JPH04152050A - Automatic working device - Google Patents

Abstract

PURPOSE:To make a pallet transferrable in either direction between two stations, by equipping a 1st station, 2nd station and pallet changer which transfer a pallet between the two staions on a stocker device. CONSTITUTION:A transfer device 20 is equipped with a guide rail 200 arranged between a composite work lathe 10 and a stocker device 30 which stores a work 150, a transfer robot 220 which travels on the guide rail 200, an arm 230 telescopic in the vertical direction which is fitted to the transfer robot 220, and a work hand 280 which holds the work 150 installed to the tip of the arm 230. The stocker device 30 is equipped with a 1st station 820 which stores a pallet 80 loaded with a raw material work, a 2nd station 825 which stores the pallet 80 loaded with a worked work, and a pallet changer which transfers the pallet 80 between the two stations. The pallet 80 can thus be carryed in from even either of two stations.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a conveying device in an automatic processing device equipped with a multi-tasking machine tool.

[Conventional technology]

Flexible manufacturing systems (FMS), which combine multi-tasking machine tools and automatic workpiece transport devices to enable long-term automatic machining, are becoming popular.

Among multi-tasking machine tools, a multi-tasking lathe is equipped with two opposing spindles and two turrets that work with each spindle.
Workpieces can be transferred between two spindles, two processes can be completed in one machine, and productivity is high.

The applicant has already proposed a system that combines this type of multi-tasking lathe and an automatic workpiece transfer device to enable long-term unmanned operation.

[Problem to be solved by the invention]

The automatic workpiece transport device is composed of a pallet on which a workpiece is placed and a gantry-type transport robot that grips the workpiece on the pallet and supplies it to the main shaft of a multitasking lathe.

This transfer robot takes out the processed workpiece from the spindle and returns it to the pallet.

Conventional automatic work transfer devices handle only a single type of work, and cannot mix different types of work on the same pallet. In addition, it was necessary for the operator to teach the movement of the transfer robot in advance.

The present invention provides an apparatus that includes two stations for accommodating pallets and is capable of transporting pallets in either direction between the two stations.

[Means to solve the problem]

The conveyance device of the automatic processing device of the present invention includes a compound processing lathe,
In an automatic processing device equipped with a transport device that transports parts to a multi-tasking lathe and a control device that controls the entire device, the transport device is a guide installed between the multi-tasking lathe and a stocker device that accommodates the workpiece. The stocker device is equipped with a rail, a transfer robot that runs by itself on the guide rail, an arm that extends and contracts in the vertical direction attached to the transfer robot, and a work hand attached to the tip of the arm that grips the workpiece. A first station that accommodates a pallet on which a processed workpiece is placed, and a second station that accommodates a pallet on which a processed workpiece is placed.

The system is equipped with a pallet changer that transports pallets between two stations, and the first and second stations are basically arranged symmetrically with respect to the central axis on which the transport robot exchanges workpieces on the pallets. Use appropriate means. The control device automatically creates a program for transporting the pallet from the second station to the first station based on the program for transporting the pallet from the first station to the second station. It is equipped with the means.

[Effect]

According to the present invention, automatic processing by unmanned operation is achieved no matter which station the pallet carrying the material work is carried into.

In particular, when pallets are stacked on pallet bases, the step of transporting empty pallet bases is omitted, and idle time is also shortened.

〔Example〕

Hereinafter, the present invention will be explained in detail based on the drawings.

FIG. 1 is a perspective view showing the entire automatic processing apparatus for implementing the present invention, FIG. 2 is a front view, FIG. 3 is a plan view, and FIG. 4 is a left side view.

The automatic machining device, designated as a whole by reference numeral 1, includes a multi-tasking machine tool. Various types of machine tools can be used as the compound machining machine tool, but in this example, a compound machining lathe 10 equipped with two main spindles and two turrets is used. There is.

FIG. 5 shows an outline of the combined machining lathe 10, which has a first main shaft 110 and a second main shaft 130 that are arranged to face each other. The first main spindle 110 and the second main spindle 130 are main spindles having the same capacity, and each of the first spindle 110 and the second main spindle 130 has the same ability. ．． Move in the direction indicated by 22.

On the other hand, two turrets with the same capacity 120°140
The six first tool rests 120, which are arranged to face each other, have a turret 122 that moves in the direction of the axis X and rotates around the axis T, and the turret 122 has a plurality of tools 160. It will be installed.

