JP4190700B2 - Long strip workpiece processing equipment - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to an apparatus for processing a long strip-shaped workpiece for processing a long strip-shaped workpiece. In particular, it is applied to a long strip workpiece processing apparatus suitable for forming a rotor coil used in a turbine generator and a guide tube used in a drive mechanism of a control rod of a nuclear reactor, and the rotor coil and the guide tube are The long band-shaped workpiece to be formed is automatically carried into the workpiece machining section of the machining apparatus, and the workpiece machining is performed after performing predetermined machining such as ventilation hole machining and edge machining simultaneously with a plurality of machining machines. The present invention relates to a processing device for a long strip-shaped workpiece that can be automatically carried out from a section.
[0002]
[Prior art]
For example, a guide tube used for a rotor coil used in a turbine generator or a drive mechanism for a control rod of a nuclear reactor is usually formed by processing a long strip-shaped workpiece (steel strip).
FIGS. 15A to 15C show an example of hole processing, groove processing, and end processing performed on the workpiece W in order to form the rotor coil and the guide tube.
Conventionally, such workpiece processing is performed on both sides of the transfer device for transferring the workpiece, in addition to a processing machine that performs hole processing, groove processing, end processing, etc. as shown in FIG. A plurality of processing machines are arranged, the work is sent in the longitudinal direction and positioned at a predetermined position, and the processing machines sequentially perform the processing.
[0003]
However, according to the conventional processing method described above, in order to transport a long workpiece of about 10 m, a conveyor having a long conveyance path is required, and the processing device for the long strip-shaped workpiece is increased in size and the apparatus cost is also increased. There was a problem of becoming higher.
In addition, there is a problem that a long work must be positioned every time drilling, grooving, edge processing, deburring, finishing, etc., and it takes a long time to process and the processing cost increases. there were.
Furthermore, since part of the work loading, unloading, and processing of the long belt-shaped work is performed manually by the operator, there is a problem that the work efficiency is low and the processing cost is increased correspondingly. It was.
[0004]
[Problems to be solved by the invention]
The present invention has been made in view of the above problems, and can automate a series of operations for processing a long strip-shaped workpiece for forming a product such as a rotor coil or a guide tube. It is an object of the present invention to provide a long band-shaped workpiece processing apparatus that can reduce the size of the band-shaped workpiece processing apparatus, and further reduce the processing time of the workpiece by performing efficient processing.
[0005]
[Means for Solving the Problems]
  In order to solve the above-mentioned problem, a processing apparatus for a long strip-shaped workpiece according to claim 1 includes a plurality of processing devices for a long strip-shaped workpiece for performing predetermined processing on a long strip-shaped workpiece held at a predetermined position. A workpiece stocker for storing the workpiece, a workpiece loading means for loading the workpiece into a workpiece machining area for machining the workpiece from the workpiece stocker, a positioning means for positioning the workpiece in the workpiece machining area, A work clamper that is provided in a work processing area and that clamps the work in a vertically standing state so that the opposing long sides of the work are positioned up and down, and the long band shape that is clamped in a vertically standing state A plurality of processing means disposed on both sides of the work clamper so as to process from both sides of the work, and these processing means Driving means for respectively moving in the longitudinal direction of the workpiece, and a control means for controlling driving of said processing means and said driving means, a work unloading means for unloading the workpieces finished machined from the workpiece machining area,A workpiece transfer means for moving the workpiece in the longitudinal direction along with the movement of the processing means,
The workpiece transfer means includes a workpiece gripping portion that grips the workpiece, an arm that is attached to the workpiece gripping portion and is rotatably attached to the processing means.It is set as the structure which has.
[0006]
According to this configuration, the long belt-like workpieces are taken out one by one from the workpiece stocker by the workpiece loading means, and are transferred to the workpiece clamper in the workpiece machining area. In the workpiece machining area, a workpiece clamped in a vertical state is machined from both sides by a machining means such as a machining center. The processing means performs predetermined processing while moving in the longitudinal direction of the workpiece and the direction crossing the workpiece.
The workpiece that has been machined is conveyed from the workpiece machining area by the workpiece unloading means and delivered to the next process.
According to the present invention, since a long strip-shaped workpiece is simultaneously processed from both sides by a movable processing means, it is not necessary to send the workpiece, the processing time can be shortened, the apparatus can be downsized and the working efficiency can be reduced. It is possible to obtain a processing device for a long strip-shaped workpiece capable of improving the above.
[0007]
Moreover, according to this structure, the workpiece | work W can be moved to a longitudinal direction and can be positioned in arbitrary positions.
[0008]
  The invention according to claim 2 is configured such that the driving means moves the machining means so that machining ranges of the workpiece by the machining means overlap each other. According to this configuration, the processing means can be effectively used to shorten the standby time of each processing means, and flexible processing can be performed within the overlapping processing range, so that the processing time can be greatly reduced.
[0009]
  The invention according to claim 3 determines whether or not the processing means interfere based on the processing order of a plurality of processing means whose processing ranges overlap each other, and when it is determined that interference occurs, In this configuration, the processing means is continuously processed, and interference preventing means is provided for waiting the other processing means until interference does not occur. When the processing range of the processing means is partially overlapped with the processing range of other processing means, it is necessary to prevent the processing means from interfering with each other in the overlapped processing range. Therefore, for example, the position of the other processing means that overlaps the processing range is detected, and when the processing means exists within the processing range of one processing means to be processed next, the one processing means It is preferable to provide an interference preventing means for keeping the processing means on standby so that interference does not occur.
