JPH0655308A - Loading device - Google Patents

Abstract

PURPOSE:To provide a loading device which is effective when the obverse and reverse surfaces of a work is machined successively by reversing the work which is short relatively in axial direction as compared with its diameter. CONSTITUTION:A second arm 15 is provided movably in vertical direction on the side surface of a vertically movable first arm 11 provided on a carrier 6 movable along a horizontal beam 5, a second work hand 17 is installed swingably by 180 deg. at the bottom of the second arm 15 to transfer-hold a work between the first work hand 13 and the second work hand 17 by a swing of 180 deg. of a gripper 18 offset from the swing center of the work hand and the vertical movement of the second arm over the first arm.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading device for loading and unloading a workpiece on a machine tool such as a lathe.

[0002]

2. Description of the Related Art Conventional loading and unloading devices for machine tools such as lathes have two lathes for continuously processing the first and second steps (front and back) of a workpiece relatively short in the axial direction with respect to the diameter. In this case, as shown in FIG. 9, two lathes 101, 10
2 are arranged in series so that the main axes are concentric, a horizontal beam 103 is provided in parallel on a lathe, and a work hand 105 is provided at the tip of a carrier 104 that can be moved and positioned along the horizontal beam 103. It is known that the arm 106 is vertically movable. This loading device removes the workpiece, which has been processed in the first step (table), from the lathe 101 and attaches it to the lathe 102.
As shown in FIG. 11, the chuck 1 of the lathe 101 for the first step
The semi-finished workpiece WA of No. 07 can be held only at the processed position where it is gripped by the chuck of the lathe for the second process, so it is necessary to change the holding position.
In many cases, a work reversing device 109 having a temporary placing table 108 that can be rotated 180 ° is installed between the two. Incidentally, 1 in FIG.
Reference numeral 12 is a material stocker, and 113 is a product stocker. Further, as shown in FIG. 10, the chuck attachment 111 is attached to the tool rest 110 of the lathe for the first process, and the work WA is
In some cases, the work hand 105 holds the work piece after the work piece 105 is once held by the chuck attachment 111.

[0003]

In the former case described in the prior art, since the transfer place is increased by one place, the loading time is long, the number of handed devices per loading device is small, the cost is high and the large floor area is large. However, the latter uses the lathe for the first process to transfer the work, the time balance between the first and second processes is lost, and the wasted time increases and the cycle time increases. There is a problem that The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide a loading device capable of holding a work having a relatively short axial direction with respect to a diameter by a loader itself. Is to provide.

[0004]

In order to achieve the above object, a loading device according to the present invention is provided with a gripping center line at a lower end of a first arm vertically movably provided on a carrier which can be positioned along a horizontal beam. In a loading device having a first work hand that is parallel to the horizontal beam and that can be opened and closed, the second arm is vertically movable parallel to a side surface of the first arm in the carrier movement direction, and the second arm is provided on the second arm. Providing means for driving the arm,
A second work hand that can be opened and closed is provided at the lower end of the second arm so that the center line of gripping is parallel to the horizontal beam. The second work hand is 1 in the horizontal plane.
The gripper is reversible by 80 °, and the gripper is provided at the center offset position with respect to the center of reversal.

[0005]

Operation: The first work hand grips the processed part of the semi-finished work after one step, and the second work hand facing the first arm grips the unprocessed part of the semi-finished work, Open and change work, second
The workpiece hand is turned 180 ° and the semi-finished workpiece to be gripped is turned to the chuck side. The carrier moves to insert the processed portion of the semi-finished workpiece into the spindle chuck, and the chuck closes to grip the semi-finished workpiece. After opening, leave the semi-finished product.

[0006]

EXAMPLES Examples will be described with reference to the drawings. In the layout diagram of FIG. 1, 1 is a lathe for the first step, 2 is a lathe for the second step, 3 is a stocker stocker, and 4 is a product stocker. Both lathes 1 and 2 are arranged in series so that the main axes are concentric, and the horizontal beam 5 is placed on the machines and devices 1 to 4.
Are installed parallel to the main axis (Z-axis direction). As shown in FIGS. 2 and 3, a carrier 6 is movably mounted on a guide 5a of the horizontal beam 5 in the Z-axis direction, and a rack 7 is mounted on the upper surface of the horizontal beam 5 in parallel with the Z-axis guide. Installed,
The carrier 6 is driven by a traveling motor 8 having a pinion that meshes with the rack.

A guide 9 in the Y-axis (vertical) direction is attached to the side surface of the carrier 6, and a first arm 11 is movably mounted on the Y-axis guide 9. The first arm 11 is driven by a fluid pressure cylinder 12 fixed to the side surface of the carrier, and a first work hand 13 is provided at the lower end of the first arm 11 so as to be openable and closable on the X and Y axis planes. Further, a housing 14 having a support hole in the Y-axis direction is attached to the left side surface of the first arm 11, and a cylindrical second arm 15 is inserted into the support hole of the housing 14 so as to be movable only in the axial direction. There is.

A swivel shaft 16 is rotatably fitted in a central hole of the second arm 15, and a second work hand 17 is provided at the lower end of the swivel shaft 16 so as to be opened and closed in a vertical plane. . The swivel shaft 16 is swung 180 ° by a swivel motor 19 fixed to the upper end of the second arm 15,
The arm 15 is driven by the fluid pressure cylinder 20. The gripper 18 of the second work hand 17 is rotated by the swivel shaft 16.
It is located in a misaligned position apart from the center, and is indexed to the Z-axis direction anti-first arm side and the first arm 11 side by turning 180 °.

