JPH0150542B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for sequentially carrying workpieces stored in a chute or magazine stock into and out of a processing area.

The present invention is commonly called a loading device,
The workpiece is transferred to and removed from the chuck of the machine tool at the workpiece loading/unloading position and the machining position. There are two types: a slider type that moves directly relative to the chuck and an arm type that rotates. The present invention belongs to the latter category, and this type of device has an operational configuration that more specifically satisfies the above-mentioned functions, and moves the workpiece between the workpiece loading/unloading position and the chuck of the machine tool. This is accomplished by a rotational movement of the arm for the purpose of loading and unloading the workpiece, and a movement in the direction of the arm's rotational axis for attaching and removing the workpiece to and from the chuck. The drive means that guides this operation is provided independently for each of the above actions, and in most cases a fluid actuator is used, and fluid control equipment and electrical control equipment to control this fluid actuator. is necessary and necessarily,
The structure tends to be complex and large. In particular, when the stroke of the movement in the direction of the arm pivot axis is larger than the overall length of the workpiece or the interference of the tool movement, it is even better if a corresponding linear cylinder is used. Additionally, in connection with this, there is a tendency for prices to become higher economically. Furthermore, since it is an electrical sequence control, the response is poor, and if a defect occurs in any of the above-mentioned devices, it is likely to cause a failure.

In order to overcome these drawbacks, the present invention aims to provide a device that can stably carry in and out workpieces by simplifying the structure by reducing the number of drive means as much as possible. . below,
The structure of the present invention will be explained based on the drawings.

Reference numeral 1 denotes a workpiece loading/unloading device (hereinafter referred to as the main body), which transfers the workpiece between the loading/unloading position of the workpiece and the chuck of the machine tool at the machining position by the rotational movement of the arm; Workpieces are attached and detached by movement in the direction of the arm rotation axis.
Reference numeral 2 denotes a conveying means that grips and conveys the workpiece by mutually rotating movement between the machining position and the workpiece loading/unloading position and relative movement in the direction of the rotation axis. An arm support shaft 4 having an arm rotation axis parallel to the main axis of the main shaft 5 is attached to the main body 1 so that it can rotate relative to the arm rotation axis and can reciprocate back and forth in the direction of the arm rotation axis. A loading/unloading arm, which is supported and fixed to the arm support shaft 4 so as to be able to rotate around the arm rotation axis, carries in the workpiece stock via a gripper 6 attached to the loading/unloading arm 5. The workpieces held in the chucks 7 of the machine tools at the carry-out position and the processing position are grasped and transferred to each other. The gripper 6 can be of the pawl or collet type or of other types and is actuated via mechanical or fluid control means. Reference numeral 8 denotes a cam control means that is relatively rotatable around the arm rotation axis, and holds the arm support shaft 4 on the same axis and rotates the main body 1.
The cam member 8 is rotatably supported through a bearing 9, and the rotation of the arm support shaft 4 around the arm rotation axis and the arm rotation axis are caused by the relative rotation of the cam member 8 about the rotation axis. Controls the forward and backward reciprocating movement in the direction. The cam member 8 constitutes a cam cylinder or a cam drum, and on the outer periphery of the cam cylinder, an isosceles shape having a gradually increasing slope extends outward from one point on the outer periphery to the left and right along the arm rotation axis direction. An open space or V-groove cam 10 is formed at the corner. The cam 10 shown as an embodiment of the present invention is a cam that gradually increases in the forward motion direction of the arm support shaft 4 that reciprocates back and forth in the arm rotation axis direction, and is connected by dividing an isosceles angle and a base into two equal parts. The straight line distance is the maximum stroke of the arm support shaft 4 in the direction of the arm rotation axis. 11 is the arm support shaft 4
cam engagement actuating means fixed to the arm support shaft 4 via a key coaxially with the cam engagement member 11;
A cam 10 on the cam control means 8 engages a cam 10 on the cam control means 8. 1
Reference numeral 3 denotes a spring interposed between the cam control means 8 and the cam engaging member 11 on the arm rotation axis of the arm support shaft 4 so that the two resist each other relative to each other in the arm rotation axis direction; Compression springs are used in one embodiment of the invention. Reference numeral 14 denotes a locking piece extending parallel to the arm rotation axis direction at a point on the outer periphery coaxially with the arm support shaft 4 and protruding in the radial direction of the arm support shaft 4;
The cam engagement member controls the rotation of the arm support shaft 4 and the relative back-and-forth reciprocating motion in the direction of the arm rotation axis through engagement with a stopper described later during the rotation of the arm support shaft 4. It is equipped on the outer periphery of 11. The entire length of the locking piece 14 extending in the direction of the arm rotation axis is equal to the maximum stroke of the arm support shaft 4 whose motion is controlled by the cam 10 of the cam member 8 in the direction of the arm rotation axis. 15
is mounted on the main body 1 around the rotation axis of the arm support shaft 4, and controls the rotation angle of the arm support shaft 4 and the chuck of the machine tool, the workpiece, and the workpiece stock. A pair of stoppers that regulate the attachment/detachment position; one stopper 1
5a regulates the attachment/detachment position of the workpiece to the chuck 7 of the machine tool, and the other stopper 15b regulates the attachment/detachment position of the workpiece to/from the workpiece stock loading/unloading position; both stoppers 15a, 15b
The locking piece 14 is interposed between the two and can be engaged by relative rotation of the cam member 8.