Similarly, the second tool rest 140 has a turret 142 that moves in the axis X2 direction and rotates around the axis T2, and a plurality of tools 160 are mounted on the turret 142.

The first main shaft 110 has a chuck 112 and a jaw 1
70 grips the workpiece 150, and the tool 160 of the first tool post 120 performs necessary processing on the workpiece 150.

The amount of movement of the first spindle 110 around the axis Z and the amount of rotation around the axis C, and the amount of movement of the tool post 120 around the axis X□ and the index around the axis T□ are controlled by the NC device.

The multitasking lathe 10 is equipped with means (not shown) for detecting the position of the cutting edge of the tool 160, and by measuring the position of the cutting edge and feeding it back to the NC device, it can indirectly measure the dimensions of the workpiece and improve machining accuracy. secure.

When the first process is completed by the first spindle 110,
The chuck 132 of the second main shaft 130 is attached to the first main shaft 110.
The workpiece 150 is received from the machine and is processed in the second step in collaboration with the second tool post 140 controlled by the NC device to complete the workpiece 150.

As described above, the compound machining lathe 10 is equipped with two main spindles and two turrets, and has the ability to automatically machine workpieces with complex shapes.

Note that a configuration may be adopted in which the tool rest is moved along the shaft Z-work 122 instead of the main shaft.

A chip conveyor 190 is disposed on the rear side of the combined machining lathe 10 to collect chips generated by cutting, and are collected by a chip packet 195.

The conveyance device, generally designated by the reference numeral 20, includes a guide rail 200 disposed above the multitasking lathe 10. The guide rail 200 is connected to the shaft Z direction, which is the moving direction of the main shaft of the lathe.
The guide rail 20 is arranged along an axis B parallel to Zz.
A transfer robot 220 is mounted on the robot 0 so as to be freely movable.

The transfer robot 220 includes an arm 230 that moves along an axis A in the vertical direction. A work hand 280 is attached to the tip of the arm 230, and in a manner described later, this work hand 280 can be exchanged with another hand to convey various objects.

Adjacent to the combined machining lathe 10, a stocker device 30 is disposed below the guide rail 200 for storing members and supplying them to the combined machining lathe 10 when necessary.

FIG. 6 is a sectional view of the main part of the stocker device 30, and FIG. 7 is a side view of the main part.

Stocker equipment! The i30 has a base 300 that is placed on the floor.
The base 300 includes two sets of two guide surfaces. The first guide surfaces 310 and 312 are the guide rails 2
It is arranged along the axis X□ perpendicular to the axis B of 00. The second guide surface 320° 322 has an axis X parallel to the axis X3.
4.

A stocker, generally designated by the reference numeral 40, is placed on the first guide surfaces 310, 312 so as to be movable along the axis X.

The stocker 40 has a first side wall 410 and a second side wall 420.
and a floor 430 connecting two side walls, and includes a box-shaped stocker body 400 with a substantially square cross section and an open top. On the lower surface of the floor 430, there are rollers 4 that roll on a guide surface.
02 is provided.

The upper edge of the first sidewall 410 extends outwardly and horizontally to form a first flange 412 . The upper edge of the second sidewall 420 also extends outwardly and horizontally to form a second flange 422 .

The stocker body 400 has an elongated shape extending along the axis
45.

The chamber 445 houses various hands that are replaceably attached to the tip of the arm 230 of the transfer robot 220.

In this embodiment, a tool hand 240 for handling tools to be supplied to the turret of the multitasking lathe 10 and a main spindle 1 are used.
Jaw hand 260 for handling the jaws feeding the chucks 112, 132 of 10, 130. Three types of work hands 280 are prepared for handling the work.

The first flange 412 and the second flange 422 are connected to the axis
, and a tool 160 is inserted into each hole. In this embodiment, a case is shown where a total of 20 tools 160 are accommodated, 10 on each flange, but the number of accommodated tools may be increased or decreased as necessary.

Jaw holding members are arranged at equal intervals along the axis X inside the upper parts of the first side wall 410 and the second side wall 420,
A jaw 170 is inserted into each holding member. In this example,
Although a case is shown in which a total of 18 jaws 170 are held, the number of jaws 170 may be increased or decreased as necessary.

Stocker body 400 is indexed along axis X, and includes means for positioning (eg, servo positioning).

