JPH078466B2 - Axial work supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a work feeder that supports unprocessed shaft-shaped works and supplies them one by one to a work delivery position, and a shaft-shaped work feeder from the work feeder to a machine tool. The present invention relates to a shaft-shaped workpiece supply device including a workpiece transfer robot that transfers a workpiece.

(Prior art and its problems) In a machine tool, a work feeder that supports a pre-machining work and supplies the work one by one to a work delivery position, and a work that transfers an axial work from the work feeder to the machine tool. Although a transfer robot is installed side by side, when the workpiece to be handled is an axial workpiece, the axial workpiece clamping chucks of conventional workpiece transfer robots of this type are all supported so that they can be opened and closed. It is composed of a pair of movable clamping pieces. Therefore, when the chuck holds a workpiece waiting at the workpiece delivery position of the work feeder, the pair of movable clamping pieces moves to the workpiece delivery position in an open state. I have to let you.

In such a conventional axial work transfer robot, the opened movable gripping piece can only enter between the work at the work transfer position in the work feeder and the subsequent work waiting immediately before this. We must secure a relatively large space. When the work is disk-shaped, for example, as in the work transfer conveyor described in JP-A-62-176727, the disk-shaped work is vertically placed on one work support base. Since they can be stacked, even if a relatively large space is provided between each work support,
It is possible to increase the number of works that can be stored in the occupied space of the work feeder as a whole, thus improving the space utilization efficiency, but it is not possible to stack as described above and must support each one horizontally. In the case of axial work that must be done, by securing a wide holding piece entry space between each one axial work, the number of works stored in the occupied space of the work feeder as a whole is extremely reduced, and the space utilization efficiency is remarkable. Will be reduced.

(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention provides
Workpiece support brackets that support both ends of a horizontally oriented shaft-like work are movably supported in a circulating manner at equal intervals while the supported shaft-like works are in parallel with each other, and the work-supporting brackets are moved in a circulating manner. A shaft provided with a driving means and arranged in parallel with a workpiece transfer robot that picks up an axial workpiece from the bracket that stops at the workpiece transfer position set at the end of the horizontal movement path of the workpiece supporting bracket and transfers it to the machine tool. A workpiece supply device, wherein the workpiece holding chuck attached to the arm tip of the robot is provided between the axial workpiece at the workpiece transfer position and the axial workpiece waiting immediately before the robot arm. Between the fixed holding piece that can be fitted and removed in the vertical direction by the vertical movement of the shaft, and the shaft-like work at the work transfer position between the fixed holding piece. Click the proposes a feeder of the shaft-like workpiece formed by composed of the movable gripping piece for clamping in the horizontal direction.

(Example) Hereinafter, one example of the present invention will be described with reference to the accompanying drawings. In this embodiment, since the work feeder is used also as the stocker of the processed shaft-like work,
The work feeder is referred to as a work transfer device.

In FIGS. 1 and 2, 1 is a machine tool that horizontally supports a shaft-shaped work W between the chuck 1a and the tailstock 1b to perform cutting work, and 2 is a loading chuck 2a and an unmachine tool. A work transfer robot 3 having a loading chuck 2b is a work transfer device. The work transfer device 3 includes a pair of left and right endless chains suspended along a zigzag endless transfer path 5 that repeats a horizontal path 4 in a vertical direction.
As shown in FIG. 3, left and right pairs 7a and 7b and a pair of endless chains 7a and 7b are separately supported by concentric horizontal support shafts 8 so as to maintain a hanging posture by gravity at equal intervals. And a motor 9 for intermittently driving the pair of left and right endless chains 7a and 7b by one pitch of the bracket 6, and each of the brackets 6 for supporting the work is provided with A V-shaped receiver 10 for supporting the end portion in a centered state is provided in a protruding manner, and a work transfer position P is provided at the end portion of the uppermost horizontal path 4 in the zigzag endless transfer path 5 on the side of the work transfer robot. It is set.

As shown in FIG. 1 and FIG. 2, the workpiece transfer robot 2 includes a rotary table 27 that is rotatable on a base 25 around a horizontal spindle 26, and the rotary table 27 includes the horizontal spindle. Spindle supported in a direction orthogonal to 26 so that it can rotate and move axially freely
28, an arm 29 attached at a right angle to the tip of the main shaft 28, and the loading and unloading chucks 2a, 2b attached to the tip of the arm 29.

