JP4243708B2 - hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a hand that is mounted on a transfer device that loads and unloads a workpiece into and from a machining area and a stock area of a machine tool.
[0002]
[Prior art]
Conventionally, a hand used to load and unload a workpiece (material and processed product) by a robot or a loader into a machining area and a stock area of a machine tool has a shape and size (diameter) of the workpiece.・ Length / Weight) In addition, according to the processing specifications and the form of front and back processing, a dedicated hand must be selected and manufactured. Specifically, if we take the hand specifications for workpiece conveyance with a turning machine tool, the shaft work hand specifications for gripping the workpiece of a shaft object with a relatively small diameter and a long shaft, and the shaft with a larger diameter compared to it. There is a chuck work hand specification that grips the work of a short flange object. As shown in FIG. 3, the shaft work specification is a form in which a hand enters from a direction (lateral direction) perpendicular to the axis of the work, and the work is held by claws that are two grippers. Shaft work hand specifications generally have a swivel arm type, and when gripping a workpiece with a large diameter, the grip center line is farther away from the swivel axis and the swing becomes larger, resulting in an inertia mode. -Mentions tend to be large. Similarly, when the workpiece diameter is increased, the grip opening amount of the grip claw must be increased as compared with the chuck work hand specification, and the grip claw needs to be adjusted or replaced. On the other hand, in the chuck work hand specification, as shown in FIG. 4, the hand enters from the axial direction of the work and grips the work with three or two claws. It is inappropriate to hold the workpiece of the shaft in this form. That is, since gripping is cantilevered, there is a risk of overloading and tilting the workpiece. Further, when the work is reversed, there is a risk of interference with other configurations as compared to the shaft work hand specification. As described above, depending on the shape and size of the workpiece, it is difficult to satisfy the specifications of both hands, and the hand corresponding to the workpiece is selected as described above.
Next, if you take the form of the hand with the work front and back processing, specifically, when finishing the finished product by processing the front and back of the work using a robot or loader with one machine tool Requires work reversal. That is, when the gripping amount of the hand gripping claw with respect to the workpiece is small (when the gripping margin portion hits the processing portion of the workpiece), it is necessary to perform re-grabbing. The work posture is changed by using an independent reversing device without reversing the hand itself and the hand reversing and re-holding the work piece. There is something to do. In either case, the workpiece is transferred to a temporary table or a reversing device that is away from the processing area during the processing, which takes time for conveyance and decreases the processing efficiency. Further, since a temporary table or a reversing device is required in addition to the conveying device, it is necessary to secure not only the manufacturing cost but also the installation space.
[0003]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION An object of the present invention is to provide a hand that solves the above-described problems and can cope with a wide variety of workpieces, while improving the conveyance time and further reducing the cost and space.
[0004]
[Means for Solving the Problems]
Corresponding to the processing form of the workpiece by shifting the gripping center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B through the relative linear movement of the carry-in hand member 10A and the carry-out hand member 10B. This is achieved because the combination of the carry-in gripping claws 14A and the carry-out gripping claws 14B can be switched to the gripping form.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below based on examples.
FIG. 5 shows the relationship between the hand of the present invention, a transport device equipped with the hand, and a machine tool. The conveying device 1 is supported by a headstock 2 of a machine tool, and a servo motor or the like above and below a rotation axis direction (Z axis) of a main shaft 3 equipped with a chuck 3A and a direction (X axis) perpendicular to the Z axis. The workpiece 4 (the material 4A and the processed product 4B) is conveyed by reciprocating between the processing region and the stocker region. In the drawing, the transfer of the transfer device is shown in the Z-axis and X-axis directions. However, by adding a direction (Y-axis) perpendicular to the plane intersecting the Z-axis and the X-axis, the transfer area can be further increased. It is possible to improve the spreading and conveying effect.