Each tool, jaw, and hand is equipped with a memory element including an IC or the like to record necessary information.

Tool-related data includes tool number, name, rotation direction, shape, lifespan, number of pieces processed, life time, number of pieces used,
The information includes usage time, tool set value, wear correction amount, wear amount maximum set value, nose R1 depth of cut, tool width, tool length, manufacturing date, number of times of writing, etc.

Data regarding the jaws include the jaw number, jaw position, external jaw/internal jaw, dimensions of each part of the jaw, with/without chuck barrier 1 gripping diameter, with/without jaw forming, with/without green jaw forming, with green jaw forming program number, with green jaw. Usage time.

Includes raw nail life time, date of manufacture, number of entries, etc.

The tool 160 includes a memory element 160a, and a read/write head 330 for reading or writing information in the memory element 160a of the tool is disposed on the base 300 side of the stocker device. The jaw 170 consists of a base jaw that engages with the chuck and a soft jaw that is attached to the base jaw, and includes a similar memory element on the back of the base jaw. Then, the jaw 170 is placed on the base 300 side.
The read/write head 3 facing the memory element 170a of
32 will be installed. This read/write head 332 is
When the stocker body 400 moves, the tool shank 1
In order to avoid interference with 60S, the lead,
The structure is such that the jaw 170 is close to the memory element 170a only during writing.

The tool 160 stored in the first flange 412 and the first
The jaw 170 stored in the side wall 410 of the machine is, in principle, supplied to the first tool rest 120 and the first spindle 110.

The tool 160 stored in the second flange 422 and the second
The jaw 170 stored in the side wall 420 of the machine is supplied to the second tool rest 140 and the second main shaft 130.

FIG. 6 shows that the tool hand 240 is attached to the first flange 412.
160 of the second flange 422 and the tool 16 of the second flange 422
The state in which the jaw hand 260 grips the jaw 170 is shown in the upper center part.

A hand is stored in the stocker main body 400, and a read/write head 340 for the hand is attached to an actuator 342 on the base 300 below the floor 430 of the main body 400.
It is provided so that it can move up and down. FIG. 6 shows a state in which the tool hand 240 is housed in the stocker body 400, and a memory element 240a is attached to the tip of the tool hand 240 to record necessary information. Joe hand 26
0, the work hand 280 also includes a similar memory element.

Second guide surface 320 of base 300 of stocker device 30
, 322 is equipped with a traveling trolley, generally designated by the reference numeral 60. The traveling carriage 6o has a frame 600, which is supported on the guide surfaces 320, 322 via rollers 602, and is moved along the axis X by a drive device (not shown). This traveling cart 6o constitutes a pallet changer together with a fork 70, and handles pallets on which workpieces are placed in a manner to be described later.

The stocker 40 is provided with a clutch means using a connecting pin 450 that can be freely engaged and detached, and the traveling truck 60 and the stocker 40 can be connected to each other when necessary.
Connect with. The stocker 40 is indexed to a predetermined position along the axis X by the driving force of the traveling cart 60, and supplies the hand, tool, and jaw to the transfer robot 220.

As described above, in this automatic processing device, the hand attached to the arm of the transfer robot is freely replaceable, and the necessary tools and jaws are supplied to the multitasking lathe 10, so that setup for many types of workpieces is automatically achieved. be able to.

Next, an external measuring device 50 is connected to one end of the stocker 40. This external measurement device 50 includes a block 502 for positioning a workpiece on a plate 500 and a micrometer 5.
10, etc., and automatically measures the dimensions of the processed workpiece and sends the information to the control device 90.

The traveling carriage 60 guided by the base 300 is equipped with a fork device 70. The fork device 70 is supported so as to be vertically movable with respect to the traveling trolley 60.

A motor 610 disposed on the traveling truck 60 rotates a drive screw 720 of the fork device 70 via a transmission means, thereby raising and lowering the entire fork device 7o.

The fork device 70 has a spar 705 and two parallel arms 710 protruding outward from both ends of the spar 705, and grips the pallet 80 on the inside of the two arms 710.

The center inner part of the girder 705 of the fork device 70 has a lead,
A write head 917 is provided, and a storage element 815 is provided at a position facing the pallet 80.

The pallet 80 is a rectangular plate-shaped member that accommodates works 150, and has means for accommodating works 150 of the same type and different types at regular intervals.

