KR101983375B1 - Apparatus for supplying workpiece automatically - Google Patents

Abstract

An automatic workpiece supply apparatus is disclosed. The automatic workpiece supply device is a device for automatically supplying workpieces to a chucking portion of a workpiece processing apparatus, and includes a tray storage portion in which the trays containing the workpieces are stacked and stored; A tray transfer unit for individually transferring the tray to a transfer position located outside the tray storage unit; And a workpiece transfer robot which is located above the tray storage unit and receives the workpiece from the tray placed at the transfer position and supplies the workpiece to the chucking unit located on the opposite side of the transfer position about the tray storage unit, .

Description

[0001] Apparatus for supplying workpiece automatically [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic workpiece supply apparatus, and more particularly, to an automatic workpiece supply apparatus capable of automatically supplying a workpiece to a workpiece processing apparatus.

In general, automatic lathe is mainly used for mass cutting and precision machining of industrial machinery or industrial parts after introduction of numerical control and automation concept. Such an automatic lathe requires a device that automatically supplies workpieces to automate the machining process.

As an example of such an automatic workpiece supply apparatus, Korean Utility Model Utility Model No. 20-0424966 discloses an autoloader apparatus of a CNC lathe coupled to a CNC lathe for a workpiece transfer part for supplying a workpiece in a lathe-like manner.

Since such an automatic workpiece supply system must be designed in consideration of the integral coupling with the CNC lathe, it is difficult to connect the CNC lathe with other types of CNC lathe. In addition, for the automatic workpiece supply or maintenance of the CNC lathe, removal of the material transfer part mounted on the CNC lathe is required, and alignment and setting of the devices are required during re-installation. Such maintenance requires a high level of expertise, which increases maintenance costs.

Further, the automatic workpiece supply apparatus is supplied to the lathe chuck via the material input unit, the material supply unit, the material discharge unit, and the material transfer unit. Such a supply method complicates the apparatus configuration and increases the manufacturing cost.

The present invention discloses an automatic workpiece supply apparatus capable of minimizing a facility area of an apparatus for automatically supplying workpieces.

Further, the present invention discloses an automatic workpiece supply apparatus capable of supplying a workpiece with a simple configuration while minimizing the supply path of the workpiece.

Further, the present invention discloses an automatic workpiece supply apparatus that is easy to maintain.

An automatic workpiece supply apparatus according to the present invention is an apparatus for automatically supplying a workpiece to a chucking portion of a workpiece processing apparatus, comprising: a tray storage portion for stacking and storing trays containing the workpieces; A tray transfer unit for individually transferring the tray to a transfer position located outside the tray storage unit; And a workpiece transfer robot which is located above the tray storage unit and receives the workpiece from the tray placed at the transfer position and supplies the workpiece to the chucking unit located on the opposite side of the transfer position about the tray storage unit, .

The workpiece is stored in the trays such that the central axis of the workpiece lies in the X axis direction. The workpiece transfer robot grasps the workpiece while the central axis of the workpiece is maintained in the X axis direction, The workpiece can be supplied to the chucking portion in a state in which the central axis of the workpiece is maintained in the X-axis direction.

The workpiece transfer robot may further include a guide rail coupled to an upper end of the tray storage unit and disposed in the X axis direction; A movable body movable in the X-axis direction along the guide rails; A first arm coupled to the moving body and rotatable about the X axis with respect to the moving body; A second arm coupled to the first arm and rotatable about the X axis with respect to the first arm; A third arm coupled to the second arm and rotatable about the X axis with respect to the second arm; And a grip unit coupled to the third arm and gripping the workpiece while the central axis of the workpiece is maintained in the X-axis direction.

The upper surface of the tray is a rectangular shape having first to fourth vertexes, the first vertex is located at the highest height, and the third vertex located in the diagonal direction with respect to the first vertex is located at the lowest height, And an upper surface of the tray may be disposed to be inclined downward from the first vertex to the third vertex.

