JP6231383B2 - Machining system and machining tool replacement method - Google Patents

Description

  The present invention relates to a processing system and a processing tool replacement method.

  In a processing apparatus that processes a workpiece with a cutter while the workpiece is supported by the spindle unit, various proposals have been made to effectively replace the workpiece. For example, in Patent Document 1, a workpiece is gripped by an arm, and the workpiece before and after machining is exchanged by conveying the workpiece between a spindle and a workpiece pallet.

JP 7-88702 A

  By the way, in the apparatus mentioned above, although a workpiece | work can be replaced | exchanged, nothing is touched about replacement | exchange when a processing tool is worn out. The present invention has been made to solve this problem, and an object thereof is to provide a processing system and a processing tool replacement method capable of automating not only the workpiece but also the processing tool replacement.

  A machining system according to the present invention is a machining system to which a workpiece, a workpiece jig, a machining tool, and a machining tool jig can be attached, the workpiece jig supporting the workpiece, and the machining tool. A spindle unit that has a fixing part that can be detachably fixed to a supporting tool jig to be supported, and that can rotate about an axis, and at least one of the workpieces supported by the spindle unit. At least one processing unit to which a processing tool is attached, the processing unit delivering and receiving the processing tool to and from the processing tool jig fixed to the spindle unit. The processing tool jig includes at least two processing tool support portions that detachably support the processing tool, and the fixing portion of the spindle unit rotates about the axis. One of said work tool support portion Re, to exchange position for delivery and receipt of the processing tool between the machining unit, is configured to selectively position.

  According to this configuration, when the shape of the workpiece to be processed is different, the workpiece jig supported by the spindle unit can be replaced with another workpiece jig by the replacement unit. The spindle unit can be mounted not only with a workpiece jig, but also with a machining tool jig for supporting the machining tool, and the machining unit is mounted on the spindle unit. Since the processing tool is delivered to and received from the machine unit, the processing tool mounted on the processing unit can also be replaced by the replacement unit via a processing tool jig attached to the spindle unit. It can be carried out.

  Further, the processing tool jig according to the present invention is provided with at least two processing tool mounting portions for detachably supporting the processing tool. The spindle unit is configured to selectively arrange any of the processing tool mounting portions at an exchange position where the processing tool is transferred to and received from the processing unit. Therefore, the following efficient tool exchange is possible. For example, a processing tool for replacement is attached to one processing tool mounting portion, and a processing tool jig is set to the spindle unit without mounting a processing tool to another processing tool mounting portion. And the processing tool attaching part which has not attached the processing tool is arrange | positioned in an exchange position. Subsequently, the used processing tool is delivered from the processing unit to the processing tool mounting portion at the replacement position. Subsequently, by rotating the fixing portion of the spindle unit, the processing tool mounting portion to which the replacement processing tool is mounted is arranged at the replacement position. Then, the processing tool for replacement is delivered by the processing unit. Thus, when the processing tool is exchanged via the spindle unit, if the processing tool jig is set in the spindle unit only once, the used processing tool is received and the replacement processing tool is delivered. be able to. Therefore, the processing tool can be exchanged efficiently.

  In the processing system, the processing tool jig may be provided with two processing tool mounting portions, and the two processing tool mounting portions may be disposed at positions that are rotationally symmetric about the axis.

  In the processing system, the type of workpiece is not particularly limited, and the processing tool for processing the workpiece is not particularly limited. However, it can also be set as follows.

  For example, the workpiece is a gear to be processed, one of the processing units is a chamfering unit that performs chamfering on the gear to be processed, and the processing tool is attached to at least one of the side edges of the gear to be processed. It can be set as the 1st processing tool which has at least 1 chamfering member engaged and rotatably supported. The chamfering unit supports at least one first processing tool in a detachable manner, and supports the first processing tool, and the first processing tool is supported by the spindle unit. And a first drive mechanism that moves close to and away from the gear to be processed.

  Alternatively, the workpiece is a gear to be processed, one of the processing units is a removal processing unit that removes burrs and surplus on the side surface of the gear to be processed, and the processing tool is at least one side surface of the gear. It can be set as the 2nd processing tool which has at least 1 cutter which removes a burr | flash and surplus meat. The removal processing unit supports the at least one second processing tool in a detachable manner, supports the second processing tool, and the second processing tool is supported by the spindle unit. And a second drive mechanism that moves close to and away from the gear.

  Moreover, it can also comprise as follows. That is, the workpiece is a gear to be machined, and the chamfering unit that chamfers the machining gear as the machining unit, and the chamfering unit can be driven independently, and the side surface of the machining gear is And a removal processing unit that removes burrs and surplus. The chamfering unit includes, as the processing tool, a first processing tool having at least one chamfering member that meshes with at least one of the side edges of the gear to be processed and is rotatably supported. May include a second processing tool having at least one cutter for removing burrs and surplus on at least one side surface of the gear as the processing tool. Further, the chamfering processing unit supports at least one of the first processing tool in a detachable manner, supports the first processing tool, and the first processing tool is supported by the spindle unit. A first drive mechanism that moves closer to and away from the gear, and the removal processing unit includes a second support mechanism that removably supports the second processing tool, and the second additional mechanism. A second drive mechanism that supports a tool and moves the second processing tool close to and away from the gear supported by the spindle unit.

  According to this configuration, the chamfering tool unit for chamfering the gear and the removal tool unit for removing the burr on the side surface of the gear and removing the surplus can be driven independently. The removal amount of the machining can be adjusted individually. In chamfering, the amount of burrs generated according to the amount of cut also changes, so the chamfering tool unit and the removal tool unit can be driven independently to accurately remove burrs generated by chamfering. be able to.

  The processing tool replacement method according to the present invention is a method for exchanging a processing tool in any of the above-described processing systems, wherein at least one processing tool mounting portion in the processing tool jig is used for replacement. Attaching the processing tool, and supporting the processing tool jig on the spindle unit without attaching the processing tool to at least one processing tool mounting portion; and attaching the processing tool by the spindle unit. Disposing the processing tool mounting portion not mounted at the replacement position; passing the processing tool mounted to the processing unit to the processing tool mounting portion not mounted with a processing tool; A step of disposing the mounting portion for the processing tool to which the processing tool for replacement is mounted by the spindle unit at the replacement position; and It comprises the steps of: receiving a processing tool for the replacement.

  According to the present invention, not only the work but also the replacement of the processing tool can be automated using the jig on the spindle unit.

It is a front view which shows schematic structure of the processing apparatus and exchange apparatus which concern on one Embodiment of this invention. It is sectional drawing of the spindle unit and processing apparatus of a processing apparatus. It is an enlarged front view of a spindle unit, a jig attached to the spindle unit, and a workpiece. It is an enlarged side view of a chamfering unit. It is the sectional view on the AA line of FIG. FIG. 6 is a sectional view taken along line B-B in FIG. 5. It is the enlarged view (a) of the support frame shown in FIG. 5, and its CC sectional view (b). It is a side view of a chamfering processing tool. It is a figure explaining exchange of a chamfering processing tool. It is a perspective view of the jig for chamfering tools. It is a figure explaining exchange of a chamfering processing tool. It is a figure explaining exchange of a chamfering processing tool. FIG. 6 is a view taken along line DD in FIG. 5. It is a partial side view of the removal processing unit, and shows the operation of the clamp of the removal processing tool. It is a figure explaining exchange of a removal processing tool. It is the top view and operation | movement figure which looked at the rotation mechanism from the downward direction. It is a top view of a fixing mechanism. It is the side view which looked at the fixing mechanism from the spindle unit side. It is a front view which shows the pallet for jigs. It is a side view of a lifter. It is a front view of FIG. It is a top view of FIG. It is operation | movement explanatory drawing which shows replacement | exchange of a jig | tool. It is operation | movement explanatory drawing which shows replacement | exchange of a jig | tool. It is operation | movement explanatory drawing which shows replacement | exchange of a jig | tool. It is operation | movement explanatory drawing which shows replacement | exchange of a workpiece | work. It is operation | movement explanatory drawing which shows replacement | exchange of a workpiece | work. It is operation | movement explanatory drawing which shows replacement | exchange of a workpiece | work. It is a top view which shows the process of a workpiece | work.

  Hereinafter, an embodiment in which a machining system according to the present invention is applied to a gear machining system will be described with reference to the drawings. This gear machining system is for performing chamfering on both side edges of a gear, which is a workpiece, and removal processing for removing burrs and surplus parts generated by chamfering. Specifically, a gear processing device that processes a gear, an exchange device that replaces a gear and a processing tool to be processed, and a lifter that transfers the gear and the processing tool to the replacement device. Below, a gear processing apparatus is demonstrated first, and an exchange apparatus and a lifter are demonstrated after that. In the following description, the upper side of FIG. 5 is referred to as “front” or “front side”, the lower side is referred to as “rear” or “back side”, the side closer to the workpiece is referred to as “tip side”, and the opposite side is referred to. Sometimes referred to as “rear end side”.

