JPH0560749U - Intermediate feeder for machine tools with robots - Google Patents

Abstract

(57) [Summary] [Purpose] A machining system in which multiple machine tools with robots are connected so that both interlocked operation by multiple machines and independent operation by individual machining cells can be performed without any problems. [Structure] An intermediate feeder 11 having a feeder base 19, a pallet 14, a control device 16 and the like is provided between a first NC lathe 1 and a second NC lathe 2. This intermediate feeder is a linear feeder that reciprocates between the first indexing position and the second indexing position by the switching means of the control device 16,
Allows operation as a normal indexing and moving work feeder. When it is switched to the linear feeder operation, it functions as an intermediate transfer device between the NC lathes, and when it is switched to the work feeder, it functions as an independent work stocker of the second NC lathe 2.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an intermediate feeder that conveys a work between machine tools in a machining system in which a plurality of machine tools such as an NC lathe with a robot are connected.

[0002]

[Prior Art]

 For example, when processing is performed in a processing system that is formed by connecting two NC lathes with robots, the first NC lathe is used to process the first process side of the workpiece (workpiece) (hereinafter referred to as table processing). ), The work is inverted and conveyed to the second NC lathe, and the opposite side of the first step is processed (hereinafter referred to as back processing). In such a processing system, it is well known that a belt conveyor or a straight-line feeder for transferring one work is used as an intermediate transfer device for transferring the work from the first NC lathe to the second NC lathe. ..

[0003]

[Problems to be solved by the device]

 However, in the processing system using the belt conveyor as the conventional intermediate transfer device as described above, depending on the type of work, it may be desired to use it as an individual processing cell. In this way, when each NC lathe is used individually as an independent processing cell, the first NC lathe has a work feeder that stocks many workpieces, but the second NC lathe has a work feeder. For this reason, a belt conveyor or the like has to be used as a work feeder, and as a stocker, there have been problems such as too few work stocks. In addition, when trying to increase the number of stocks on the belt conveyor, the length of the conveyor becomes long, which causes a problem that the installation area of the processing system increases. The present invention has been made to solve the above-mentioned problems, and its purpose is to perform an interlocking operation for performing processing as a machining system in which a plurality of machine tools with robots are connected and machine tools with robots. The objective is to provide an intermediate feeder for robot-equipped machine tools that can perform both independent operations that perform processing as independent processing cells without any problems.

[0004]

[Means for Solving the Problems]

 The present invention is an intermediate feeder provided between a first robot-equipped machine tool and a second robot-equipped machine tool, which is a front surface of the first robot-equipped machine tool and the second robot-equipped machine tool. And a plurality of pallets that are formed in a chain and that move cyclically on the feeder base along a predetermined track and place a workpiece on top of the feeder base, and are provided on the feeder base. A driving body for moving the pallet, and a moving operation of the pallet, a first indexing position for receiving a workpiece by the robot on the pallet from the machine tool with the first robot, and the second indexing position. Between the linear feeder operation of reciprocating between the robot and the second indexing position where the robot transfers the workpiece from above the pallet to the second robot machine tool. It has a switching means for switching to a work feeder operation in which the workpieces on the pallet are indexed to sequentially transfer the workpieces, and a control device for controlling the driving body by a signal from the switching means. Is.

[0005]

[Action]

 Intermediate feeder control device When the switching means on the operation panel is switched to interlocking (straight feed) operation, the intermediate feeder functions as an intermediate transfer device between machine tools with robots. In the case of a machining system that connects two machine tools with robots, the workpieces sequentially flow to the work feeder, the first machine tool, the intermediate feeder, the second machine tool, and the carry-out conveyor in order, and the two machine tools are machined. The front and back of the work is machined continuously by the machine. When the switching means is switched to the single (work feeder) operation, the intermediate feeder is separated from the first machine tool and functions as the work feeder of the second machine tool. In the case of this machining system, it is divided into a work feeder + first machine tool and an intermediate feeder + second machine tool, and the work is machined as independent machining cells.

[0006]

【Example】

 Hereinafter, the present invention will be described in detail with reference to an illustrated embodiment. This is an example in which two NC lathes are used to process the front and back of a workpiece. As shown in FIG. 1, the first NC lathe 1 for performing the first process and the second NC lathe 2 for performing the second process are installed at a predetermined interval and are provided on the front faces of the respective lathes. It has robots 3 and 4. The robots 3 and 4 move in the Z-axis direction (the main-axis axis direction of the machine body) and in the Y-axis direction (vertical direction) with respect to the robot base fixed to the first NC lathe 1 or the second NC lathe 2. A movable arm is provided with a swivel arm 5 that can swivel, and a hand for gripping a work is provided at the tip of this swivel arm 5. The work is transferred from a work feeder in front of the machine body to a chuck of an NC lathe. It can be loaded and unloaded from the chuck to the work feeder. The first NC lathe 1 and the second NC lathe 2 are controlled by the NC devices 1a and 2a, and the robots 3 and 4 are controlled by the robot control devices 3a and 4a. A rotary type work feeder 6 is arranged in front of the first NC lathe 1. This work feeder 6 is constructed by horizontally winding a chain 8 around a plurality of sprockets 7 and connecting a plurality of pallets 9 with wheels to the chains 8. One end 6a in the longitudinal direction is used to move the hand of the robot 3. It is arranged to be located within the range. In addition, in front of the second NC lathe 2, the carry-out conveyor 10 is arranged such that one end 10a of the carry-out conveyor 10 is located within the movement range of the hand of the robot 4.

