JPH04171185A - Robot - Google Patents

Abstract

PURPOSE:To reduce required floor area by constituting so that a work is accessed with a gripper by two stages of turning with a first and a second arms, a work on a work conveyor is accessed with a gripper by the turning of the second arm only to load and unload the work. CONSTITUTION:An arm drive shaft 13 is axially moved by a first drive means 15 so that a work W is inserted in chuck jaws, the jaws close, and grippers 25A, 25B close to change gripping. By the movement of joint members, a second arm 24 turns in the opposite direction apart from the work W to be parallel with a first arm 17. The first arm 17 further turns in the opposite direction to be at right angles with the first and second arms 17, 24 and waits until one cycle of cutting process on the work gripped with a chuck is finished.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot that attaches and detaches a workpiece between a workpiece conveyor and a workpiece gripping device of a machine tool.

2. Description of the Related Art Conventional 9, NC machine tool For example, a workpiece 103 is attached and detached between a workpiece conveyor 101 installed on the front floor of an NC lathe as shown in FIG. 4 and a main spindle chuck 102 of this machine. This was done using an independent robot 104 installed or a robot fixed to the front side of the machine.

Problems to be Solved by the Invention The independent type or machine-fixed type robots described in the prior art require mutual adjustment and centering work on the machine side, the conveyor side, and the robot side, which causes high costs. Moreover, since the structure is such that the receiver is transferred using a single long arm to reach the spindle chuck, there is a problem in that the robot is installed at a distance from the workpiece conveyor side, resulting in wasted floor space.゛The present invention has been made in view of these problems of the conventional technology, and its purpose is to provide a work conveyor-mounted robot having an articulated arm that requires a minimum of floor space. That is.

Means for Solving the Problems In order to achieve the above object, the robot according to the present invention includes an arm drive in the axis direction of the main shaft provided on the machine base of the work conveyor so as to be able to turn and move in the axial direction by a first drive means. shaft, and a first shaft fixed at right angles to the tip of the arm drive shaft.
an arm, a joint member provided at the tip of the first arm and configured to pivot around the axis of the first arm by a second driving means and bend an extension of the axis of the first arm toward the machine and the work conveyor, respectively; a second arm having a gripper at its tip that is provided on the joint member and is reversible by a second driving member; Further, the gripper approaches the work conveyor by rotating only the second arm.

When attaching a workpiece on the workpiece conveyor to the workpiece gripping part of this machine, for example, to the spindle chuck of a lathe, the first and second arms are set vertically and the standby exchange arm is moved by the joint member by the second drive means. The second arm moves to 90° due to the movement of
The second arm is rotated and bent toward the conveyor to become horizontal, and the second arm is further rotated in the horizontal plane so that the gripper at the tip becomes concentric with the workpiece on the workpiece conveyor, and the gripper closes to grip the workpiece. Next, the second arm turns 90 degrees in the opposite direction to become vertical again due to the movement of the joint member, the first arm is turned toward the machine by the first drive means, and then the second arm rotates to the main body due to the movement of the joint member. The aircraft was turned to the side,
The workpiece to be gripped is concentric with the spindle chuck. Next, the arm drive shaft is moved in the axial direction by the first driving means, the workpiece is inserted into the chuck gripping claws, the gripping claws are closed, the gripper is closed, and the gripping is changed. The movement of the articulation member then causes the second arm to pivot in the opposite direction away from the workpiece and parallel to the first arm, and the first drive means further pivots the first arm in the opposite direction to move away from the workpiece and into the first arm. The second arm is also vertical and waits until the workpiece gripped by the chuck has been cut into sections.

In addition, when it is necessary to process the back side of a workpiece gripped by the spindle chuck, the reversible mounting is performed using a reversible gripper.

Example Examples will be described with reference to FIGS. 1 and 2.

In a well-known NC lathe, a saddle 2 is movably placed on a sliding surface in the two-axis direction carved on the bed L, and a saddle 2 is placed on the sliding surface in the X-axis direction carved on the saddle 2. A tool post 3 is mounted movably and in a positionable manner. A turret 4 is provided on the tool rest 3 so as to be rotatable and indexable around a pivot axis in two axes, and a cutting tool T is removably attached to a tool attachment station of the turret 4.

