JPH0530576B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a machining center or the like in which a pallet with a jig attached is placed on a support stand, and a workpiece is fixed to the jig for machining. Regarding machine tools.

[Prior Art] Normally, in a machining center, a workpiece is attached to a pallet via a jig at an external setup station, etc., and the workpiece is taken onto a rotary table (support stand) through an automatic pallet exchange device.
Machining is done using the main spindle tool.

In such a case, it is not only necessary to accurately seat the pallet at a predetermined position on the rotary table, but also to detect whether or not the pallet is seated at a predetermined position.

This involves activating the clamp mechanism, locator, etc. of the jig on the pallet, and directly positioning and fixing the workpiece to the jig using the robot, and releasing the fixation, as well as synchronizing the workpiece with the operation of the jig. This is an essential operation when operating the main body of a machining center to proceed with work.

Conventionally, the following method has been adopted as a means for confirming the seating position of such pallets on the rotary table.

That is, a limit switch is provided at a predetermined position on the rotary table and a contact piece is provided on the pallet, and when the pallet is seated at a predetermined position on the rotary table, the contact piece is brought into contact with the limit switch to activate the limit switch. By activating it, seating of the pallet at a predetermined position is detected.

[Problems to be Solved by the Invention] By the way, in the above-mentioned conventional technology, position detection is performed by mechanically pressing and operating the limit switch with a contact. Positioning must be performed with high precision, which complicates assembly and maintenance work.

In addition, it is assumed that the limit switch may malfunction due to wear of the contactor, or chattering may occur.

The present invention facilitates maintenance work, eliminates the risk of malfunction due to wear, etc., and allows the switching operation of the switching valve means to be performed reliably while the pallet is confirmed to be seated on the support base, making it easy to operate the robot. The purpose of the present invention is to provide a machine tool that can safely and reliably perform fastening and releasing operations of workpieces to and from a jig within a jig on a pallet.

[Means for Solving the Problems] In order to achieve the above object, the present invention takes a pallet with a jig attached to the top onto a support base, and uses a fluid pressure actuator to clamp a clamp member provided on the jig. In a machine tool that is operated to perform machining by supporting a workpiece in a detachable manner, when a pallet is seated at a predetermined position on the support base in the jig, a fluid passage formed in the support base is formed. A fluid passage communicating with the pallet through the fluid passage of the pallet, and a gas passage communicating with the gas passage formed in the support table through the gas passage of the pallet are provided, and the fluid passage is connected to the fluid passage of the jig. Directly or indirectly connect a working fluid circuit that causes a working fluid to flow by the action of the fluid flowing through the jig to operate the fluid pressure actuator provided on the jig, and close the gas passage of the jig to the working fluid circuit. and is provided with a switching valve means actuated by the pressure applied to the gas in the gas passage to switch the operation of the fluid pressure actuator; The structure is equipped with a pressure switch that detects the

[Function] In the machine tool according to the present invention, when the pallet is not seated at a predetermined position on the support base, one end of the gas passage formed in the support base is open, so that the inside of the pallet is not seated. Even if pressurized gas is supplied, the pressure switch does not operate because this gas is discharged to the outside, thereby confirming the positional shift of the pallet.

Then, when the pallet is seated at a predetermined position on the support base, one end of the gas passage is closed, and pressurized gas is supplied into the gas passage, causing the pressure inside the gas passage to rise. A switch is actuated to confirm that the pallet is seated in a predetermined position.

Since the pressure switch is operated by gas pressure in this manner, the influence of changes over time such as wear is reduced, and problems such as chattering are eliminated.

When the pallet is seated at a predetermined position on the support base, the gas in the gas passage of the jig is pressurized by the pressurized gas in the gas passage of the support base, so that the switching valve means is activated and the gas passage provided in the jig is activated. Switch the operation of the hydraulic actuator.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 shows machining equipment constructed by combining a machining center MC, which is a machine tool according to the present invention, with a cylindrical coordinate robot RB and a two-sided automatic pallet changer APC.

The robot RB has a first workpiece (hereinafter referred to as the first workpiece) _W1 placed on the storage table S and a second workpiece different from the first workpiece _W1 (hereinafter referred to as the second workpiece).
This machine automatically attaches and detaches a workpiece W such as _W2 (referred to as a workpiece) to and from the machining center MC.
The hand _H1 for the workpiece _W1 and the hand _H2 for the second workpiece _W2 are automatically exchanged. In addition, the automatic pallet changing device APC mentioned above is
A pallet PT equipped with a first jig JA (described later) for the first work W ₁ and a pallet PT equipped with a second jig JB (described later) for the second work W ₂ are accommodated, and either of them can be used as needed. This is for transferring pallet PT to machining center MC.

The above-mentioned machining center MC is a horizontal type, and the first workpiece W 1 and the second workpiece W are transferred onto the rotary table (support stand) 1 while being attached to each jig J ( _JA , JB) on the pallet PT. A workpiece W of grade ₂ is machined using a tool attached to the spindle 2.

First, the detailed structure of the first part of the rotary table will be explained based on FIGS. 2 to 6.
3 in the figure is a base. At the center of the upper part of the base 3, there is a large-diameter hole 3a (written on the bottom left in Figure 2, hereinafter the position of the symbol will be abbreviated as ``bottom left'') that penetrates vertically. A hole 4a (bottom center) having a smaller diameter than the hole 3a and penetrating vertically is formed coaxially with each other in the center of the section, and one end of these holes 3a and 4a has a small diameter portion 5a (top center) and the other has a small diameter portion 5a (top center). A mounting portion 5b (lower center) is formed on the end side, and
A large diameter portion 5c is located between the small diameter portion 5a and the mounting portion 5b.
The central shaft 5 (lower center) is inserted through the center shaft 5 (lower center) with its axis directed in the vertical direction with substantially the entire small diameter portion 5a projecting upward from the base 3.