In such a configuration, the intermediate feeder 11 is arranged between the work feeder 6 and the carry-out conveyor 10. Similar to the work feeder 6, this intermediate feeder 11 has a chain 13 horizontally wound around a plurality of sprockets 12, a plurality of pallets 14 with wheels are connected to the chain 13, and the pallet 14 can be moved on a feeder base 19. The receiving portion 11a on the inlet side and the receiving portion 11b on the outlet side are arranged in proximity to the receiving portion 6a of the work feeder 6 and the receiving portion 10a of the carry-out conveyor 10, respectively. The intermediate feeder 11 is provided with an intermediate feeder control device 16 (see FIG. 3) having a straight-line feeder / work feeder changeover switch 15 and the like on the operation panel, and the intermediate feeder 11 includes the first NC lathe 1 and the second NC lathe. The linear feeder between the two and the work feeder of the second NC lathe 2 are operably controlled. The intermediate feeder control device 16 is connected with a cable for transmitting and receiving a "work placement possible" signal, a "interlocking" signal, etc. between the first NC device 1a and the second NC device 2a. There is. The pallet transport motor 29 is also connected to the intermediate feeder control device 16 via the motor drive device 29a and is drive-controlled (see FIG. 2). Further, the intermediate feeder control device 16 includes an inlet side work presence / absence detection sensor 21, a straight feeder exit side work presence / absence detection sensor 22, a work feeder exit side work presence / absence detection sensor 23, a linear feeder deceleration sensor 24, 25, The linear feeder stop sensors 26 and 27 are also connected (see FIGS. 1 and 2). Two types of programs for the robots 3 and 4 are prepared, one for interlocking operation (after processing, passing to the feeder and conveyor in the next process) and one for independent operation (returning to the same feeder after processing). , Use them properly.

<Interlocking operation> (1) Set the changeover switch 15 on the operation panel of the intermediate feeder control device 16 to the straight feeder side, and the changeover switch 17 to the independent side (operation by the switch becomes possible). Press the home position switch 18 to set the specified pallet of the intermediate feeder to the home position. (2) Switch the changeover switch 17 to the automatic side (the operation by the external interface signal becomes possible). The intermediate feeder 6 functions as a linear feeder that conveys the work from the first NC lathe 1 side to the second lathe 2 side. Further, the intermediate feeder control device 16 outputs a "interlocking" signal to the first NC device 1a and the second NC device 2a. Further, in the robot control devices 3a and 4a which have received the "interlocking" signal via the first NC device 1a and the second NC device 2a, the program for interlocking operation of the robots 3 and 4 is selected. (3) On the side of the first NC lathe 1, the robot 3 loads the work onto the chuck of the NC lathe 1 from the top of the pallet 9 at the exit position 6a of the work feeder 6 and performs table processing. When the surface processing is completed, the robot 3 places the work on the pallet 14 at the entrance position 11a of the intermediate feeder 11.

The operation of the intermediate feeder control device 16 of the intermediate feeder 11 will be described below with reference to the flowchart of FIG. (a) In step 31, it is determined whether or not the second NC device 2a outputs the "NCL1 work placement possible" signal indicating that the work acceptance is OK. When this signal is output, a "work placement possible" signal is output to the first NC device 1a (step 32). (b) Is the "workpiece placement completed" signal output from the first NC device 1a indicating that the workpiece whose surface processing has been finished is placed by the robot 3 on the pallet 14 at the inlet position 11a of the intermediate feeder 11? It is determined whether or not (step 33). When this signal is output, the presence or absence of a work is determined by the work presence sensor 21 on the inlet side, and if there is no work, alarm processing is performed (steps 34, 35). (c) If there is a work, it is determined whether this work is the final product and the "final product notification" signal is output from the first NC device 1a. If this signal is present, the final product is determined. The memory is turned on (steps 36 and 37). (d) A drive command is output to the motor drive device 29a, and the pallet transport motor 29 moves the pallet 14 in forward rotation (step 38).