In addition, the upper surface of the tray may have a rectangular shape having first to fourth vertexes, the tray conveying portion may be provided from the tray storing portion to the conveying position, and the conveying rail may provide a path through which the tray is conveyed. And a lift pin provided below the first vertex of the tray at the conveyance position to elevate the first vertex area of the tray, wherein when the first vertex area of the tray is raised by the lift pins, And the upper surface of the tray may be inclined downward from the first vertex toward the third vertex located in a diagonal direction with respect to the first vertex.

The tray storage unit may include a housing having a storage space for storing the trays therein and having an opening through which the tray is transferred to the tray transfer unit side; And a tray elevator for raising and lowering the entire trays stored in the storage space, and for adjusting the height of the trays so that the trays are individually located at a height corresponding to the openings.

According to the present invention, since the tray storage unit, the tray transfer unit, and the workpiece transfer robot are integrally coupled and the workpiece transfer robot transfers the workpiece in the upper space of the tray storage unit, the facility area of the apparatus can be minimized.

Further, according to the present invention, since the automatic workpiece supply apparatus is installed separately from the workpiece machining apparatus, the automatic workpiece supply apparatus and the workpiece machining apparatus can be easily maintained and the workpiece can be supplied to various types of workpiece machining apparatuses.

Further, according to the present invention, the automatic workpiece supply apparatus can supply a workpiece to a workpiece machining apparatus through a simple supply path by a combination of arms that rotate about the X axis and a moving body that linearly moves in the X axis direction.

According to the present invention, since the upper surface of the tray is inclined downwardly from the first vertex toward the third vertex facing in the diagonal direction, the accommodated workpieces can be aligned in the X-axis and Y-axis directions.

1 is a perspective view showing an automatic workpiece supply apparatus and a workpiece processing apparatus according to an embodiment of the present invention.
Fig. 2 is a sectional view showing the automatic workpiece supply apparatus of Fig. 1;
3 is a view illustrating workpieces stored in a tray according to an embodiment of the present invention.
4 is a view illustrating a tray and a tray transfer unit according to another embodiment of the present invention.
5 to 7 are views sequentially showing a process of transferring a workpiece by the workpiece transfer robot according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In this specification, when an element is referred to as being on another element, it may be directly formed on another element, or a third element may be interposed therebetween. Further, in the drawings, the thicknesses of the films and regions are exaggerated for an effective explanation of the technical content.

Also, while the terms first, second, third, etc. in the various embodiments of the present disclosure are used to describe various components, these components should not be limited by these terms. These terms have only been used to distinguish one component from another. Thus, what is referred to as a first component in any one embodiment may be referred to as a second component in another embodiment. Each embodiment described and exemplified herein also includes its complementary embodiment. Also, in this specification, 'and / or' are used to include at least one of the front and rear components.

The singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the terms such as " comprises " or " having " are intended to specify the presence of stated features, integers, Should not be understood to exclude the presence or addition of one or more other elements, elements, or combinations thereof. Also, in this specification, the term " connection " is used to include both indirectly connecting and directly connecting a plurality of components.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 1 is a perspective view showing an automatic workpiece supply apparatus and a workpiece processing apparatus according to an embodiment of the present invention, and FIG. 2 is a sectional view showing an automatic workpiece supply apparatus of FIG.

1 and 2, the automatic workpiece supply apparatus 100 is located adjacent to the workpiece machining apparatus 10 and automatically supplies the workpiece to the chucking section 11 of the workpiece machining apparatus 10. The automatic workpiece supplying apparatus 100 is separated from the workpiece machining apparatus 10 and movable independently of the workpiece machining apparatus 10. The workpiece machining apparatus 10 is an apparatus capable of producing various mechanical parts by machining the workpiece M, and according to an example, a CNC machine tool may be provided. The workpiece M is a base material of a mechanical part, and has a cylindrical shape.

The automatic workpiece supply apparatus 100 includes a tray storage unit 110, a tray transfer unit 120, a vision unit 130, and a workpiece transfer robot 140.

