JPH0432161Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a reversing device for a work loader for a machine tool.

Conventional technology When continuously automatically machining both sides of a workpiece using a conventional NC lathe, etc., the work loader rotates the loader head 180 degrees while gripping the workpiece, and the chuck of the lathe grips the opposite side of the workpiece again. are widely adopted. This method is convenient for shaft workpieces with relatively long axial dimensions, but for thin disk-shaped workpieces, the loader head's gripping claws grip the end of the workpiece, so it can rotate 180 degrees. I can't just hold it in the chuck of the lathe. Therefore, when reversing a disc-shaped thin workpiece, the workpiece is first transported out of the machine using a loader, then re-grabbed and reversed using a robot or a highly functional reversing device, and then re-inverted into the chuck of the lathe. We are using a method that allows people to grasp it.

Problems that the invention aims to solve: Conventional reversing devices have a complicated and expensive structure, and require troublesome robot program changes or troublesome setup changes by the operator every time the axial length of the workpiece changes. It had some problems.

Means for Solving the Problems In a work loader that supplies a workpiece to a machine tool having a chuck 3 on a horizontal spindle 2, a spindle is provided at the tip of a loader head 6 that can be moved and positioned in the spindle axis direction and vertically so as to be rotatable by 90 degrees. The gripper 9 faces the chuck side in the axial direction and downward in the vertical direction, and is provided on a vertical plane including the extension line of the main shaft axis near the machine, is provided with a horizontal workpiece holder 27, and is attached to the tip of an arm 30 that can rotate 90 degrees. The rotating unit 23 has a work gripping claw 43 facing downward in the vertical direction for gripping the work on the horizontal work holder and facing the same side as the main spindle chuck.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings. In a known NC lathe, a main spindle 2 is rotatably supported by a plurality of bearings on a headstock 1 fixed on a bed, a power chuck 3 is attached to the tip, and the chuck 3 is provided at the rear end of the headstock 1. It has gripping claws 3a that are opened and closed by switching the pressure fluid supplied to a fluid pressure cylinder (not shown).

The work loader has a loader arm 5 that can be moved and positioned in the main axis axis (hereinafter referred to as Z-axis) direction and in the vertical (hereinafter referred to as Y-axis) direction, and as shown in FIGS. A loader head 6 is attached. A turning shaft is fitted into the tip of the frame 7 of the loader head 6 so as to be able to turn into a turning center hole (not shown), which is bored on the A-A line that intersects with the axis of the loader arm at an angle of 45°. The revolving body 8 is driven by a drive mechanism (not shown).
It is said to be able to rotate 180°. Further, the revolving body 8 is provided with a mounting surface 8a inclined at 45 degrees with respect to the rotation axis, and a gripper 9 is fixed to the mounting surface 8a. Guide rods 10a are carved into three equal parts radially from the center on the distal end surface of the gripper body 10 of the gripper 9, and the base portions 11a of the gripping claws 11 are movably inserted into the respective guide grooves 10a. The claw portion 11b is fixed. The gripper 9 is configured such that when the rotating body 8 rotates through 180 degrees, the gripping claws 11 face the main shaft chuck side in the Z-axis direction and the lower side in the Y-axis direction. Further, a slide tube 12 is fitted into the center hole 10b of the gripper body 10 so as to be movable in the axial direction, and the end surface of the upper cover 14 is fixed to the back of the center blind hole of the slide tube 12 and the end surface of the gripper body via the front cover 13. A spring 15 is interposed between the slide tube 12 and
is always biased to protrude. The center portion of the rotating body 8 is pivoted by a support shaft 19 provided on the rotating body 8 to a pin 17 implanted at right angles to the tip of a piston rod (not shown) of the hydraulic cylinder 16 fixed on the tip rotation axis of the rotating body 8. The elongated hole 18a at the tip of the lever 18 to be supported is inserted, and the other tip comes into contact with the end surface of the slide tube 12, so that the fluid pressure cylinder 16
The slide tube 12 is moved against the force of the spring 15 by switching the pressure fluid supplied to the slide tube 12 . Further, one tip of an L-shaped lever 21, which is pivoted on a support shaft 20 provided on the gripper body 10, is engaged with a groove 12a carved on the outer periphery of the slide cylinder 12, and the other tip is engaged with the groove 12a carved on the outer periphery of the slide cylinder 12. The hydraulic cylinder 16 is engaged with a groove 11c carved in the bottom surface of the base 11a of the
By switching the pressure fluid supplied to the gripping claws 11
is designed to open and close.