Next, the operation of this embodiment will be described.
The material WA of the work on the material stocker 3 is gripped by the gripper 18 of the second work hand 17, and the second arm 15 rises, and at the same time, the first arm 11 to which this second arm is attached rises and retreats. After that, the carrier 6 moves rightward and is positioned at a predetermined position above the lathe 1 for the first process.
Next, the first arm 11 descends to grip the machined portion of the semi-finished product workpiece WB which has been machined in the first step and is grasped by the spindle chuck 21 of the lathe 1, and the state shown in FIG. 4 is obtained.

Next, after the holding claws of the spindle chuck 21 are opened to release the semi-finished work WB, the carrier 6 moves to the right and the semi-finished work WB separates from the chuck 21, and then the second arm 15 descends and holds the material WA. Becomes concentric with the spindle, the carrier 6 moves slightly to the left, and the material WA chucks 2
1 is inserted into the gripping claw, the chuck is closed and the material WA is gripped, and the state shown in FIG. 5 is obtained. Then, the gripper 18 is opened to release the material WA, and the second arm 15 is raised to move the material WA.
Get away from. At the same time, the first arm 11 rises, and the gripper 18 of the second work hand 17 turns 180 ° to face the first arm and the state shown in FIG. 6 is obtained.

Then, the second arm 15 descends and the gripper 18 grips the unprocessed portion of the semi-finished work WB to be gripped by the first work hand 13, and the state shown in FIG. 7 is obtained. Next, the first work hand 13 is opened, the second work hand 17 is turned 180 ° to face the side opposite to the second arm 11, the carrier 6 is moved rightward, and is positioned at a predetermined upper position by the lathe for the second process. . Next, the second arm 15 moves up and at the same time the first arm 11 moves down, and the finished work WC held by the spindle chuck 22 of the lathe 2 is held by the first work hand 13.

Next, the chuck 22 is opened to release the finished product work WC, and the carrier 6 moves rightward to complete the finished product work W.
C leaves the chuck 22, and instead, the second semi-finished workpiece WB held by the second arm 15 descends and becomes concentric with the chuck 22, and the state shown in FIG. 8 is obtained. Next, the carrier 6 slightly moves to the left to insert the processed part of the semi-finished work WB into the grip claws of the chuck 22, closes the chuck 22 and grips the semi-finished work WB, and then the gripper 18 opens to open the second arm 15. After the first arm 11 rises and retracts, the carrier 6 moves to the right and is positioned at a predetermined position above the product stocker 4, and the finished product work WC held by the first work hand 13 is stored in the product stocker 4. To do.

[0013]

Since the present invention is configured as described above, it has the following effects. Since the second arm having the second work hand which can be swung and vertically moved is provided on the side surface of the first arm, the work can be held between the first work hand and the second work hand at the lower end of the first arm. , It is possible to load the front and back surfaces of a workpiece with a relatively short axial direction relative to the diameter without using a special reversing device, etc., which shortens the cycle time and saves floor space and costs. Become.

[Brief description of drawings]

FIG. 1 is a layout view of a loading device, a processing machine, and the like of this embodiment.

FIG. 2 is a front view around a carrier of the loading device and first and second arms.

FIG. 3 is a side view of FIG.

FIG. 4 is an operation explanatory view showing a state where a semi-finished product workpiece is removed from the lathe for the first step.

FIG. 5 is an operation explanatory view showing a state where the material is attached to the lathe for the first step.

FIG. 6 is an operation explanatory view showing a state where the semi-finished product workpiece is held above the lathe for the first step.

FIG. 7 is an operation explanatory view showing a state where the semi-finished product workpiece is held above the lathe for the first step.

FIG. 8 is an operation explanatory view showing a state in which a semi-finished product workpiece is attached to the lathe for the second step.

FIG. 9 is a layout view of a conventional loading device, a processing machine, and the like.

FIG. 10 is an explanatory view showing an example in which a chuck attachment is attached to a tool post of a conventional technique and a work is held.

FIG. 11 is an operation explanatory view showing a state in which a semi-finished product workpiece is removed from the conventional lathe for the first step of the prior art.

[Explanation of symbols]

5 horizontal beam 6 carrier 11 1st arm 13 1st
Work hand 15 Second arm 16 Swivel axis 17 Second work hand 18 Gripper

Claims (2)

[Claims] 1. A loading device having a first work hand, which has a gripping center line parallel to the horizontal beam and which can be opened and closed, at the lower end of a first arm provided vertically movable on a carrier that can be moved and positioned along the horizontal beam. At a second side parallel to the side surface of the first arm in the carrier movement direction.
An arm is provided so as to be vertically movable, a means for driving the second arm is provided on the first arm, and an openable and closable second work hand is gripped at a lower end of the second arm so that a center line becomes parallel to the horizontal beam. A loading device characterized in that 2. The second work hand is 1 in a horizontal plane.
The loading device according to claim 1, wherein the gripper is capable of being inverted by 80 ° and a gripper is provided at a center offset position with respect to the center of inversion.