[0006]
1 and 2 show the structure of a hand 5 according to the present invention. Reference numeral 6 denotes a hand main body mounted on the transport device 1, and 7 a hand support, which is perpendicular to the rotational axis direction of the main shaft 3. It is supported by a turning shaft 8 supported by the hand body 6 so that it can turn around. The swivel shaft 8 can be swiveled through a suitable driving means 9 to a 3-degree position of 0 to 270 degrees. Reference numeral 10 denotes a pair of hand members constituting a carry-in hand member 10A and a carry-out hand member 10B forming an L-shaped arm, each of which can relatively move back and forth in a direction perpendicular to the axis of the pivot shaft 8. Thus, the hand support 7 is supported by guides 7A and 7B arranged side by side with the swivel shaft 8 interposed therebetween. Each of the arm portions extending in the vertical direction of the carry-in hand member 10A and the carry-out hand member 10B is provided with a rack 10a and a rack 10b. The drive shaft 11 is rotatably supported in the turning shaft 8. It meshes with a fixed pinion 12. In this embodiment, the rack 10a and the rack 10b are engaged with the pinion 12, and are configured to take relative actions in conjunction with the rotation of the pinion 12. However, the carry-in hand member 10A and the carry-out hand member 10B each have a structure. It may be configured to operate independently. For example, it is possible to connect a working cylinder or a motor to each of the carry-in hand member 10A and the carry-out hand member 10B to take a single operation. The drive shaft 11 is operated via positioning means 13 such as a servo motor or a rotor actuator. The positioning means 13 is input with information that allows switching of the gripping form of the hand in accordance with the shape, size and processing form of the workpiece, and the carry-in hand member 10A and the carry-out hand member are selected by selecting the input information. It is possible to arbitrarily change the stroke of the forward / backward movement of 10B. Reference numeral 14 denotes a gripping claw composed of a pair of finger portions 14a and a claw portion 14b constituting a carry-in gripping claw 14A and a carry-out gripping claw 14B each having a gripping center line in a direction perpendicular to the axis of the pivot shaft 8. is there. The carry-in gripping claws 14A and the carry-out gripping claws 14B of the gripping claws 14 extend in the advancing and retreating direction of the hand member 10, and the carry-in gripping claws 14A and the carry-out gripping claws 14B are opposed to each other inward. The carry-in gripping claws 14A are attached on the carry-in hand member 10A, and the other carry-out gripping claws 14B are attached on the carry-out hand member 10B. Each of the carry-in gripping claws 14A and the carry-out gripping claws 14B is mounted on a gripping drive means 15 fixed to an arm portion extending in the lateral direction of the hand member 10, and centripetally opens and closes in the lateral direction of the arm. Operates and grips the workpiece. The gripping center line of the carry-in gripping claw 14A and the carry-out gripping claw 14B moves through the advancing and retreating operation of the hand member 10, and the mutual direction of the carry-in gripping claw 14A and the carry-out gripping claw 14B is changed. It is possible to switch between orientation and outward.
[0007]
In the present invention, basically, the grip forms of the three hands can be switched by relatively shifting the grip center lines of the carry-in grip claws 14A and the carry-out grip claws 14B.
1, a gripping configuration in which the gripping center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B are held on the same line (the orientation of the carry-in gripping claws 14A and the carry-out gripping claws 14B is concentrically opposed inward Gripping form for gripping work specifications)
2, a gripping mode in which the gripping center lines of the carry-in gripping claws 14 </ b> A and the carry-out gripping claws 14 </ b> B are interchanged relative to each other (the gripping claw 14 </ b> A and the carry-out gripping claws 14 </ b> B are switched to the opposite direction to grip the workpiece. (Shaft form of shaft work specification)
3, a grip configuration in which the grip center lines of the carry-in grip claws 14 </ b> A and the carry-out grip claws 14 </ b> B are separated from each other (the carry-in grip claws 14 </ b> A and the carry-out grip claws 14 are spaced apart and inward (Gripping forms for large-diameter workpiece specifications and front / back machining specifications)
[0008]
The above is the configuration of the present invention. Next, the operation of the present invention will be described.