The central shaft 5 is fixed to the base 3 by fixing its mounting portion 5b to the lower surface of the base 3 with bolts 6. Moreover, inside this central shaft 5, an upper end 7a (center) is provided with a large diameter portion 5c.
The first oil passage 7 opens into the annular groove 8 formed in the upper part, and the lower end 7b (Figs. 4 and 5) opens outward from the lower side of the mounting part 5b, and the upper end 9a (lower A second oil passage whose lower end 9b (Figs. 4 and 5) opens outward from the lower side of the mounting portion 5b. 9, and a third oil passage 11 whose upper end 11a (upper center) opens at the upper end of the small diameter portion 5a and whose lower end 11b (FIGS. 4 and 5) opens at the lower side of the mounting portion 5b;
A fourth oil passage whose upper end 12a (top center) opens into the annular groove 13 formed in the upper portion of the small diameter portion 5a, and whose lower end 12b (FIGS. 4 and 5) opens into the lower side of the mounting portion 5b. 12 is formed, and further an upper end 14 is formed.
A first air passage 14 whose a (lower center) opens into an annular groove 15 formed at the lower end portion of the large diameter portion 5c, and whose lower end 14b (Fig. 4) opens into the lower side of the attachment portion 5b.
The upper end 16a (upper center) opens into an annular groove 17 formed in the middle part of the small diameter portion 5a, and the lower end 16b
(FIG. 4) is formed with a second air passage 16 (center) that opens at the lower side of the mounting portion 5b.

Furthermore, a first cylinder 18 (lower left) is fitted into the hole 3a of the base 3 via a bearing 19 (lower left) so as to be rotatable within a horizontal plane.

This first cylinder 18 has a small diameter portion 20 at the upper end of a cylindrical member 20 (lower right) in which a small diameter portion 20b (lower) is formed below a large diameter portion 20a (lower center right).
A disc-shaped member 21 (center right) having an insertion hole 21a (center right) with the same diameter as the inner diameter of b is fixed with a bolt 22, and a worm wheel 23 ( The worm wheel 23 (lower part) is fixedly attached with a bolt 24, and a worm 25 that is rotated by a drive device (not shown) is engaged with the worm wheel 23.

The first piston 26 has small diameter parts 26a (center left) and 26b on the upper and lower sides of the large diameter part 5c of the central shaft 5, and the large diameter part 26c is the interrupted part. The first cylinder 1
While fitting into the insertion hole 21a of the disc-shaped member 21 of No. 8 and the hole of the small diameter portion 20b of the cylindrical member 20,
The large diameter portion 26c is inserted into the cylinder of the cylindrical member 20, and the inside of the cylinder is inserted into the cylinder upper chamber 18.
a (center right) and a cylinder lower chamber 18b, this first piston 26 is
The inner circumferential side thereof is slidable up and down with respect to the large diameter portion 5c of the central shaft 5, and the outer circumferential side thereof is liquid-tightly slidable with respect to the first cylinder 18.

Moreover, inside this first piston 26, an upper end 27a (center right) opens into a hole 28 formed in the upper end surface of the first piston 26, and a lower end 27b (lower)
The first piston 26 has a first communicating air passage 27 that opens into an annular groove 29 (bottom) formed on the lower inner circumferential surface of the first piston 26 so as to communicate with the annular groove 15.
a first communicating oil passage whose one end opens into an annular groove 30 (center) formed on the upper inner circumferential surface so as to communicate with the annular groove 8, and whose other end opens into the cylinder upper chamber 18a of the first cylinder 18; 31 (lower center left) and an annular groove 32 (lower center right) formed on the middle inner peripheral surface of the first piston 26 in communication with the annular groove 10, and the other end opens into the first cylinder 18. cylinder lower chamber 1
A second communication oil passage 33 (lower center left) opening to 8b is formed.

Furthermore, a disk-shaped clamp plate 34 (center left) having a locking hole 34a (right) at a predetermined position is loosely fitted into the lower end portion of the small diameter portion 5a of the central shaft 5 so as to be freely movable up and down.

This clamp plate 34 is fixed to the upper end of the first piston 26 via a bolt 35, and is fitted into the locking hole 34a of the first cylinder 1.
Locking pin 37 fixed to 8 by bolt 36
is fitted so that relative rotation with the first cylinder 18 is prevented.

Inside the clamp plate 34, there is a first communicating air passage whose upper end opens into a hole 38 (center right) formed in the upper end surface and whose lower end communicates with the hole 28 formed in the upper end surface of the first piston 26. 39 is formed.

Further, in the small diameter portion 5a of the central shaft 5 above the mounting portion of the clamp plate 34, a second piston 40 having a large diameter portion 40a (upper center right) formed on the upper end side is vertically liquid-tight. The second piston 40 is slidably fitted into the second piston 40.
The annular groove 1 is formed on the upper inner peripheral surface of the second piston 40.
A fourth communicating oil passage 42 has one end opened in an annular groove 41 (top center) formed to communicate with the fourth oil passage 42 and the other end opens outward in a lower portion of the large diameter portion 40a;
One end opens into an annular groove 43 (upper center left) formed on the lower inner circumferential surface of the piston 40 so as to communicate with the annular groove 17, and the other end opens outward at the lower part of the second piston 40. A second communicating air passage 44 (top center right) is formed.

Furthermore, the disc-shaped rotary table 1 having a predetermined thickness is fixed to a lower portion of the second piston 40. This rotary table 1 is fixed to the clamp plate 34 via bolts 45, and has a portion near the outer periphery of the lower surface thereof.
An annular coupling ring 48 is fixed via bolts 49 to an annular coupling ring 47 which is fixed to the base 3 via bolts 46 .

In addition, in the center of this rotary table 1,
A circular recess 52 (top center right) that opens upward is formed, and a second cylinder 53 (top) is inserted into this recess 52.
is fitted in an airtight manner so that it can freely slide up and down.