[0010]
  According to a fourth aspect of the present invention, there is provided a work reversing unit for reversing the work up and down, and the work conveying means conveys the work from the work clamper to the work reversing unit, and the work reversing unit reverses the work. The workpiece is received and delivered to the workpiece clamper. According to this configuration, for example, when the part to be processed of the work is located at a part clamped by the work clamper, the part can be processed by inverting the work.
[0011]
  According to a fifth aspect of the present invention, at least one of the workpiece clampers is provided with a longitudinal direction positioning means for positioning the workpiece clamped by the workpiece clamper in the longitudinal direction. According to this configuration, the workpiece can be accurately positioned in the longitudinal direction.
[0012]
  According to a sixth aspect of the present invention, a second work clamper that moves forward and backward along the longitudinal direction of the workpiece is provided on at least one end side of the workpiece clamper, and when the end portion of the workpiece is machined, The workpiece clamper 2 is moved to the vicinity of the machining part of the workpiece and clamped. According to this configuration, when cutting the end portion of the workpiece, the end portion is supported until the end portion of the workpiece is completely cut, and a clean cut surface can be obtained. In addition, when performing end surface finishing or grooving, it is possible to prevent the occurrence of so-called chatter vibration of the workpiece being processed and to perform favorable processing.
[0013]
  According to a seventh aspect of the present invention, the work carry-in means and the work carry-out means are constituted by the same work carrying means. With this configuration, the device configuration can be further simplified.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
First, the configuration of a long strip workpiece processing apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
FIG. 1 and FIG. 2 are plan views for explaining the overall configuration of a long band workpiece processing apparatus according to an embodiment of the present invention. FIG. 1 shows one half of the workpiece processing apparatus, and FIG. 2 shows the workpiece processing apparatus. The other half is shown. FIG. 3 is a side view of the apparatus for processing the long belt-like workpiece of FIG.
In the following description, for convenience of explanation, the horizontal direction of the paper surface of FIGS. 1 and 2 is the X direction, the vertical direction of the paper surface of FIGS. 1 and 2 is the Z direction, and the paper surface of FIGS. The orthogonal direction is defined as the Y direction.
[0015]
[Description of overall configuration]
The long strip-shaped workpiece processing apparatus 100 includes a workpiece stocker 110 that stores a plurality of long strip-shaped workpieces W for forming a rotor coil and a guide tube, and a workpiece processing region substantially at the center of the long strip-shaped workpiece processing apparatus 100. A workpiece clamper 130 that is provided on A and clamps the workpiece W to be machined in a vertically standing state, and is disposed on both sides of the workpiece clamper 130. The workpiece W is machined while moving forward and backward in the Y direction toward the workpiece W. Machining centers MC1 to MC6 as machining means to perform, a guide 160 for moving the machining centers MC1 to MC6 along the longitudinal direction (X direction) of the workpiece W clamped by the workpiece clamper 130, and the workpiece W after the machining is long. A discharge conveyor 170 carried out from the processing device 100 for the strip-shaped workpiece, and the workpiece stocker 1 A workpiece transfer unit 180 (see FIG. 3), which is a workpiece transfer means for transferring the workpiece W from 0 one by one to the workpiece machining area A and conveying the processed workpiece W to the discharge conveyor 170; A work reversing unit 210 that performs reversal and a control system that controls the operation of each unit are included.
Hereinafter, each part will be described in detail.
[0016]
[Work Stocker]
The work stocker 110 according to this embodiment can store, for example, a long strip-shaped work W having a width of 40 mm, a thickness of 5 mm, and a length of 10 m in 8 rows and 20 stages (160 sheets in total) in a horizontally stacked state. it can.
The workpiece W stored in the workpiece stocker 110 is assigned a number or a symbol in advance according to the size of the workpiece W or the form of processing. The numbers and symbols correspond to the storage position of the workpiece W in the workpiece stocker 110. And the said storage position for every workpiece | work W in the workpiece | work stocker 110 is managed for every workpiece | work W by the control system mentioned later.
[0017]
[Work clamper]
A bed 101 is arranged in the X direction substantially at the center of the processing device 100 for a long belt-like workpiece. A work processing area A, which is an area where the work W is processed, is provided substantially at the center of the bed 101. The work clamper 130 clamps the long strip-shaped work W in a vertical state in which one of the long sides facing each other is up and the other is down. In addition, the workpiece clamper 130 is provided in the workpiece machining area A so that the workpiece W can be clamped at a plurality of locations (for example, 20 locations) at substantially equal intervals along the longitudinal direction (X direction) of the workpiece W. Yes.
Hereinafter, the work clamper 130 will be described with reference to FIG.
[0018]
4A is a cross-sectional view of a workpiece clamper that clamps a workpiece in the workpiece machining area A, and FIG. 4B is an enlarged view of a portion that clamps the workpiece in the workpiece clamper of FIG.
The work clamper 130 includes a clamper body 131 formed integrally with the bed 101, a fixed-side clamper 132 fixed to the clamper body 131 with bolts 135, and a clamping / unclamping direction (Z And a movable side clamper 133 that is movable in the direction).