As shown in FIGS. 3 and 4, a stand 24 of a rotating unit 23 is set upright on the floor on the right side of the NC lathe on a vertical plane including an extension of the main spindle axis, and a board 25 is fixed to the upper end of the stand 24. A workpiece pedestal 27 having a horizontal upper surface is fixed to the upper end of a jack bolt 26 which is screwed into a screw hole cut concentrically with the stand 24 in the substrate 25, and its position in the vertical direction can be adjusted. Further, a swing arm bracket 28 is fixed to one end of the base plate 25, and a dogleg-shaped swing arm 30 is rotatably provided at the upper end of the arm support arm 28a of the bracket 28, with its central portion pivoted by a swing shaft 29. A work gripping mechanism 33 as shown in FIG. 5 is attached to the tip of the swing arm 30 via a mounting base 31. The frame body 34 of the workpiece gripping mechanism includes a plurality of horizontally parallel guide bars 35 to 38, and the guide bars 35 and 36 have gripping claw holders 39, and the guide bars 37 and 38 have gripping claw holders 40, respectively. It is symmetrically supported and movably supported via a plurality of bearings 44. The holders 39 and 40 have racks 39a and 40a.
A rack 39a is engraved at a symmetrical position on the tooth surface of a pinion 42 that is fitted via a key to an output shaft 41a of a fluid-pressure-driven rotary actuator 41 fixed to the center of the rear end surface of the frame 34. , 40a are engaged with each other, and the rotation of the pinion 42 causes the holders 39, 4
0 is simultaneously moved by an equal amount in the symmetrical direction, and holder 3
A workpiece is gripped by a pair of workpiece gripping claws 43 fixed to parts 9 and 40.

On the other hand, a support metal fitting 4 is attached to the side surface 28b of the bracket 28.
A hydraulic cylinder 45 is rotatably supported by a joint 4 fixed to the tip of a piston rod 47.
8 is connected to the lower end of the rotating arm 30 via a connecting shaft 49, and the rotating arm 30 is rotated 90 degrees by switching the pressure fluid supplied to the hydraulic cylinder 45, and the gripping claw 43 of the workpiece gripping mechanism 33 at the tip is moved to the Y position. The lower side in the axial direction faces the same side as the main shaft chuck in the Z-axis direction.

Operation The workpiece currently gripped by the spindle chuck 3 of the NC lathe has been machined on one side, the tool post (not shown) is positioned at a predetermined standby position, and the loader head 6 is positioned at a predetermined standby position above the spindle chuck side. Then, the gripping claws 11 of the gripper 9 are opened and face the spindle chuck side, the rotation of the spindle 2 is stopped, and the workpiece is about to be replaced in the opposite direction.

The loader head 6 descends in the Y-axis direction so that the gripping claws 11 of the gripper 9 are concentric with and slightly in front of the workpiece gripped by the chuck 3, and moves toward the chuck side in the Z-axis direction to place the tip of the workpiece in the gripping claws 11. section is inserted. Next, the pressure fluid supplied to the fluid pressure cylinder 16 is switched, the piston rod retreats, the lever 18 moves via the support shaft 17, the slide cylinder 12 retreats by the force of the spring 15, and is gripped via the lever 21. The claws 11 close and the workpiece is gripped.
Next, the gripping pawl 3a of the spindle chuck 3 is opened, and the loader head 6, while gripping the workpiece in the gripping pawl 11, moves slightly toward the Z-axis rotation unit 23 to remove the workpiece from the chuck 3, and then moves it further in the Y-axis direction. After rising to the position above, it moves toward the Z-axis rotation unit 23 and is positioned above the rotation unit. Next, the rotating body 8 is driven by a drive mechanism (not shown).
After being rotated 180 degrees, the gripping claw 11 that grips the workpiece faces downward in the Y-axis direction and is concentric with the workpiece pedestal 27, and the loader head 6 descends in the Y-axis direction so that the machined end surface of the workpiece to be gripped is placed on the holder. It comes into contact with the top surface of the stand 27 and stops. Subsequently, the pressure fluid supplied to the fluid pressure cylinder 16 is switched and the piston rod moves forward, causing the lever 18, slide cylinder 12, and lever 21 to move forward.
The gripping claw 11 moves through the workpiece to release the workpiece, and the loader head 6 transfers the workpiece to the workpiece pedestal 27.
While keeping it on top, move up in the X-axis direction and take shelter.