Reference numeral 16 denotes a drive means connected to the cam control means 8, and a rotary actuator or an actuator that converts linear motion into rotary motion is used. 17 is a workpiece held by chuck 7;

Next, the operation of the present invention will be explained.

In the engagement relationship between the cam 10 on the cam member 8 and the trochanter body 12 of the cam engaging member 11, the trochanter body 12
is located at the vertex of the isosceles corner of the cam 10, and in a state in which the locking piece 14 does not engage with either of the stoppers 15a, 15b arranged on the left and right around the rotation axis of the conveying member 2, the driving means When the cam control means 8 rotates in the direction of the workpiece loading/unloading position due to the operation of the cam 16, the trochanter body 12 located at the apex of the cam 10 is biased by the compression spring 13.
The cam engaging member 11 is rotated in the same direction while maintaining the above relationship. This operation causes the conveying member 2 to pivot toward the workpiece loading/unloading position, the locking piece 14 comes into contact with the stopper 15a located on the workpiece loading/unloading position side, and the driving means 16 continues to operate in the operating direction. When rotated to
The trochanter body 12 is removed from the apex on the cam 10 and
Cam 1 is restrained by the cam surface in the upward direction toward the rotation direction of cam 1, and the cam 1 is
It moves forward in the direction of the rotation axis of the conveying means 2 by a distance corresponding to the total length of the stroke of zero.

By this operation, the cam engaging member 11 advances, the conveyance member 2 is guided to the workpiece loading/unloading position, and the workpiece is gripped via the gripper 6. Thereafter, when the driving means 16 rotates in the opposite direction to the above rotation direction, the trochanter body 11 that engages with the cam member 8 is released from the restraint of the cam 10 in the upward direction due to the rotation of the cam member 8. Through the action of the compression spring 13, the cam 10 reaches the apex of the cam 10 again along the previous cam surface which becomes downward in the direction of rotation.