The tray storage unit 110 stores a plurality of trays T stacked in the vertical direction and transfers the trays T individually to the tray transfer unit 120. The tray T is configured to accommodate the workpieces M, and the workpieces M are accommodated in predetermined rows and columns. An embodiment in which the workpieces are housed in the tray T will be described in detail in Fig. 3 and Fig.

The tray storage unit 110 includes a housing 111 and a tray elevator 115. The housing 111 is formed with a receiving space 112 in which the trays T are stacked and an opening 113 is formed at one side so that the trays T can be individually transmitted to the tray conveying part 120 side do.

The tray elevator 115 raises and lowers the entire trays T in the storage space 112. Specifically, the tray elevator 115 raises and lowers the trays T so that the position of the tray T to be delivered to the tray transfer unit 120 side is located at a height corresponding to the opening 113.

The tray transfer unit 120 is located on the opposite side of the workpiece processing apparatus 10 from the tray storage unit 110. The tray transfer unit 120, the tray storage unit 110 and the workpiece processing apparatus 10 are sequentially arranged in a row, and the tray transfer unit 120, the tray storage unit 110, and the workpiece processing apparatus 10 are arranged Direction is referred to as the Y axis direction, the direction perpendicular to the Y axis as viewed from the top is referred to as the X axis direction, and the direction perpendicular to the X axis and the Y axis is referred to as the Z axis direction.

The tray transfer unit 120 is fixedly coupled to the housing 111 at one end at a height corresponding to the opening 113. [ The tray transfer unit 120 transfers the tray T transferred from the tray elevator 115 to the outside of the housing 111. The tray transfer part 120 includes a support part 121 and a transfer rail 122. The support portion 121 supports the tray T. The conveying rails 122 are arranged in the Y-axis direction, and provide a path of movement of the support 121. The support portion 121 linearly moves along the Y-axis direction along the feed rail 122, so that the tray T can be positioned at the feed position P1. The transfer position P1 is a position in which the workpiece supply section 110 loads the workpiece from the tray T and the tray T is unloaded from the workpiece processing apparatus 10 during the process of unloading the workpiece, It is a waiting position.

 3 is a view illustrating workpieces stored in a tray according to an embodiment of the present invention.

Referring to Fig. 3, the tray T is provided in a rectangular shape whose upper surface has first to fourth vertexes D1 to D4. The first vertex D1 is located higher than the third vertex D3 located in the diagonal direction and the third vertex D3 is located lower than the second vertex D4 and the fourth vertex D4. The second and fourth vertexes D2 and D4 are positioned lower than the first vertex D1. Accordingly, the upper surface of the tray T is inclined downward from the first vertex D1 to the third vertex D3.

On the upper surface of the tray T, process mark marks (not shown) may be provided. The process mark is a mark that indicates the machining process performed on the workpieces M housed in the tray T. The process marking mark may be displayed for each tray (T) in a different pattern if the processing steps for the workpieces (M) are different.

A receiving groove T1 is formed on the upper surface of the tray T. The receiving groove T1 is arranged in a plurality of rows and columns in the X-axis direction and the Y-axis direction. The center axis direction of the workpiece M is arranged in the X-axis direction and housed in the receiving groove T1. The workpieces M are housed in the receiving grooves T1 biased toward the third vertex D3 by the oblique direction of the upper surface of the tray T respectively.

4 is a view illustrating a tray and a tray transfer unit according to another embodiment of the present invention. 4 (a) is a view showing a tray and a tray transfer part seen from above, and FIG. 4 (b) is a sectional view of a tray and a tray transfer part viewed from the front.

Referring to FIG. 4, the tray T has a rectangular shape with the first to fourth vertexes D 1 to D 4 on the upper surface, and the first to fourth vertexes D 1 to D 4 are located at the same height. An insertion groove T2 is formed in the bottom surface of the tray T adjacent to the first vertex D1.