A plurality of pallets 80 are prepared by stacking them in the vertical direction, and a maximum of about 10 pallets are prepared. Each pallet 80 is provided with workpiece holding means consisting of an adapter in which a V-groove is formed inside a quadrilateral frame 800. and,
Pins 810 are installed at the four corners of the frame 800. This pin 810 is selected in accordance with the height dimension of the workpiece 150, and supports the pallet 80 stacked above. Therefore, the vertical interval between pallets stacked one on top of the other is determined by the length of the pin 810.

The control device and control method of this automatic processing device will be explained.

FIG. 8 is a block diagram showing an outline of the control device, including the control device 90 of the automatic processing device and the NC of the multi-tasking lathe 10.
A control device 95 is provided.

The NC control device 95 and the central processing device 950.

It has an operation panel 952 to input and output information necessary for processing.

The multitasking lathe 10 includes a cutting edge position detection device that detects the cutting edge positions of the tools 160 mounted on two tool rests 120 and 140, and an in-machine measuring device 954 for the workpiece, and replaces spare tools by detecting the cutting edge positions. Execute. The processed workpiece is measured with a touch sensor, this information is sent to the central processing unit 950, and the NC information is corrected as necessary.

The control device 9o of the automatic processing device is in charge of controlling devices other than the compound processing lathe 10. In this embodiment, a control device 90 for a compound machining lathe and a control device 9 for other devices are used.
5 is shown as a separate unit, but it is also possible to combine the control units to construct an integrated control unit.

The control device 90 includes a central processing unit 900, and an operation panel 902. connected to the central processing unit. teaching panel 90
4, information regarding the operation of the device to be controlled is input.

The transport device 20 includes a servo axis B that operates a transport robot 220 that moves on a guide rail 200.

It has two servo axes A that operate the vertical movement of the arm 230, and these servos 906 are controlled by commands from the central processing unit 900. Traveling trolley 60 and fork 7
The pallet changer consisting of 0 is equipped with a servo 908 that operates the movement of the traveling cart 60 and the vertical movement of the fork 70, and is controlled by commands from the central processing unit 900.

The position of the hand, jaw, and the drawer 40 that accommodates the tool is controlled via the unit 910.

In addition to the stocker 40, this automatic processing apparatus can increase the capacity of tools and jaws by adding a chain type stocker (not shown) or the like. When equipped with a chain magazine, it is controlled via unit 912.

The external measurement device 50 integrally connected to the stocker 40 is
The dimensions of the workpiece that has been processed are measured using the measuring device 5.
0 operation and information such as measurement results are controlled via unit 914.

Each pallet 80 includes a storage element to which information can be read and written.

This is executed by a read/write head controller 916 and a read/write head 917 connected thereto.

Similarly, the reading and writing of information in the memory element of each tool, the memory element of each jaw, and the memory element of each hand are performed by reading,
This is executed by a write head controller 918 and a read/write head 919 connected thereto.

Before starting automatic operation using automatic processing equipment.

The setup work performed by the operator will be explained.

First, at the setup station, the material work 150 is stored on each pallet 80, and data is written into the memory element of each pallet 80 using a portable read/write head. , processing date, etc., and variable data includes workpiece number, workpiece interval, workpiece reference position, number of pieces on the pallet, height dimension of the bin 810 planted on the pallet, etc.

The pallets 80, on which the above setup has been completed, are stacked in a maximum of about 10 stacks and transported to the loading station 820 of the automatic processing device.

Next, the operator places the plurality of hands 24 in the stocker 40.
0,260,280, tool 160. Set jaw 170. At this time, data is written to each storage element using a portable read/write head. Data of the equipment accommodated in this stocker 40 is read at the time of system check.

It is read by the light head and sent to the control device 90.

NC data etc. are also prepared for the control device 95 of the multi-tasking lathe 10.

FIG. 9 is a flow chart showing the operation of this automatic processing device.

The automatic operation started in step 1000 reads data from the memory element attached to the pallet 80 in step 1100. With respect to the pallets 80 placed on the loading station 820, the fork device 7° of the pallet changer descends from the top and reads data in each memory element of the stacked pallets 80.

FIG. 10 illustrates data items to be entered in the storage elements of pallet 80.

When this reading is completed, a data table of machining schedule based on pallet numbers can be created.