This second cylinder 53 has a recess 52 in the recess 52.
It consists of a bottomed cylindrical cylinder adapter 55 (upper) fitted with a space 54 formed therebetween, and a pallet clamp plate 57 fixed to the upper end of this cylinder adapter 55 via bolts 56. Then, inside this second cylinder 53, the above-mentioned second
The large diameter portion 40a of the piston 40 is slidably fitted in a fluid-tight manner, and the interior thereof is divided into an upper cylinder chamber 58a and a lower cylinder chamber 58b.

A third oil passage 1 formed in the central shaft 5
The upper end 11a of the piston 1 communicates with the cylinder upper chamber 58a, and the fourth communication oil passage 42 formed in the second piston 40 communicates with the cylinder lower chamber 58b.

Furthermore, the pallet clamp plate 5
7 is a rectangular plate long in the X-axis direction (horizontal direction in Fig. 3), and on the outer surface of both sides along the X-axis direction, there are a plurality of plates to support the pallet PT for conveying the pallet during pallet exchange. The support roller 59 of
Further, on the lower surface of the both sides, there are a plurality of guide rollers 60 (Fig. 3), each of which guides the pallet PT by rollingly abutting the inside of the lower part of the pallet PT against the side surface at a predetermined pitch in the It is provided.

This vertical movement of the pallet clamp plate 57 causes the pallet PT to move relative to the rotary table 1.
It is now possible to fix and release the fixation.

Further, on the upper surface of the rotary table 1, a plurality of rocket pads 63 are abutted with a plurality of embedded members 62 that are embedded in predetermined positions on the lower edge of the pallet PT and are attached via bolts 61 (top left). A locating pin 65 (right) and a positioning pin 66 (FIG. 3), each having a circular cross section, are fixedly attached to a predetermined position via a bolt 64.
are fixedly attached to predetermined positions via bolts 67 and 68, respectively.

The locating pin 65 and the positioning pin 66 are directly fitted into the two positioning holes 69 and 70 in the pallet PT, and lock the pallet PT.
It is designed for positioning. Further, inside the rotary table 1, the upper end opens into a hollow part 72 provided under the locate pin 65,
A first communicating air passage 73 has a lower end opening into a hole 38 on the upper surface of the clamp plate 34, an upper end opening on the upper surface of the rotary table 1, and a lower end opening into the space 54 between the second cylinder 53 and the rotary table 1. Opening hole-shaped second communication air passage 74 (top left)
In addition, the locate pin 65 is formed with a first communicating air passage 75 whose upper and lower ends are opened at the upper and lower end surfaces of the locate pin 65 and which communicate with the hollow portion 72, and which are connected to each locate pad 63. A second communicating air passage 76 is formed in each of the locating pads 63, with one end opening at the upper end surface and the other end opening at the side surface.

The other end of these second communication air passages 76 and the second communication air passage 74 in the rotary table 1 are communicated with each other by a connecting pipe 77.

On the other hand, inside the pallet PT, one of the embedded members 62 is formed with a through hole 78 that vertically passes through the embedded member 62, and in the main body thereof, the lower end communicates with the through hole 78. A second communicating air passage 79 whose upper end opens to the upper surface, and a first communicating air passage 80 whose lower end opens to the positioning hole 69 and whose upper end opens to the upper surface are formed.

The first air passage 14, the annular grooves 15, 2
9, first air communication passage 27, 39, 73, hollow part 7
2. The first air communication path 75 is connected to the machining center MC
In the main body, the positioning hole 69 and the first
In the pallet PT, a communicating air passage 80 supplies compressed air sent from a jig operating circuit 82 in an air pressure control panel 81 (FIG. 7) to each jig JA,
First supply path (fluid path) 8 for supplying to JB
3 (lower center right), 84 (fluid passage) (upper right corner), while the second air passage 16, annular groove 17,
43, space 54, second communication air path 74, connecting pipe 7
7. The second communication air passage 76 is connected to the machining center MC
In the main body, the through hole 78 and the second communication air passage 79 are in the pallet PT, respectively.
A second supply path 86 (gas passage) (lower center), 87 for supplying compressed air sent from the pallet seating confirmation circuit 85 (seating confirmation means) in the air pressure control panel oil 81 to each jig JA, JB. (gas passage)
(top left corner).

Furthermore, the locate pin 65, locate pad 63, etc. constitute a positioning mechanism 88 for the pallet PT.

In addition, in the figure, 89 (right side) is a sealing material such as an O-ring, 90 is a closing member such as a plug, and 91 (bottom) is an X
Shaft ball screw, 92 pallets each jig JA, JB
This is a connecting seat for fixing to the PT.

Next, the first jig JA for the first workpiece _W1 mounted on the pallet PT and the hydraulic and pneumatic circuit for operating it will be explained with reference to FIGS. 7 to 10. do.

In the figure, 100 is a lower member placed and fixed on the pallet PT, and this lower member 10
0, an upper member 101 has a plurality of connecting bolts 1
They are connected via 02.

On the upper part of the lower member 100, the pallet is placed.
A first communicating air passage (fluid passage) 103 and a connecting pipe (fluid passage) 104 formed inside the lower member 100 are connected to the first communicating air passage 80 (FIG. 2) of the PT.
and a speed controller 106 connected sequentially through an air filter 105, an air motor 108 connected to this speed controller 106 through a connecting pipe 107, and this air motor 108.
Coupling the input shaft 110 to the output shaft 109 of
A hydraulic pump 112 connected via a hydraulic pump 11 and a four-port two-position switching mechanical valve 114 having a P port connected to a discharge pipe 113 of the hydraulic pump 112 are provided.