  FIG. 1 is a front view showing a schematic configuration of a gear machining device and an exchange device according to the present embodiment. As shown in FIG. 1, the gear machining device 1 according to the present embodiment includes an internal space 111 and a base having a first top portion 1121 and a second top portion 1122 that are connected to the left and right so as to close the upper portion of the internal space 111. A table 11 is provided. The first top portion 1121 and the second top portion 1122 are adjacent to each other, and the second top portion 1122 is located at the end of the base 11 and is disposed at a position lower than the first top portion 1121 through a step. . The first top portion 1121 is provided with a spindle unit 12 that supports a gear that is a workpiece W, and a tail pushing unit 13 that holds the workpiece W between the spindle unit 12. Further, on the base 11, a chamfering unit 14 for chamfering the workpiece W and a removal unit 18 for removing burrs and surplus are provided on the back side of the chamfering unit 14. Further, the exchange device 2 is arranged so as to face the machining units 14 and 18 with the spindle unit 12 interposed therebetween. Further, the lifter 3 is attached to the second top portion 1122. Hereinafter, each of these units will be described in detail.

  FIG. 2 is a cross-sectional view of the spindle unit 12 and the exchange device 2 of the processing apparatus. As shown in FIG. 2, the spindle unit 12 includes a cylindrical base 121 fixed to the first top portion 1121 of the base 11, and a cylindrical rotating sleeve 122 inserted into the base 121. ing. A lower end portion of the base 121 is fixed to the first top portion 1121 and extends upward from here. The rotating sleeve 122 is rotatably attached to the inside of the base 121 via a pair of bearings 123 that are arranged apart in the axial direction. Further, the upper and lower end portions of the rotating sleeve 122 protrude from the upper end and the lower end of the base 121, respectively. Among these, the lower end portion of the rotating sleeve 122 protrudes into the internal space 111 of the base 11, and the first pulley 124 is fixed to the protruding portion. A drive motor 125 having a rotation shaft extending in parallel with the rotation sleeve 122 is disposed in the internal space 111 of the base 11, and a second pulley 126 is attached to the rotation shaft of the drive motor 125. A transmission belt 127 is stretched around the first and second pulleys 124 and 126, and the drive sleeve 125 is driven to rotate the rotary sleeve 122 around the axis.

  A movable rod 128 that can move up and down in the axial direction is provided inside the rotary sleeve 122. Further, a chuck portion (fixing portion) 120 for fixing a workpiece jig Z, which will be described later, is provided at the upper end portion of the rotating sleeve 122. As will be described later, a jig for a work and a processing tool disposed so as to cover the upper surface and outer peripheral surface of the chuck portion 120 is attached to the chuck portion 120. The jig is fixed to and released from the chuck part 120 by moving a movable locking part (not shown) arranged on the inner wall of the jig to the outside in the radial direction. Specifically, the movable rod 128 is configured to press the inside of the chuck portion 120 from below, so that the outer peripheral surface of the chuck portion 120 releases the jig, and the movable rod 128 is lowered. Then, the chuck | zipper part 120 fixes a jig | tool. A known collet chuck or the like can be used as the chuck unit 120.

  The lower end portion of the movable rod 128 protrudes downward from the lower end of the rotating sleeve 122, and a support plate 129 is attached to this protruding portion. A spring 1290 is disposed between the support plate 129 and the rotating sleeve 122 so as to wrap around the outer peripheral surface of the movable rod 128, and the support plate 129 is pushed downward by the spring 1290. The support plate 129 is provided with a plurality of support rods 1291 that protrude upward in the circumferential direction so as to surround the movable rod 128. Each support rod 1291 is inserted into a hole formed in the lower surface of the first pulley 124 and can move up and down. Therefore, when the first pulley 124 rotates, the support plate 129 connected via the support rod 1291 also rotates, and the movable rod 128 also rotates accordingly. That is, the movable rod 128 rotates around the axis together with the rotating sleeve 122.

  A push-up mechanism 15 for pushing the support plate 129 upward is provided below the support plate 129. The push-up mechanism 15 includes a plurality of push-up bars 151 disposed below the support plate 129, and these push-up bars 151 are supported by the substrate 152. A hydraulic cylinder 153 is disposed below the substrate 152, and the operation of the hydraulic cylinder 153 pushes the substrate 152 upward. As a result, the push-up bar 151 pushes the support plate 129 upward, and the movable rod 128 acts on the chuck portion 120. That is, the fixed state between the chuck portion 120 and the jig is released. On the other hand, when the push-up rod 151 is lowered when the hydraulic cylinder 153 is not operated, the movable rod 128 is also lowered, and the chuck portion 120 and the jig are fixed. When the push-up bar 151 is lowered, the movable rod 128 is urged downward by the spring 1290, so that the fixed state between the chuck portion 120 and the work jig Z is maintained. When the hydraulic cylinder 153 is not in operation, a gap is formed between the upper end of the push-up bar 151 and the support plate 129 so that they do not come into contact with each other. Therefore, the support plate 129 does not interfere with the push-up bar 151 and can rotate with the movable rod 128.

  The spindle unit 12 is provided with an air supply mechanism for supplying air to the chuck portion 120. Specifically, it is as follows. First, the swivel joint 16 is rotatably connected to the lower surface of the support plate 129, and air can be supplied into the movable rod 128 via the swivel joint 16. A through hole 1281 extending in the axial direction is formed inside the movable rod 128, and a lower end portion of the through hole 1281 is connected to the swivel joint 16 described above. The through hole 1281 extends in the radial direction near the upper end of the movable rod 128 and opens inside the rotating sleeve 122. The air flow passage extends upward and opens on the upper surface of the chuck portion 120. Air is discharged from the air flow path formed in this way, whereby dust on the upper surface of the chuck portion 120 can be blown away. Therefore, the jig can be accurately attached. In addition, a flow path (not shown) different from the flow path 1221 is provided in the movable rod 128, and when a jig is attached to the chuck portion 120, the flow path (not shown) is blocked by the jig. Since the air is not discharged, a supply source (not shown) for supplying air to the swivel joint 16 can detect that the jig is mounted by detecting this.

  As shown in FIG. 1, the tail push unit 13 includes a support portion 131 that is disposed on the base 11 and extends upward, and a tail push portion 132 that can move up and down along the support portion 131. A motor 133 is attached to the upper end of the support portion 131, and a ball screw 134 that extends downward is connected to the rotating shaft of the motor 133. A nut 135 is screwed into the ball screw 134, and a tail pushing portion 132 is attached to the nut 135. Further, a guide rail 136 extending in the vertical direction is attached to the support portion 131 in parallel with the ball screw 134, and the tail pushing portion 132 moves up and down while being guided by the guide rail 136. . Further, a rod-shaped pressing member 1321 for pressing the jig is attached to the lower end of the center pushing portion 132 as described later.

  FIG. 3 is an enlarged front view of the spindle unit, the workpiece jig attached thereto, and the workpiece. As shown in the figure, the workpiece jig Z of the present embodiment is for supporting the workpiece W, and is attached to the chuck portion 120 of the spindle unit 12 as described above. The work jig Z is mainly composed of three parts. That is, it includes a fixed portion Z1, a tapered portion Z2, and an insertion portion Z3 that are integrally formed from below to above. The fixed portion Z1 is formed in a substantially cylindrical shape, and an opening Z11 into which the chuck portion 120 is inserted is formed on the lower surface thereof. An annular groove Z12 extending in the circumferential direction is formed on the outer peripheral surface of the fixed portion Z1. An arm 176 of the exchange device 2 to be described later is engaged with the annular groove Z12, whereby the workpiece jig Z is held by the arm 176 and conveyed. And the taper part Z2 extended upwards is integrally connected with the upper end of the fixing | fixed part Z1, and the diameter of the workpiece jig | tool Z becomes small as it goes upwards. An insertion shaft portion Z3 having a small diameter is provided at the upper end of the taper portion Z2, and the insertion shaft portion Z3 is inserted into the center hole W1 of the workpiece W. The insertion shaft portion Z3 is provided with a movable locking portion (not shown) that moves radially outward when pressed by the pressing member 1321 of the tail pushing unit 13 from above. By pressing the center hole W1 of the workpiece W from the inside, the workpiece W is fixed to the insertion shaft portion Z3. As such an insertion shaft part Z3, for example, a known collet chuck can be used.

  Next, the chamfering unit 14 for chamfering a workpiece will be described with reference to FIGS. 4 is an enlarged side view of the chamfering unit, FIG. 5 is a sectional view taken along line AA in FIG. 4, FIG. 6 is a sectional view taken along line BB in FIG. It is a) and the CC sectional view taken on the line (b). As shown in FIGS. 1, 4 to 7, and the chamfering unit 14, the chamfering unit 14 has a base plate 141 that can move in the horizontal direction along the first frame 138 provided on the support portion 131 of the tail pushing unit 13. doing. A front surface of the first frame 138 is provided with a pair of guide rails 1411 arranged in parallel in the vertical direction at a predetermined interval and extending in the horizontal direction. The base plate 141 is attached to the workpiece W along the guide rails 1411. It is possible to advance and retreat. A ball screw 1412 extending in the horizontal direction is disposed in the first frame 138, and a nut 1413 that is screwed into the ball screw 1412 is fixed to the back surface (upper side in FIG. 4) of the base plate 141. A motor 1414 is attached to the end of the ball screw 1412, that is, the end opposite to the workpiece W (the right side in FIG. 4), and the ball screw 1412 rotates by driving the motor 1414. Then, the base plate 141 moves together with the nut 1413.

