JPH06190602A - Delivery method for work through nc robot or loading attachment of loader and loading attachment used for the same - Google Patents

Abstract

PURPOSE:To provide a delivery method for a work which can execute automatic work removal from a plurality of NC lathes with different main spindle center positions through a robot having a turning arm controlled by an NC single-shaft. CONSTITUTION:In a robot 4 placed capable of determining position for movement along a traveling beam 3 in the Z-axis direction provided in front of two lathes arranged side by side with their front aligned, the intersection between a turning track around grippers 34A and 34B of a robot hand 33 at the end of an arm 32 and a track of the X-axial movement around a gripper 18 of a loading attachment 17 fixed to a tool rest 12 is set at the position of work removal between the arm and the loading attachment. At this position, delivery of the work is executed between the robot and the loading attachment, the tool rest 12 is moved along the X-axis by a center displacement amount X1 from the main spindle center to make the gripper 18 coaxial with a main spindle chuck 6, and delivery of the work is executed between the main spindle shuck and the loading attachment.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a 1-axis control arm of an NC robot or a loader, and a method of delivering a work through a loading attachment of a plurality of machine tools such as lathes whose spindle axes are offset from each other. The present invention relates to a loading attachment used.

[0002]

2. Description of the Related Art Conventionally, an arm having a gripper at a tip of an NC robot or a loader for attaching and detaching a work of a machine tool such as an NC lathe can be roughly classified into a swing type and a direct acting type.
Further, when viewed from the aspect of the NC control axis, it can be divided into a 1-axis control type and a 2-axis control type. 7 shows a robot 102 having a swing type uniaxial control arm 101, and FIG. 8 shows a loader 104 having a direct acting uniaxial control arm 103. One robot 102 having this one-axis control arm 101, 104 or two lathes 105 by a loader 104,
When the workpiece 106 is transferred, it is necessary to arrange the spindles 107 and 108 aligned on a concentric or identical Z-axis vertical plane as shown in FIG. Further, FIG. 10 shows a robot 110 having swing-type two-axis control arms 109A and 109B.
Then, FIG. 12 is a direct-acting type two-axis control arm 111A, 111B.
In this case, it is not necessary to install the loader 112 having the above so that the main shafts 107 and 108 of the two lathes 105 and 106 are concentric as shown in FIG.

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
Since the NC robot or loader having the axis control arm needs to alternate the entry path of the gripper into the machine and the spindle center line, it is difficult to perform centering work during machine installation.
There is a problem that it is difficult to combine processes of different type machines with different spindle positions, and an NC robot or loader with a two-axis control arm is suitable for connecting processes of different type machines but the loading device is large. It has the problem of complexity. The present invention has been made in view of the above problems of the prior art, and an object thereof is an NC robot or a loader having a one-axis control arm, which makes it difficult to align the spindle centerlines. An object of the present invention is to provide a method of delivering a work using a loading attachment on a tool post side that allows easy connection of processes of type machines and a loading attachment used for the method.

[0004]

In order to achieve the above object, a method of transferring a work through a loading attachment in an NC robot or a loader according to the present invention is a method of transferring a work center of a gripping center of a first gripper at an arm tip to the machine. A method for transferring a work of an NC robot or a loader in which a locus of an in / out operation does not intersect with a spindle center line, wherein the arm is swiveled or linearly moved to grip the first gripper on an X-axis plane passing through the spindle center line. By positioning the center, moving the tool rest on the X axis, and concentrically with the first gripper, positioning the second gripper of the loading attachment fixed to the tool rest, and moving the NC robot, loader, or tool rest on the Z axis. The first work transfer between the first gripper and the second gripper is performed, and the tool rest is moved in the X-axis to be concentric with the spindle. And positioning the second gripper performs a second transfer of the workpiece between the second gripper and the spindle chuck in the Z-axis movement of the tool rest.

Further, the loading attachment used for handing the work is a loading attachment used for handing the work of the NC robot or the loader in which the locus of the movement of the gripping center of the first gripper at the arm tip into and out of the machine does not intersect the spindle center line. A second gripper, which is an attachment and is provided on the NC robot or loader side of the tool rest and faces the spindle chuck side, is Z-shaped on the X-axis plane passing through the spindle centerline.
A work gripping member that is movable in the axial direction, drive means that moves the second gripper of the work gripping member to a work transfer forward position and a standby back position, and interlocks with the opening / closing operation of the spindle chuck or the first gripper. And means for opening and closing the gripping claws of the second gripper.