And the suction pipe 115 of the hydraulic pump 112
is put into an oil tank 116 provided at the center of the lower member 100 via a strainer 117, and the T port of the mechanical valve 114 is connected to the oil tank 116 through a connecting pipe 118. .

Further, in the upper part of the lower member 100 and near the mechanical valve 114, a second communicating air passage (gas passage) 1 formed inside the lower member 100 is provided.
19 and the connecting pipe (gas passage) 120 in order to connect the pallet PT to the second communicating air passage 79 (Fig. 2).
An air cylinder 121 is connected to the mechanical valve 114 when the rod 121a of the air cylinder 121 is retracted.
is in a state where its P port is communicated with the A port and its B port is communicated with the T port, and when the rod 121a is extended, the roller 114a of the mechanical valve 114 is pushed in with its tip, which causes the mechanical valve to open. 114 is switched so that its P port is connected to its B port and its A port is connected to its T port.

On the other hand, at the upper part of the upper member 101, the discharge side is connected to the A port of the mechanical valve 114 through a connecting pipe (working fluid circuit) 122, and the return side is connected to the oil tank 116 through a connecting pipe 123, etc. The discharge side of the first relief valve 124 is connected to the B port of the mechanical valve 114 via a connecting pipe 125, and the return side is connected to the oil tank 1.
16 and a second relief valve 127 connected through a connecting pipe 126 or the like.

Further, on the upper part of the upper member 101, a first workpiece is provided.
Two positioning pins 128 (Fig. ₉ ) and two guide pins 128a are provided at predetermined positions _, and these positioning pins 128 and the guide pin 12
In the vicinity of 8a, there is a first workpiece W ₁ positioned by these positioning pins and guide pin 128a.
Four sets of clamp mechanisms 129 are attached for locking.

Each of the above-mentioned clamp mechanisms 129 has the same basic structure, and each includes a hydraulic cylinder 130 (hydraulic actuator) whose axis is directed in the vertical direction,
A pair of link members 132 each have a lower end rotatably attached to each connecting member 131 attached to the tip of a rod 130b of No. 0, and each clamp bolt (not shown) is screwed to the tip, and The base end is pivotally supported on each mounting seat 134 by each support pin 135 so that it can swing up and down, and the intermediate portion is connected to the upper end of each pair of link members 132 by a pin. each clamp arm (clamp member) 136.

Further, each inlet/outlet port of each of the hydraulic cylinders 130 is connected to each connecting pipe 122, 125 connected to the mechanical valve 114 via a pair of connecting pipes (working fluid circuit) 137 and the like.

The vertical movement of each rod 130b of each hydraulic cylinder 130 is transmitted to each clamp arm 136 via each link member 132, and as a result, each clamp arm 136 swings up and down using each support pin 135 as a fulcrum. The first workpiece _W1 is locked and fixed by each clamp bolt at its tip, and the fixation is released.

Further, air injection ports 139 connected to the discharge pipe 138 of the air motor 108 are arranged near each of the positioning pins 128 and the guide pins 128a.

Thus, the first jig JA becomes operable when it is mounted on the pallet PT and the pallet PT is seated on the rotary table 1 of the machining center MC. The hydraulic pneumatic circuit will be explained based on FIG.

Inside the air pressure control panel 81, connected to an external air source 140, there are provided, in order from the upstream side, a filter 141, a regulator 142, an oiler 143,
A jig operating circuit 82 consisting of a normally closed 3-port 2-position electromagnetic switching valve 144 and a speed controller 145 arranged in series is connected to the air source 140, and is connected from the upstream side to a filter 146, regulator 147, oiler 148, Closed 3-port 2-position electromagnetic switching valve 149, speed controller 15
0 are arranged in series in order, and a pressure switch 151 is provided downstream of the speed controller 150.
A pallet seating confirmation circuit 85 is provided.

The terminal end of the jig operating circuit 82 is connected to the first terminal of the machining center MC by a connecting pipe 152.
The supply path 83 is connected to the first air path 14, and
The terminal of the pallet seating confirmation circuit 85 is connected to the connecting pipe 1.
53 to the second air passage 1 of the second supply passage 86
By switching the electromagnetic switching valve 144 of the jig operating circuit 82 to an open state, the air motor 108 is operated, and the air motor 108 drives the hydraulic pump 112 to operate each clamp mechanism 129. At the same time, by opening the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85, it is confirmed that the pallet PT is seated on the rotary table 1, and at the same time, the air cylinder 121 is actuated to close each clamp mechanism 129.
The fixing and unfixing of the first workpiece _W1 can be switched between each other.

Note that 154 in the figure is a muffler.

In addition, the above machining center MC and the first jig
JA is provided with a detection mechanism that detects the operating state of the first jig JA.

That is, the support pins 135 of one set of clamp mechanisms 129 in the four sets of clamp mechanisms 129 of the first jig JA are extended in the axial direction, and the first and second cam members are attached to the extended ends thereof. 15
5 and 156 are mutually spaced at 90 in the circumferential direction of the support pin 135.
It is installed by shifting the position and fixing it.

Near these cam members 155, 156 are first and second limit switches 157, 158.
is installed on the mounting seat 159, and the clamp mechanism 129 allows the first workpiece to be
When W ₁ is fixed, the first limit switch 15
The fixation of the first workpiece _W1 is detected when the roller 157a of No. 7 hits the first cam member 155.
When the fixation of the workpiece W ₁ is released and the support pin 135 rotates, the roller 158a of the second limit switch 158 hits the second cam member 156, and the release of the fixation of the first workpiece _W1 is detected.

Mechanical valve 114 and air cylinder 121
constitutes a switching valve means.

Next, a second jig JB for the second workpiece _W2 is mounted on the pallet PT.
and the pneumatic circuit that operates it.
This will be explained based on FIGS. 1 to 14.