[0019]
The fixed-side clamper 132 is formed as a single clamper extending over almost the entire length of the workpiece machining area A, and a plurality of movable-side clampers 133 are arranged at almost equal intervals so as to face the fixed-side clamper 132.
The clamper main body 131 is provided with a guide 136 for guiding the movement of the movable clamper 133 in the Z direction, and a cylinder 138 as a driving body for moving the movable clamper 133 along the guide 136. . The piston rod 138a of the cylinder 138 is connected to an attachment member 133a attached to the lower part of the movable side clamper 133. When the cylinder 138 is driven, the movable side clamper 133 moves along the guide 136 in the Z direction, that is, the clamp-unclamping direction. Move in the clamping direction.
[0020]
The cylinder 138 is driven by a control system command to be described later, but the cylinder 138 is driven in synchronism with all the movable side clampers 133 so that the workpiece W is clamped and unclamped almost simultaneously at a plurality of locations. It is preferable to do this.
The fixed-side clamper 132 abuts the lower end surface of the workpiece W to abut the first gauge portion 132a that positions the workpiece W in the vertical direction (Y direction) and the lower side surface of the workpiece W A second gauge portion 132b that positions the workpiece W in the front-rear direction (Z direction) is formed. Then, the movable side clamper 133 presses the lower portion of the workpiece W against the first gauge portion 132a and the second gauge portion 132b, thereby positioning the workpiece W in the Y direction and the Z direction.
[0021]
[Second work clamper]
On both ends of the work clamper 130, second work clampers 141 and 142 are provided that can move forward and backward with respect to the work clamper 130.
Although not particularly illustrated, the basic configuration of the second work clampers 141 and 142 is the same as that of the work clamper 130. The fixed side clampers constituting the second work clampers 141 and 142 are movable along guide rails (not shown) provided on the bed 101 and extending in the X direction. The timing and amount of movement of the second work clampers 141 and 142 are performed according to a command from the control system.
[0022]
Note that a longitudinal positioning member for positioning the workpiece W in the longitudinal direction (X direction) may be arbitrarily provided at both ends of the workpiece machining area A.
The longitudinal positioning member is formed with a gauge portion that contacts the workpiece W to position the workpiece W in the X direction, and the workpiece W is moved in the X direction by a workpiece W transfer means described later, It is possible to position the workpiece W in the X direction by pressing the end portion of the workpiece W against the gauge portion.
[0023]
[Description of processing means]
As shown in FIGS. 1, 2, and 5, guide rails 160 are laid on both sides of the work clamper 130 on the bed 101 in the X direction along the longitudinal direction of the work W clamped by the work clamper 130. ing. The guide rail 160 is provided with a carriage 161 that reciprocates while being guided by the guide rail 160. In this embodiment, a total of six carriages 161 are provided, two on the guide rail 160 on the work stocker 110 side and four on the guide rail 160 on the discharge conveyor 170 side.
[0024]
Hereinafter, a processing means for processing the workpiece W and a carriage for making the processing means movable in the X direction and the Z direction will be described with reference to FIG.
FIG. 5 is a side view illustrating details of the carriage and the machining center.
On each of the carriages 161, machining centers MC1 to MC6 are mounted as processing means for processing the workpiece W clamped by the workpiece clamper 130.
The machining centers MC1 to MC6 are arranged as shown in FIGS. 1 and 2, for example, according to the priority when interference occurs in the overlapping processing range.
That is, four machining centers MC1, MC2, MC3, and MC4 are arranged on the discharge conveyor 170 side, and two machining centers MC5 and MC6 are arranged on the work stocker 110 side. On the discharge conveyor 170 side, machining centers MC1 and MC2 are arranged on both sides of the machining centers MC3 and MC4.
[0025]
Further, each carriage 161 is provided with a motor 162 as a driving body, and a pinion 163 attached to a rotation shaft of the motor 162 is engaged with a rack 164 of the guide rail 160. Therefore, when the motor 162 is driven, the carriage 161 reciprocates in the X direction along the guide rail 160.
On the upper surface of the carriage 161, a guide rail 166 is provided in the Z direction. The machining centers MC1 to MC6 are placed on the carriage 161 so that they can move in the Z direction along the guide rails 166. The movement of the machining centers MC1 to MC6 in the Z direction is performed by a motor 168 that is a driving body attached to the carriage 161.
[0026]
Each machining center MC1 to MC6 is attached to a column 203 that moves on a guide rail 166, a spindle head 204 supported by the column 203, a spindle 205 that is rotatably supported by the spindle head 204, and a spindle 205. A tool magazine 206 for holding a number of tools T for processing the workpiece W, and an automatic tool changer (ATC) (not shown) for exchanging the tool T between the tool magazine 206 and the spindle 205. .
On one side surface of the column 203 facing the workpiece W, a sliding surface 207 is formed in the Y direction. The spindle head 204 can be moved up and down along the sliding surface 207 by a motor 208 provided at the top of the column 203.
[0027]
[Work transfer means]
The machining center MC5 and the machining center MC6 are provided with a workpiece transfer means 150 for gripping the workpiece W and moving the workpiece W in the X direction.
FIG. 6 is a perspective view showing a schematic configuration of the workpiece transfer means 150 in this embodiment.