FIG. 6 shows the gripping form of the hand of the chuck work specification, and its operation will be described. Normally, the carry-in gripping claws 14 </ b> A and the carry-out gripping claws 14 </ b> B of the hand 5 are inwardly facing each other and stand by at their original positions separated from each other. When the input information for switching to the gripping form of the chuck work specification is input to the positioning means 13, the pinion 12 rotates through the drive shaft 11, and the carry-in hand member 10A and the carry-out hand member 10B are mutually connected via the rack 10a and the rack 10b. Move forward relative. By this operation, when each of the carry-in gripping claws 14A and the carry-out gripping claws 14B comes close to each other, the respective gripping center lines shift and are positioned on the same line where the respective gripping center lines intersect, the operation of the positioning means 13 Stops. In this state, the carry-in gripping claw 14 </ b> A enters the material 4 </ b> A in the stock area from the axial direction of the material 4 </ b> A, grips it, and transports it to the spindle 3. During the processing of the workpiece, the hand 5 returns to the stock area, grips the next material 4A via the carry-in gripping claws 14A, and is transferred again to the processing area. When the processing is finished, the hand 5 is turned 180 degrees through the turning movement of the turning shaft 8. Thereafter, the carry-out gripping claws 14B enter from the axial direction of the workpiece 4B to grip the workpiece 4B and carry it out of the machining area. In this gripping form, since the material 4A and the processed product 4B are gripped on the same gripping center line, the swing is small even when the hand 5 is turned, so that the moment of inertia is small and the interference with the other is limited. Less.
[0009]
FIG. 7 is an embodiment showing the gripping form of the hand of the shaft work specification, and its operation will be described. Similarly to the chuck work specification, the loading gripping claws 14 </ b> A and the unloading gripping claws 14 </ b> B are in an inward standby relative to each other at the original position. When the input information for switching to the gripping form of the shaft work specification is input to the positioning means 13, the pinion 12 is rotated via the drive shaft 11, and the carry-in hand member 10A and the carry-out hand member 10B are passed through the rack 10a and the rack 10b. Move forward relative. By this operation, the gripping center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B shift relative to each other and approach each other. If the forward movement is further continued, the respective gripping center lines pass through each other and the positions thereof are switched. When the grip center line reaches a position where the workpiece can be gripped, the operation of the positioning means 13 stops. In this state, the orientation of the carry-in gripping claws 14A and the carry-out gripping claws 14B are opposed outward. In this state, the material having the carry-in gripping claws 14A in the stock region enters and grips the material from the lateral direction with respect to the axis of the material 4A and transports it to the main shaft. During processing of the workpiece, the hand 5 returns to the stock area, enters from the lateral direction with respect to the axis of the next material 4A via the carry-in gripping claws 14A, grips the material 4A, and then returns to the processing area again. When the machining is finished, the hand 5 turns and reverses 180 degrees, and the workpiece 4B is gripped and carried out of the machining area via the carry-out gripping claws 14B.
[0010]
Next, FIG. 8 is a working diagram showing a gripping shape of a hand having a workpiece front / back processing specification, and the operation process will be described with reference to FIGS. 9, 10, 11 and 12. First, similarly to the gripping form of the chuck work specification, the gripping center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B are held on the same line through the forward movement of the carry-in hand member 10A and the carry-out hand member 10B. The material 4A in the stocker region is grasped from the axial direction of the material A via the carry-in gripping claws 14A and is carried into the processing region (FIG. 9A). When the material 4A is held by the chuck 3A of the main shaft 3, the hand 5 moves away from the processing area. At the same time, the carry-in hand member 10A and the carry-out hand member 10B are retracted, and the directions of the carry-in gripping claws 14A and the carry-out gripping claws 14B are opposed to each other inwardly and kept in their original positions (FIG. 9B) ). When the surface machining of the workpiece 4 is finished, the hand 5 is transferred toward the chuck 3A while maintaining the original position (FIG. 9C). The workpiece that has been subjected to the surface processing