In the figure, 200 is a base placed and fixed on the pallet PT, and a vertical plate 201 is fixed and reinforced by a reinforcing plate 202 on top of this base 200. And, on the vertical plate 201,
A pair of left and right lower cylinders 203, 204 that support the second workpiece _W2 from below and a side cylinder 205 that guides the side edge of the second workpiece _W2 from one side are provided at predetermined positions on the front surface thereof, In addition, these lower cylinders 203,
204, three sets of clamp mechanisms 20 that detachably fix the lower both sides and the upper part of the second work W ₂ supported in a predetermined posture by the side tube 205
6 is provided at a predetermined position.

Each of the above-mentioned clamp mechanisms 206 has the same basic structure, and is fixed to the back surface of the vertical plate 201 via each mounting bracket 208, and each rod 207b is attached to each of the clamps drilled in the vertical plate 201. Each air cylinder (hydraulic actuator) 207 is extendable and retracted from the through hole 209 to the front side of the vertical plate 201, and one end is connected to each connecting member 210 attached to the tip of the rod 207b of each air cylinder 207. Each link member 211 is movably attached, and each mounting seat 21 has a clamp bolt 212 screwed onto its tip and whose intermediate portion is provided on the surface of the vertical plate 201.
3 through each support pin 214 so as to be rotatable, and each of the link members 21
1 and each clamp arm (clamp member) 215 whose base end is connected to the other end by a pin.

Further, a pair of locators 216, 216 for holding and positioning the second workpiece _W2 from above and from the sides are disposed on the upper left and right positions of the front surface of the vertical plate 201. .

Each locator 216 is rotatably attached to each thin air cylinder 217 that is fixedly attached to the front surface of the vertical plate 201 and to the vertical plate 201 while penetrating the vertical plate 201 in the thickness direction. Each rotating shaft 218 is fixed to each rotating shaft 218, and one end is rotatably connected to the tip of each rod 217a of each air cylinder 217, and each positioning shaft is connected to the other end. roller 2
19 and substantially L-shaped rotating members 220.

Further, a first dog 221a and a second dog 221b are attached to the lower side and the upper side of the connecting member 210 of the upper one of the three clamp mechanisms 206, respectively, and are located on the back side of the vertical plate 201. On the other hand, the clamp mechanism 206 operates and the clamp arm 215 is attached to the reinforcing plate 202.
When the workpiece W ₂ is fixed, the roller 222
a hits the first dog 221a, and a first limit switch 222 is provided to detect the fixation of the first dog 221a,
In addition, at a predetermined position above the first limit switch 222, the clamp arm 215 is connected to the second limit switch 222.
When the workpiece W ₂ is released, the roller 222
b hits the second dog 221b, and a second limit switch 222c is provided to detect the release of the second dog 221b.

In addition, the first jig is placed at the predetermined position of the second jig JB.
A transmitting head (not shown) similar to that provided in the JA is provided, and the first and second limit switches 222, 222c are electrically connected to this transmitting head.

These first and second limit switches 2
Signals 22 and 222c are sent to a jig operation status confirmation loader (not shown) via this transmission head.

In addition, each rotation shaft 218 of each locator 216
, each mounting member 223 is attached to the protruding end to the back side of the vertical plate 201, and each mounting member 2
Each bolt 224 is screwed into 23.

Two-position switching type mechanical valves 225, which are switched by the bolts 224, are fixedly attached to the back surface of the vertical plate 201.

Further, on the upper part of the base 200, a first communication air passage (fluid passage) 226 formed inside the base 200 is connected to the first communication air passage 80 (FIG. 2) of the pallet PT. A regulator 228 equipped with a filter 228a connected via a pipe (fluid passage) 227, and a first port 2 connected to the discharge side of the regulator 228 via connecting pipes 229, 230.
2-position switching type first and second air operator valves (switching valve means) 2 to which 31a and 232a are connected
31, 232, and a speed controller 234 connected to the second port 232b of the second air operator valve 232 via a connecting pipe 233.

And the first air operated valve 231
The second port 231b is connected to one port of each air cylinder 207 through a connecting pipe 235 and a branch pipe (working fluid circuit) 236, and also to the third port 231c of the first air operated valve 231.
Connecting pipe 237, branch pipe (working fluid circuit) 238
are connected to the other ports of each air cylinder 207 via the first pilot port 2 of the first air operated valve 231.
31d is a connecting pipe (gas passage) 239 and a base 20
The second communicating air passage 79 (Fig. 2) of the pallet PT is connected to the pallet PT via the second communicating air passage (gas passage) 240 in the pallet PT.
In addition, the second pilot port 231e
is connected to one of the mechanical valves 225 via a connecting pipe 241.

On the other hand, the third port 232c of the second air operated valve 232 is connected to each air cylinder 217 of each locator 216 through a connecting pipe 242, and the pilot port 232d is connected to the second air cylinder 217 through a connecting pipe 243. It is connected to the communication air passage 240.

Further, the mechanical valves 225 are connected to each other by a connecting pipe 244, and the other mechanical valve 225 is connected to the connecting pipe 230 on the inlet side of the second air operated valve 232 by the connecting pipe 245. ing.

Furthermore, the speed controller 234
The discharge side of the vertical plate 201 has a connection pipe 247 connected to a junction 246 disposed in the center of the front surface of the vertical plate 201.
The junction 246 is connected to a plurality of connecting pipes 248 whose jet ports are oriented toward the lower cylinders 203, 204, the side cylinders 205, the clamp mechanism 206, etc.

Therefore, the second jig JB is different from the first jig JB.
As in the case of JA, it is activated by the jig operation circuit 82 of the pneumatic control panel 81 and the pallet seating confirmation circuit 85.

Note that FIG. 7 shows an example in which the working fluid circuit is indirectly connected to the fluid passage via the air motor 108 and the hydraulic pump 112, and FIG. 11 shows an example in which the working fluid circuit is directly connected to the fluid passage. .