The workpiece transfer means 150 is rotatably attached to a workpiece gripping portion 151 including a gripping claw 152 that grips the workpiece W and a drive unit 153 that opens and closes the gripping claw 152, and one end thereof is rotatably attached to the machining center MC5 and the machining center MC6. An arm 154 for attaching the workpiece gripping portion 151 to the other end, and a drive portion 155 for indexing and rotating the arm 154 about a shaft 154a provided in the same direction as the X direction.
[0028]
When the workpiece W is moved in the X direction, the indexing drive unit 155 is driven to rotate the arm 154 from a storage position along the column 203 to a gripping position for gripping the workpiece W. Next, the driving unit 153 is driven to close the gripping claws 152 and grip the workpiece W.
After gripping the workpiece W in this way, the clamping of the workpiece W by the workpiece clamper 130 is released, and the machining center MC5 and the machining center MC6 are moved in the same direction and at the same speed along the X direction to move the workpiece W. .
After moving the workpiece W in the X direction by a predetermined distance, the workpiece W is clamped by the workpiece clamper 130, and then the workpiece gripping portion 151 is released from gripping the workpiece W.
[0029]
[Description of the unloading section]
The workpiece W that has been processed in the workpiece processing area A (see FIGS. 1 and 2) is transferred to the unloading unit 170 by the workpiece transfer unit 180. This conveyance part 170 consists of the conveyor provided in the back of machining center MC1-4, and mounts the workpiece | work W on this and carries the workpiece | work W from the long strip | belt-shaped workpiece | work processing apparatus 100 to the following process.
[0030]
[Work transfer section]
As shown in FIG. 3, the work transport unit 180 includes a guide rail 182 provided in the Z direction from above the work stocker 110 to above the discharge conveyor 170, and a moving body 185 that moves along the guide rail 182. The movable body 185 includes a workpiece gripping portion 186 that grips the workpiece W with an openable / closable gripping claw, and a lifting means 190 that is provided on the movable body 185 and moves the workpiece gripping portion 186 up and down.
[0031]
FIG. 7 is a side view for explaining details of the lifting means 190, and FIG. 8 is a side view for explaining details of the work gripping portion 186.
In addition, although the raising / lowering means 190 is provided in two places of the moving body 185 along the X direction, since the structure does not change, only one side of the raising / lowering means 190 is shown in FIG. The illustration is omitted for.
[0032]
As shown in FIGS. 1, 2, and 7, the guide rail 182 in the Z direction is supported by support columns 102 erected on both sides of the long strip-shaped workpiece processing apparatus 100. The moving body 185 of this embodiment is composed of a beam-like member suspended from one guide rail 182 to the other guide rail 182 in the X direction. As described above, the lifting / lowering means 190 is provided at two places on the moving body 185.
[0033]
The lifting and lowering means 190 includes a pair of arms 193 and 194 that are pivotably crossed at the center by a shaft 192, a base 195 that pivotally supports one end of the arms 193 and 194, and the above-described one arm 193. A slider 196 having one end slidable in the X direction on the moving body 185, a guide 197 for guiding the sliding of the slider 196 in the X direction, and a driving body for sliding the slider 196 along the guide 197 Motor 198.
[0034]
The other ends of the arms 193 and 194 are rotatably attached to a beam-like support member 199 to which the work gripping portion 186 is attached. Furthermore, the other end of the arm 194 is attached to a slider 200 provided so as to slide freely in the X direction on the support member 199.
When the motor 198 is driven and the slider 196 slides in the X direction, the arms 192 and 193 rotate in opposite directions around the shaft 192, respectively. At this time, since the slider 200 slides on the support member 199 in the same direction as the slider 196, the rotation of the arms 192 and 193 is not hindered, so that the support member 199 can rotate the arms 192 and 193. It goes up and down with it.
[0035]
In addition, the raising / lowering means 190 is not restricted to the thing of said form, It can also be set as another form. For example, you may comprise so that the workpiece holding part 186 may be raised / lowered with a cylinder.
However, by configuring the lifting means 190 as in this embodiment, it is possible to obtain a relatively large lifting stroke for the workpiece gripping portion 186 without increasing the height of the processing device 100 for a long strip-shaped workpiece. There are advantages. Further, the lifting means 190 configured as described above has an advantage that it is easy to synchronize the driving of the lifting motor 198 between the two lifting means 190, and the workpiece W gripped by the workpiece gripping portion 186 can be easily lifted and tilted. There is also.
[0036]
As shown in FIG. 8, the work gripping portion 186 is attached to the support member 199 by the attachment member 301. The workpiece gripping portion 186 is configured to reliably grip the long strip-shaped workpiece W and to transport the workpiece with the smallest possible bending along the longitudinal direction (X direction) of the support member 199. It is preferable to provide a plurality at predetermined intervals.
[0037]
The work gripping portion 186 has a pair of gripping claws 186a and 186b that move in the Z direction to open and close. The gripping claws 186a and 186b can be opened in the Z direction with a stroke that can sufficiently receive the workpiece W regardless of whether the workpiece W to be gripped is in a horizontal state or a vertical state, and The workpiece W can be securely gripped from both sides.
The grip claws 186 a and 186 b are slidably provided on the guide 302 in the Z direction of the grip portion main body 187 attached to the attachment member 301. The gripping claws 186a and 186b are moved in the Z direction by a cylinder 304 provided in the gripping portion main body 187. Reference numeral 306 denotes an impact buffering absorber provided between the attachment member 301 and the gripping part main body 187.