[0006]

[Operation] The second gripper of the loading attachment is positioned concentrically with the spindle chuck by the X-axis movement of the tool rest,
The machined workpiece gripped by the spindle chuck is passed to the second gripper of the loading attachment by the Z-axis movement of the tool rest. Then, the X-axis movement of the tool rest positions the second gripper at the intersection of the swivel or linear movement locus of the first gripper at the arm tip, and at the same time, the swivel or linear movement of the arm causes the first gripper to become concentric with the second gripper. robot,
By the Z-axis movement of the loader side or the tool rest side, the processed work is delivered to one of the first grippers of the robot hand at the tip of the arm. Next, when the robot hand turns 180 °, the material previously gripped by the other first gripper faces the second gripper side, and the material is passed to the second gripper by Z-axis movement of the robot, the loader side or the tool rest side. Next, the second gripper becomes concentric with the spindle chuck by the X-axis movement of the tool rest again, and the material is passed to the spindle chuck by the Z-axis movement of the tool rest.

[0007]

Embodiments will be described below with reference to the drawings. Two NC lathes 1 and 2 are juxtaposed on the floor with their front end faces aligned horizontally, and a robot traveling guide beam 3 in the Z-axis direction is horizontally installed in front of the NC lathes 1 and 2. An NC robot 4 is mounted along the guide beam 3 so as to be movable and positionable. As shown in FIG. 4, the NC lathes 1 and 2 have different heights S1 and S2 from the floor of the center line of the spindle, depth dimensions L1 and L2 from the front end face, and angles δ1 and δ2 formed by the X axis and the horizontal plane. It is a combination of two heteromorphic machines.

A chuck 6 is concentrically fitted to the tip of the spindle 5 of the lathe 1, and a chuck 8 is fitted concentrically to the tip of the spindle 7 of the lathe 2. The gripping claws 6a and 8a of the chucks 6 and 8 are attached to the rear end of the spindle. The hydraulic cylinders (not shown) are automatically opened and closed by NC commands. The saddle 9 is mounted on the bed 10 of the lathe 1 so as to be movable and positionable in the Z-axis direction, and the tool rest 12 is mounted so as to be movable and positionable on the guide on the saddle 9 in the X-axis direction via the intermediate base 11. ing.
A turret 13 is provided on the tool rest 12 so as to be pivotally indexable on a plane perpendicular to the Z axis, and a tool T is detachably attached to the turret 13. Similarly for the lathe 2, the turret 1
The turret 15 is mounted on the tool rest 14 so as to be pivotally indexable.

A loading attachment 17 is attached to the end face of the tool rest 12 of the lathe 1 on the main shaft center drilling side through a support 16, and the gripper 18 of the loading attachment 17 is on the X-axis plane passing through the center line of the main shaft 5. It is fixed concentrically to the main shaft 5 side at the tip of a slide shaft 19 supported in the Z-axis direction and only movable in the axial direction. A fluid pressure cylinder 21 is mounted on the support 16 as a slide shaft 1.
9, the tip of the piston rod 22 is fixed to the outer periphery of the gripper 18 via a coupling fitting 23, and the gripper 18 is a pressure fluid supplied to a fluid pressure cylinder 21 via an electromagnetic switching valve (not shown). Thus, the work is moved and positioned to the work transfer position a at the forward end and the standby position b at the rear end. A dog 24 is fitted to the rear end of the slide shaft 19, and limit switches LS1 and LS2 for confirming forward and backward movements are fixed to positions corresponding to the outer circumference of the fluid pressure cylinder 21, respectively. The gripper 18 has a fluid pressure cylinder 25 built in its frame, and the grip claw 18a is opened and closed by the axial movement of the plunger 26 integral with the piston. Further, similarly to the tool rest 14 of the lathe 2, a loading attachment 2 having a gripper 29 via a support 28 is also provided.
7 is attached.