Next, the operation of the machining equipment having the above configuration will be explained.

First, the operation of the entire machining equipment will be explained.
First, each pallet PT with the first jig JA and the second jig JB attached is transferred to an automatic pallet exchange device.
Transfer the pallet to the APC and operate the automatic pallet exchange device APC. When processing the first workpiece _W1 , use the pallet PT with the first jig JA attached, and when processing the second workpiece _W2 , use the pallet PT with the first jig JA attached. 2. Load the pallet PT with the jig JB attached onto the rotary table 1 of the machining center MC, and position and fix it.

Next, the robot RB is activated and the first workpiece _W1 or the second workpiece placed on the storage table S is removed.
Attach W ₂ to the first jig JA or second jig JB on the rotary table 1, and position and fix it.

Then, it is machined using the tool on spindle 2, and once the machining is finished, it is released and the robot RB is moved again.
is activated to transfer the processed workpiece W onto the storage table S.

Next, when continuing to process the same type of workpiece W, the robot RB moves the next workpiece W from the storage table S to the pallet PT of the rotary table 1.
Transfer the robot to the top and repeat the above procedure, but when processing other types of workpieces W, automatically replace the hands _H1 and _H2 of the robot RB with the required ones, and
Activate the automatic pallet changer APC to load the jig J that matches the workpiece W onto the rotary table 1, and repeat the above procedure.

In this way, in the above machining equipment, the machining center MC is equipped with an automatic pallet changer APC and a robot RB, and the automatic pallet changer APC quickly changes the jig J on the machining center MC to the jig J that matches the workpiece W to be machined. In addition, the robot RB quickly attaches and detaches the workpiece W to and from the jig J on the machining center MC, reducing machining time.
It is ideal for unmanned processing such as office automation equipment that processes a relatively small amount of products and a wide variety of products.

Next, the rotary table 1 is moved by robot RB.
When attaching or detaching the workpiece W to the jig J of the upper pallet PT, the jig J is operated to fix the workpiece W or release the fixation. explain.

First, when fixing the first workpiece _W1 to the first jig JA, as shown in FIG. 7, the electromagnetic switching valve 144 of the jig operating circuit 82 is energized to be in an open state. Then,
Compressed air sent from the air source 140 to the electromagnetic switching valve 144 via the filter 141, regulator 142, and oiler 143 enters the first air path 14 of the central shaft 5 from the connecting pipe 152 via the speed controller 145. First air passage 14 → First communication air passage 27, 39, 73 → Hollow part 72 → First communication air passage 75 → Positioning hole 69 of pallet PT → First communication air passage 80 → First communication of first jig JA The air enters the first jig JA in the order of the air passage 103, and from the first communicating air passage 103 passes through the connecting pipe 104, air filter 105, speed controller 106, and connecting pipe 107 in order, and enters the air motor 108 to drive the air motor 108. do.

The exhaust gas discharged from the air motor 108 passes through the discharge pipe 138 and is blown out from the air injection port 139 to remove chips, dust, etc. from the workpiece seating surface.
The air motor 108 also operates the hydraulic pump 112 to supply pressure oil from the hydraulic pump 112 to the discharge pipe 113.
→ Mechanical valve 114 → Connection pipes 122, 13
7 → Send to each hydraulic cylinder 130 of each clamp mechanism 129 in order of each hydraulic cylinder 130 .

As a result, each piston of each hydraulic cylinder 130 is lowered, each rod 130b pulls down each clamp arm 136, and each support pin 13
Rotate downward using 5 as a fulcrum, and the first
Fix the worm _W1 .

The pressure oil discharged from each hydraulic cylinder 130 is
Connection pipe 137, 125 → mechanical valve 114
→ Connection pipe 118 → Oil tank 116 Return to oil tank 116 in this order.

On the other hand, the first jig fixed to the first jig JA as described above
When releasing the workpiece _W1 , the electric switching valve 149 of the pallet seating confirmation circuit 85 is switched from the above state to the open state.

Then, the compressed air from the air source 140 is transferred to the pallet PT as described above by seating the pallet PT at a predetermined position on the rotary table 1 and making the second communication air passage 76 communicate with the through hole 78 of the pallet PT. Locate pad 6 in the same way as in the case of
3 from the second communicating air passage 76 to the first jig JA via the through hole 78 of the pallet PT and the second communicating air passage 79.
The air enters the second communication air passage 119 and enters the air cylinder 121 from the connecting pipe 120.

Then, the rod 12 of this air cylinder 121
1a is extended to switch the mechanical valve 114 so that its P port communicates with its B port and its A port communicates with its T port.

By switching this mechanical valve 114, the pressure oil from the hydraulic pump 112 is transferred to the connecting pipe 12.
5,137 and enters each hydraulic cylinder 130,
Each piston 130c is raised and each clamp arm 136 is rotated upward to release the fixation of the first workpiece _W1 . At this time, the pressure switch 151 is turned on, indicating that the pallet PT is seated on the rotary table 1 in a predetermined state.

Furthermore, the first workpiece W ₁ by the first jig JA mentioned above
The fixing and unfixing of the jig is detected by the jig operation confirmation loader, and each operation of the machining center MC and robot RB is controlled by this detection signal.
That is, the first and second cam members 1 are attached to one support pin 135 of the clamp mechanism 129 of the first jig JA.
55, 156 are attached, and the first cam member 155 is in the first position when the clamp mechanism 126 is fixed.
The fixation of the first workpiece W ₁ is detected by the first limit switch 157 when it hits the roller 157a of the limit switch 157, and when the clamp mechanism 129 is released, the second cam member 156 hits the roller 158a of the second limit switch 158. In this case, the second limit switch 158 causes the first
Unfixing of work W ₁ is detected.

The detection signals related to fixing and unfixing of the first workpiece _W1 are sent to an external control device (not shown).