[0038]
Various types of known shock absorbers 306 can be employed. In this embodiment, a slider 306b that slides along a guide 306a extending in the Z direction and the slider 306b are always attached. The spring 306c is urged from both sides so as to be positioned at the center of the guide 306a. The slider 306b is attached to the attachment member 301, and both ends of the guide 306a are attached to the grip portion main body 187.
According to this aspect, the gripper body 187 can move with respect to the attachment member 301 by the stroke of the slider 306b, and an impact that may be applied to the gripper body 187 by the spring 306c is absorbed.
[0039]
[Description of reversing part]
In the work clamper 130 described with reference to FIG. 4, the vicinity of the lower end edge of the work W is clamped by the clampers 132 and 133. Therefore, the portions to be machined such as holes and grooves located in these portions are machined centers MC1 to MC6. It becomes impossible to process with.
Therefore, in this embodiment, as shown in FIGS. 1 and 2, a workpiece reversing unit 210 for inverting the workpiece W up and down is provided between the workpiece stocker 110 and the workpiece machining area A.
[0040]
FIG. 9 shows details of the work reversing unit in this embodiment.
As shown in FIG. 9, the workpiece reversing unit 210 is supported by a workpiece mounting table 211 on which the workpiece W is mounted and an arm 217 that supports the workpiece mounting table 211, and the workpiece mounting table 211 is indicated by an arrow in FIG. 9. And a reversing shaft 213 for reversing and rotating, and a clamping claw 215 for clamping the work W on the work placing table 211.
As shown in FIGS. 1 and 2, a plurality of workpiece mounting tables 211 are provided at equal intervals along the X direction. The intervals between the workpiece mounting tables 211 are preferably arranged so as not to interfere with the workpiece gripping portion 186 when the workpiece W is exchanged with the workpiece conveying unit 180.
[0041]
The reversing shaft 213 is common to all the work mounting tables 211, and all the work mounting tables 211 rotate simultaneously with the rotation operation of the reversing shaft 213. The inversion shaft 213 is rotated by driving a single driving body (not shown) such as a cylinder or a motor.
The clamp claw 215 that clamps the workpiece W on the workpiece mounting table 211 is opened and closed by driving a driving body such as a cylinder (not shown) provided on the workpiece mounting table 211.
[0042]
The operation of the work reversing unit 210 having the above configuration is shown in FIG.
As shown in FIG. 10A, in the initial state at the time of starting the reversal of the workpiece W, the workpiece reversing unit 210 directs the workpiece placing table 211 toward the workpiece stocker 110 side.
When the workpiece gripping unit 186 of the workpiece transport unit 180 grips the workpiece W and delivers the workpiece W to the workpiece mounting table 213, the clamp claw 215 is closed and the workpiece W is clamped. When the workpiece gripping portion 186 is retracted to a position where it does not interfere with the workpiece mounting table 211, the driving body is driven to reverse the workpiece mounting table 211 together with the reverse shaft 213 by 180 degrees. Thereby, the upper and lower sides of the workpiece W are switched. Thereafter, as shown in FIG. 10B, the workpiece gripping 186 grips the workpiece W and transports it to the workpiece clamper 130, and the lower processing of the workpiece W is performed.
[0043]
In this embodiment, since the long strip-shaped workpiece W is stored in a state of being horizontally stacked, the posture of the horizontal workpiece W is changed to the vertical state before the workpiece W is delivered to the workpiece clamper 130. However, such a posture change can also be performed by the work reversing unit 210 described above.
FIG. 11 is a schematic side view for explaining an example in which the workpiece reversing unit 210 is used for changing the posture of the workpiece.
As shown in FIG. 11A, a plurality of workpieces W are stacked and accumulated in the workpiece stocker 110 in a horizontal state.
The work conveyance unit 180 opens the gripping claws 186a and 186b to position the uppermost workpiece W between the gripping claws 186a and 186b. Then, the gripping claws 186a and 186b are closed, the workpiece W is gripped, and conveyed to the workpiece reversing unit 210 while maintaining the horizontal state.
[0044]
The work reversing unit 210 stands by with the work placing table 211 in a horizontal state. In this state, the workpiece W is received from the workpiece conveyance unit 180, and the workpiece W is clamped by the clamp claws 215.
As shown in FIG. 11 (b), the workpiece reversing section 210 is a state in which the workpiece W is vertically set by rotating the workpiece mounting table 211 to the left or right after clamping the workpiece W with the clamp claws 215. To. The workpiece conveyance unit 180 receives the workpiece W whose posture has been changed to the vertical state from the workpiece reversing unit 210 and carries the workpiece W into the workpiece machining area A. Subsequent machining and reversal of the workpiece W are the same as in the previous embodiment.
[0045]
The processed workpiece W is unloaded from the workpiece processing area A by the workpiece transfer unit 180 and transferred to the workpiece reversing unit 210. As shown in FIG. 11C, the work reversing unit 210 stands by in a state where the work placing table 211 is rotated to the work stocker 110 or the work machining area A side. In this state, the workpiece W is delivered from the workpiece transfer unit 180 to the workpiece reversing unit 210.
The workpiece reversing unit 210 that has received the workpiece W rotates the workpiece mounting table 211 to bring the workpiece W into a horizontal state and transfers it to the workpiece transport unit 180.