The tray transfer unit 120 further includes a lift pin 125. The lift pin 125 is installed below the first vertex D1 and the upper end thereof is vertically movable in the Z direction. The upper end of the lifting pin 125 is inserted into the insertion groove T2 when the lifting pin 125 is lifted. The upper surface of the tray T is raised from the first vertex D1 to the third vertex D3 by the elevation of the lift pin 125 Downwardly inclined. The workpieces M housed in the receiving groove T1 are biased toward the third vertex D3 by the inclined direction of the upper surface of the tray T. [

The entire workpiece M is biased toward the third vertex D3 by the above-described workpiece storing method. As a result, the workpieces M can be aligned in line on the same line at the ends of the workpieces M accommodated in the receiving groove T1 of the same row and row in the X-axis direction and the Y-axis direction.

According to another embodiment, the tray transfer unit 120 may include a plurality of lift pins. One of the elevating pins is located in the lower region of the first vertex D1 and the other elevating pin is located in the lower region of the second vertex D2 and the other elevating pin is located in the lower region of the fourth vertex D4 May be located in the lower region. The elevating pins located in the lower region of the first vertex D1 rise to the highest position and the elevating pins located in the lower region of the second and fourth vertexes D2 and D4 move to the first vertex D1 D1) of the lifting pins. The upper surface of the tray T is inclined downward from the first vertex D1 to the third vertex D3 and the lower areas of the second and fourth vertexes D2 and D4 can be stably supported .

The vision part 130 is located at the top of the tray transfer part 120. Specifically, the vision unit 130 is located on the upper side of the conveying path on the path that the tray T moves from the accommodating space 112 to the conveying position P1. The vision unit 130 acquires an image of the tray T to be transported. The acquired image information includes image information of the tray T and image information of the received workpiece M. The image information of the tray T includes a process mark mark, and processing process information of the work M is confirmed through the process mark mark.

Further, the machining process can be determined through the image information of the workpieces M. The sizes and markings of the workpieces M stored in the respective trays T may be different and the machining process for the workpieces M can be determined by recognizing these differences from the image information.

The machining information of the workpieces M obtained through the image information is transmitted to the workpiece machining apparatus 10 and the workpiece machining apparatus 10 processes the workpiece M in accordance with the machining information.

The workpiece transfer robot 140 is installed at the upper end of the tray storage unit 110. The workpiece transfer robot 140 unloads the workpiece M stored in the tray T and supplies the unloaded workpiece M to the chucking unit 11 of the workpiece processing apparatus 10. The chucking unit 11 of the workpiece processing apparatus 10, The workpiece M that has undergone the process processing is collected and loaded on the tray T.

The workpiece supply unit 140 includes a guide rail 141, a moving body 142, a first arm 143, a second arm 144, a third arm 145, and a clamping unit 146.

The guide rails 141 are fixed to the upper surface of the housing 111 and are disposed in the X-axis direction. The moving body 142 moves linearly along the guide rail 141 in the X-axis direction.

One end of the first arm 143 engages with the upper end of the moving body 142. The first arm 143 is rotatable relative to the moving body 142 about the X axis X1. The second arm 144 is coupled to the other end of the first arm 143 and is rotatable relative to the first arm 143 about the X-axis X2. The third arm 145 is coupled with the other end of the second arm 144 and is rotatable relative to the second arm 144 about the X-axis X3.

The clamping unit 146 is fixedly coupled to the other end of the third arm 145 and grips the outer circumferential surface of the work M. The gripper portion 146 moves the two grippers in opposite directions in the Y-axis direction, adjusts the gap therebetween, and grips the workpiece M. [ The center axis of the workpiece M gripped by the clamping unit 146 is located in the X-axis direction.

5 to 7 are views sequentially showing a process of transferring a workpiece by the workpiece transfer robot according to the present invention.

5, when the gripper 146 grasps the work M, the first arm to the third arm 143 to 145 are set in advance with respect to the X-axis X1, X2, X3 Relative to the angle.

