JP3235067B2 - Automatic drill changer for drilling robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drilling automatic exchange for a drilling robot.

[0002]

2. Description of the Related Art Generally, when drilling a workpiece by a robot, an electric drill or an air drill is attached to a hand portion of the robot, and the drill is performed by a feed mechanism of the robot.

[0003]

However, in such a conventional drilling robot, when drilling holes having different dimensions, the entire drill is replaced, so that much time is required for replacement and the productivity is reduced. In addition, there was a problem that the replacement lacked certainty.

Accordingly, the present invention has been made in view of the above-mentioned conventional problems, and a first object of the present invention is to shorten tool exchange time and improve productivity. A second object is to reliably change tools.

[0005]

SUMMARY OF THE INVENTION To achieve this object, an automatic drilling machine for a drilling robot according to the present invention comprises a female adapter mounted on a spindle of a drilling robot, and a female adapter mounted on a spindle of the drilling robot. Of a large number of drills stored in an index table integrally having a collet that is prevented from coming off and connected together, a drill of a size necessary for processing is taken out together with the collet or drilled by a drilling robot. Pick-and-place to return the drill after machining to the original position together with the collet; pick-and-place the pick-and-place tool from the pick-and-place together with the collet; and deliver the drill to the drilling robot. Is installed on the spindle of the drilling robot when the drill is attached to the drilling robot. A mounting chuck having a first parallel chuck for gripping the female adapter, a second chuck for gripping the spindle and preventing its free rotation, and a collet from the drilling robot after drilling after drilling. Together with the drill and release station to be delivered to the pick and place, and the drilling robot is disposed corresponding to the drill and release station, and when the drilling robot delivers the drill to the drill and release station together with the collet, the female adapter is used. A release chuck for gripping, a female adapter and a release member for facilitating release of the collet, wherein the drill mounting station is independently movable up and down and rotatable, and receives the drill received from the pick and place. To the drilling robot and lift the collet to the female adapter. And if inserted, it is intended to be rotated when fitting the said ball and mating grooves.

[0006]

Therefore, when the drill is received from the pick and place, the drill mounting station is moved upward to insert the collet into the female adapter, and when rotated in this state, the ball and the fitting groove are fitted. Together, it prevents the collet from coming off the adapter and rotating.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings. 1 to 9 show an automatic drilling machine for a drilling robot according to the present invention. FIG. 1 is a partially cutaway view of a main part of a spindle-propelled electric drill. FIG. 2 is a side view of the drilling robot. 3 is a side view of the spindle propulsion drill, FIG. 4 is a front view of the drill, FIG. 5 is a front view of the drill,
6 is a cross-sectional view taken along the line VI-VI of FIG. 1, FIG. 7 is a plan view showing the arrangement of the drilling robot and the automatic drilling machine, FIG. 8 is a sectional side view of the index table and the drill mounting station, and FIG. It is a front view of a station and a drill removal station.

First, the configuration of a drilling robot will be described. In FIG. 2, reference numeral 1 denotes a 6-axis articulated drilling robot, which is provided with a base 3 rotatably arranged on a floor 2 in a horizontal plane. Above the lower arm 4, a lower end is pivotally connected to a horizontal shaft 5, and is disposed rotatably in the front-rear direction.
At the upper end of the lower arm 4, an upper arm 6 is also pivotally connected to a horizontal shaft 7 and is disposed rotatably in the front-rear direction. The upper arm 6 has a rotating shaft 9 rotated by a motor 8.
Are arranged. Reference numeral 10 denotes a spindle propulsion drill which constitutes a hand attached to the tip of the rotating shaft 9.
3 and FIG.
As shown in FIG. 5, an air cylinder 11, an induction motor 13 having one end fixed to a fixed portion 12 provided at the tip of the rotary shaft 9 and the other end fixed to the air cylinder 11, and an induction motor 13. It includes a spindle 14 to be rotated, a hydrospeed regulator 15 for freely adjusting the speed of a piston (not shown) in the air cylinder 11 from a low speed to a high speed, and an operational kit 16. One end of the regulator 15 is connected to a piston in the air cylinder 11. When the air cylinder 11 is driven, the piston attempts to move forward. However, when the rod 17 of the hydrospeed regulator 15 fixed to the piston moves by a predetermined stroke S, it can hit the stopper 18 provided on the robot side and move further. Disappears. When the rod 17 is retracted in this state, the piston moves at that speed, and the spindle 14 moves forward. The retreat operation is performed in the same manner, whereby the spindle 14 moves forward and backward while rotating.