The workpiece conveyance unit 180 holds the workpiece W in a horizontal state, conveys the workpiece W to the discharge conveyor 170, and places the workpiece W on the discharge conveyor 170 in a horizontal state as shown in FIG.
[0046]
[Description of control device]
Next, the configuration of a control system for operating the long strip workpiece processing apparatus 100 of the present invention will be described.
FIG. 12 is a block diagram showing the configuration of the control system.
The control system of this embodiment includes a host computer 232 that manages a workpiece W and a machining shape for each workpiece W, a setup personal computer 233 having a tool preparation list file corresponding to a machining mode applied to the workpiece W, and machining centers MC1 to MC6. And a system management PC 238 that comprehensively manages the processing of the workpiece W and the loading / unloading of the workpiece W.
That is, the setup PC 233 prepares a tool in accordance with the workpiece W from the host computer 232 and an instruction regarding the machining to be performed on the workpiece W, and the system management PC 238 manages the actual machining.
[0047]
The host computer 232 stores the type of workpiece W, the material stacking data, and the machining mode for each workpiece W, and the system management PC 238 is configured to machine the workpiece W in the order according to the machining schedule based on the production management program. Output data upon request.
The setup PC 233 is connected to a tool presetter 234 that performs tool preparation work. The tool presetter 234 prepares a tool according to the machining mode based on a command from the setup PC 233, and measures and sets the tool length and the tool diameter.
[0048]
The system management PC 238 is mounted on each of the centralized operation panel 240 that controls the start and stop of the processing device 100 for a long strip workpiece, the loader control panel 242 that controls the workpiece transfer unit 180, and the machining centers MC1 to MC6. Connected to the NC device 201.
The NC program created by the system management PC 238 based on the workpiece W and the processing form of the workpiece W is distributed to the NC devices 201 of the machining centers MC1 to MC6 via the communication line 239. Each of the machining centers MC1 to MC6 performs predetermined processing according to the distributed NC program.
[0049]
[Description of action]
Hereinafter, the processing procedure by the rotary coil processing apparatus 100 of the present invention having the above configuration will be described with reference to the flowcharts of FIGS.
First, the procedure in the preparation stage before the start of processing will be described with reference to the flowchart of FIG.
Data relating to the work W stored in the work stocker 110, the processing order of the stored work W, the dimensions of each part of each work W, the type and form of processing, and the like are stored in the memory of the host computer 232 in advance. Yes.
When the long strip-shaped workpiece machining apparatus 100 is activated, the workpiece W to be machined first is read from the memory, and various data related to the workpiece W are transmitted to the system management PC 238 (step S11).
[0050]
The setup PC 234 controls preparation work of the tools used in the MCs 1 to 6 through communication with the system management computer 238, and receives the tool data measured by the tool presetter.
In the system management PC 238, for example, a machining program including a machining order for holes and grooves, a machining program for machining the holes and grooves, and a machining order when interference with the work clamper occurs is input from the host computer 232. A machining schedule necessary for machining the workpiece W is created from the various data thus obtained (step S12), and NC programs for the machining centers MC1 to MC6 are created based on the machining schedule (step S13).
This NC program is created for each machining center MC1 to MC6 in accordance with the machining share of each machining center MC1 to MC6 in the workpiece W, and is distributed to each machining center MC1 to MC6 via the communication line 239 (step S14).
[0051]
In creating the machining schedule in step S12, for example, various conditions such as the assignment of machining such as holes and grooves to be shared by the machining centers MC1 to MC6, the order of machining, and the priority when interference occurs are various. It is preferable to create a plurality of machining schedules, simulate the machining based on the machining schedules, and select a machining schedule with the shortest machining time.
[0052]
The system management computer 238 outputs a workpiece W conveyance command to the loader control device 242 based on the material stacking data from the host computer 232 (step S15). The loader control device 242 determines whether or not there is a workpiece W at a predetermined position of the workpiece stocker 110 (step S16), and if there is no workpiece W, stops the workpiece W conveyance work by the workpiece conveyance unit 180 (step S16). S17). When the workpiece W is at the predetermined position, the workpiece transfer unit 180 transfers the workpiece W to the workpiece machining area A based on the transfer command (step S18).
When the workpiece W is transferred to the workpiece machining area A by the workpiece transfer unit 180, the loader control device 242 outputs a workpiece clamp command to the workpiece clamper 130, whereby the workpiece W is clamped to the workpiece clamper 130. After the work transfer of the work W by the work transfer unit 180 is completed, it is determined by a sensor provided in the machining center MC1, MC2 or the machining center MC4 whether or not the work W corresponding to the processing order exists in the work processing area A. (Step S20). When it is determined that the workpiece W based on the machining order does not exist, the workpiece W is forcibly carried out (step S21), and the long belt-shaped workpiece machining apparatus 100 is stopped.
[0053]
Whether or not the workpiece W corresponding to the machining order exists in the workpiece machining area A can be determined by measuring the dimensions of each part of the workpiece W, for example, the total length, the full width, and the thickness. Further, by this measurement, when there is a workpiece W corresponding to the machining order, the reference coordinate position of the workpiece W in the X, Y, and Z directions can be determined.