(E) It is determined whether or not the pallet 14 on which the work is placed approaches the exit position 11b and the exit side deceleration sensor 25 is turned on. When the pallet 14 is turned on, the pallet 14 is moved by the pallet transport motor. The moving speed of is reduced (steps 39 and 40). (f) It is determined whether or not the exit side stop sensor 27 that detects that the pallet 14 on which the work is placed is located at the exit position 11b is turned on, and when it is turned on, the motor driving device 29a is used. Then, the pallet transport motor 29 is stopped (steps 41 and 42). (g) A "indexing completion" signal indicating that the "deceleration" signal output to the motor drive device 29a is stopped and the pallet 14 on which the work is placed on the second NC device 2a is positioned at the exit position 11b, An "NC1 work placement complete" signal is output (steps 43 to 45). (h) It is determined whether or not the final product memory is in the ON state, and if it is ON, the "final product notification" signal is output to the second NC device 2a (steps 46 and 47). (i) It is determined whether or not the "NCL1 work placeable" signal indicating that the robot 4 has loaded the work on the pallet 14 at the exit position 11b onto the second NC lathe 2 is input from the second NC device 2a. (Step 48). When this signal is input, whether or not there is a work on the pallet 14 at the exit position 11b is determined by the exit side work presence / absence detection sensor 22 for the linear feeder, and if a work is present, alarm processing is performed (step 49, 50).

(J) A "pallet transport motor ON" signal and a "reverse movement" signal are input to the motor drive device 29a to move the pallet in the reverse direction (steps 51 and 52). The output of the "final product notification" signal to the second NC device 2a is stopped (step 53). (k) It is determined whether the predetermined pallet 14 for placing the next work is approaching the inlet position 11a based on whether or not the inlet side deceleration sensor 24 is in the ON state, and when it is in the ON state, the motor is driven. A "deceleration" signal is output to the device to reduce the moving speed (steps 54 and 55). (l) It is determined whether or not the inlet side stop sensor 26 is in the ON state, and when it is in the ON state, a "feeder stop" signal is output to the motor drive device 29a to stop the movement of the pallet 14. Further, the "indexing completed" signal is output to the second NC device 2, and the process returns to step 31 (step 59). By sequentially repeating this process, the work placed on the predetermined pallet 14 is moved from the inlet position 11a to the outlet position 11b. On the second NC lathe 2 side, the robot 4 places the workpiece whose back processing has been completed on the entrance position 10a of the unloading conveyor 10 and conveys the workpiece to the next step.

<Individual Operation> (1) Switch the changeover switch 15 to the work feeder side. The intermediate feeder 11 functions as a work feeder attached to the second NC lathe 2. In addition, the "single action" signal is output from the intermediate feeder control device 11 to the first and second NC devices 1a and 2a, so that the programs of the robots 3 and 4 are loaded from the exit position 6a of the work feeder 6. A single operation is selected in which the work is returned to the same exit position 6a and the work loaded from the exit position 11b of the intermediate feeder 11 is returned to the same exit position 11b. (2) Two independent processing cells, the work feeder 6 + the first NC lathe 1 and the intermediate feeder 11 + the second NC lathe 2, are configured. The workpieces machined by the NC lathes 1 and 2 are the robots 3 and 4, respectively. Thus, they are returned to the pallet 9 of the work feeder 6 and the pallet 14 of the intermediate feeder 11, respectively. Since this processing is the same as the conventional one, detailed description will be omitted. Since the intermediate feeder 11 capable of stocking a large number of works is used for the conventional belt conveyor, the second NC lathe 2 can be used as an independent processing cell. Although the example in which two NC lathes are connected has been described above, the present invention is not limited to this and is also applicable to a case where a plurality of other machine tools are connected to perform linked operation and independent operation. Needless to say.

[0013]

[Effect of the device]

 As described above, according to the present invention, the intermediate feeder is arranged between the machine tools, and the intermediate feeder conveys the intermediate feeder from the machine tool in the pre-process to the machine tool in the post-process and the work stocker of the machine tool in the post-process. In a machining system that connects multiple machine tools with robots, both interlocked operation by multiple machines and independent operation by individual machining cells can be performed without any problems.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing an embodiment of the present invention.

FIG. 2 is a block diagram of the present invention.

FIG. 3 is a front view of the intermediate feeder control device of the present invention.

FIG. 4 is a flowchart of the present invention.

[Explanation of symbols]

 1 1st NC lathe 2 2nd NC lathe 3 4 Robot 6 Work feeder 10 Carry-out conveyor 11 Intermediate feeder 15 Changeover switch 16 Intermediate feeder control device

Claims (1)

[Scope of utility model registration request] 1. An intermediate feeder provided between a first robot machine tool and a second robot machine tool, the front surface of the first robot machine tool and the second robot machine tool. And a plurality of pallets that are formed in a chain and cyclically move on the feeder base along a predetermined orbit and on which a workpiece is placed, and are provided on the feeder base. A driving body for moving the pallet; a moving operation of the pallet; a first indexing position at which the robot receives a workpiece on the pallet from the machine tool with the first robot; Between a straight-line feeder operation of reciprocating between a second indexing position where a workpiece is transferred to the machine tool from the pallet by a robot and the second machine tool with robot. A robot characterized by having switching means for switching to a work feeder operation of indexing and moving in order to sequentially transfer the workpieces on the pallet, and a control device for controlling the driving body by a signal of the switching means. Feeder for machine tools with attachment.