In FIG. 1 and FIG. 5, a drill 22 for boring a predetermined position of a work 20 positioned and fixed on a work reversing device 19 (see FIG. 7) is detachably attached to the tip of the spindle 14. ing. The drill 22 includes a drill 23, a chuck 24, a Jacob collet 25, a female adapter 26, and the like. The chuck 24 is a commercially available tapered drill chuck,
3 is detachably mounted, and a tapered fitting hole (not shown) is formed on the rear surface to fit a tapered portion 27 integrally protruded from the distal end of the Jacob collet 25. In the center of the outer peripheral surface of the Jacob collet 25, two engaging grooves 28a and 28b having a semicircular cross-sectional shape in a plane parallel to the axis and being long in the circumferential direction are formed with a phase difference of 180 degrees. . The female adapter 26 includes a tapered portion 31 removably fitted and inserted into a tapered hole 30 provided in a distal end surface of the spindle 14, and the Jacob collet 25 provided coaxially and integrally with the distal end of the tapered portion 31. The cylindrical portion 32 is fitted and inserted. The outer periphery of the cylindrical portion 32 has a through hole 33 communicating the inside and the outside, a slidable sleeve 34 covering the through hole 33, and a sleeve And a retaining ring 36 for preventing the sleeve 34 from coming off, and the through hole 33 is provided together with the fitting grooves 28a and 28b in the Jacob collet 2.
The ball 37 constituting the slip-out preventing mechanism 5 is inserted so as to be able to come and go. The through hole 33 is a tapered hole whose outer opening diameter is larger than the diameter of the ball 37 and whose inner opening diameter is slightly smaller than the ball diameter.
Prevents falling inside. A large-diameter hole portion 38 is formed in the inner peripheral surface of the sleeve 34 on the drill 23 side so as to correspond to the ball 37. The sleeve 34 is normally pressed against a retaining ring 36 by a compression coil spring 35 as shown in FIG. 5 so as to cover the through hole 33 and project a part of the ball 37 into the collet fitting hole 39 of the cylindrical portion 32. ing. When the sleeve 34 is moved toward the spindle 14 against the compression coil spring 35, the ball 37 is released from the sleeve 34 because the large-diameter hole 38 corresponds to the through-hole 33, and the through-hole 33 and the large-diameter hole It becomes movable between the portions 38 and can be pulled out of the collet fitting hole 39. Jacob Collet 25
When connecting the female adapter 26 to the
Is moved toward the spindle 14 against the spring 35, and the Jacob collet 25 is fitted and inserted into the collet fitting hole 39 in this state. Thereafter, the Jacob collet 25 is rotated by an appropriate angle to fit the fitting groove 28a ( Alternatively, 28b) may be made to correspond to the through hole 33, and the sleeve 34 may be returned to the original position. Then, the ball 37 is fitted into the fitting groove 28a by the sleeve 34, thereby preventing the Jacob collet 25 from falling off the adapter 26 and preventing rotation about the axis.

Next, FIG. 2 shows the construction of the drill automatic exchange 45.
This will be described in detail with reference to FIGS. Drill automatic exchange 45
Is a base 4 provided in close proximity to the drilling robot 1.
A rotary index table 47 is provided on one side of the base 46 for stocking different kinds of drills 23 necessary for drilling the workpiece 20. Drill 2
3 is a chuck 24 and a Jacob collet 25 described above.
Are stored in the drill storage holes of the index table 47 with the Jacob collet 25 facing upward. The female adapter 26 is attached to the spindle 14 of the drilling robot 1 in advance. On the base 46, a pick and place 48, a drill mounting station 49, a drill release station 50, a mounting chuck 51, a release chuck 52, a release plate 53 as a release member, and the like are provided.

The pick and place 48 is for taking out the necessary drill 23 from the index table 47 and returning and storing it in the same table 47. The pick and place 48 rotates in a horizontal plane about a rotation center 0 (FIG. 7). A movable guide column 55 (FIG. 9), a slider 57 mounted on the guide column 55 so as to be vertically movable and raised and lowered by a vertical driving cylinder 56, and a slider 57 mounted on the slider 57 and advanced and retracted by a horizontal driving cylinder 58. And a manipulator 60 provided at the tip of the main body 59. The manipulator 60 is guided above the index table 47 by the forward movement of the main body 59 as shown by a two-dot chain line in FIG.
Is lowered to a predetermined height and stops.
The jacob collet 25 of the drill necessary for drilling among the many drills 23 stored above is gripped and extracted from the index table 47.