The workpiece W may be measured by providing a dedicated measuring device in the workpiece machining area A. In this embodiment, the spindle 205 of the machining center MC1, MC2, MC4 is touched by an automatic tool changer (ATC). The sensor is automatically installed. Then, the machining centers MC1, MC2, and MC4 are moved so that the touch sensor is brought into contact with a predetermined portion of the workpiece W from each of the X, Y, and Z directions, and the workpiece W is moved from the coordinate position of the machining centers MC1, MC2, and MC4 at this time. In addition to determining the dimensions of each part, reference coordinate positions serving as reference for machining of the machining centers MC1 to MC6 are determined.
[0054]
If the workpieces W coincide with each other, next, a coordinate system for machining the workpiece W is set for each of the machining centers MC1 to MC6 (step S22).
When the above procedure is completed, the machining of the workpiece W is started by the machining data transmitted from the system management computer 238 to each of the machining centers MC1 to MC6 (step S23).
[0055]
Next, the processing procedure of the workpiece W by each of the machining centers MC1 to MC6 will be described according to the flowchart of FIG.
In accordance with the machining start command (step S30), machining is performed by the machining centers MC1 to MC6 according to the machining program.
[0056]
Next, the processing procedure of the workpiece W by each of the machining centers MC1 to MC6 will be described according to the flowchart of FIG.
In accordance with the machining start command (step S30), machining is performed by the machining centers MC1 to MC6 according to the NC program. Machining of the workpiece W is executed by reading the NC machining program into the buffer by a predetermined length (step S31).
[0057]
The system management computer 238 constantly monitors the current positions of the machining centers MC1 to MC6. Then, the interference of each machining center MC1 to MC6 is determined from the machining program of each machining center MC1 to MC6 and the current position of each machining center MC1 to MC6 (step S32). As a result, if machining is continued as it is, the machining center determined to cause interference (step S33) is kept on standby until there is no possibility of interference, and machining is continued for the other machining center (step S34). After a predetermined time has elapsed, the current position of the machining center is confirmed again, and an interference check (step S32) is performed. As a result, if there is no possibility of interference, the standby state is canceled and the workpiece W is processed (step S35).
For example, when machining an area where the machining center MC1 and the machining center MC3 overlap each other, if the machining center MC3 moves to the overlap area to perform the next machining, it is determined that the machining center MC1 interferes with the machining center MC1 currently machining. In this case, machining of the machining center MC1 whose priority is set in advance is continued, and the machining center MC3 is put on standby.
[0058]
Next, it is determined from the machining program whether or not the machining of the workpiece W has been completed (step S36). If the machining has not been completed, the next NC program is continuously read and machining by the machining centers MC1 to MC6 is performed. Do.
If the machining has been completed, it is determined whether or not the workpiece W is to be reversed (step S37). If the workpiece is to be reversed, the workpiece W is conveyed to the workpiece reversing unit 210 by the workpiece conveyance unit 180 (step S37). S40), the workpiece W is reversed (step S41). The workpiece conveyance unit 180 grips the inverted workpiece W, conveys it to the workpiece machining area A, and delivers it to the workpiece clamper 130 (step S42). Thereafter, the machining of the other side of the workpiece W is performed according to the procedure of steps S31 to S35.
[0059]
If the workpiece W is not reversed, the machining is terminated (step S38), the workpiece conveyance unit 180 conveys the workpiece W to the conveyor 170, and pays out the workpiece W to the next process (step S49).
Thereafter, the above procedure is repeated for each workpiece W.
[0060]
Although preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments.
For example, the processing means for processing the workpiece has been described as a machining center. However, as long as the workpiece can be processed from both sides by moving in the X direction and the Z direction, the machining center is not limited to the machining center and may be another processing machine. .
[0061]
Further, the machining means may not be moved in the Z direction, and the spindle of the machining means on which the tool is mounted may be configured to advance and retreat in the Z direction.
Further, the machining centers MC1 to MC6, which are machining means, have been described as being provided on both sides of the work clamper 130. However, two to five or seven or more machining means are appropriately distributed to both sides of the work clamper 130. It is good also as what arranges.
[0062]
Moreover, although carrying out / in / out of the workpiece | work W to the workpiece | work process area | region A was demonstrated as what is performed by the one workpiece conveyance part 180, it is also possible to comprise so that loading / unloading of the workpiece | work W may be performed by a different conveyance means. . In this way, there is an advantage that the workpiece W can be loaded immediately after the workpiece W is unloaded, and the processing time can be further shortened.
[0063]
Furthermore, the workpiece transfer means for moving the workpiece W in the longitudinal direction is not limited to that described in the above embodiment. For example, contact means for contacting the end portion of the workpiece W at both ends of the workpiece machining area A, and drive means such as a ball screw / nut mechanism that contacts the workpiece W and pushes it in the X direction. The workpiece transfer means may be configured as follows. In this case, the end of the workpiece W may be pushed by the workpiece transfer means while the workpiece W is lightly clamped by the workpiece clamper 130.
[0064]
Further, although the work reversing unit 210 has been described as being provided between the work stocker 110 and the work processing area A, it may be provided between the discharge conveyor 170 and the work processing area A, or both. .
[0065]
【The invention's effect】
According to the present invention, since automatic machining can be performed while automatically feeding a workpiece to the workpiece machining area of the long band workpiece machining apparatus, it is possible to improve work efficiency and ensure work safety. it can.