  On the front surface of the base plate 141 (lower side in FIG. 5), an annular support frame 142 is disposed obliquely in plan view. More specifically, as shown in FIG. 5, the end opposite to the workpiece W is disposed obliquely so as to be away from the base plate 141 (note that the base plate 141 and the support frame 142 are integrally formed. Can also do). A first bevel gear 1421 is rotatably provided in the support frame 142 so that the teeth face the base plate 141. The first bevel gear 1421 is rotatable around an axis V inclined from the perpendicular of the base plate 141 so as to correspond to the inclination of the support frame 142. Moreover, as shown in FIG. 7, the outer peripheral surface of the first bevel gear 1421 has recesses 1422 formed at equal intervals in six locations in the circumferential direction, which will be described later. Further, a circular processing tool support portion 143 is fixed to the front surface of the first bevel gear 1421 and rotates together with the first bevel gear 1421. A plurality (six in this embodiment) of chamfering processing tools (first processing tools) 144 are attached to the outer peripheral surface of the processing tool support portion 143 at equal intervals, and the processing tool support portion 143 rotates. By doing so, one of the chamfering tools 144 is arranged to face the workpiece W and is configured to machine the workpiece W. Hereinafter, this position is referred to as a workpiece machining position.

  As shown in FIG. 5, in the chamfering processing unit 14, the rotation center of the workpiece W is not located on the line through which the rotation center of the chamfering member 1442 passes when the chamfering tool 144 advances and retreats. That is, the chamfering member 1442 comes into contact with a position shifted from the center of the workpiece W, that is, the front side of the workpiece W (the lower side in FIG. 5). Then, as will be described later, the cutter 1846 of the removal processing unit 18 comes into contact with the back side of the workpiece (upper side in FIG. 5) by swinging.

  Next, selection of the chamfering tool 144 will be described. The support frame 142 is attached to the base plate 141 at an angle, but as shown in FIG. 5, the first bevel gear 1421 and the gap formed between the base plate 141 and the support frame 142 by this attachment are provided. A meshing second bevel gear 1423 is provided and is rotatably supported by the support frame 142. The rotation shaft 1424 of the second bevel gear 1423 is disposed so as to extend outward in the axial direction from the gap. A motor 1425 is connected to the outer end portion. Therefore, when the motor 1425 rotates, both the bevel gears 1421, 1423 rotate, and accordingly, the processing tool support portion 143 also rotates. Reference numeral 1432 denotes a fixed shaft that rotatably supports the processing tool support portion 143. Further, as shown in FIG. 7, a push pin 1426 is engaged with a recess 1422 formed on the outer peripheral surface of the first bevel gear 1421. More specifically, the push pin 1426 is supported by the support frame 142 so as to be able to advance and retreat, and is disposed so as to extend radially outward from the first bevel gear 1421. 1424 is shifted in the circumferential direction. That is, as shown in FIG. 6, while the rotating shaft 1424 of the second bevel gear 1423 extends horizontally, the push pin 1426 is arranged to extend obliquely upward. A hydraulic cylinder 1427 is disposed at the outer end portion of the push pin 1426, whereby the inner end portion of the push pin 1426 is pushed into the concave portion 1422 of the first bevel gear 1421, and the first bevel gear 1421 is rotated by a predetermined amount. It can be fixed in position. That is, when any one of the chamfering tools 144 is in the workpiece machining position, this state can be fixed by the push pin 1426.

  Next, the chamfering tool will be described with reference to FIGS. 8 and 9. FIG. 8 is an enlarged cross-sectional view of the chamfering tool, and FIG. 9 is a diagram for explaining replacement of the chamfering tool. As shown in FIG. 8, each chamfering tool 144 includes a cylindrical base material 1441 and a pair of chamfering members 1442 fixed to both ends in the axial direction of the base material 1441, and further the base material 1441. A support shaft 1443 is provided for rotatably supporting the shaft. The support shaft 1443 extends in the axial direction so as to protrude from the rotation center of the chamfer member 1442. The double-sided removing member 1442 is formed in a gear shape so as to mesh with the workpiece W, and is arranged in parallel at intervals such that both side edges of the workpiece W can be pressed. Further, as shown in FIG. 9, rectangular protrusions 1444 are provided at both ends of the support shaft 1443 of each chamfering processing tool 144, and the protrusions 1444 are formed on the processing tool support part 143. It fits into a rectangular recess 1431. When the chamfering tool 144 is at the workpiece machining position, the support shaft 1443 extends in the vertical direction, and the double-sided chamfering member 1442 is disposed horizontally. An annular groove 1445 that can be locked to a holding arm U3 described later is formed in the axial width of each support shaft 1443.

  And the fixing member 145 of the processing tool 144 is attached to the processing tool support part 143 so that the protrusion part 1444 may not detach | leave from the recessed part 1431. FIG. The fixing member 145 includes a pair of fixing pieces 1451 formed in an L shape and a connecting piece 1452 for connecting both the fixing pieces 1451. Each fixing piece 1451 is swingably attached to the outer periphery of the processing tool support portion 143 via a pin 1454, and is configured such that one end portion closes the recess 1431 and the other end portions are connected by a connecting piece 1452. Has been. Then, when the protrusion 1444 of the rotating shaft 1443 of the processing tool 144 is fitted into the recess 1431 by the swinging of the fixed piece 1451, the first position (FIG. 1) covers the recess 1431 and prevents the protrusion 1444 from coming off. 9 (a)) and a second position (FIG. 9 (b)) where the recess 1431 is opened so that the protrusion 1444 can be detached from the recess 1431. Normally, the fixed piece 1451 is biased by the spring 1453 so that the first position is taken. On the other hand, when the connecting piece 1452 is pressed and the fixed piece 1451 swings against the biasing force of the spring 1453, the second position can be taken.

  The connecting piece 1452 is pressed by the pressing cylinder 146. As shown in FIG. 5, the pressing cylinder 146 is attached to a fixed shaft 1432 of the processing tool support portion 143 and is fixed so as not to follow even if the processing tool support portion 143 rotates. And when the processing tool support part 143 rotates, it can press only with respect to the connection piece 1452 which fixes the processing tool 144 in a workpiece | work processing position. Then, as shown in FIG. 9B, when the pressing cylinder 146 presses the connecting piece 1452 of the fixing member 145, the fixing piece 1451 is displaced to the second position so that the protrusion 1444 can be detached from the recess 1431. Become. Thereby, the processing tool 144 can be detached from the processing tool support portion 143.

  The removable processing tool 144 can be transferred to a chamfering tool jig U attached to the spindle unit 12, and can be replaced with another chamfering tool. This point will be described with reference to FIGS. 10, 11, and 12. FIG. 10 is a perspective view of the chamfering tool and the chamfering tool, and FIGS. 11 and 12 are plan views for explaining the operation of the chamfering unit.

  As shown in FIGS. 9 and 10, the chamfering tool jig U is attached to the chuck unit 120 of the spindle unit 12 described above, and has a cylindrical shape having the same configuration as the fixed part Z1 of the workpiece jig Z. The fixed portion U1. That is, the fixing portion U1 is formed with an annular groove U12 that can be held by the arm 176 of the exchange device 2. A pair of support portions U2 is fixed to the upper end portion of the fixed portion U1 via a bracket U4. Moreover, these support parts U2 are formed in a rectangular parallelepiped shape, and are provided so as to be rotationally symmetric about the axis X of the fixed part U1. More specifically, the bracket U4 fixed to the upper surface of the fixing portion U1 includes a plate-like base portion U41 arranged on the upper surface of the fixing portion U1, and plate-like extension portions arranged on both ends and extending upward. U42 and U-shaped. The base portion U41 intersects with the axis X of the fixing portion U1 and is arranged so as to extend in the radial direction, and the above-described support portion U2 is fixed to each extending portion U42 arranged at both ends thereof. Moreover, the extending part U42 has a surface along the radial direction of the fixed part U1. At this time, each support portion U2 is fixed to a surface of each extending portion U42 facing in a different direction so that the support portion U2 is rotationally symmetric about the axis X.

  A pair of clamping arms U3 that clamp the rotating shaft 1443 of the chamfering tool 144 is attached to each support portion U2. These clamping arms U3 are arranged at intervals in the vertical direction so as to clamp the rotating shaft 1443 of the chamfering processing tool 144. As shown in FIG. 9, each clamping arm U <b> 3 has a pair of swingable arm pieces U <b> 31, and a spring U <b> 32 is provided at the end opposite to the one end side that clamps the rotating shaft 1443. The spring U32 biases the other end of the arm piece U31 so as to be separated. Further, in each arm piece U31, arc-shaped notches U311 are formed on surfaces facing each other so as to sandwich the rotating shaft 1443. Thereby, the one end side of arm piece U31 adjoins by spring U32 normally, and it can hold | maintain the rotating shaft 1443. FIG.