The drill mounting station 49 constitutes a receiving section for receiving the drill 23 from the pick and place 48 and a delivery section for transferring the drill 23 to the drilling robot 1 as shown in FIGS. 8 and 9. A vertical screw rod 6 disposed in a base 46 and rotated by a motor 63
2, the screw rod 62 is prevented from rotating, and the screw rod 6
A movable cylinder 64 that moves up and down by the rotation of the screw 2 is screwed in. A movable holding cylinder 67 whose upper end protrudes above the base 46 and is rotated by a motor 65 different from the motor 63 is provided on the movable cylinder 64. Has been established. The drill holding cylinder 67 moves up and down together with the movable cylinder 64, and is rotated by the motor 65 when the drill 23 is transferred to the drilling robot 1. The reason for rotating the drill holding cylinder 67 is to rotate the Jacob collet 25 to fit the ball 37 into the fitting groove 28a or 28b when transferring the drill 23 to the drilling robot 1 as described above.

The drill removal station 50 has substantially the same structure as the drill mounting station 49, and is provided between the pick and place 48 and the drill mounting station 49. However, drill removal station 5
The zero drill holding cylinder 69 (FIG. 9) does not necessarily need to be rotated, and may be provided integrally with the movable cylinder 71 that is provided to be vertically movable with respect to the screw rod 70 and may not be rotated. Good.

The mounting chuck 51 includes upper and lower parallel chucks 75 and 76, and both chucks 75 and 76.
And is provided on one side of the drill mounting station 49, and is normally in a retracted position, that is, on the opposite side of the drill mounting station 49. The upper parallel chuck 75 moves forward by the rodless cylinder 77 during the mounting operation of the drill 23, grips the spindle 14 (FIG. 5) of the drilling robot 1, and prevents the spindle 14 from spinning. Lower parallel chuck 76
Grips the sleeve 34 (FIG. 1) of the female adapter 26 at the tip of the drill held on the drill mounting station 49.

The release chuck 51 includes a parallel chuck 79 and a rodless cylinder 80 on which the parallel chuck 79 is installed, and is disposed on one side of the drill release station 50. Usually, the release chuck 51 waits at a retracted position. ing. The parallel chuck 79 moves forward by the drive of the rodless cylinder 80 at the time of the detachment operation of the drill 23, and moves forward by the female adapter 26 at the tip of the drill held on the drill release station 50.
Of the sleeve 34 (FIG. 1).

The release plate 53 is mounted on the upper end of a column 82 formed in a Y-shape and erected on a slide cylinder 81, and faces the release chuck 52 with the drill release station 50 interposed therebetween. It is arranged as follows. The plate 53 is moved forward by the slide cylinder 81 when the drill 23 is disengaged, and inserted between the Jacob collet 25 and the female adapter 26 to facilitate the disengagement of these two members.

Next, the drilling robot 1 having the above configuration
The operation of the automatic drilling switch 45 will now be described. When a command signal is sent from the control unit to the pick and place 48, the pick and place 48 extracts the required size of the drill 23 from the spare drill 23 stored on the index table 47, and the drill mounting station 49. Hand over to The drill 23 is the chuck 24 shown in FIG.
And the Jacob collet 25 are integrally formed, and the chuck 24 and the Jacob collet 25 are inserted into the opening at the upper end of the drill holding cylinder 67 with the chuck 24 and the Jacob collet 25 protruding upward.
When the drill 23 is transferred to the drill mounting station 49, the drilling robot 1 is turned to set the spindle propulsion drill 10 vertically above the drill mounting station 49, and the female adapter 26 is opposed to the Jacob collet 25. In this state, the mounting chuck 51 at the standby position
Is moved forward to the mounting position by driving the rodless cylinder 77, the lower parallel chuck 76 is closed, the sleeve 34 of the female adapter 26 at the tip of the drill is gripped, and then the spindle propulsion drill 10 is held while maintaining this state. When the female adapter 26 is lowered by a required amount (about 5 mm), the female adapter 26 is lowered, the spring 35 is compressed, and the large-diameter hole 38 of the sleeve 34 and the through-hole 33 coincide. Therefore, the ball 37 is movable within the through hole 33 and the large diameter hole 38. Then, the upper parallel chuck 75 is closed and the spindle 14 is gripped to prevent the spindle 14 from spinning. Upper parallel chuck 75
When gripping the spindle 14, the drill mounting station 49 is raised, and the Jacob collet 25 is fitted and inserted into the collet fitting hole 39 of the female adapter 26. In this fitting insertion, the screw rod 62 is rotated by driving the motor 63 (FIG. 8), whereby the movable cylinder 64 and the drill holding cylinder 67 are rotated.
It is performed by raising. When the fitting is completed, the lower parallel chuck 76 is opened, and then the drill holding cylinder 67 is slowly rotated by another motor 65 so that the fitting groove 28
When a (or 28b) coincides with the through hole 33, the sleeve 34 is pushed downward by the spring 35, so that the ball 37 enters the fitting groove 28a, and the sleeve 34 moves downward, As a result, the Jacob collet 25 and the female adapter 26 are connected, and the drill 23 is transferred to the drilling robot 1. When the delivery operation of the drill 23 is completed, the upper parallel chuck 75 is opened, the drill mounting station 49 is lowered to the initial position by the reverse rotation of the motor 63, and the mounting chuck 51 is retracted by the rodless cylinder 77.