Due to this action, the cam engaging member 11 is connected to the conveying member 2.
The conveying member 2 moves back in the direction of the rotation axis, moves away from the workpiece loading/unloading position, and carries the workpiece into the processing area. The action described so far is the action of attaching and detaching the workpiece to the conveying member 2 at the workpiece loading/unloading position. Next, in the above operation, when the trochanter body 12 moves the entire length of the stroke of the cam 10 necessary for the attachment/detachment operation and reaches the apex of the cam 10, the locking piece 1
4 is removed from the stopper 15a, and due to the rotation of the cam member 8, the trochanter body 12 located at the apex on the cam 10 is removed.
is biased by the compression spring 13 to maintain the above relationship and rotate the cam engaging member 11 in the same direction. This rotation causes the conveying member 2 to pivot on the processing area, and at this time, the locking piece 14
When it comes into contact with the stopper 15b in the processing position,
The rotating movement of the conveyance member 2 is stopped. During this time, there is a transfer action on the processing area of the workpiece. Subsequently, the conveying member 2 is operating in the same direction, and the cam member 8
The trochanter body 1 is positioned at the apex of the cam 10 due to the rotation of
When the conveyor member 2 comes off the top of the cam 10, is restrained by the upward cam surface in the direction of rotation, and moves by the entire length of the cam stroke, the conveyor member 2 moves in the direction of the rotation axis toward the chuck of the machine tool at the machining position. When the workpiece moves forward and reaches the chuck position, the workpiece is transferred to the chuck via the gripper 6 of the conveying member 2.
Thereafter, since machining begins at the machining position, the conveyance member 2 immediately retreats from the machining area and returns to the workpiece carry-in/unload position. The operation during this time is accomplished by rotating the drive means in the opposite direction, according to the steps described at the beginning of the operation. At this time, the conveyance member 2 may be held at a position away from the processing area. Thereafter, when the processing is finished, in order to take out the workpiece from the chuck, the conveyance member 2 is transferred to the processing position of the workpiece and performs the same operation as the attachment/detachment operation, and moves from the processing area to the workpiece unloading position. transported. In one embodiment of the present invention, the workpiece and the workpiece gripping tool are shared on the loading/unloading arm. Although the operating process can be further simplified, its structure is completely the same as that shown in the drawings of the present invention.

As described above, in the present invention, the structure is simple because it is a combination of one driving means and a cam, and the mechanical sequence action unique to the cam is carried out, so that the workpiece and the workpiece can be Loading and unloading is both accurate and fast.

[Brief explanation of drawings]

FIG. 1 is a cross-sectional view showing one implementation of the device of the present invention, FIG. 2 is a cross-sectional view of the main part taken along the arrow line AA in FIG. 1, and FIG. 3 is a diagram showing the cam and trochanter body of the device of the present invention. FIG. 4 is a sectional view of the main part from the front of the device of the present invention, FIG. The figure which shows the relative position of the locking piece and stopper in . 2... Conveying member, 8... Cam member, 10... Cam, 11... Cam engaging member, 12... Trochanter body, 1
3... Compression spring, 14... Locking piece, 15... Stopper.

Claims (1)

[Claims] 1. In a device that carries a workpiece into and out of a processing area, the workpiece is gripped and transported by rotating movement between the processing position and the workpiece stocking/unloading position and relative movement in the direction of the rotation axis. A conveying member 2, and a cam 1 that holds the conveying member 2 on the same axis and extends outward from a point on the outer periphery of the conveying member 2 to the left and right along the rotation axis of the conveying means 2 to gradually increase the number of cams.
0 at one end and is relatively rotated by a driving means 16, and a spring 13 interposed between the cam member 8 and the cam member 8 on the rotation axis of the conveying member 2, and is mounted coaxially with the conveying member 2. cam member 8
a cam engaging member 11 that engages with the cam 10 of the conveying member 2; and a cam engaging member 11 that extends parallel to the rotation axis direction of the conveying member 2 and protrudes in the radial direction of the conveying member 2 at a point on the outer periphery coaxially with the conveying member 2. The stopper 15 is made up of a locking piece 14 and a pair of stoppers 15 that can be engaged with the locking piece 14 and regulate the rotation angle and processing position of the conveying member 2 and the attachment/detachment position of the workpiece to and from the workpiece stock loading/unloading position. Workpiece loading and unloading position.