As described above, the first jig JA is operated by the jig operating circuit 82 and the pallet seating confirmation circuit 85, and the first workpiece _W1 is fixed and unfixed while removing chips from the seating surface. Each of these operations proceeds in conjunction with the operations of the machining center MC main body, robot RB, and automatic pallet exchange device APC.

To explain this linked state based on FIG. 15, first, both the electromagnetic switching valves 144 and 149 of the jig operating circuit 82 and the pallet seating confirmation circuit 85 are energized, and each clamp arm 136 of the clamp mechanism 129 is pushed up. The fixation of the first work W ₁ is released.

At this time, since the air motor 108 is operated, exhaust air is blown from the air injection port 139 onto the seating surface of the workpiece, and chips are removed.

When the first workpiece W ₁ is unfixed, this unfixing is detected by the jig operation status confirmation loader, and a signal from the confirmation loader is used to control the robot.
The robot RB is operated via a CNC device,
The first workpiece W ₁ on the first jig JA is transferred onto the storage stand S, and a new first workpiece W ₁ is transferred from the storage stand S onto the first jig JA.

Then, at the end of the transfer, the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85 is turned off, and the transferred first workpiece W ₁ is placed in the clamp mechanism 129.
Fixed by

This fixation of the first workpiece _W1 is detected by the confirmation loader, and the main body of the machining center MC is operated in response to this detection signal to proceed with machining. After the processing is completed, the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85 is energized again, the clamp mechanism 129 is released, and the release signal causes the robot RB to operate and the processed first work W ₁ to be placed on the storage table. Transferred to S.

In addition, the electromagnetic switching valve 144 of the jig operating circuit 82 is
It is turned OFF, the blowing of exhaust gas from the air injection port 139 is stopped, and the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85 is also turned OFF.

Then, the automatic pallet exchange device APC is activated, and the pallet PT on the rotary table 1 to which the first jig JA is attached is exchanged with the pallet PT to which the second jig JB is attached.

Next, the operation of the equipment when processing the second workpiece _W2 using the second jig JB will be schematically explained with reference to FIG.

First of all, as shown in FIG.
It enters the connecting pipe 239 through the connecting pipe 243, and switches the first air operated valve 231 to the state shown in the figure. Switch to a position that allows communication.

Next, the electromagnetic switching valve 144 of the jig operating circuit 82
is excited and becomes open, and compressed air passes through the regulator 228 and the like to the first air operated valve 2.
31, and then a connecting pipe 235 and each branch pipe 23
6 and enters each air cylinder 207.

Then, each of the air cylinders 207 is contracted and the second workpiece is moved by each clamp mechanism 206.
Unfix W ₂ .

Further, the compressed air that has passed through the second air operated valve 232 passes through the speed controller 234 and is blown out from the injection port of the connecting pipe 248 to remove chips and the like from the workpiece seating surface.

Then, when each of the clamp mechanisms 206 is released, the rod 207 of the air cylinder 207
The second dog 221b attached near the tip of the jig 221b contacts the second limit switch 222c, and at the same time the above-mentioned release state is detected, this detection signal is received by the jig operation state confirmation loader described above.
It is sent to a CNC machine and the Roboturo RB is activated.

By this roboturo RB, the second workpiece W ₂ of the second jig JB is transferred onto the storage stand S, and the new second workpiece W ₂ on the storage stand S is transferred onto the second jig JB. .

Next, the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85 is turned off, the pilot pressure to the second air operated valve 232 is released, and the second air operated valve 232 is switched to the illustrated position by the spring force.

Then, the compressed air from the second air operated valve 232 passes through the connecting pipe 242 to each locator 21.
6 enters each air cylinder 217 and extends each air cylinder 217 against the spring force to position the second workpiece W ₂ by each locator 216, and at the same time air is blown out from the connecting pipe 248. Stop.

Further, when each locator 216 is in the positioning state, the bolt 224 provided on the rotating shaft 218 via the mounting member 223 switches each mechanical valve 225 against its spring force, and the compressed air is supplied to the connecting pipes 245, 244. , 241 in order and enters the first air operated valve 2, which is connected to the first port 23.
1a is switched to a position where it communicates with the third port 231c. Then, the first air operated valve 23
1, the compressed air is sent to the connecting pipe 237 and each branch pipe 23.
8 and enters each air cylinder 207, and each air cylinder 207 is extended and the second workpiece _W2 is fixed by each clamp arm 215.

When the air cylinder 207 is extended in this manner, its first dog 221a hits the roller 222a of the first limit switch 222, and the fixed state is detected, and this detection signal is sent to the control device by the jig operating state confirmation loader. machining center
The main body of the MC is activated and processing of the second workpiece _W2 proceeds.

When the processing of the second workpiece W ₂ is completed, the electromagnetic switching valve 149 of the pallet seating confirmation circuit 85 is energized and becomes open, and the second air operated valve 23
2 is switched to start blowing air from the connecting pipe 248, and each air cylinder 217 is contracted by the spring force, and each locator 2 is switched.
16 will be released.

Then, by releasing each locator 216, each mechanical valve 225 is switched to a closed state, whereby the first air operated valve 23
1 is switched, each air cylinder 207 is contracted, each clamp mechanism 206 is released, and the jig operation status confirmation loader detects the release of the fixation via the second limit switch 222c, and the robot RB is activated. It operates and transfers the processed second workpiece _W2 onto the storage table S.

Then, each of the electromagnetic switching valves 144, 149
The rotary table 1 with the second jig JB is turned off and the automatic pallet changer APC is activated.
The upper pallet PT is a pallet with a different type of jig J.
Automatically exchanged for PT.

However, in the machining center MC mentioned above, it is difficult to confirm that the pallet PT is seated at a predetermined position.
Since the pressure is detected by the pressure switch 151, which is raised by the pressure of compressed air, there is almost no change over time due to wear of the pressure switch 151, and there is no contactor for operating the pressure switch 151. Unnecessary chattering is prevented and reliable operation is ensured over a long period of time.