On the other hand, in the robot 4, an arm 32 is rotatably supported by a main body 31 which can be moved and positioned along the traveling beam 3, and a robot hand 33 is attached to the tip of the arm 9.
It is provided so that it can be rotated and indexed at 0 ° and 180 °. Two grippers 34A and 34B are fixed to the robot hand 33 outward at right angles to the center of rotation, and the gripping claws 34a of the grippers 34A and 34B are automatically opened and closed individually according to a command from NC. It has become. As shown in FIG. 4, the movement path of the gripper claw centers of the grippers 34A and 34B in the horizontal state due to the turning of the arm 32 does not intersect the center line of the spindle 5 of the lathe 1 and the center line of the spindle 7 of the lathe 2 as shown in FIG. Then X passing through the center line of the main axis 5
The arm rotation angle up to this intersection (work transfer point) intersects with the axis at the position of the misalignment amount X1, and is θ1. Further, in the lathe 2, the amount of misalignment X2 on the X axis passing through the center line of the spindle 7
The arm turning angle up to this intersection is θ2.

Next, the operation of this embodiment will be described in the order of the flowchart of FIG. 6 mainly with reference to the operation explanatory diagram of FIG. In step S1, for example, when the cutting process on the lathe 1 side is completed, the tool rest 12 is separated from the processed work WA and retracted, and in step S2, the robot 4 is positioned at a predetermined position on the front surface of the lathe 1 and waits. 5
The state of (a) is obtained. Next, in step S3, the loading attachment 17 is moved by the X-axis movement of the tool rest 12.
Positioning the gripper 18 of the spindle concentric with the spindle chuck 6,
At the same time, the pressure fluid is sent to the rear chamber of the fluid pressure cylinder 21 to advance the gripper 18 to the work transfer position a, and the pressure fluid is sent to the rear chamber of the fluid pressure cylinder 25 built in the frame of the gripper 18 to move the gripping pawl 18a. open. Then, the tool rest 12 is moved to the spindle side in the Z-axis direction and the right end portion of the processed workpiece WA to be gripped by the spindle chuck 6 is inserted into the opened gripping claw 8a, the gripping claw 8a is closed, and the gripping claw 6a is opened. After the gripping is changed by gripping, the tool rest 12 moves to the Z-axis direction anti-spindle side, and the machined work WA is separated from the spindle chuck 6.
The state of (b) is obtained.

Next, in step S4, the tool rest 12 is again moved and positioned by the amount of misalignment X1 toward the robot side in the X-axis direction, and the state shown in FIG. 5C is obtained. Then step S
5, the arm 32 of the robot 4 on standby is θ1 °
By turning downward, the grippers 34A and 34B at the tip end are concentric with the gripper 18 of the loading attachment 17. In step S6, the robot 4 moves to the Z-axis loading attachment side to move one of the grippers 3
The unprocessed portion of the processed work WA to be gripped by the gripper 18 is inserted into the opened gripping claw 34a of 4B, and the gripping between the grippers 18 and 34B is changed so that the processed work WA becomes the gripper 34B on the robot side. The machined workpiece WA is separated from the loading attachment by the movement of the robot 4 toward the spindle side in the Z-axis direction as shown in FIG. 5D.

Next, in step S7, the robot hand 33 turns 180 °, and the gripper 34A that holds the material WB in advance faces the gripper 18 of the loading attachment 17, and the robot 4 moves toward the Z-axis loading attachment side. The end of the material WB is inserted into the gripping claw 18a of the gripper 18 that is opened, the gripping is changed, and the material WB is gripped by the gripping claw 18a of the gripper 18 of the loading attachment 17. Next, in step S8, the robot arm 32 sets θ1.
Rotating upward and escaping out of the machine, the robot 4 moves on the Z axis to place the processed work on the work stocker (not shown), and instead grips the new material WB by one gripper.

Then, in step S9, the tool rest 12
Moves in the X-axis direction by the amount of misalignment X1 to position the gripper 18 concentrically with the spindle chuck 6, and step S10
In, the tool rest 12 is moved to the Z-axis direction main shaft side, the end portion of the material WB is inserted into the grip claws 6a of the main spindle chuck 6 which is opened, the gripping is changed, and the raw material WB is transferred to the main spindle chuck 6. After being gripped, the gripper 18 of the loading attachment 17 retracts to the b position and stands by, and the cutting process is started in step S11. Since the operation of the lathe 2 is almost the same, it is omitted to avoid duplication of description.