As for the processing order, the pallet stacked on the topmost tier is the first, followed by the pallet on the J11th lower tier.

In step 1200, the automatic machining system is checked.Based on the machining schedule based on the pallet number, NC data, data on tools, jaws, hands, etc., and those set in the stocker and multi-tasking lathe are checked. Check to see if there are any abnormalities in the system. When an abnormality is discovered, a warning is issued to the operator in step 1210.

Proceed to step 1300 and check the readiness status.

If the preparation for the work to be machined has not been completed, the process advances to step 1310.

In step 1310, the connecting bin 450 provided in the stocker 40 is operated to connect the traveling carriage 60 and the stocker 40. Thereby, the stocker 40 is driven together with the traveling carriage 60, and is in a state where it can be moved to a required position.

In step 132o, a hand exchange program is executed. Among the three types of hands housed in the stocker 40, for example, the tool hand 240 is connected to the transfer robot 220.
It is attached to the arm 230 of.

At step 1330, a tool exchange program is executed. The tool hand 240 attaches the tool 160 housed in the first flange 412 of the stocker 40 to the turret 122 of the first tool rest 120, and
The second tool 160 is attached to the turret 14 of the second tool rest 140.
Attach to 2.

Information in the storage element is updated for tools that are replaced and returned to the stocker.

At step 1340, a jaw exchange program is executed. The jaw hand 260 is attached to the arm 230,
The jaw hand moves the jaw 170 housed in the first side wall 410 of the stocker 40 to the chuck 1 of the first main shaft 110.
12 and housed in the second side wall 420
70 is attached to the chuck 132 of the second main shaft 130.

Information in the memory element is updated for jaws that are replaced and returned to the stocker.

In step 1350, data regarding the cutting program, replaced tools, and jaws are transferred to the controller 95 of the multitasking lathe. The data to be transferred includes tool file data, a data map of the tool's memory element such as jaw dimension data, and the jaw's memory element. A work hand 28o is attached to the arm 230. After that, stocker 4
Return o to its original position. In the original position, 1 external measurement device 50
is positioned at a predetermined position. Disengage the traveling truck 60 and the stocker 40.

The preparation program is thus completed and the process proceeds to step 1400.

In step 1400, the traveling cart 6o and the fork 7o work together to hold the uppermost pallet 80 in a predetermined position.

In step 1500, each tool 1 is
The position of the cutting edge of 60 is measured, and the dimensions of the workpiece are indirectly measured.

In step 1600, the necessity of tool replacement due to wear of the cutting edge or the like is determined based on the detection result of the cutting edge position in step 150o. If it is determined that tool replacement is necessary, the process proceeds to step 1610, and the work hand attached to arm 230 of transfer robot 220 is replaced with a tool hand. In step 1620, the tool exchange program is executed, and in step 1630, the tool is exchanged again to the work hand, and the process proceeds to step 1700.

In step 1700 , the transfer robot 220 grips the workpiece 150 with the workhand 280 and supplies it to the chuck 112 of the first main spindle 110 of the multitasking lathe 10 . Usually, the first processing step for the workpiece 150 is
The second machining process is performed with the first spindle 110, and the second
, but the order can also be reversed.

In step 1800, a predetermined cutting program is executed by the multi-tasking lathe 10. In step 1850, the workpiece is measured on-machine. In-machine measurement uses touch sensors to measure the dimensions of each part of the workpiece.

Send the measurement results to step 2010 and perform NC as necessary.
Correct the program. The workpiece 150 that has been processed is taken out by the transfer robot 220 in step 1900 and sent to the measuring device 50 outside the machine.

In step 2000, the external measurement device 50 directly measures the dimensions of the workpiece 150, and in step 2010, the quality of machining is determined and the NC data is corrected depending on the magnitude of the error.

In step 2100, tool life is checked. Each tool 160 has a predetermined number of uses and a predetermined usage time set as a lifespan. Therefore, the life of the tool is checked with reference to this set value, and if the life has been reached, the process proceeds to step 211o, where the tool is replaced with a tool hand, and then the tool exchange program is executed.

In step 2120, the control device 9 of the multi-tasking lathe machine 0
The tool data is transferred from the NC of No. 5 to the control device 90, and in step 2130, the read/write head 91
9, tool data is written into the memory element of the used tool.

Therefore, the data of the tool in use is recorded only in the tool file in the NC, and the data in the storage element of the tool is not updated.