Also, the pallet PT with the jig J attached is seated on the rotary table 1, positioned and fixed,
In this state, compressed air is used to operate the clamp mechanisms 129, 206, etc. of each jig J.
In the case of JA, the clamp mechanism 129 is fixed and released by the first and second limit switches 157 and 1.
58, and the detection signal is sent to the jig operating state confirmation loader. Also, in the case of the second jig JB, the operating state of the clamp mechanism 206 is checked by the first and second limit switches 222, 222c. It is detected and similarly sent to the jig operation status confirmation loader.

Therefore, the operating status of each jig J can be reliably confirmed, increasing reliability, and the above detection signal is sent to the CNC device on the robot side to be sent to the robot RB, the machining center MC body, and even the automatic pallet changer APC. etc. can be operated in synchronization with the operation of jig J.

[Effects of the Invention] As explained above, the machine tool of the present invention takes a pallet with a jig attached to the top onto the support base, and operates the clamp member provided on the jig with a fluid pressure actuator to machine the pallet. In a machine tool that supports an object in a removable manner for processing, the jig has a structure in which when the pallet is seated at a predetermined position on the support base, the pallet flows through a fluid passage formed in the support base. A fluid passage that communicates with the pallet via the fluid passage and a gas passage that communicates with the gas passage formed in the support table through the gas passage of the pallet are provided. A working fluid circuit that causes the working fluid to flow under the action of the flowing fluid to operate the fluid pressure actuator provided on the jig is connected directly or indirectly, and the working fluid circuit is connected to a circuit that closes the gas passage of the jig. and is provided with a switching valve means operated by pressure applied to the gas in the gas passage to switch the operation of the fluid pressure actuator; Since it is configured to include a pressure switch that detects pressure changes, the following excellent effects are achieved.

Since the confirmation that the pallet is seated at a predetermined position is detected by a pressure switch that is activated by an increase in the pressure of compressed air, there is almost no change over time due to wear of this pressure switch, and Chattering is prevented by eliminating the need for a mechanical structure for operating the pressure switch, thereby ensuring reliable operation over a long period of time.

In addition, the switching operation of the switching valve means can be performed reliably while the pallet is confirmed to be seated on the support base, and the workpieces can be fastened to and released from the jig safely and reliably within the jig on the pallet. can be done.

The switching valve means not only functions as a plug for closing the gas passage provided in the jig, but also the gas passage and the gas passages provided in the support and pallet also function as operation passages for the switching valve means. Therefore, the structure is simpler than in the case where the gas passage for the pressure switch and the operating passage for the switching valve means are formed independently and separately from each other.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; Fig. 1 is a plan view of the entire machining equipment, Fig. 2 is a sectional view of the rotary table portion, and Fig. 3 is a sectional view of the pallet portion viewed from the side. , FIG. 4 is a view taken in the direction of the arrow in FIG. 8 to 10 show the first jig. FIG. 8 is a sectional view of the lower part, and FIG. 9 is a plan view of the upper part.
FIG. 0 is a schematic view taken in the direction of the - arrow in FIG. 9. moreover,
Fig. 11 is a pneumatic circuit diagram showing the operating system of the second jig, Figs. 12 to 14 show the second jig, Fig. 12 is a front view, Fig. 13 is a rear view, and Fig. 14 is a pneumatic circuit diagram showing the operation system of the second jig. FIG. 3 is an enlarged view of the main parts of the clamp mechanism. Furthermore, FIG. 15 is an explanatory diagram of the operation of the first jig.
FIG. 6 is an explanatory diagram of the operation of the second jig. J...Jig, PT...Pallet, W...Workpiece,
1... Rotary table (support stand), 83, 84
...First supply path (fluid path), 86,87...Second supply path (gas path), 103,226...First
Communication air passage (fluid passage), 104, 227... Connection pipe (fluid passage), 114, 231... Mechanical valve (switching valve means), 119... Second communication air passage (gas passage), 120, 239... ... Connection pipe (gas passage), 121 ... Air cylinder (switching valve means), 122 ... Connection pipe (working fluid circuit), 130
...Hydraulic cylinder (fluid pressure actuator), 1
36, 215... Clamp arm (clamp member), 137... Connection pipe (working fluid circuit), 151
... Pressure switch, 207 ... Air cylinder (fluid pressure actuator), 236, 238 ... Branch pipe (working fluid circuit), 240 ... Second communication air passage (gas passage).

Claims (1)

[Claims] 1 Pallet PT with jig J attached to the top
is loaded onto the support stand 1, and clamp members 136, 215 provided on the jig J are actuated by fluid pressure actuators 130, 207 to releasably support the workpiece W for machining. In the jig J, when the pallet PT is seated at a predetermined position on the support base 1, a fluid passage is connected to a fluid passage 83 formed in the support base 1 via a fluid passage 84 of the pallet PT. 10
3, 104, 226, 227, and the gas passage 86 of the pallet PT is connected to the gas passage 86 formed in the support base 1.
7, gas passages 119, 120,
240, 239 are provided in the fluid passage of the jig J, and a working fluid is provided in the fluid passage of the jig J to operate the hydraulic actuator 130, 207 provided in the jig J by causing the working fluid to flow by the action of the fluid flowing through the fluid passage. Circuits 122, 137, 236, and 238 are directly or indirectly connected to the working fluid circuit, and the working fluid circuit has a circuit that closes the gas passage of the jig J and is actuated by the pressure applied to the gas in the gas passage. The hydraulic actuator 130, 2 is
Switching valve means 114, 12 for switching the operation of 07
1,231, and the gas passage 86 of the support base 1 is provided with a pressure switch 151 for detecting pressure changes within the gas passage 86.