  As described above, the chamfering tool jig U is provided with a pair of support portions U2, and the holding arms U3 of the support portions U2 extend to opposite sides with respect to the axis X of the fixed portion U1. ing. Therefore, two chamfering tools 144 can be supported by the chamfering tool jig U. And since these support parts U2 are arrange | positioned in the rotationally symmetric position, when the jig | tool Chamfering tool U rotates 180 degree | times on the chuck | zipper part 120 of the spindle unit 12, either one support part U2 is supported. Is arranged so as to be selectively opposed to the chamfering processing unit 14 or the exchange device 2. Hereinafter, the position facing the chamfering processing unit 14 on the chuck portion 120 is referred to as a first rotation position (exchange position), and the position facing the exchange device 2 is referred to as a second rotation position.

  Next, delivery of the chamfering tool 144 to the chamfering tool jig U and reception from the chamfering tool jig U will be described with reference to FIGS. 9, 11, and 12. First, as shown in FIG. 11A, a chamfering tool jig U is disposed on the spindle unit 12. Then, a chamfering tool 144n to be exchanged is attached to the clamping arm U3 (upper side of FIG. 11A) of one support part U2 of the chamfering tool jig U, and the other support part U2 is attached. The holding arm U3 is left without attaching a chamfering tool. And the clamping arm U3 to which no tool is attached is arranged at the first rotation position.

  In this state, the base plate 141 is advanced, and the annular groove 1445 of the support shaft 1443 of the processing tool 144 is pushed between the arm pieces U31 of the holding arm U3. When the rotary shaft 1443 is pushed in, one end portion of the arm piece U31 is expanded against the spring U32, and the base plate 141 further advances, so that the support shaft 1443 fits into the notch U311. And as shown in FIG.11 (b), when the rotating shaft 1443 fits into the notch U311, the advance of the baseplate 141 will be stopped. Thus, the support shaft 1443 is fixed to the holding arm U3. In this state, when the pressing cylinder 146 is driven and the connecting piece 1452 of the fixing member 145 is pressed, the support shaft 1443 can be detached from the processing tool support portion 143. When the base plate 141 is retracted from here, the chamfering tool 144o is detached from the processing tool support portion 143 while being fixed to the jig U as shown in FIG. 9B. Thereafter, as shown in FIG. 11C, after the base plate 141 is retracted to the initial position, the driving of the pressing cylinder 146 is stopped. In this way, the chamfering tool 144o that has been worn out and is being replaced is removed from the chamfering unit.

  Next, the chuck of the spindle unit 12 is rotated 180 degrees from the state of FIG. As a result, the replacement chamfering tool 144n at the second rotation position moves to the first rotation position, and the used chamfering tool 144o at the first rotation position moves to the second rotation position. Subsequently, the pressing cylinder 146 in the chamfering processing unit 14 is driven to press the connecting piece 1452 of the fixing member 145 (see FIG. 9B). As a result, the fixed piece 1451 swings and the recess 1431 is opened, so that the projection 1444 of the chamfering tool can be inserted into the recess 1431. Subsequently, as shown in FIG. 12A, the base plate 141 is advanced, and the recess 1431 of the processing tool support portion 143 is engaged with the protrusion 1444 of the chamfering processing tool 144. Then, when the driving of the pressing cylinder 146 is stopped and the pressing to the connecting piece 1452 is released, the end of the fixing piece 1451 covers the recess 1431, and the protrusion 1444 of the chamfering tool 144n is fixed to the recess 1431 (FIG. 9 (a)). In this state, as shown in FIG. 12 (b), when the base plate 141 is retracted, the chamfering tool 144 n is detached from the jig U. Thereafter, the base plate 141 is retracted to the initial position. In this way, a new chamfering tool 144n for replacement is mounted on the chamfering unit 14. Thereafter, as will be described later, the chamfering tool 144o is detached from the spindle unit 12 by the exchanging device 2 together with the chamfering tool jig U.

  Next, the removal processing unit 18 will be described with reference to FIG. FIG. 13 is a view taken along line DD in FIG.

  As shown in FIGS. 5 and 13, the support 131 of the tailstock unit 13 is provided with a second frame 139 adjacent to the above-described first frame 138 (on the back side of the first frame). A ball screw 181 extending in the horizontal direction is provided in the second frame 139, and a motor 1811 is attached to the end of the ball screw 181 opposite to the work W. Further, a nut 1812 is screwed to the ball screw 181, and two pressing rods 182 extending to the workpiece W side are attached to the nut 1812. Both the pressing rods 182 are arranged in parallel in the vertical direction with a predetermined interval, and a first connecting rod 1821 that extends in the vertical direction and connects both the pressing rods 182 is movable forward and backward at the end on the workpiece W side. Is attached. A swing plate 1822 is swingably attached to both upper and lower ends of the first connecting rod 1821, and a second connecting rod 1823 extending in the vertical direction is swingable at the tip of each swing plate 1822. Is attached. One end portions of first and second support plates 1831 and 1832 having a substantially triangular shape are attached to both upper and lower ends of the second connecting rod 1823, and a support having a generally triangular shape is provided between the two support plates 1831 and 1832. A removal processing tool 184 is provided via blocks 1861 and 1862. A swing shaft 185 extending in the vertical direction is loosely fitted to each of the support plates 1831 and 1832, and the upper and lower ends of the swing shaft 185 are freely rotatable to the workpiece W side end of the second frame 139. Is attached. As a result, when the first connecting rod 1821 moves back and forth, the support plates 1831 and 1832 swing around the swing shaft 185, whereby the removal tool 184 approaches the workpiece W from the back side. It is supposed to be.

  As illustrated in FIG. 13, the removal processing tool 184 includes a block-shaped first base portion 1841 and a second base portion 1842 that are arranged in the vertical direction. The first base portion 1841 is disposed on the lower side, the disk-shaped first cutter 1843 is disposed on the upper surface, and the first fixing member 1844 is disposed on the upper surface. The rotation axis of the first cutter 1843 extends downward and is supported by the first base portion 1841. The first fixing member 1844 is concentric with the first cutter 1843 and includes an engaging portion 18441 formed in a cylindrical shape and a protruding portion 18442 protruding upward from the upper surface of the engaging portion 18441. An annular groove is formed on the outer peripheral surface of the engaging portion 18441, and one of the holding arms R3 of the jig R for the removal tool described later can be fixed to the annular groove. In the first base portion 1841, a second fixing member 1845 is disposed on the swing shaft 185 side. The second fixing member 1845 includes an engaging portion 18451 formed in a cylindrical shape and a protruding portion 18452 that protrudes upward from the upper surface of the engaging portion 18451, which has substantially the same configuration as the first fixing member 1844. ing. One of the holding arms R3 of the removal tool jig R, which will be described later, can be fixed to the annular groove formed on the outer peripheral surface of the engaging portion 18451.

  On the other hand, the second base portion 1842 is disposed to face the first base portion 1841, and a disk-shaped second cutter 1846 is disposed concentrically with the first cutter 1843. In the center of the second cutter 1846, The engagement hole (illustration omitted) in which the protrusion part 18442 of the 1 fixing member 1844 fits is formed. Further, in the second base portion 1842, an engagement hole (not shown) into which the protruding portion 18452 is fitted is formed at a position facing the second fixing member 1845. The first base portion 1841 and the second base portion 1842 are respectively supported by first and second support blocks 1861 and 1862 described below, and can be moved close to and away from each other. As a result, the gap between the cutters 1843 and 1846 can be adjusted to correspond to the thickness of the workpiece W. In addition, since the first fixing member 1844 is provided between both the cutters 1843 and 1846, even if both the cutters 1843 and 1846 are closest, both the heights of the engaging portions 18441 of the first fixing member 1844 are the same. A gap is formed between the cutters 1843 and 1846. In this state, the engaging portions 18441 and 18451 of both the fixing members 1844 and 1845 are exposed to the outside.

  Next, support blocks 1861 and 1862 that support both bases 1841 and 1842 will be described with reference to FIG. FIG. 14 is a partial side view of the removal processing unit, and shows the operation of clamping the removal processing tool in a state where the first base and the second base are fixed to the removal processing tool jig (clamped state (a)). Clamp released state (b)). As illustrated in FIGS. 13 and 14, the first support block 1861 is disposed below the first base portion 1841 and supports the first base portion 1841 so as to move up and down. The first support block 1861 penetrates the swing shaft 185 and the second connecting rod 1823, and moves up and down along these shafts. A first drive cylinder 1871 is attached to the lower surface of the second support plate 1831, and the piston portion of the first drive cylinder 1871 is connected to the lower side of the first support block 1861. Therefore, the first support block 1861 moves up and down together with the first base portion 1841 as the piston portion of the first drive cylinder 1871 expands and contracts. As shown in FIG. 14, the first support block 1861 and the first base portion 1841 are detachably fixed by a first hydraulic clamp 1881. That is, when the first hydraulic clamp 1881 is actuated by the hydraulic oil supplied from the clamp oil supply pipe 1883 connected to the first support block 1861, the first support block 1861 and the first base 1841 are fixed, and the first hydraulic pressure When the clamp 1881 is released, the first base portion 1841 can be detached from the first support block 1861 in the vertical direction. At that time, FIG. 14B shows a state where the first base 1841 is detached from the first support block 1861 by driving the first drive cylinder 1871 and lowering the first support block 1861. .