In step 2200, it is determined whether all the machining of the number of workpieces set up on the pallet 80 has been completed. If it has been completed, return to step 150o,
Load the workpiece and repeat the above steps.

When the workpiece for one pallet has been processed, the process proceeds to step 2300, where the traveling cart 60 and the fork 7o move the supported pallet to the unloading station 82.
Lower it to 5.

At this time, read and write head 917 for the pallet
writes machining data for each workpiece into the memory element of the pallet 80. Specifically, the central processing unit 900 determines the quality of the machining result based on the measurement data of the external measurement performed in step 2000, and the read/write head 917 writes the quality data for each workpiece into the memory element of the pallet. .

The tool exchange program from step 1710 to step 1730 may be executed after machining one pallet.

The above flow is repeated for all pallets, and in step 2400, it is confirmed that processing of all pallets has been completed,
Automatic operation is ended in step 2500.

FIG. 9A shows another embodiment of the control flow.

Automatic operation starts at step 2600, and step 2
At 610, the pallet 80 is transferred to the loading station 82.
0. Or confirm that it has been delivered to 825.

There are the following means for confirming which side of the loading stations 820 and 825 the pallet has been carried into.

When the operator performs loading work using a fork or the like, he operates a switch or the like to input the loading station at which the vehicle was loaded.

Alternatively, when the fork device 7o scans the loading station 820 and does not detect the presence of a pallet, it scans the loading station 825 to detect the presence of a pallet and automatically confirms the loading station into which the pallet has been carried.

In this case, work efficiency can be improved by alternately switching the loading station that the fork device 70 scans first.

In step 2620, the memory element 815 of the pallet 80 is read. Through this reading, all information necessary for processing the workpiece is sent to the control device 9o of the automatic processing device.

At step 2630, the control device 90 checks the tools and jaws currently prepared in the automatic processing device and determines whether there are any shortages.

If there is a shortage, the process proceeds to step 2.640, where data on the tools and jaws in the shortage is displayed to the operator. The operator sets up tools and jaws in the stocker 40 according to this display.

When the completion of the setup is confirmed in step 2650, the process proceeds to step 2660, where the connecting pin 450 of the stocker 40 is protruded and connected to the traveling carriage 60.

In step 2670, the stocker 40 is moved and the memory elements of the tools and jaws set up nine times are read.

In step 2680, the pin 450 of the stocker 40 is removed from the traveling carriage 60, and the process returns to step 2620.

If there are no tools or jaws missing, step 270
0, and the machining schedule and system operation data are created. What is the processing schedule?

It shows the processing schedule for the lots of pallets brought in, and the system operation data shows the cumulative production results.

Thereafter, the process is connected to step 1200 of the flow explained in FIG. 9, and automatic processing is executed.

In addition, in the above-mentioned automatic processing apparatus 1, an example was shown in which the stocker device 30 was arranged on the left side of the compound machining lathe 1110 when viewed from the front, but as shown in FIG. It can also be placed. Therefore, it is possible to freely arrange the automatic processing device 1 according to the installation space.

As explained above, the automatic processing device of the present invention can achieve long-term unmanned processing, but the structure and function of the pallet and the conveyance device are The control method will be explained in detail below in FIG. 12.

In the setup process, the operator writes information about the workpieces prepared on the pallet into a memory element attached to the pallet. Figure 12 shows the read/write device used in this process, and Figures 13 and 14 show the information on the pallet. Showing Awabe.

The pallet, designated as a whole by reference numeral 80, has a frame 800 having a quadrilateral planar shape, and a workpiece holding means is disposed within the frame 800. The workpiece holding means is, for example, an adapter 802 provided with V grooves 804 at equal intervals, and by positioning the distance between a pair of opposing adapters using adjustment means 808, works 150 of different diameters are held at equal intervals. be able to.

A memory element 815 is attached to the outer surface of the frame 800, and pins 810 are implanted on the upper surface of the four corners of the frame 80o. This pin 810 is used to support the upper pallet when stacking the pallets 80, and also to set the height of each pallet above the ground. Further, this pin 810 has a function of preventing the upper surface of the workpiece placed on the pallet from interfering with the upper pallet.

Therefore, the length (height) of this pin 810 is adjustable.

Portable read/write device 88 operated by an operator
0 has a main body 882 and a head 884, and the main body 882 includes keys for inputting information and a display. Information input into the main body is written to the storage element 815 of the pallet via the head 884.