As a result of the rotation of the first arm to the third arm 143 to 145, the clamping unit 146 is positioned in front of the chucking portion 11 as shown in Fig. The workpiece transfer robot 140 moves the first arm to the third arm so that the central axis of the workpiece M gripped by the gripper portion 146 and the central axis of the chucking hole 11a of the chucking portion 11 co- The rotation angles of the first to third control valves 143 to 145 can be set in advance.

The movable body 142 linearly moves along the guide rail 141 in the X axis direction in a state where the central axis of the work M and the central axis of the chucking hole 11a are located on the same line. The moving body 142 linearly moves in a direction in which the clamping unit 146 approaches the chucking unit 11 and the workpiece M gripped by the clamping unit 146 is inserted into the chucking unit 11 during this process . When the chucking portion 11 chucks the workpiece M, the clamping portion 146 transfers the workpiece M to the chucking portion 11. The workpiece (M) chucked by the chucking portion (11) carries out a machining process in the workpiece machining apparatus (10).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the present invention.

10: Workpiece processing device
11: chuck king
100: Automatic supply of workpiece
110: tray storage unit
111: Housing
115: tray elevator
120:
130: vision unit
140: Workpiece transfer robot
141: Guide rail
142: moving body
143 to 145: First to third arms
146:
T: Tray
M: Workpiece

Claims (6)

An apparatus for automatically supplying a workpiece to a chucking portion of a workpiece machining apparatus,
A tray storage unit in which the trays containing the workpieces are stacked and stored;
A tray transfer unit for individually transferring the tray to a transfer position located at an outer side of the tray storage unit; And
And a workpiece transfer robot fixedly installed at an upper end of the tray storage unit,
The tray storage unit includes:
A housing having a housing space in which the trays are stored and having an opening through which the tray is transferred to the tray transfer unit side and a work transfer robot fixed on an upper surface thereof; And
And a tray elevator for raising and lowering the entire trays stored in the storage space and adjusting the height of the trays so that the trays are individually located at a height corresponding to the openings,
Wherein the transfer position is located at an outer side of the housing,
The workpiece transfer robot receives the workpiece from the tray placed at the transfer position and supplies the workpiece to the other side of the housing via an upper space of the housing,
And the other external side of the housing is located on the opposite side of the outside of the housing with respect to the housing.
The method according to claim 1,
The workpiece is stored in the trays such that the central axis of the workpiece lies in the X-axis direction,
Wherein the workpiece transfer robot grasps the workpiece in a state in which the central axis of the workpiece is kept in the X axis direction and supplies the workpiece to the chucking portion in a state where the central axis of the workpiece is kept in the X axis direction Automatic supply of workpiece.
3. The method of claim 2,
The workpiece transfer robot
A guide rail coupled to an upper end of the tray storage unit and disposed in the X-axis direction;
A movable body movable in the X-axis direction along the guide rails;
A first arm coupled to the moving body and rotatable about the X axis with respect to the moving body;
A second arm coupled to the first arm and rotatable about the X axis with respect to the first arm;
A third arm coupled to the second arm and rotatable about the X axis with respect to the second arm;
And a grip portion coupled to the third arm and gripping the workpiece while the central axis of the workpiece is maintained in the X-axis direction.
3. The method of claim 2,
Wherein the upper surface of the tray is a rectangular shape having first to fourth vertexes, the first vertex is located at the highest height, and the third vertex located in the diagonal direction from the first vertex is located at the lowest height,
Wherein an upper surface of the tray is disposed downwardly inclined from the first vertex toward the third vertex.
3. The method of claim 2,
Wherein the upper surface of the tray has a rectangular shape having first to fourth vertexes,
The tray transfer part
A conveying rail provided to the conveying position from the tray storing part and providing a path through which the tray is conveyed; And
And a lift pin installed below the first vertex of the tray at the conveying position to elevate the first vertex area of the tray,
Wherein an upper surface of the tray is disposed in a downward sloping manner in a direction of the third vertex positioned at a diagonal direction from the first vertex in a state in which the first vertex area of the tray is raised by the elevating pin.
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