  The second support block 1862 has the same configuration as the first support block 1861, and the swing shaft 185 and the second connecting rod 1823 pass therethrough and move up and down along these. Further, the second support block 1862 moves up and down by the piston portion of the second drive cylinder 1872 disposed on the upper surface of the second support plate 1832. Further, a second hydraulic clamp 1882 is built in, whereby the second support block 1862 and the second base 1842 are detachably fixed. With the configuration as described above, the removal processing tool 184 can be detached from the removal processing unit 18 and can be replaced.

  The removal processing tool 184 that has become removable can be delivered to a removal processing tool jig R attached to the spindle unit 12, and can be replaced with another removal processing tool. This point will be described with reference to FIG. FIG. 15 is a plan view for explaining the operation of the removal processing unit. As shown in FIGS. 14 and 15, the removal tool jig R is attached to the chuck unit 120 of the spindle unit 12 described above, and is a fixed part having the same configuration as the fixed part Z1 of the workpiece jig Z. R1. That is, the fixing portion R1 is formed with an annular groove R12 that can be held by the arm 176 of the exchange device 2. A support portion R2 is provided at the upper end of the fixed portion R1, and a pair of sandwiching arms R3 that sandwich the base material of the chamfering tool are attached to the support portion R2. These sandwiching arms R3 sandwich the annular grooves of the respective engaging portions 18441 and 18451 of the removal processing tool 184, and are arranged at predetermined intervals in the horizontal direction. Since the configuration of each clamping arm R3 is substantially the same as that of the clamping arm U3 of the chamfering jig U, description thereof is omitted.

  When the removal processing tool 184 is handed over to the removal processing tool jig R, first, the removal processing tool jig R is arranged on the spindle unit 12 as shown in FIG. In this state, the ball screw 181 is rotated by the motor 1811, the nut 1812, both pressing rods 182, the first and second connecting rods 1821, 1823 are advanced in the direction of the spindle unit 12, and the support plates 1831, 1832 are moved to the swing shaft. It is swung counterclockwise about 185 as the center. As a result, as shown in FIG. 15B, the engaging portions 18441 and 18451 of the removal processing tool 184 are engaged with both the holding arms R3 of the removal processing tool R, respectively. At this time, the two engaging portions 18441 and 18451 of the first base portion 1841 are fixed to the both sandwiching arms R3, but the second base portion 1842 is placed on the first base portion 1841 by the projecting portions 18442 and 18452. Thus, the second base 1842 is also supported by the removal tool jig U. After that, as shown in FIG. 14B, both hydraulic clamps 1881 and 1882 are released, and both drive cylinders 1871 and 1872 are driven to separate the support blocks 1861 and 1862 from the bases 1841 and 1842, respectively. As a result, the removal processing tool 184 is detached from the removal processing unit 18. In this state, if the motor 1811 is rotated in the reverse direction, the support plates 1831 and 1832 swing and return to the initial state.

  Next, the exchange device 2 will be described. As shown in FIG. 2, the exchange device 2 includes a cylindrical base 21 fixed to the second top 1122 of the base 11 and a lifting rod 22 inserted through the base 21, which are the main shafts. It is arranged adjacent to the unit 12. The lower end portion of the base portion 21 of the exchange device 2 is fixed to the second top portion 1122 and extends upward therefrom. The elevating rod 22 is rotatable around the axis inside the base portion 21 and can be moved up and down, and the lower half of the elevating rod 22 constitutes a spline portion 221 subjected to spline processing. And this spline part 221 is extended from the lower end of the base 21 to the internal space 111 of the base 11, and the swivel joint 23 is attached to the lower end part so that rotation is possible but an axial movement is impossible. Four through holes (see FIG. 16) are formed in the elevating rod 22 in the axial direction, and air is supplied to the four through holes via the swivel joint 23.

  Next, a moving mechanism that moves the elevating rod 22 in the vertical direction will be described. First, a piston portion of the first hydraulic cylinder 24 is attached to a side surface of the swivel joint 23 via a fixing member 231. Further, a piston portion of the second hydraulic cylinder 25 is attached to a lower end of the first hydraulic cylinder 24. Is attached. The piston portions of both hydraulic cylinders 24 and 25 are configured to expand and contract in the vertical direction, and the lower end portion of the second hydraulic cylinder 25 is fixed to an attachment stay suspended from the second top portion 1122. By such two hydraulic cylinders 24 and 25, the elevating rod 22 can take three positions in the vertical direction. That is, the first position where both the first and second hydraulic cylinders 24 and 25 are contracted, the second position where the second hydraulic cylinder 25 is expanded and the first hydraulic cylinder 24 is contracted, and the first and second hydraulic cylinders The third position 24 and 25 can be taken as the third position.

  Next, a rotation mechanism for rotating the elevating rod 22 around the axis will be described with reference to FIGS. FIG. 16 is a plan view and an operation view of the rotating mechanism as viewed from below. A spline nut 222 is screwed to the spline portion 221 of the elevating rod 22 below the base portion 21, and a gear is formed on the outer peripheral surface of the spline nut 222. The spline nut 222 is engaged with a drive gear 223 having a diameter approximately twice that of the spline nut 222. The rotation shaft 224 of the drive gear 223 is attached to the lower surface of the second top portion 1122 of the base 11. That is, the drive gear 223 is suspended from the lower surface of the second top portion 1122 so as to be freely rotatable. Further, a circular cam 225 in plan view is integrally attached to the lower surface of the drive gear 223. The cam 225 is formed with a notch 2251 extending in the radial direction, and a cam follower 226 described later is engaged with the notch 2251. The cam 225 has a slightly larger diameter than the drive gear 223, and a spline nut 222 is supported on a portion protruding in the radial direction from the outer shape of the drive gear 223. An L-shaped link member 229 in plan view is provided at a position adjacent to the cam 225. The link member 229 is rotatably supported by a rotating shaft 227 extending downward from the lower surface of the second top portion 1122, and the rotating shaft 227 is connected to a bent portion of the link member 229. The cam follower 226 described above is attached to one end of the link member 229, and a hydraulic cylinder 228 is attached to the other end. The hydraulic cylinder 228 includes a piston portion 2281 and a cylinder body 2282 that accommodates the piston portion 2281, and the cylinder body 2282 is fixed to the lower surface of the second top portion 1122 via a fixing member 2283. Further, the tip end of the piston portion 2281 is swingably attached to the other end portion of the link member 229.

  As shown in FIG. 16A, the piston portion 2281 of the hydraulic cylinder 228 extends in the initial state. As shown in FIG. 16B, the piston portion 2281 is accommodated in the cylinder body 2282. The link member 229 swings about 90 degrees around the rotation shaft 227. Along with this, the cam 225 that engages with the cam follower 226 rotates about 90 degrees, whereby the spline nut 222 rotates forward about 180 degrees together with the lifting rod 22. On the other hand, when the piston portion 2281 extends from this state, the elevating rod 22 rotates backward about 180 degrees and returns to the initial state. Further, the stopper 220 is in contact with the link member 229 in the initial state, thereby maintaining the initial state. On the other hand, when the link member 229 swings, the link member 229 moves away from the stopper 220 and maintains the position rotated at the operating end of the piston portion 2281.

  Next, the fixing mechanism provided at the upper end of the lifting rod will be described with reference to FIGS. FIG. 16 is a plan view of the fixing mechanism, and FIG. 18 is a side view of the fixing mechanism as viewed from the spindle unit 12 side. The fixing mechanism 17 is for exchanging the workpiece W and jigs U, R, and Z attached to the spindle unit 12. As shown in FIG. 18, the fixing mechanism 17 includes a support plate 171 attached to the upper end portion of the elevating rod 22. The support plate 171 is arranged so that one surface thereof faces the spindle unit 12 in the initial state. Hereinafter, this surface is referred to as a first surface 1711, and the opposite surface is referred to as a second surface 1712. Moreover, since the structure of both surfaces of the support plate 171 is the same, the 1st surface shown in FIG. 18 is demonstrated here. However, below, even if it is the same member, a member arranged on the first surface may be a and a member arranged on the second surface b may be explained. In addition, a member on the first surface may be referred to as a member on the first surface, and a member on the second surface may be referred to as a second member. Sometimes referred to as a second arm.

  As shown in FIG. 18, a guide rail 172 extending in the horizontal direction is attached to the first surface 1711 of the support plate 171 near the center in the vertical direction. A first arm support member 174 is attached to the left side of FIG. 18 and a second arm support member 175 is attached to the right side of the guide rail 172, and each of them can move in the horizontal direction along the guide rail 172. Bar-shaped arms 176 are attached to the lower ends of the arm support members 174 and 175, respectively. Each arm 176 protrudes in the horizontal direction from the support plate 171, and the workpiece W and jigs U, R, and Z can be held by both arms 176. As shown in FIG. 17, a notch 1761 having a triangular shape in a plan view is formed on surfaces facing each other in each arm 176, and the work W or the like can be easily held by the notch 1761.