is gripped from the axial direction of the workpiece 4 via the unloading and gripping claws 14B, and is unloaded from the chuck 3A (FIG. 10 (d)). Next, the holding center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B are held on the same line, and enter the workpiece axis from the lateral direction via the carry-in gripping claws 14A. After a certain back portion is gripped, the unloading gripping claws 14B open and release the workpiece (FIG. 10 (e)). Thereafter, the hand 5 is turned and the back portion of the work held by the carry-in gripping claws 14A and the carry-out gripping claws 14B are inverted 180 degrees (FIG. 10 (f)). Thereafter, the carry-in gripping claws 14A and the carry-out gripping claws 14B are separated from each other and returned to their original positions, and the unprocessed back portion of the workpiece 4 is conveyed toward the chuck 3A while maintaining this state (FIG. 11). (G)). When the workpiece 4 is gripped by the chuck 3A, the hand 5 moves away from the processing area, and simultaneously, the grip center lines of the carry-in gripping claws 14A and the carry-out gripping claws 14B are held on the same line, and then the hand 5 turns and carries in The gripping claws 14A and the carry-out gripping claws 14B are reversely reversed by 180 degrees (FIG. 11 (h)). While the back side of the workpiece 4 is being processed by the spindle 3, the hand 5 is transferred to the stock area, grips a new material 4A via the loading gripping claws 14A, and then again carries the loading gripping claws 14A and unloading gripping claws 14B. Is inverted 180 degrees and transferred to the machining area (FIG. 11 (i)). When the back machining of the workpiece on the main shaft 3 is finished, the hand 5 is transferred toward the main shaft, and after the workpiece 4B is gripped through the carry-out gripping claws 14B, the hand 5 is moved away from the chuck 3A (FIG. 12 (j)). Thereafter, the carry-in gripping claws 14A and the carry-out gripping claws 14B are reversed 180 degrees, the hand 5 is transferred again toward the main shaft 3, and the new material 4A gripped by the carry-in gripping claws 14A is carried into the chuck ( FIG. 12 (k)). Thereafter, the hand 5 is moved away from the spindle 3 and the workpiece 4B gripped by the unloading and gripping claws 14B is unloaded from the machining area (FIG. 12 (1)). As described above, the front and back processing of the continuous workpiece can be performed by repeating this series of operations. Since the work can be reversed by hand delivery in the machine, productivity can be improved by not requiring a reversing device and without stopping the machine.
[0011]
FIG. 13 shown next is an embodiment of a gripping form of a hand that grips a large-diameter workpiece, and its operation will be described. The carry-in gripping claws 14 </ b> A and the carry-out gripping claws 14 </ b> B are inwardly facing each other and are separated from each other and held in the original position. In this state, one workpiece is gripped by the carry-in gripping claws 14A and the carry-out gripping claws 14B. After the carry-in gripping claw 14A and the carry-out gripping claw 14B move to a position where the workpiece can be clamped via the forward movement of the carry-in hand member 10A and the carry-out hand member 10B, the opening / closing operation of the carry-in gripping claw 14A and the carry-out gripping claw 14B is performed. Is to be gripped. Here, it corresponds to a workpiece that has a large workpiece diameter and cannot be held by the chuck workpiece specification.
[0012]
What has been described above is the three basic hand gripping forms of the present invention, but there are other special cases that can be applied.
[0013]
When a long material is gripped and conveyed, generally, the two gripping claws are often used as a dedicated device because they are attached with a considerable span according to the length of the material. In the present invention, the carry-in hand member 10A and the carry-out hand member 10B form an arm, so that the stroke can be maintained within the range of the operation by performing a relative advance / retreat operation. Therefore, by loading the carry-in gripping claws 14A and the carry-out gripping claws 14B in the same direction, it is possible to grip a long material in the maximum stroke of the carry-in / carry-out hand member.
[0014]
Although it is description of the embodiment as a hand of a conveyance apparatus as it is, although it does not show in a figure, the hand of this invention is applicable also to an assembling apparatus. As described above, since the two hand members are capable of relative linear motion, the parts to be assembled are held relatively close together by the two grip claws, and the parts are combined or separated. It is possible to remove the built-in parts.
[0015]
【The invention's effect】
As described above, the following effects can be obtained from the configuration and operation of the present invention.