Further, a headstock 5 is installed on the front left side of the bed 1, a main spindle 6 is rotatably supported on the headstock 5, and a chuck 7 is fitted to the tip of the main spindle.

A workpiece conveyor 8 is installed on the floor in front of the headstock side of this machine, and a plurality of workpiece stands 9 are mounted on the conveyor that is movable in a horizontal plane on the upper surface of the workpiece conveyor 8.
are placed at equal pitches, and the workpiece table 9 is sequentially rotated and indexed to the exchange position a at the right end turning point by a drive means (not shown). Work conveyor 8 machine 11
The installation position can be adjusted by a plurality of jack bots 12, and the robot is attached to the right side of the machine stand 11.

The arm drive shaft 13 of the robot is fitted into a hole in the Z-axis direction drilled at the right end of the machine base 11 so as to be rotatable and movable in the axial direction, and the arm drive shaft 13 is fixed on the bottom plate of the machine base 11. It is rotated by a hydraulic cylinder 14 and moved in the axial direction by a motor 15 via a screw 16. The rear end of the first arm 17 is fixed at a right angle to the tip of the arm drive shaft 13, and a fluid pressure-driven rotary actuator 18 is attached to the tip of the first arm 17 to rotate the rotation shaft 18a concentrically with the first arm axis. It is fixed in place. A joint outer frame 19 is integrally provided at the tip of the rotating shaft 18a, and is rotatably inserted into a hole 19a bored in the outer frame 19 in a direction perpendicular to the first arm axis. A U-shaped swivel table 21 having bins at both ends is provided so as to be able to rotate by 90 degrees, and the swivel table 21 is rotated by a fluid pressure-driven rotary actuator 20 fixed to the outer frame 19. Inner surface 21 of swivel base 21
A rotary actuator 22 driven by fluid pressure is mounted on the mounting surface 2.
The rotary shaft 22a is mounted at a right angle to the rotary shaft 22a, and a fluid pressure-driven rotary actuator 23 is mounted integrally with the tip of the rotary shaft 22a with the rotary shaft 23a at a right angle. A second arm 24 is fixed to the tip of the rotating shaft 23a, and grippers 25A and 2 are attached to the tip of the second arm 24.
5B is provided so as to be openable and closable, and the opening/closing mechanism for the grippers 25A and 25B is provided on the second arm 24.

One gripper 25B is fixed to the tip of a fluid pressure cylinder that is axially movably fitted into a piston 26 at the tip of a piston rod fixed to the second arm 24, and the other gripper 25A is carved on the outside of the cylinder 27. It is fixed to the tip of an arm 29 that is moved via a pinion 28 by a provided rack.

Next, the operation of this embodiment will be explained.

Now, the material of the workpiece W is placed on the workpiece pedestal i indexed to the exchange position a of the workpiece conveyor 8 with its axis perpendicular, and the first arm 17 and the second arm 24 are As shown in the figure, each arm is on standby with its axis vertical.

When the NC issues a command to attach the workpiece, the pressure fluid supplied to the rotary actuator 18 is switched and the joint outer frame 1
9 is rotated approximately 30 degrees counterclockwise, and at the same time, the pressure fluid supplied to the rotary actuator 20 is switched, the swivel base 21 is rotated 90', and the second arm 24 is rotated approximately 30 degrees counterclockwise.
The position will be as shown in the figure. Next, when the fluid pressure supplied to the rotary actuator 18 is switched and the second arm 24 turns clockwise, and the second arm axial center line faces the Z-axis direction, the workpiece W is opened in the gripper 25A. .

The pressure fluid supplied to the hydraulic cylinder 27 is switched and supplied to the front chamber of the cylinder 27 from the flow path 32, and the grippers 25A and 25B close to grip the workpiece.

Then, the pressure fluid supplied to the rotary actuator 20 is switched again, and the second arm 24 is rotated 90 degrees in the opposite direction to become vertical, and the pressure fluid is supplied to the front chamber of the hydraulic cylinder 14, so that the first arm 17 is rotated toward the main unit and assumes the attitude shown in Figure 2.

Then, the pressure fluid supplied to the rotating actuator 22 is switched, and the second arm 24 turns toward the main machine, so that the workpiece W gripped by the grippers 25A and 25B becomes concentric with the main shaft 6.