The pressure fluid supplied to the hydraulic cylinder 45 of the rotating unit 23 is switched so that the piston rod 4
7 moves forward, the rotating arm 30 is rotated 90 degrees via the joint 48 and the connecting shaft 49, and the workpiece gripping mechanism 33 at the tip of the rotating arm faces downward in the Y-axis direction and enters the opened workpiece gripping claw 43. The unprocessed part of the workpiece on the workpiece pedestal 27 is inserted, the pressure fluid supplied to the rotary actuator 41 is switched, the pinion 42 rotates, and the racks 39a and 39a engage with each other.
The gripping claws 43 are closed and the workpiece is gripped via the holders 39 and 40 having the holders 40a. The pressure fluid supplied to the fluid pressure cylinder 45 is switched again, the piston rod 47 moves back, and the swing arm 30 moves back.
Workpiece gripping claw 43 rotates 90 degrees and grips the workpiece
faces the same side as the main shaft chuck 3 in the Z-axis direction. At the same time, the revolving body 8 of the loader head 6 which is being evacuated is rotated 180 degrees, the gripping claws 11 of the gripper 9 face the gripping claws 43 in the Z-axis direction, and the workpiece is lowered in the Y-axis direction so that the gripping claws 11 grip the workpiece. It is concentric with the gripping claw 43. Next, the loader head 6 grips the Z-axis direction gripping claw 43.
The machined part of the workpiece is inserted into the gripping claws 11, and the pressure fluid supplied to the hydraulic cylinder 16 is switched, the gripping claws 11 are closed, and the workpiece is gripped. Subsequently, the pressure fluid supplied to the rotary actuator 41 is switched and the workpiece gripping claw 4
3 is opened, the workpiece is released, and the workpiece is gripped again, and the rotary head 6 is slightly moved in the Z-axis direction, and the workpiece is pulled out from the workpiece gripping claws 43. Then, the loader head 6 moves up in the Y-axis direction, moves toward the spindle chuck side in the Z-axis direction, and descends again in the Y-axis direction so that the workpiece gripped by the gripping claws 11 is concentric with the spindle chuck 3 and slightly in front of it, and the loader head 6 moves toward the spindle chuck in the Z-axis direction. The machined part of the workpiece is inserted into the chuck gripping pawl 3a, which is opened by moving toward the chuck in the axial direction, and comes into contact with the positioning end surface of the gripping pawl 3a. Next, the gripping claws 3a are closed to grip the workpiece, and the gripping claws 11
is opened, the grip is changed, and the loader head 6 is moved to Z.
The gripper 9 moves slightly in the direction of the axial rotation unit, becomes empty, rises in the X-axis direction, and waits at a predetermined standby position until cutting of the workpiece gripped by the spindle chuck 3 is completed.

Effects As detailed above, the present invention is equipped with a gripper that rotates 90 degrees at the tip of the loader head that is movable in the spindle axis direction and in the vertical direction, and faces the chuck side in the spindle axis direction and vertically downward. The work gripping claw attached to the tip of the revolving arm of the revolving unit, which is installed on a vertical plane that includes the extension of the axis, grips the workpiece on the horizontal work holder facing vertically downward, rotates 90 degrees, and lifts the spindle chuck. Since it faces the same side as the workpiece, it is possible to respond to changes in the thickness of the workpiece by simply adjusting the position of the workpiece holder using jack bolts and by making slight changes to the position data of the loader program. This has the effect that a safe and reliable reversing device can be obtained at low cost with less burden.

[Brief explanation of the drawing]

Fig. 1 is a front view of the loader head of the work reversing device of the present invention, Fig. 2 is a partially enlarged partially cutaway view of Fig. 1, and Fig. 3 is a front view of the rotating unit.
FIG. 4 is a side view of the rotating unit, FIG. 5 is a partially cut-away front view of the workpiece gripping mechanism, and FIG. 6 is a partially cutaway side view of the workpiece gripping mechanism. 2...Main shaft, 6...Loader head, 9...Gripper, 23...Swivel unit, 27...Work holder, 30...Swivel arm, 43...Work gripping claw.

Claims (1)

[Scope of utility model registration request] In a work loader that supplies a workpiece to a machine tool having a chuck on the horizontal spindle, a loader head is provided at the tip of the loader head, which can be moved and positioned in the spindle axis direction and the vertical direction, and is rotatable by 90 degrees. A vertical gripper that is attached to the tip of an arm that is installed on a vertical plane that includes an extension of the spindle axis near the machine and has a horizontal workpiece holder, and that can rotate 90 degrees to grip the workpiece on the horizontal workpiece holder. A workpiece reversing device comprising a rotating unit having a workpiece gripping claw facing downward and on the same side as the main spindle chuck.