As shown in FIGS. 4 and 5, inside the tip of the arm 29, there is a rotary actuator 31 having both ends 30a, 30b of the rotary shaft protruding from both ends, and the axis of the rotary actuator 31 is parallel to the length direction of the arm 29. And the loading chuck on the rotary plate 32 attached to the outer end 30a of the rotary shaft.
2a and an unloading chuck 2b are arranged in parallel, and a rotation angle regulating means 33 is arranged between the inner end 30b of the rotation shaft and the arm 29.

As shown in FIGS. 4 to 7, the loading chuck 2a and the unloading chuck 2b are provided with a clamping unit 34.
The L-shaped fixed gripping piece 34 including a and the column portion 34b, the movable gripping piece 35 that is retractable inside the gripping portion 34a of the L-shaped fixed gripping piece 34, and the movable gripping piece 35 are output. It is composed of two cylinders 36a, 36b which are driven backwards, and has the L-shaped fixed holding piece 3
The column 34b of 4 has a long hole in the column 37 protruding from the rotary plate 32.
38, a fixing bolt 39, and a fixing pad 40 are attached so as to be vertically movable in the length direction of the arm 29.
Is a pair of left and right Vs mounted on the left and right sides of a V-shaped mounting base 41 connected to and supported by the piston rods of the two cylinders 36a, 36b by a long hole 42 and a fixing bolt nut 43 so that the height can be adjusted. It is composed of shape holding plates 44a and 44b.

As shown in FIG. 4, FIG. 5 and FIG. 8, the rotation angle regulating means 33 includes a rotation shaft 45 concentrically connected to the rotation shaft inner end 30b of the rotary actuator 31, and the rotation shaft 4
Blades 46 and 47 projecting from each other at two axial positions of 5 by turning 90 degrees from each other and an arm 29 via a slide guide plate 48 are movably supported in the axial direction of the rotary shaft 45 and a cylinder. A pair of parallel movable bases 51, 52 which are individually driven up and down by 49, 50, a pair of upper and lower stopper bolts 53, 54 and 55, 56 attached to the movable bases 51, 52, and upper and lower stopper bolts 53. The movable table 5 is provided at each intermediate position between 54, 54 and 55, 56.
It is composed of shock absorbers 57 and 58 attached to 1,52.

When the workpiece transfer robot 2 receives the unprocessed axial workpiece W at the workpiece transfer position P of the workpiece transfer device 3, as shown in FIG. 2, the main shaft 28 stands upright and the arm 29 transfers the workpiece. Lay down horizontally on the side of device 3,
Further, in a state where the loading chuck 2a is on the lower side, the main shaft 28 is axially retracted and the arm 29 is lowered. As a result, the holding portion 34a of the L-shaped fixed holding piece 34 of the loading chuck 2a is downwardly moved to an intermediate position between the shaft-like work W at the work transfer position P and the shaft-like work W waiting immediately before that. Get in. At this time, the holding part
L so that the inner surface of 34a is close to the peripheral surface of the shaft-shaped workpiece W.
The mounting position of the shape-fixing sandwiching piece 34 is adjusted in advance.
In this state, the movable gripping piece 35 of the loading chuck 2a is moved forward by the cylinders 36a and 36b so that the axial work W at the work transfer position P is horizontally moved between the L-shaped fixed gripping piece 34 and the movable gripping piece 35. Hold it in the direction.

Next, as shown by the phantom line in FIG. 2, the main shaft 28 is moved in the axial direction to raise the arm 29, and the shaft-shaped workpiece W held by the loading chuck 2a is lifted from the workpiece transfer position P. After that, the rotary table 27 is rotated forward by 90 degrees to horizontally tilt the main shaft 28 rearward and vertically raise the arm 29. After that, both chucks 2a, 2b (rotary plate 32) are rotated in the forward direction by the chuck rotating rotary actuator 31, and the initial state before this rotation is as shown in FIGS.
As shown in FIG. 8, FIG. 9 and FIG. 9A, the stopper bolts 53, 54 and 55, 56 are lowered to the lower limit position by the cylinder 49 and the movable base 51 and the cylinder 50 and the movable base 52, and the lower blade 47 is the lower limit position stopper bolt 54 and shock absorber 57
Since it is in contact with the rotary actuator,
Before the operation of 31, the stopper bolts 55, 56 on one side are switched to the upper limit position by the cylinder 50 and the movable base 52 as shown in FIG. 9B.