At the setup station, the operator places the workpieces on the positions regulated by the workpiece holding means on each pallet, and reads and writes information about the workpieces on the entire pallet.
880 in the storage element 815.

FIG. 10 shows information items recorded by the storage element 815 of the pallet, and the workpiece reference position dimensions, workpiece intervals, etc. are given by the settings of the workpiece holding means.

From the workpiece number, a machine program number required by the NC control device 95 and a transfer program number required by the control device 90 of the transfer device are searched. Corresponding hands, tools, jaws, etc. can also be selected according to these program numbers.

Based on the length dimensions of the pallet pins, it is possible to calculate the height dimension of the uppermost pallet from the reference position when the pallets are stacked.

Furthermore, an arrangement map showing which workpieces are placed at each position on the pallet is also recorded.

The pallets for which the above setup has been completed are stacked in a maximum of about 10 layers, and are transported to the loading station 820 of the automatic processing device using a forklift or the like.

When the loading of the pallet to the loading station 820 is completed, the automatic operation program starts, as explained in the flowchart of FIG. 9.

The fork device 60 moves up and down, and the information in the memory elements of all pallets is input to the central processing unit w900 of the control device 90 by a read/write head 917 attached to the fork device.

Based on information from this pallet storage element, an overall machining schedule is developed.

The present invention provides an automatic processing apparatus having the above-mentioned configuration, which is capable of processing a pallet loaded with materials by carrying it into either of two pallet stations. be.

The present invention will be explained in detail with reference to FIGS. 15 to 17.

On the stocker device 30, two moving axes X3. X4 is formed.

The stocker 40 and the external measuring device 50 are guided along the axis X, and the traveling trolley 60 and the fork device 70 are guided along the axis X4.
A pallet changer consisting of

The pallet changer transfers the pallet 80 to a loading station 820 and an unloading station 82.
loading station 820
The unloading station 825 and the unloading station 825 are arranged symmetrically with respect to the axis B, which is the center line of the exchange of the workpieces 150 on the pallet 80 by the transfer robot 220.

(A) to (D) in FIG. 16 show the steps when the pallet 80 is sent in one direction from the loading station 820 to the unloading station 825 side.

The pallet 80 on which the material works are placed is carried into the loading station 820 in a stacked state on the pallet base 830B.

Processing begins with the raw workpiece placed on the topmost pallet, and the processed workpiece is returned to the same pallet. When all the workpieces on the pallet have been processed, the fork device 70 of the pallet changer carries the pallet 80 to the unloading station 825, and places the pallet 80 on the lowest stage of the pallet base 830A prepared at the unloading station 825. .

Thereafter, the pallets at the loading station 820 are sequentially gripped by a pallet changer, and the loaded material works are processed. When processing of the workpieces on the pallet is completed, the pallet changer stacks the pallet at the unloading station 825.

All pallets 80 are at unloading station 8
25, the operator uses a forklift or the like to carry out the stacked pallets 80 together with the pallet base 830A.

Next, the empty pallet base 830B left at the loading station 820 is transferred to the unloading station 825.

The operator uses a forklift or the like to transport the pallet 8o on which the stacked material works are placed on the pallet base 830C to the loading station 820.

Thereafter, the above-described process is repeated to remove the pallet 80 on the pallet base 830C of the loading station 820.
are sequentially transferred onto the pallet base 830B of the unloading station 825.

In the above process, two pallet stations included in the stocker device are used exclusively as a loading station and an unloading station, respectively.

As mentioned above, the two stations are arranged symmetrically about axis B, which is the workpiece exchange centerline. Therefore, if the seat S* point of axis X4 is placed on axis B, by switching the positive and negative of the coordinates of axis That will happen.

The present invention utilizes this principle to create a structure that allows loading from either station without specifying the purpose of the two stations.

(A) to (C) in FIG. 17 show this process.

Pallets loaded with material works are stacked on a pallet base 830B and transported to the first station 820. The fork device 70 of the pallet changer carries the topmost pallet of the carried pallets to a workpiece exchange position, and processes the workpieces on the pallet.

The pallets loaded with processed workpieces are sent to the second station 825 and stacked one after another on the pallet base 830A. The program used for this transfer is such that the first station 820 is the loading station and the second station 820 is the loading station.
This is the same as the normal transport pattern in which station 825 is the unloading station.