Also, since the workpiece is positioned and clamped in advance in the workpiece machining area, and the machining means such as a machining center moves along the longitudinal direction of the workpiece, the workpiece needs to be sent in the longitudinal direction. Thus, the processing device for the long belt-like workpiece can be reduced in size.
Further, since the plurality of processing means simultaneously process a plurality of locations from both sides of the workpiece pre-positioned in the workpiece processing area, the processing efficiency can be improved and the processing time of the workpiece can be greatly shortened.
[Brief description of the drawings]
FIG. 1 is a plan view for explaining the configuration of a long band workpiece processing apparatus according to an embodiment of the present invention, showing a half on one side of the workpiece processing apparatus.
FIG. 2 is a plan view for explaining the configuration of a long band workpiece processing apparatus according to an embodiment of the present invention, showing the other half of the workpiece processing apparatus.
3 is a side view of the apparatus for processing the long belt-like workpiece of FIGS. 1 and 2. FIG.
4A is a cross-sectional view of a workpiece clamper that clamps a workpiece in a workpiece machining area, and FIG. 4B is an enlarged view of a portion that clamps the workpiece in the workpiece clamper of FIG. 4A. is there.
FIG. 5 is a side view for explaining details of the carriage and the machining center.
FIG. 6 is a perspective view for explaining the configuration of an example of a workpiece transfer unit provided in the machining center.
FIG. 7 is a side view for explaining the configuration of the workpiece transfer unit.
FIG. 8 is a side view for explaining a configuration of a workpiece gripping section that grips a workpiece provided in the workpiece transfer device.
FIG. 9 is a side view for explaining the configuration of the work reversing unit in this embodiment.
FIG. 10 is a schematic side view for explaining the operation of the work reversing table.
FIG. 11 is a schematic side view for explaining the flow of a work from the work stocker to the discharge conveyor when the work posture is changed using the work reversing table.
FIG. 12 is a block diagram for explaining the configuration of a control system of a long belt-like workpiece machining apparatus.
FIG. 13 is a flowchart for explaining the operation of the processing device for a long strip-shaped workpiece, and is in a preparatory stage before processing the workpiece.
FIG. 14 is a flowchart for explaining the operation of the processing device for a long strip-shaped workpiece, and is at the workpiece processing stage.
FIG. 15 is a diagram showing an example of hole machining (a), groove machining (b), and edge machining (c) performed on a workpiece to form a rotor coil and a guide tube.
[Explanation of symbols]
100 Long strip workpiece processing equipment
110 Work Stocker
130 Work clamper
150 Work transfer means
160 Guide rail
170 Discharge conveyor
180 Work transfer unit (work transfer means)
210 Work reversing part
201 NC unit
232 Host computer
233 Setup PC
238 Personal computer for system management
A Workpiece machining area
MC machining center
W Work

Claims (7)

In a long strip workpiece processing apparatus for performing a predetermined processing on a long strip workpiece held in a predetermined position,
A work stocker for storing a plurality of the works;
Workpiece loading means for loading the workpiece from the workpiece stocker into a workpiece machining area for machining the workpiece;
Positioning means for positioning the workpiece in the workpiece machining area;
A workpiece clamper that is provided in the workpiece machining area and clamps the workpiece in a vertically standing state so that the opposing long sides of the workpiece are positioned vertically;
A plurality of processing means disposed on both sides of the work clamper so as to process from the both sides of the work for the long strip-shaped work clamped in a vertically standing state,
A plurality of driving means for moving these processing means in the longitudinal direction of the workpiece;
Control means for controlling the driving of the processing means and the driving means;
Workpiece unloading means for unloading the workpiece after machining from the workpiece machining area;
A workpiece transfer means for moving the workpiece in the longitudinal direction along with the movement of the processing means,
The workpiece transfer means has a workpiece gripping portion for gripping the workpiece and an arm attached to the workpiece gripping portion and rotatably attached to the processing means. apparatus.   2. The apparatus for processing a long strip-shaped workpiece according to claim 1, wherein the driving unit moves the processing unit so that processing ranges of the workpiece by the processing unit overlap each other.   Based on a machining program of a plurality of machining means whose machining ranges overlap each other, it is determined whether or not the machining means interferes. If it is determined that interference occurs, the machining of one of the machining means is continued. The long band-like workpiece machining apparatus according to claim 2, further comprising an interference prevention unit that waits the other machining unit until interference does not occur.   A work reversing unit for reversing the work up and down is provided, and the work carry-in means or the work carry-out means transports the work from the work clamper to the work reversing part, and transfers the work reversed by the work reversing part. The long band workpiece processing apparatus according to any one of claims 1 to 3, wherein the processing device receives and transfers the workpiece clamper to the workpiece clamper.   5. The long length according to claim 1, wherein a longitudinal positioning means for positioning the workpiece clamped by the workpiece clamper in the longitudinal direction is provided on at least one end side of the workpiece clamper. Strip workpiece processing equipment.   A second workpiece clamper that moves forward and backward along the longitudinal direction of the workpiece is provided on at least one end side of the workpiece clamper, and when processing the end portion of the workpiece, the second workpiece clamper is used to process the workpiece. The long band workpiece processing apparatus according to any one of claims 1 to 4, wherein the apparatus is moved to the vicinity of the part and clamped.   The long band-shaped workpiece processing apparatus according to any one of claims 1 to 6, wherein the workpiece carrying-in means and the workpiece carrying-out means are a single workpiece conveying means.

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