When the rotary actuator 31 is operated in such a state, when both chucks 2a and 2b (rotary plate 32) have rotated 270 degrees in the positive direction, as shown by an imaginary line in FIG. Of the upper and lower vanes 46, 47 that rotate together as a unit, the upper vane 46 is at the upper limit position
Then, the chucks 2a and 2b are brought into contact with the shock absorber 58, and the chucks 2a and 2b are positioned.

Due to the above normal direction rotation of 270 degrees, the phantom line in FIG.
As shown in the figure, the shaft-shaped work W held by the loading chuck 2a becomes parallel to the work setting direction in the machine tool 1, and the unloading chuck 2b
Will be located on the machine tool 1 side. Spindle in such a state
When the arm 29 is rotated 90 degrees to the machine tool 1 side by 28,
As shown in Fig. 1, chuck 1a and tailstock of machine tool 1
The unloading chuck 2b is fitted to the machined shaft-shaped workpiece W'set between the chuck 1b and the workpiece 1b as shown by the phantom line in FIG.

When the processed shaft-shaped workpiece W'is fitted between the L-shaped fixed holding piece 34 and the movable holding piece 35 of the unloading chuck 2b, the movable holding piece is moved by the cylinders 36a and 36b of the unloading chuck 2b. Move 35 forward, 11th
As shown in the figure, the machined shaft-shaped work W'is clamped between the two clamping pieces 34, 35, and then the spindle 28 is moved forward with the tailstock 1b retracted. The shaft-shaped work W'is slightly moved in the axial direction and separated from the chuck 1a. After this, as shown in FIG. 9C, the stopper bolt
With the cylinders 53 and the movable base 51 raising the 53, 54 from the lower limit position to the upper limit position, the chuck rotating rotary actuator 31 moves both chucks 2a, 2b (rotating plate 3).
When 2) is rotated in the opposite direction, both chucks 2a, 2b (rotating plate
32) has rotated 180 degrees in the opposite direction, the upper blade 46 of the upper and lower blades 46, 47 that integrally rotate via the rotation shaft 45 rises as shown in phantom in FIG. 9C. The stopper bolt 53 and the shock absorber 57 at the limit position are contacted with each other, the vertical positional relationship between the loading chuck 2a and the unloading chuck 2b is reversed, and the pre-machining axial work W held by the loading chuck 2a is reversed. The machine tool 1 is positioned between the chuck 1a and the tailstock 1b.

Next, move the spindle 28 backward to move the loading chuck.
One end of the pre-machining axial work W clamped by 2a is fitted and held by the chuck 1a of the machine tool 1, and the tailstock 1b is moved forward to set the pre-machining axial work W. . After this, loading chuck 2a
The movable clamping piece 35 is moved backward by the cylinders 36a and 36b to release the pre-machined axial work W.

When the setting of the pre-machining axial work W on the machine tool 1 is completed, the spindle 28 is reversed by 90 degrees to raise the arm 29 as shown by the phantom line in FIG. 11, and as shown in FIG. 9D. After lowering the stopper bolts 55, 56 from the upper limit position to the lower limit position by the cylinder 50 and the movable base 52,
Both chucks 2a, 2b (rotating plate 32) are rotated in the forward direction by a chuck rotating rotary actuator 31. As a result, as shown by phantom lines in FIG. 9D, both chucks 2a, 2
Of the upper and lower vane plates 46, 47 that rotate integrally with each other via the rotary shaft 45 when b (rotary plate 32) has rotated 90 degrees in the positive direction,
The lower blade 47 abuts on the stopper bolt 56 and the shock absorber 58 at the lower limit position, and as shown in FIG. 12, the unloading chuck 2b is relocated to the work transfer device 3 side and the chuck 2b concerned. The direction of the machined shaft-shaped work W ′ sandwiched between is turned 90 degrees.