The drilling robot 1 having received the drill 23 from the drill mounting station 49 turns and drills the work 20 on the work reversing device 19. This drilling is performed by rotating the spindle 14 by driving the induction motor 13 (FIGS. 3 and 4) and simultaneously reciprocating the piston of the air cylinder 11. Therefore, the drill 23 performs drilling during the forward operation of the piston, and is extracted from the hole being processed during the return operation to discharge chips.

When the drilling operation by the drilling robot 1 is completed, the drill removal station 50 is moved upward to stop at the drill receiving position. Next, drilling robot 1
Of the spindle propulsion drill 1
0 is stopped above the drill removal station 50. Next, the detachment chuck 52 is moved forward by the rodless cylinder 8, the parallel chuck 79 is closed, and the sleeve 34 of the female adapter 26 at the tip of the drill is gripped. In this state, the spindle propulsion drill 10 is lowered by a certain amount so that the through-hole 33 of the adapter 26 and the large-diameter hole 38 of the sleeve 34 are aligned with each other, so that the ball 37 can be removed from the fitting groove 28a. Then, the detaching plate 53 is moved forward by the rodless cylinder 81, and the Jacob collet 2 is moved.
5 and the female adapter 26. Then, the collet 25 is separated from the female adapter 26 by its own weight and the weight of the drill 23 and the chuck 24, dropped, and delivered to the drill release station 50. Drill removal station 5
When the drill 23 is received from the drilling robot 1, it lowers to the initial position and stops, and at this time, the presence or absence of the drill 23 is detected by a sensor (not shown). If there is a drill 23,
Judging that the detachment is completed, the drilling robot 1 is turned above the drill mounting station 49 to receive the next drill,
Wait at that position. Thereafter, the pick-up place 48 is driven, the manipulator 60 grips the drill 23 on the drill release station 50, and returns the index table 47 to a predetermined position. Pickup Place 48
When the drill 23 is returned to the original position, the drill grips a drill having a size required for drilling, and then turns and transports the drill 23 above the drill mounting station 49. Hereinafter, the delivery, attachment, detachment, and return operations of the drill 23 are repeated in the same manner, and desired holes are sequentially formed at required portions of the work 20.

When the drill 23 is broken during the drilling operation by the drilling robot 1, a vibration sensor (not shown) set in the drill unit catches abnormal vibration, and the signal from the vibration sensor detects the abnormal vibration. Is stopped and returned to the initial position to wait. When the drill 23 breaks, the lamp is turned on to notify the operator of the breakage and automatically record it on a display in the control panel. Next, the work reversing device 1
Turn 9 to turn the new work toward the robot. After the broken drill is replaced with a new one, the drilling robot 1 resumes drilling.

In the above-described embodiment, an example in which the detaching plate is used as the detaching member has been described. However, the male-type adapter 26 which holds the chuck 24 with a parallel chuck is used.
Anything can be used as long as it can be removed from the Jacob collet 25. In addition, drill replacement procedure is as follows.
Needless to say, the drill 23 to be next used by the pick-and-place 48 during processing may be prepared in advance in the drill mounting station 49. Further, in the above embodiment, the fitting grooves 28a and 28b are semicircular grooves. However, the present invention is not limited to this, and various shapes such as an ellipse and a V-shape can be used. Groove may be used.