  In the support plate 171, a pinion gear 173 is rotatably attached above the guide rail 172, and a rack 1741 that meshes with the pinion gear 173 from the lower side is attached to the upper end portion of the first arm support member 174 in the horizontal direction. It is provided to extend. On the other hand, a rack 1751 extending in the horizontal direction toward the first arm support member 174 is attached to the upper end of the second arm support member 175. The rack 1751 is disposed so as to mesh with the pinion gear 173 from above, and a guide roller 177 is rotatably attached to the support plate 171 above the pinion gear 173 with the rack 1751 interposed therebetween. In this way, racks 1741 and 1751 are provided on the arm support members 174 and 175 so as to sandwich the pinion gear 173 from above and below, so that the arm support members 174 and 175 come close to and away from each other. Yes.

  A double-acting air cylinder 178 composed of a piston portion 1781 and a cylinder body 1782 that accommodates the piston portion 1781 is attached to the upper end portion of the support plate 171. Specifically, the cylinder body 1782 is fixed to the support plate 171 so that the forward / backward direction of the piston portion 1781 extends in parallel with the guide rail 172, and the tip of the piston portion 1781 is fixed to the second arm support member 175. Thus, as the piston portion 1781 advances and retreats, the second arm support member 175 moves in the horizontal direction along the guide rail 172, and the first arm support member 174 also moves in synchronization therewith. Accordingly, as described above, both arms 176 are close to and away from each other. When the two arms 176 are farthest apart, the distance between them is larger than the maximum diameter of the jigs Z, U, R or the workpiece W, and when both arms 176 are close, the jigs Z, The U, R annular grooves Z12, U12, R12 or the workpiece W are clamped.

  As described above, four through holes are formed inside the elevating rod 22, but as shown in FIG. 18, these through holes 179 i to 179 iv are formed in the four inside the support plate 171. It communicates with the flow passage 1710. Two of them, 179i and 179ii, are connected to an air cylinder 178a provided on the first surface 1711 of the support plate 171 via a flow passage 1710 and a connecting tube (not shown), and the other two are the same. In addition, the air cylinder 178 b provided on the second surface 1712 of the support plate 171 is connected through a flow passage 1710 and a connecting tube (not shown). That is, air is supplied to the air cylinders 178a and 178b from the four flow paths, and functions as a double-acting air cylinder as described above.

  The relationship between the vertical position of the lifting rod 22 and the arm 176 is as follows. This will be described with reference to FIG. That is, when the elevating rod 22 is in the lowest first position, the arm 176 is disposed at a position facing the annular groove of the jig Z (U, R), and the arms are annular groove when both arms come close to each other. And the jig Z (U, R) can be clamped. Next, when in the second position, the arm 176 is disposed at a position facing the workpiece W attached to the workpiece jig Z. Thereby, the workpiece W can be clamped by the arm 176. When the arm 176 is in the third position, the arm 176 is located above the work W and is positioned so as not to interfere with the work W even if both arms 176 are close to each other. The operation of each mechanism described above is performed by a control unit (not shown) and operates as described below.

  Next, the lifter 3 will be described. 19 is a front view of the pallet moved by the lifter, FIG. 20 is a front view of the lifter, FIG. 21 is a side view of FIG. 20, and FIG. 22 is a plan view of FIG. Hereinafter, in the left-right direction in FIG. 20, the side facing the exchange device is referred to as “front”, the opposite side is referred to as “rear”, and the left-right direction in FIG. 21 is referred to as “left-right direction”. I decided to.

  The lifter 3 is a device for moving the plate-like pallet on which the workpiece W, the workpiece jig Z and the processing tool jigs U and R are arranged in parallel to the exchange device 2 side, and moving up and down. A parallel movement mechanism for moving the pallet in parallel, and a vertical movement mechanism for moving the parallel movement mechanism up and down.

  First, the pallet will be described. In this embodiment, two types of pallets 301 and 302 are used. One is a jig pallet 301 shown in FIGS. 19A to 19C, and the other is a work pallet 302 shown in FIG. 19D. The jig pallet 301 is formed in a plate shape, and a columnar support member 3011 for supporting the jig is fixed on the upper surface thereof. Then, on the support member 3011, a removal tool jig R shown in FIG. 19 (a), a chamfering tool jig U shown in FIG. 19 (b), and a workpiece jig shown in FIG. 19 (c). The tools Z are detachably mounted. That is, the jig pallet 301 is used in common for the removal tool jig R, the chamfer tool jig U, and the work tool Z. On the other hand, a cylindrical support member 3021 is fixed to the work pallet 302, and a small-diameter cylindrical protrusion 3022 is formed at the upper end of the support member 3021. The protrusion 3022 is inserted into the through hole of the gear W and supports the gear W.

  As described above, in order to support the four types of objects, two types of pallets 301 and 302 are used, and each pallet 301 and 302 (hereinafter, the pallet code is 301, but the same applies to 302. ) Is moved by the lifter 3.

  Next, the parallel movement mechanism will be described. As shown in FIGS. 20 to 22, the parallel movement mechanism includes a slide substrate 31 that supports the pallet 301 and a support substrate 32 that supports the slide substrate 31. The slide substrate 31 includes a pair of plate-like side members 311 that sandwich the pallet 301 from both sides, and a plate-like support member 312 that supports the side members 311 from below, and an installation space between the side members 311. A pallet 301 is inserted into 310. Further, in each side member 311, a step 3111 extending in the front-rear direction is formed on the surface facing the installation space 310, and the left and right sides of the pallets 301 and 302, as will be described later, are formed on the step 3111. Steps 3011 formed on both sides are engaged as slide guides.

  A stopper 336 extending toward the installation space 310 is attached to the front end surface of the side member 311. Accordingly, the pallet 301 inserted into the installation space 310 from the rear end side of the slide substrate 31 is restricted from moving forward by the plate-like stopper 336. At this time, the rear end portion of the pallet 301 is engaged with a claw member 331 of a lock mechanism, which will be described later, thereby restricting rearward movement. Therefore, the movement of the pallet 301 inserted into the installation space 310 of the slide substrate 31 in the front-rear direction is restricted by the stopper 336 and the lock mechanism, and is thereby held in the slide substrate 31. Reference numeral 3113 shown in FIG. 22 denotes a pressing plate fastened to the upper surface of the side member 311, and the upward movement of the pallet 301 is restricted by extending the tip of the pressing plate above the installation space 310.

  Next, the lock mechanism will be described. Since the same locking mechanism is provided for each side member, the locking mechanism on the upper side of FIG. 22 will be described here. A concave portion 3112 is formed on a side surface of the lower surface of the side member 311 facing the installation space 310, and a claw member 331 is swingably disposed in the concave portion 3112. A lock claw 3311 extending toward the installation space 310 is provided at the rear end of the claw member 331. When the lock claw 3311 moves to the installation space side due to the swing of the claw member 331, the lock claw 3311 is moved to the pallet 301. The rear end of the pallet 301 is restricted by engaging with the rear end at the end in the left-right direction. On the other hand, when the claw member 331 swings and the lock claw 3311 moves to the side opposite to the installation space 310, the engagement state between the pallet 301 and the lock claw 3311 is released, and the pallet 301 can move rearward.

  A shaft member 332 extending in the vertical direction and penetrating the side member 311 is fixed to the tip of the claw member 331, and the claw member 331 is supported by the shaft member 332 so as to be swingable. An upper end portion of the shaft member 332 projects from the upper surface of the side member 311 and is connected to a swing member 333 that extends in the left-right direction. Further, the swing member 333 swings about the shaft member 332 as the swing center. And as shown in FIG. 22, the front-end | tip part of the rocking | swiveling member 333, ie, the edge part on the opposite side to the shaft member 332, is pressed by the pressing member 334 from the front. The pressing member 334 includes a pressing pin 3341 constantly biased by a spring, and the pressing pin 3341 constantly presses the swinging member 333 backward. Thereby, the claw member 331 is swung to the installation space 310 side.

  On the other hand, a cylinder 335 provided with a piston 3351 that moves back and forth is disposed behind the swinging member 333. And the piston 3351 presses the rocking | swiveling member 333 from back. More specifically, when the cylinder 335 is driven and the piston 3351 moves forward, the piston 3351 presses the swing member 333 forward against the urging force of the pressing pin 3341. As a result, the claw member 331 swings and the lock claw 3311 moves outside the installation space 310. As a result, the engagement state between the lock claw 3311 and the pallet 301 is released. In this state, the pallet 301 can enter or leave the installation space 310, and the pallet can be replaced.