In this embodiment, the robot in which the arm rotates is explained, but it is needless to say that it can be applied to a loader in which the arm directly moves. Further, one of the two NC lathes 1 and 2, for example, the lathe 1 is provided with a spindle center line and an arm 32.
By arranging the grippers 34A and 34B at the tips so that the trajectories of the grip centers of the grippers 34A and 34B intersect, the work that has undergone the primary machining on the front side on the lathe 2 side is directly processed on the chuck 6 on the lathe 1 side without the loading arm. It is possible to grip the machine, and by combining different types of lathes with different spindle center positions, it is possible to perform continuous machining on both front and back surfaces.

[0016]

According to the present invention, the loading attachment is attached to the tool post, and the displacement of the spindle center and the gripper center on the loader side is covered by the X-axis movement of the tool post, so that the NC robot is connected via the loading attachment. Since the work transfer and the work transfer to and from the spindle chuck are performed, a simple robot having an NC 1-axis control arm can transfer the work even if the gripper and the spindle chuck are misaligned. It is possible to shorten the arm of the robot and to cover a plurality of lathes of different types arranged in parallel with one robot. The centering of the robot and this machine is N
Since it can be covered by the C program, it can be improved with rough set and installation time can be significantly reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot and a loading attachment during transfer of a work according to the present embodiment.

FIG. 2 is a sectional view of a loading attachment.

FIG. 3 is a configuration diagram of a robot that covers two lathes of different types having different spindle positions.

4A is a side view of the lathe on the left side of FIG. 3, and FIG.
FIG. 4A is a side view of the lathe on the right side of FIG. 3, and both are explanatory views showing the relationship between the arm turning radius of the robot and the center of the spindle.

5A to 5D are explanatory views of the operation of the present embodiment.

FIG. 6 is a flowchart showing the flow of operation of this embodiment.

FIG. 7 is a perspective view of a robot having a conventional NC single-axis control swing arm.

FIG. 8 is a perspective view of a loader having a linear motion arm of NC 1-axis control according to the related art.

FIG. 9 is an explanatory view of a loading device in which two lathes according to the prior art are installed with their spindle centers aligned on the same Z-axis vertical plane, and work is attached and detached by one single-axis control linear motion arm type loader. Is.

FIG. 10 is a perspective view of a robot having an NC biaxially controlled articulated arm of the related art.

FIG. 11 is a perspective view of a loader having an NC biaxially controlled linear motion arm according to a conventional technique.

FIG. 12 is an explanatory diagram of a loading device in which two lathes of the related art are installed with the center of the spindle displaced from each other and a work is loaded and unloaded by a single two-axis control linear motion arm type loader.

[Explanation of symbols]

3 Traveling Beam 4 Robot 6 Chuck 12 Turret 13 Turret 17 Loading Attachment 18, 34A, 34B Gripper 32 Arm 33 Robot Hand

Claims (2)

[Claims] 1. A method for transferring a work of an NC robot or a loader, wherein a locus of an operation of taking in and out of a gripping center of a first gripper at an end of an arm with respect to a main machine does not intersect with a spindle center line, and the arm is swung or linearly moved. Then, the gripping center of the first gripper is positioned on the X-axis plane passing through the spindle center line, and the tool rest is moved in the X-axis so as to be concentric with the first gripper and the second loading attachment fixed to the tool rest. The gripper is positioned, and the NC robot, the loader, or the tool rest is moved in the Z axis for the first transfer of the work between the first gripper and the second gripper, and the tool rest is moved in the X axis to be concentric with the spindle. An NC robot or robot characterized in that the second gripper is positioned and the workpiece is secondly transferred between the second gripper and the spindle chuck by Z-axis movement of the tool rest. A work transfer method that is performed via the loading attachment of the feeder. 2. An attachment for loading used for transferring a work of an NC robot or a loader, in which a locus of the movement of the gripping center of the first gripper at the arm tip into and out of the machine does not intersect with the center line of the spindle. A second gripper provided on the NC robot or loader side and facing the spindle chuck side is movable in the Z-axis direction on the X-axis plane passing through the spindle centerline, and a second gripper of the workpiece gripping member.
And driving means for moving the gripper between the workpiece transfer forward position and the standby retract position, and means for opening and closing the gripping claws of the second gripper in conjunction with the opening and closing operations of the spindle chuck or the first gripper. A loading attachment characterized in that