When all pallets have been processed, pallet base 8
The pallets stacked on top 30 are carried out from station 825.

Next, the pallet 8o on the pallet base 830C on which the prepared material work is placed is carried to the second station 825 side. Since no pallet base is left at the second station 825, there is no need to move the pallet base.

Can be transported directly.

The pallet 80 carried into the second station 825 is carried to the workpiece exchange position by the fork device 70 of the pallet changer, and the loaded material workpiece is carried by the transfer robot 220 to the multi-tasking lathe 10 where it is processed. Ru. The processed workpiece is returned to the predetermined position on the pallet.

A program for transporting the set-up pallet to the first station 820 and to the second station 825 is given in advance to the control device 90 of the transport device. from the second station 825 side to the first station 82
In order to transport the pallet to the 0 side, it is necessary to change the above transport program.

In the apparatus of the invention, the first stage - John 820
Since the second station 825 and the second station 825 are arranged symmetrically with respect to the axis B, this program change can be easily carried out in the control device 90.

Therefore, the operator determines which station is to be used as a loading station using the control device 9.
All you have to do is enter o.

The pallets 80 carried into the second station 825 are sequentially sent to the first station 820 and stacked on the pallet base 830B.

Thereafter, the steps described above are repeated.

In addition, in the above-mentioned embodiment, the case where the pallets are handled by stacking them on the pallet base was explained, but the pallet base is intended to be convenient when handling with a forklift etc., and depending on the structure of the pallet, the pallet base may be omitted. can do.

〔Effect of the invention〕

As described above, the automatic processing device of the present invention can carry in a pallet with material work set up from either of the two stations of the conveyance device, so the automatic processing device can be arranged according to the user's installation environment. can do.

Furthermore, there is no need for the process of transferring empty pallet bases to the other station, improving processing efficiency.

[Brief explanation of the drawing]

The drawings illustrate embodiments of the invention. Fig. 1 is a perspective view showing the entire automatic processing device, Fig. 2 is a front view, Fig. 3 is a plan view, Fig. 4 is a left side view, Fig. 5 is an explanatory diagram showing an outline of a multi-tasking lathe, FIG. 6 is a sectional view of the main parts of the stocker device, FIG. 7 is a side view of the main parts of the stocker device, and FIG. 8 is a block diagram showing an overview of the control device. FIG. 9 and FIG. 9A are control flow diagrams, and FIG. 10 is an explanatory diagram showing items to be written in the memory element of the palette. Figure 11 is a front view showing another example of the arrangement of automatic processing equipment, Figure 12 is an explanatory diagram showing a portable read/write device, Figure 13 is a partial plan view showing details of the pallet, and Figure 14. 15 is a plan view of the pallet stocker device, FIG. 16 is an explanatory diagram showing the operation, and FIG. 17 is another explanatory diagram showing the operation. 1...Automatic processing device 10...Combined processing lathe 20...Transport device 30...
Stocker device 40...Stocker 50...
...External measurement device 0...Traveling trolley 70
...Fork device O...Pallet 0.95...Control device 20...Loading station 25...
...Unloading station 30...
Pallet base patent applicant Yamazaki Mazatuku Co., Ltd. Representative Patent attorney Yoshiaki Numagata (2 others) Figure 5 Figure 1O Figure 15 Figure 16 Figure 17

Claims (1)

[Scope of Claims] 1. An automatic processing device comprising a multi-tasking lathe, a conveying device for transporting parts to the multi-tasking lathe, and a control device for controlling the entire device, wherein the conveying device is configured to transport parts between the multi-tasking lathe and the workpiece. A guide rail installed between the stocker device that accommodates the robot, a transfer robot that runs on the guide rail, an arm attached to the transfer robot that extends and contracts in the vertical direction, and a workpiece attached to the tip of the arm that grips the workpiece. The stocker device includes a first station that accommodates a pallet on which a raw material work is placed, a second station that accommodates a pallet on which a processed work is placed, and a station between the two stations. This automatic processing device includes a pallet changer for conveying pallets, and the first and second stations are arranged symmetrically with respect to a central axis through which a conveyance robot exchanges workpieces on the pallets. 2. The automatic processing apparatus according to claim 1, wherein the first and second stations are provided with pallet bases having means for supporting stacked pallets and engaging with forks of a forklift.