around the axis D while gripping the workpiece 22.
It is rotated 180 degrees and displaced to the side opposite to the side of the chuck 21, and the debris removal member 14 is displaced to the side of the chuck 21 instead.

The bracket 9 is then lowered again. As a result, the slide seal 16 of the debris removal means 14
Both edges 17 and 18 (FIG. 2) abut against the surface of the chuck 21. When the slide seal 16 comes into contact with the chuck 21, the motor 13 starts operating in that state, and the debris removing member 14 moves onto the motor output shaft 1.
3a. Thereby, the slide seal 16 slides on the surface of the chuck 21.

When the motor 13 is activated, the column 4
The slide seal 16 is moved over the entire surface of the chuck 21 by reciprocating angular rotation in the AA' direction.
As a result, the grinding debris left on the chuck 21 is removed by sliding of the slide seal 16.

When the grinding debris removal work is completed, the robot 1 carries out a predetermined operation to carry the bracket 9 to a predetermined position, and places the workpiece that has been ground at that position.

Thereafter, a new workpiece is attached to the claw 11 of the workpiece gripping means.
and carry the workpiece to the chuck 21.
The above-mentioned series of operations in which the workpiece is then subjected to grinding operations is repeated.

According to the embodiment described above, workpiece gripping means are provided at predetermined positions on the bracket 9, which acts as support means for the workpiece gripping means and the debris removal means;
A motor 13 and a debris removal means are provided at other predetermined positions of the bracket 9, and by simply rotating the bracket 9, the workpiece gripping means can freely attach and detach the workpiece, and the debris removal means 14 can freely clean the chuck 21. Since grinding is performed selectively, a large number of workpieces can be ground continuously without the need for manual labor.

In the above embodiment, the branches 9a, 9 of the bracket 9
b are formed substantially parallel, and the work gripping means and the debris removal means are respectively connected to the branches 9a and 9b.
, so that the workpiece gripping means and the debris removal means are arranged angularly apart from each other by 180 degrees with respect to the axis D. Therefore, switching between workpiece attachment/detachment work and chuck cleaning work is performed by rotating the bracket 9 by 180 degrees.

However, the workpiece gripping means and the debris removal means do not necessarily have to be arranged at a 180 degree angle, and may be arranged at any angle, such as 90 degrees, 270 degrees, etc., as long as they do not interfere with each other. .
In either case, switching between the workpiece attachment/detachment work and the debris removal work is appropriately controlled so that the rotation angle of the bracket 9 matches the above-mentioned angle.

The movement of the bracket 9 is displaceable into two positions: a first position in which it displaces the workpiece gripping means onto the chuck 21 and a second position in which it displaces the debris removal means onto the chuck 21. In addition to the rotational movement as in the above embodiment, other movements such as linear movement may also be used.

When removing the debris on the chuck 21, in the above embodiment, the debris removing means 14 is rotated by the motor 13, but as shown in FIG.
3, and the dust removing means 24 is connected to the wiper motor 2.
3 may be used to reciprocate like E-E'.
The wiper motor 23 is operated by a link mechanism (not shown) disposed in advance in the gearbox 23a.
The output shaft 23b itself is caused to reciprocate.

As the workpiece gripping means for gripping the workpiece 22, various types of workpiece gripping means can be used in addition to the gripping means having four claws 11 shown in FIG.

The device to which the workpiece gripping and debris removal device 2 is mounted may be a robot other than the three-axis control robot 1 as in the above embodiment.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of a robot equipped with a workpiece gripping and debris removal device of the present invention, FIG. 2 is an enlarged perspective view showing the debris removal means 14 of FIG. 1, and FIG. It is a perspective view which shows the modification of a removal means. 1: Robot, 6: Rod, 9: Bracket (supporting means), 11: Claw of workpiece gripping means, 13,
23: Motor, 14, 24: Debris removal means, 16:
Slide seal, 21: chuck, 22: workpiece.

Claims (1)

[Scope of Claims] 1. The robot comprising a rod that is moved along a first axis extending in the vertical direction and a second axis extending in the horizontal direction and rotated about the first and second axes. A device that is attached to a rod and grips a workpiece to be fixed to a chuck of a machine tool and removes machining debris from the chuck, the device being attached to the rod and configured to rotate the workpiece around the second axis. a support means which is displaced to a first position and a second position with respect to the chuck by being rotated by the chuck; and a support means attached to the support means, the support means being displaced to the first position. workpiece gripping means which are sometimes arranged on the side of said chuck; and debris removal means attached to said support means and arranged on the side of said chuck when said support means is displaced into said second position. The debris removal means includes a rotation source supported by the support means, and an elongated elongate that is connected to the rotation source and comes into contact with the chuck when the support means is disposed on the side of the chuck. a slide seal that is rotated by the rotation of the rotation source around an axis orthogonal to the longitudinal direction of the slide seal;
Workpiece gripping and debris removal device for machine tools.