Next, the screw 16 is rotated by the motor 15, and the arm drive shaft 13 moves to the left, and the gripper 25A is moved.

When the workpiece W gripped by the chuck 25B is inserted into the gripping jaws 7a of the opened chuck and the end face of the workpiece W comes into contact with the chuck reference surface and is pressed, this increases the load on the motor 15. is detected and the motor 15 is stopped. Next, the gripping claws 7a of the chuck 7 are closed, and pressure fluid is supplied from the flow path 31 to the rear chamber of the fluid pressure cylinder 27, and the gripper 2
5A and 25B are opened, the pressure fluid supplied to the rotary actuator 22 is switched, and the second arm 24 is pivoted toward the side opposite to the main machine to assume the posture shown in FIG. 2 again. Then, pressure fluid is supplied to the rear chamber of the hydraulic cylinder 14, and the first arm 1
7 rotates to become vertical and waits until the next workpiece reversal command is issued.

When the primary cutting of the front side of the workpiece gripped by the spindle chuck 7 is completed, the first arm 1 of the waiting robot
8 is rotated toward the machine, and then the second arm 24 is rotated toward the machine so that the gripping centers of the opened grippers 25A and 25B become concentric with the workpiece W. Next, the gripper 25
A and 25B are closed to grip the workpiece W, and the gripping claws 7a of the chuck are opened to perform gripping. Next, the arm drive shaft 13 moves to the right to remove the workpiece from the chuck gripping jaws 7a, and the fluid pressure supplied to the swing actuator 23 is switched to move the gripper around the second arm axis 18.
Rotated 0°. Next, the arm drive shaft 13 moves to the left again, and the workpiece W is inserted into the gripping claw 7a, and the end surface is pressed against the reference surface and stops, the gripping claw 7a is closed, and the gripper 25A is closed.
, 25B open, the first arm 17. Second arm 24
are sequentially rotated to the side of the machine and stand by in a vertical position.

The operation of removing the machined workpiece W from the spindle chuck 7 and placing it on the workpiece pedestal 9 of the workpiece conveyor 8 is almost the reverse of the operation described above, so the explanation will be omitted to avoid duplication.

Effects of the Invention Since the present invention is configured as described above, it produces the following effects.

An arm shaft drive shaft is provided on the machine base of the work conveyor so as to be rotatable and axially movable, and a second arm having a gripper at the end is provided via a joint member at the end of the first arm attached at right angles to the end of the arm drive shaft. The workpiece gripped by the workpiece gripping device of this machine is rotated in two stages by the first and second arms, and the workpiece on the workpiece conveyor is rotated in two stages.
By rotating only the arm, the grippers approach each other to attach and detach the workpiece, so the integrated structure of the workpiece conveyor and robot takes up less floor space, and the robot does not require major modifications or changes on the machine side. can be supplied at low cost.

[Brief explanation of the drawing]

Fig. 1 is a partially sectional front view of the robot of this embodiment, Fig. 2 is a partially sectional side view of Fig. 1, Fig. 2 is a top view of Fig. 1, and Fig. The figure is a top view of a conventional robot. 6...Main shaft 7...Chuck 8...Work conveyor 13...Arm drive shaft 17...1st arm' 18.20.22.23...Swivel actuator 19...Joint outer frame 24...2nd arm 25A , 25B...Gripper 114 diagram

Claims (1)

[Claims] (1) In a robot that attaches and detaches a workpiece between a workpiece conveyor installed on the front floor of a machine tool and a workpiece gripping member of this machine, the workpiece conveyor is rotatably and axially movable by a first drive means. An arm drive shaft provided on the machine base in the direction of the main shaft axis, a first arm fixed at right angles to the tip of the arm drive shaft, and a second drive means provided at the tip of the first arm to move the first arm axis. a joint member that pivots around the machine and bends the axial extension line of the first arm toward the machine side and the work conveyor side, respectively; and a second arm that has a gripper at its tip that is provided on the joint member and is reversible by a second drive member. The gripper is characterized in that the gripper approaches the workpiece gripping member of the machine by the rotational movement of the first arm and the second arm, and the gripper approaches the workpiece conveyor by the rotational movement of only the second arm. A robot that does.