Thereafter, the rotary table 27 is reversed 90 degrees to vertically erect the main shaft 28 and the arm 29 horizontally to the work transfer device 3 side as shown in FIG. As described above, since it is located right above the work transfer position P of the work transfer device 3, the main shaft 28 is axially retracted and moved to lower the arm 29, so that the unloading chuck 2b is clamped. The processed shaft-shaped workpiece W ′ is fitted between the empty workpiece supporting brackets 6 waiting at the workpiece transfer position P. In this state, the movable holding piece 35 of the unloading chuck 2b is moved backward by the cylinders 36a and 36b to release the machined axial work W ', and the work W'is transferred between the work supporting brackets 6. After that, the main shaft 28 is moved forward to raise the arm 29, and the unloading chuck 2b is raised and retracted from the work transfer position P of the work transfer device 3.

When the unloading of the processed shaft-shaped work W'is completed, the pair of endless chains 7a, 7b of the work transfer device 3 is rotated by one pitch of the bracket 6 by the motor 9 to move the processed shaft-shaped work W '. The pre-machining axial work W that has been fed from the work transfer position P to the lower horizontal path 4 side by one pitch and is waiting immediately before the work transfer position P
Is moved to the work transfer position P. On the other hand, as shown in FIG. 9E, the stopper bolts 53 and 54 are attached to the cylinder 49.
And the movable table 51 to switch to the lower limit position, then use the chuck rotation rotary actuator 31 to move both chucks.
2a and 2b (rotary plate 32) are rotated in opposite directions. As a result,
When both chucks 2a, 2b (rotating plate 32) have rotated 180 degrees, upper and lower vanes that rotate integrally via the rotary shaft 45 as shown in phantom in FIG. 9E and as shown in FIG. 9A. Four
Of the 6,47, the lower blade 47 contacts the stopper bolt 54 and the shock absorber 57 at the lower limit position, and the loading chuck
The vertical positional relationship between 2a and the unloading chuck 2b is reversed. That is, since the loading chuck 2a returns to the initial state in which it is located right above the work transfer position P of the work transfer device 3, the series of operations described above can be repeated thereafter.

By repeating the above operation, the work supporting bracket 6
If all the pre-machined axial workpieces W supported by the machine are replaced by the machined axial workpieces W ', the workpiece machining work by the machine tool 1 is terminated and the pre-machined axial workpieces W are used for supporting each workpiece. The machined shaft-shaped work W ′ can be picked up from between the respective work supporting brackets 6 and carried out in the reverse procedure of the case where the brackets 6 are transferred and supported.

As shown by the phantom line in FIG. 6, when the diameter of the shaft-shaped workpiece W to be handled changes, the position of the L-shaped fixed holding piece 34 of each chuck 2a, 2b is adjusted to be taken in and out. The movable clamp 35 is
Since the axial work W is pressed and clamped between the L-shaped fixed clamping piece 34 by the urging force of the cylinders 36a and 36b, the axial work W
It is not necessary to adjust the position according to the diameter of. However, as shown in phantom in FIG. 7, the shaft-shaped work W is stepped or tapered, and the pair of holding plates 44a, 44b of the movable holding piece 35 are provided.
When the workpiece diameters at the points where the abutting contact are different, both holding plates 44a and 44b must be separately taken out and adjusted.

Further, the work transfer device 3 need only have a horizontal path in the work transfer path by the work supporting bracket 6 at which the work transfer position P is set at the end, and as in the embodiment, the horizontal path 4 is vertical. The endless transfer path 5 is not limited to the zigzag endless transfer path 5 formed by repeating the direction.

(Operation and Effect of the Invention) According to the shaft-shaped workpiece supply apparatus of the present invention that can be implemented as described above, the shaft-shaped workpiece before processing is in a horizontal posture in which both ends are supported by the brackets for supporting the workpiece, and The shaft-like workpieces are transferred to the workpiece transfer position in a parallel state, and at the workpiece transfer position, the arm of the workpiece transfer robot is lowered to attach the workpiece clamping chuck (for loading in the embodiment). The fixed gripping piece of the chuck 2a) is fitted between the shaft-shaped work at the work transfer position and the shaft-shaped work waiting immediately before, and in such a state, the movable gripping piece of the chuck is moved to the fixed gripping piece side. By horizontally moving, the shaft-like work at the work transfer position can be horizontally held by the fixed holding piece and the movable holding piece. Then, the arm can be raised to pick up the shaft-shaped work from the work supporting bracket, and the shaft-shaped work clamped by the chuck can be transferred to a predetermined position of the machine tool by a predetermined motion.