  Next, the movement of the slide substrate 31 on the support substrate 32 will be described. As shown in FIG. 21, guide rails 321 extending in the front-rear direction are provided on both sides of the slide substrate 31, and the slide substrate 31 moves on the support substrate 32 in the front-rear direction along the guide rail 321. It is possible. The slide substrate 31 is moved by a pair of forward / reverse cylinders 322 provided on both sides of the support substrate 32. As shown in FIG. 20, each forward / reverse cylinder 322 extends in the front / rear direction, and the front end is fixed to the front end of the support substrate 32. Further, a piston 3221 extending rearward projects from the rear end portion of the forward / reverse cylinder 322, and the rear end portion of the piston 3221 is connected to the rear end portion of the side portion of the slide substrate 31. That is, the rear end portion of the piston 3221 is connected to the rear end portion of the side member 311. With the above configuration, when the forward / reverse cylinder 322 is driven and the piston 3221 moves backward, the slide substrate 31 moves backward, and when the piston 3221 moves forward, the slide substrate 31 moves forward.

  Next, the vertical movement mechanism will be described. As shown in FIGS. 20 and 22, a pair of stands 34 extending upward are disposed on the second top portion 1122 so as to sandwich the side member 311 and the support substrate 32. A guide rail 341 extending in the vertical direction is attached to the rear end surface of each stand 34. Further, a plate-like bracket 342 extending rearward is attached to the upper end portion of each stand 34, and a lifting cylinder 35 is provided at the rear end portion of the bracket 342. A piston 351 extends downward from the lower end of each elevating cylinder 35, and the piston 351 and the guide rail 341 extend in parallel.

  Guide frames 36 extending upward are respectively attached to the upper surfaces of both sides of the support substrate 32, and each guide frame 36 engages with the guide rail 341 and moves up and down along the guide rail 341. Yes. The lower end portion of the piston 351 is connected to the upper end portion of the guide frame 36. When the piston 351 moves up and down, the guide frame 36 moves up and down accordingly. As a result, the support substrate 32, the slide substrate 31 supported by the support substrate 32, and the pallet 301 move up and down. When this vertical movement mechanism is operated to the ascending end, the pallets 301 and 302 are used to deliver the workpiece W and jigs R and U to the exchanging device 2 in order to replace the workpiece W and the processing tools 144 and 184. The annular grooves Z12, R12, U12 or workpieces W of the jigs Z, R, U mounted on the workpieces W are positioned at the first position (1) (FIG. 23) of the arm 176 of the exchange device 2.

  Next, operations of the gear machining device, the exchange device, and the lifter configured as described above will be described with reference to FIGS. Here, the mounting of the workpiece after the chamfering tool shown in FIGS. 11 and 12 is replaced will be described.

  First, in the state of FIG. 23A, a new chamfering tool 144n is mounted on the chamfering unit 14, and one of the clamping arms U3 in the chamfering tool jig U in the spindle unit 12 is empty. A used chamfering tool 144o is mounted on another clamping arm U3 (not shown). At this time, the first arm 176a of the exchange device 2 is disposed on the main shaft unit 12 side, and the second arm 176b is disposed on the lifter 3 side. Further, the lifter 3 is provided with a pallet 301 on which a workpiece jig Z is placed, and the annular groove Z12 of the workpiece jig Z is formed into a second shape by driving the parallel movement mechanism and the vertical movement mechanism. The arm 176b is positioned at the first position (1).

  Next, the chamfering tool jig U is clamped by the first arm 176a of the exchange device, and the workpiece jig Z is clamped by the second arm 176b, and the chuck portion 120 of the spindle unit 12 is released to add the chamfer. After releasing the restraint of the tool jig U, as shown in FIG. 23B, the exchange device 2 is driven to raise the arms 176a and 176b to the second position (2). Subsequently, as shown in FIG. 24A, the support plate 171 of the exchange device 2 is rotated by 180 degrees. Subsequently, as shown in FIG. 24B, the arms 176a and 176b are lowered to the first position (1), and the workpiece jig Z sandwiched between the second arms 173b is moved to the spindle unit 12. The chuck part 120 is attached. That is, as shown in FIG. 2, before the arms 176a and 176b are raised to the second position (2), the hydraulic cylinder 153 is driven, the movable rod 128 is raised, and the chuck portion 120 is released to cure. The tools U and Z can be inserted and removed. When the arms 176a and 176b are lowered again to the first position (1), the hydraulic cylinder 153 is driven and the movable rod 128 is lowered. Accordingly, the chuck portion 120 presses the workpiece jig Z outward in the radial direction, and the workpiece jig Z is fixed to the chuck portion 120. Then, the seating of the workpiece jig Z on the upper surface of the chuck portion 120 is confirmed. On the other hand, the chamfering tool jig U sandwiched between the first arms 176 a is placed on the fixing member 3011 of the pallet 301 supported by the lifter 3.

  Subsequently, the clamping state between the first arm 176a and the chamfering tool jig U and the clamping state between the second arm 176a and the workpiece jig Z are released. Then, as shown in FIG. 25 (a), the pallet 301 supported by the lifter 3 is moved away from the exchange device 2 by the parallel movement mechanism and then lowered by the vertical movement mechanism. Then, the pallet 301 with the chamfering tool jig U is removed from the lifter 3, and the work pallet 302 on which the unprocessed work W1 is mounted is attached to the slide substrate 31 as shown in FIG.

  Next, as shown in FIG. 26 (a), the lifter 3 is driven and the workpiece W 1 supported by the workpiece pallet 302 is positioned so as to correspond to the first position (1) of the exchange device 2. Subsequently, the work W1 on the pallet 302 is clamped by the first arm 176a. On the other hand, the second arm 176b does not hold the workpiece jig Z. From this state, the arms 176a and 176b are raised to the third position (3) so as not to interfere with the workpiece jig Z (shown by a chain line), as shown in FIG. The support plate 171 is rotated 180 degrees. Thereby, the workpiece | work W1 is arrange | positioned above the jig | tool Z for workpiece | work. A new work W2 is placed on the work pallet 302 of the lifter 3 by a robot hand (not shown).

  Thereafter, as shown in FIG. 27A, the support plate 171 is lowered, and the arm 176a holding the workpiece W is disposed at the second position (2). Thereby, the insertion portion Z3 of the jig Z is inserted into the center hole of the workpiece W. At this time, the lifter 3 causes the work pallet 302 on which the work W2 is placed to stand by at the first position (1). Subsequently, after the holding state of the first arm 176a is released and separated from the work W1, the support plate 171 is lowered, and the first arm 176a and the second arm 176b are moved as shown in FIG. Are placed in the first position (1) in an open state. Subsequently, if the center pushing part 132 of the tail pushing unit 13 is lowered and the insertion part Z3 of the jig Z is pressed by the pressing member 1321, the insertion part Z3 presses the center hole of the workpiece W1 radially outward, The workpiece W1 is fixed to the jig Z.

  After the above preparatory work or in parallel with this work, the chamfering tool 144 is selected. That is, the chamfering tool 144 corresponding to the workpiece W fixed to the spindle unit 12 is selected, the motor 1425 of the chamfering processing unit 14 is driven to rotate the processing tool support portion 143, and the selected processing tool 144 is machined. Place in position. In this state, the motor 1414 of the chamfering processing unit 14 is driven to advance the chamfering tool 144 toward the workpiece W1. Then, the chamfering member 144 of the chamfering tool 144 is engaged with the workpiece W1, and the chamfering tool 144 is pressed against the workpiece W1 while rotating the spindle unit 12, thereby performing chamfering. At the same time, the motor 1811 of the removal processing unit 18 is driven to swing the removal processing tool 184. Then, the removal tool 184 scrapes off burrs and surplus material generated on both side surfaces of the workpiece W1. At this time, the cutters 1843 and 1846 are pressed against the workpiece W1 so as to be close to each other. In this way, as shown in FIG. 29, the chamfering process and the removing process are performed for a predetermined time, and after the machining is completed, the chamfering tool 144 and the removing tool 184 are separated from the work W1. Thereafter, the drive of the spindle unit 12 is stopped and returned to the initial state shown in FIG.

  Then, when the machining of the workpiece is completed, the mandrel 132 is raised from the state of FIG. Thereby, the fixed state of the insertion part Z3 and the workpiece | work W1 is cancelled | released, and the workpiece | work W1 will be in the state which can be removed from the jig | tool Z for workpiece | work. At the same time, only the second arm 176b closes and holds the workpiece W2. Then, the support plate 171 is raised to the second position (2), and the processed workpiece W1 is clamped by the first arm 176a. And as shown to Fig.28 (a), both arms 176a and 176b are raised and arrange | positioned in the 3rd position (3). Following this, the support plate 171 is rotated 180 degrees and then lowered to the second position (2). Thereby, the unprocessed work W2 is mounted on the insertion portion Z3.

  FIG. 28B shows a state immediately before the workpiece W2 fixed to the workpiece jig Z is processed. The second arm 176b retracted to the first position (1) is open, and the first arm 176a is closed to hold the processed workpiece W1. A new work W3 is placed on the pallet 302 of the lifter 3 by the robot hand RH. The hand RH has a pair of claws that can be opened and closed in the vertical direction. After the unprocessed work W3 is taken out from the unprocessed work rack (not shown) and placed on the pallet 302, the processed work W1 is gripped. , Collect it in a processed work rack (not shown). After the robot hand RH collects the workpiece W1, the lifter 3 moves the unmachined workpiece W3 to the first position (1).