As one, it is possible to share one hand without using a dedicated hand for each of the shaft work specification and the chair work specification.
2. As described in 1 above, since it is possible to minimize the manufacturing as well as the replacement of the gripping claws, the setup time and the manufacturing cost can be reduced.
3. Since the grip center lines of the pair of gripping claws can be separated and approached by the relative advancing and retreating operation of the pair of hand members, the swing can be adjusted corresponding to the workpiece when the hand is turned. The inertial force and power energy associated with the turning of the vehicle can be reduced.
4. Since the hand itself has a reversing function, there is no need for an independent reversing device or temporary storage table.
5, since the work can be reversed in the machine from 4 above, the conveyance time can be shortened. Moreover, since a reversing device is not required, space can be reduced.
6, since swinging can be selected from 3 above, not only large-diameter workpieces but also long materials can be conveyed.
7, the shape of the hand can be switched in accordance with the workpiece, so that various workpieces can be mixed and accommodated in the workpiece stock area.
[Brief description of the drawings]
FIG. 1 is a partially sectional front view showing a hand of the present invention.
FIG. 2 is a right side view of FIG.
FIG. 3 is a perspective view showing a conventional shaft work specification hand.
FIG. 4 is a perspective view showing a conventional chuckwork specification hand.
FIG. 5 is a perspective view showing the relationship between the hand of the present invention and a machine tool.
FIGS. 6A and 6B are simplified views showing a state of switching to a gripping type hand having a chuck work specification, in which FIG. 6A is a perspective view, FIG. 6B is a front view, and FIG.
FIGS. 7A and 7B are simplified views showing a state in which the hand is gripped with a shaft work specification, FIG. 7A is a perspective view, FIG. 7B is a front view, and FIG. 7C is a side view.
FIGS. 8A and 8B are simplified views showing a state in which the hand is switched to a front / back machining specification, FIG. 8A is a perspective view, FIG. 8B is a front view, and FIG. 8C is a side view;
FIG. 9 is a diagram illustrating the operation process of FIG. 8;
FIG. 10 is a diagram showing a continuation of the operation process of FIG. 9;
FIG. 11 is a diagram showing a continuation of the operation process of FIG. 10;
FIG. 12 is a diagram showing a continuation of the operation process of FIG. 11;
FIG. 13 is a diagram showing a state in which the hand shape is changed to a large-diameter workpiece machining specification.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Transfer apparatus 5 Hand 7 Hand support body 8 Rotating shaft 9 Drive means 10A Carry-in hand member 10B Carry-out hand member 11 Drive shaft 13 Positioning means 14A Carry-in grip claw 14B Carry-out grip claw 15 Grip drive means

Claims (1)

  In a transfer device for carrying workpieces into and out of a processing area, a hand body 6 mounted on the transfer device and a turning shaft 8 supported on the hand body 6 and capable of turning via a drive means 9 are provided. A supported hand support 7, and a carry-in hand member 10 </ b> A and a carry-out hand member 10 </ b> B that are supported by the hand support 7 and can be moved back and forth in a direction perpendicular to the axis of the pivot shaft 8. A pair of hand members 10, positioning means 13 capable of arbitrarily changing the stroke position of the forward and backward movement of the hand members 10, and a direction orthogonal to the axis of the pivot shaft 8. A pair of gripping claws 14 comprising a carry-in gripping claw 14A having a gripping center line and a carry-out gripping claw 14B are configured, and the carry-in gripping claw 14A and the carry-out gripping claw 14B of the gripping claw 14 are moved forward and backward. The carry-in gripping claws 14A and the carry-out gripping claws 14B face each other inward relatively, and one carry-in gripping claws 14A are attached to the carry-in hand member 10A, and the other carry-out gripping claws 14B The gripping center line of the carry-in gripping claw 14A and the carry-out gripping claw 14B is moved through the advancing and retreating operation of the hand member 10 by being moved on and out of the carrying member 10B. A hand characterized in that the opposing directions of the claw 14A and the carry-out gripping claw 14B are switched inward and outward.

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