As described above, between the respective axial works supported by the work supporting bracket, the fixed gripping piece in the work gripping chuck of the work transfer robot can only move in and out in the vertical direction. It suffices to secure a narrow space, and therefore, the supporting pitch of the shaft-shaped work by the work supporting bracket is sufficiently narrowed to occupy the space occupied by the entire circulating movement path of the work supporting bracket (entire work feeder). It is possible to increase the number of works stored.
Further, since the shaft-like work is supported by the work supporting brackets in the horizontal parallel state, the circulation movement path of the work supporting bracket is, as shown in the embodiment, a wasteful space in the entire three-dimensional space. Can be minimized to make a zig-zag shape, and the storage efficiency of the work feeder as a whole can be improved.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing the entire equipment, FIG. 2 is a partially cutaway side view showing a work transfer device and a work transfer robot, and FIG. 3 is a perspective view of a main part of the work transfer device.
FIG. 5 is a partially cutaway side view showing the arm and chuck part of the workpiece transfer robot, FIG. 5 is a vertical sectional front view of the same part, and FIG. 6 is a partially cutaway side view showing the chuck part of the robot. 7 is a cutaway side view of the same portion, FIG. 8 is a cross-sectional plan view showing a rotation angle regulating means, FIGS. 9A to 9E are perspective views for explaining the operation of the rotation angle regulating means, and FIGS. FIGS. 10 and 11 are front views, FIG. 12 is a plan view, and FIG.
Figure 13 is a side view with a part cut away. 1 ... Machine tool, 2 ... Robot for transferring work, 2a ...
Loading chuck, 2b ... Unloading chuck, 3 ... Work transfer device, 4 ... Horizontal path, 5
...... Zigzag endless transfer path, 6 ...... A pair of left and right work support brackets, 7a, 7b ...... Endless chain, 9 ...... Work transfer device drive motor, 10 ...... V-shaped receiver, 27 ...
… Rotary base, 28 …… Spindle, 29 …… Arm, 31 …… Chuck rotation rotor actuator, 33 …… Rotation angle regulating means, 34 …… L-shaped fixed gripping piece, 35 …… Moveable gripping piece, 36a, 36a
b …… Cylinder, 45 …… Rotary axis, 46,47 …… Vane, 49,5
0 …… Cylinder, 51,52 …… Movable base, 53-56 …… Stopper bolt, 57,58 …… Shock absorber.

Claims (2)

[Claims] 1. A work supporting bracket for supporting both ends of a horizontally oriented shaft-like work is movably supported at a regular interval in a state where the supported shaft-like works are in parallel with each other and is also provided for supporting the work. A work transfer robot that is provided with drive means for circulatingly moving the bracket and stops the work at a work transfer position set at the end of the horizontal movement path of the work supporting bracket and picks up an axial work from the bracket and transfers it to a machine tool. Is a shaft-shaped workpiece supply device provided side by side with a chuck for clamping a workpiece attached to the arm tip of the robot between the shaft-shaped workpiece at the workpiece transfer position and the shaft-shaped workpiece waiting immediately before that. And a work transfer position between the fixed gripping piece that can be fitted and removed in the vertical direction by the vertical movement of the robot arm, and the fixed gripping piece. Feeder axis shaped work formed by composed of the movable gripping piece for clamping a certain axial workpiece horizontally. 2. A pair of chucks for loading and unloading workpieces are provided in parallel at the tip of the robot arm, and both chucks are selectively opposed directly above the workpiece transfer position. 2. The supply of a shaft-shaped work according to claim 1, wherein the chuck rotation actuator is provided, and the work-support bracket is used both for supporting the shaft-shaped work before processing and for supporting the processed shaft-shaped work. apparatus.