 The reason why the second top portion 1122 where the lifter 3 is installed is arranged at a position lower than the first top portion 1121 is to supply the unprocessed workpiece and collect the processed workpiece by the robot hand RH continuously. In addition, this is to prevent the hand RH in the collecting operation from interfering with the waiting workpiece.

  As described above, after the processing and replacement of the workpiece W are repeated, the workpiece jig Z is also replaced as necessary. The replacement of the workpiece jig Z is the same as the replacement of the workpiece W. For example, the arm 176a is moved to the first position (1) to clamp the jig Z and remove it from the chuck portion 120. Then, after raising the arm 176a to the third position (3), the support plate 171 is rotated. At this time, a new work jig Z supplied from the lifter 3 is held by the second arm 176b, and after the support plate 171 rotates, the arm 176b is lowered to the first position (1), A new workpiece jig Z is attached to the chuck portion 120 of the spindle unit 12. Thus, when the workpiece jig Z is exchanged, the workpiece W corresponding to the jig Z is attached and processed.

  Note that the chamfering tool jig U and the removal tool jig R can be attached to the spindle unit 12 using the lifter 3 and the exchange device 2 in the same manner as the workpiece jig Z. Then, after attaching these jigs U and R to the spindle unit 12, as shown in FIGS. 11, 12, and 15, the processing tools 144 and 184 are exchanged.

  As described above, according to the present embodiment, the workpiece jig and workpiece supported by the spindle unit can be exchanged with another workpiece jig and workpiece by the exchange unit. Further, a processing tool jig for supporting the processing tool can be attached to the spindle unit, and further, the processing unit is connected to the processing tool jig attached to the spindle unit. Since it is configured to perform delivery and reception, the exchange of the processing tool can also be performed by the replacement unit via the processing tool jig attached to the spindle unit.

  Moreover, the jig | tool R for chamfering processing tools which concerns on this embodiment is provided with the at least 2 clamping arm U3 which supports the chamfering processing tool 144 so that attachment or detachment is possible. Then, the spindle unit 12 is configured to selectively arrange any of the holding arms U3 to the first rotation position where the chamfering processing unit 144 is transferred to and received from the chamfering processing unit 14. . Therefore, the following efficient tool exchange is possible. For example, the chamfering tool 144 for replacement is attached to one clamping arm U3, and the chamfering tool jig R is set on the spindle unit 12 without attaching the chamfering tool 144 to the other clamping arm U3. And the clamping arm U3 which has not attached the chamfering processing tool 144 is arrange | positioned in a 1st rotation position. Subsequently, the used processing tool is delivered from the chamfering processing unit 14 to the holding arm U3 at the first rotation position. Subsequently, by rotating the chuck portion 120 of the spindle unit 12, the clamping arm U3 to which the replacement chamfering tool 144 is attached is disposed at the first rotation position. Then, the replacement chamfering tool 144 is delivered to the chamfering unit 14. As a result, when the chamfering tool 144 is set on the spindle unit 12 only once when the chamfering tool 144 is exchanged via the spindle unit 12, the used chamfering tool 144 is received and replaced. The chamfering tool 144 for use can be delivered. Therefore, the chamfering tool 144 can be exchanged efficiently.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible unless it deviates from the meaning. For example, the following changes can be made.

  The chamfering tool jig U is provided with two support portions U2 and two clamping arms U3. However, the invention is not limited to this, and three or more chamfering tool jigs U may be provided. The configuration of the chamfering tool jig U is not particularly limited as long as the chamfering tool 144 can be detachably attached and can be detachably fixed to the spindle unit 12.

  In the above-described embodiment, an example in which two clamping arms U3 are provided in the chamfering tool jig U has been described, but the removal tool jig R can also be configured in the same manner. That is, a plurality of support portions R2 and holding arms R3 are provided, and the removal tool is set only once in the spindle unit 12, just like the replacement of the chamfering tool 144. 184 can also be exchanged.

  In the above embodiment, an example of the driving method of the chamfering processing unit 14 and the removal processing unit 18 has been shown. However, the present invention is not limited to this. Is applicable.

  The number of chamfering tools 144 attached to the chamfering processing unit 14 may not be plural, and may be one.

  The removal processing unit 18 moves the removal processing tool close to the workpiece by swinging. However, like the chamfering processing unit of the above embodiment, the removal processing tool 18 may be configured to linearly approach and separate from the workpiece. it can.

  In the above embodiment, two chamfering members 1442 of the chamfering processing tool 144 are provided and two cutters 1843 and 1846 of the removal processing tool 184 are also provided. You may make it take.

  The position of each unit is not particularly limited. That is, it should just be arrange | positioned in the circumference | surroundings of a workpiece | work. However, in order to make the apparatus compact, it is preferable that they are adjacent as described above.

  Moreover, in the said embodiment, although the workpiece | work W and the jig | tool Z were clamped by the pair of arms 176 as an example of fixation of the workpiece | work and jig | tool by an exchange apparatus, if a workpiece | work and a jig | tool can be detachably fixed, The embodiment is not particularly limited. For example, one fixing member may be engaged with a work or a jig, or may be engaged with a hole or a groove formed in the work or the jig.

  In the processing system, the type of workpiece is not particularly limited, and the processing tool for processing the workpiece is not particularly limited. Therefore, workpieces other than gears can be applied, and processing tools other than chamfering and removal can be used.

12 Spindle unit 120 Chuck part (fixed part)
14 Chamfering unit 144 Chamfering tool (first processing tool)
18 Removal processing unit 184 Removal processing tool (second processing tool)
W Work (Gear)
U Chamfering tool J2 U2 support part (work tool mounting part)
U3 clamping arm (work tool mounting part)
R Jig for removal tool

Claims (6)

A processing system to which a workpiece, a workpiece jig, a processing tool, and a processing tool jig can be attached,
A spindle that has one fixing part that can be detachably fixed to the workpiece jig that supports the workpiece and the processing tool jig that supports the processing tool, and is rotatable about an axis. Unit,
At least one processing unit to which at least one processing tool for processing a workpiece supported by the spindle unit is attached;
With
The processing unit is configured to deliver and receive the processing tool between the processing tool jig fixed to the spindle unit,
One processing tool jig has at least two processing tool mounting portions for detachably supporting the processing tool,
When the fixing portion of the spindle unit rotates around the axis, any one of the processing tool mounting portions is selectively disposed at an exchange position where the processing tool is transferred to and received from the processing unit. A processing system that is configured to.
The processing tool jig has two processing tool mounting portions,
The processing system according to claim 1, wherein the two processing tool mounting portions are arranged at positions that are rotationally symmetric about the axis. The workpiece is a workpiece gear;
One of the processing units is a chamfering unit that performs chamfering on the gear to be processed,
The processing tool is a first processing tool having at least one chamfering member that meshes with at least one of the side edges of the gear to be processed and is rotatably supported.
The chamfering unit is
A first support mechanism that detachably supports at least one of the first processing tools;
3. A first drive mechanism that supports the first processing tool and moves the first processing tool close to and away from the workpiece gear supported by the spindle unit. Machining system. The workpiece is a workpiece gear;
One of the processing units is a removal processing unit for removing burrs and surplus on the side surface of the gear to be processed,
The processing tool is a second processing tool having at least one cutter for removing burrs and surplus on at least one side surface of the gear,
The removal processing unit includes:
A second support mechanism for removably supporting at least one second processing tool;
The processing according to claim 1, further comprising: a second drive mechanism that supports the second processing tool and moves the second processing tool close to and away from the gear supported by the spindle unit. system. The workpiece is a workpiece gear;
As the processing unit, a chamfering processing unit that performs chamfering processing on the gear to be processed, and a removal processing that can be driven independently of the chamfering processing unit and that removes burrs and surplus on the side surface of the processing gear. A unit,
The chamfering unit includes, as the processing tool, a first processing tool that has at least one chamfering member that meshes with at least one of the side edges of the gear to be processed and is rotatably supported.
The removal processing unit includes, as the processing tool, a second processing tool having at least one cutter for removing burrs and surplus on at least one side surface of the gear,
The chamfering unit is
A first support mechanism that detachably supports at least one of the first processing tools;
A first drive mechanism that supports the first processing tool and moves the first processing tool close to and away from the gear supported by the spindle unit;
The removal processing unit includes:
A second support mechanism for removably supporting at least one second processing tool;
A second drive mechanism that supports the second processing tool and moves the second processing tool close to and away from the gear supported by the spindle unit;
The processing system according to claim 1, comprising: A method for exchanging a processing tool in the processing system according to any one of claims 1 to 5,
The replacement tool is attached to at least one processing tool mounting portion of the processing tool jig, and the processing tool jig is attached to the at least one processing tool mounting portion without attaching the processing tool. Fixing to the fixing part of the spindle unit;
The step of disposing the processing tool mounting portion to which the processing tool is not mounted by the spindle unit at the replacement position;
Delivering the processing tool attached to the processing unit to the processing tool mounting portion to which the processing tool is not attached;
Placing the processing tool mounting portion to which the replacement processing tool is mounted by the spindle unit at the replacement position;
The processing unit receiving the replacement processing tool;
A processing tool replacement method comprising:

Images