[0022]

As described above, according to the drilling robot automatic exchange according to the present invention, the drill is transported from the index table to the drill mounting station by pick and place, and the female adapter is moved from the drill mounting station to the drill mounting station. Receiving the broken drill, the female adapter places the drill at the drill release station, and the pick and place carries the drill from the drill release station to the index table, so that the robot prepares the next drill to the drill mounting station during processing In addition, since the drill that has been processed during processing can be returned from the drill removal station to the index table, the waiting time for tool change can be significantly reduced, thereby improving productivity. . Also, the mounting chuck has a first parallel chuck for gripping the female adapter side provided on the spindle of the drilling robot and a second chuck for gripping the spindle and preventing its free rotation. Thus, the female adapter and the collet can be joined by the gripping of the female adapter by the first parallel chuck and the descent of the spindle, and the collet is rotated by gripping the spindle by the second chuck. When the female adapter is fitted and inserted, idling of the spindle is prevented, so that the collet is securely connected to the female adapter. Moreover, the first and second
By holding the female adapter side with the parallel chuck, the female adapter can be prevented from moving and the collet can be reliably inserted into the female adapter. Also,
The drill mounting station can move up and down and rotate independently,
When the drill received from the pick and place is transferred to the drilling robot, it is raised to insert the collet into the female adapter, and is rotated when the ball and the fitting groove are fitted. The rotation speed of the spindle propulsion drill on the side is set to the processing speed for the work, and the present invention can be applied to a robot that cannot adjust the rotation speed arbitrarily during automatic operation, The troublesome work of setting the rotation speed of the spindle propulsion drill low and resetting it to the processing speed after the replacement becomes unnecessary, and the burden on the operator and the tool replacement time can be greatly reduced.

[Brief description of the drawings]

FIG. 1 is a partially cutaway view of a main part of a spindle-propelled electric drill.

FIG. 2 is a side view of the drilling robot according to the present invention.

FIG. 3 is a side view of a spindle propulsion drill.

FIG. 4 is a front view of the drill.

FIG. 5 is a front view of the drill.

FIG. 6 is a sectional view taken along line VI-VI of FIG. 1;

FIG. 7 is a plan view showing an arrangement configuration of a drilling robot and a drilling automatic exchange.

FIG. 8 is a side sectional view of an index table and a drill mounting station.

FIG. 9 is a front view of a drill mounting station and a drill removal station.

[Explanation of symbols]

 1 Drilling Robot 10 Spindle Drill 11 Air Cylinder 13 Induction Motor 14 Spindle 20 Work 23 Drill 24 Chuck 25 Jacob Collet 26 Female Adapter 28a Fitting Groove 28b Fitting Groove 34 Sleeve 35 Compression Coil Spring 37 Ball 38 Large Diameter Hole 39 Collet fitting hole 45 Automatic drilling machine 47 Index table 48 Pick and place 49 drill mounting station 50 drill removal station 51 mounting chuck 52 release chuck 53 release plate 67 drill holding cylinder

Continuation of front page (72) Inventor Hisao Takahashi 965, Kozawa-cho, Takasaki-shi, Gunma Prefecture Inside Kushida Industries Co., Ltd. (56) References JP-A-55-11716 (JP, A) JP-A-54-159783 (JP, A) JP-A-49-39177 (JP, A) JP-A-61-76250 (JP, A) JP-A-61-58033 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) ) B23Q 3/155-3/157 B23B 31/107

Claims (1)

(57) [Claims] 1. Attaching to a spindle of a drilling robot
The female adapter is fitted with the ball and the fitting groove.
It has a collet that is integrally connected to prevent
Many drill blades stored in the index table
Remove the drill of the size required for machining with the collet.
Or after drilling by a drilling robot
Pick and place to return to original position with collet
From this pick and place
Mounting tool that receives and holds it to the drilling robot
Station and this drilling station.
When the drill is mounted on a drilling robot,
The female adapter provided on the spindle of the robot
A first parallel chuck for gripping the spindle and the spindle
A second chuck for gripping and preventing its free rotation
Mounting chuck and drilling robot after drilling
More drill with collet and pick and drop
The drill release station handed over to the race and this drill release
The drilling robot is installed corresponding to the removal
Removes the drill with the collet at the drill release station
When transferring to a female adapter
The female adapter and the collet.
And a detachable member for facilitating the attachment.
The pick-and-place can be moved up and down and rotated independently.
The drill received from the place is received by the drilling robot
The collet is raised when it is handed over to the female adapter.
Rotate when inserting and inserting the ball and the fitting groove
Automatic replacement of drilling robots
Machine.