KR20160049418A - CNC machine tool with robot system - Google Patents

Abstract

The present invention provides a CNC machine tool having a robot system capable of automatically loading and unloading a workpiece and operating with a minimum of manpower.
According to an aspect of the present invention, there is provided a bobbin for a vehicle, comprising: a base; two fixed chucks disposed to face the front of the base and rotated while moving toward the front and left and right sides; And a robot control system for a CNC lathe including a lathe control device for controlling the stationary chuck and the tool rest, the CNC machine tool having a plurality of workpieces A stocker that seats a number of products after processing; Two lifting devices for raising a workpiece seated on the stocker and lowering a finished product; A robot system which is positioned at the upper end of the lathe and is transported in the vertical direction of the fixed chuck shaft to grip the workpiece drawn out of the elevating and lowering apparatus and transferring the workpiece to the fixed chuck and transferring the processed product from the fixed chuck to the lifting and lowering apparatus; A reversing device located at an upper end of the shelf and inverting a direction of a partially completed workpiece by the robot system; And a control device for controlling the robot system, the stocker, the ascending / descending device, and the reversing device.

Description

[0001] The present invention relates to a CNC machine tool having a robot system,

The present invention relates to a CNC machine tool having a robot system, and more particularly, to a CNC machine tool integrally formed with a robot system.

Due to the recent development of control technology, most of the machine tools are manufactured and sold in the form including CNC.

In the case of CNC machine tools, the skill level of the operator is lower than that of the conventional machine tools, and it has a feature that various workpieces can be processed by the program, and plays a key role in factory automation.

In addition, it has the advantage of being able to operate with a minimum of manpower in combination with other automation devices, for example, industrial robots, dedicated devices, etc. Therefore, there is a great deal of research and development on interface configuration or interface between such CNC machine tools and other automation devices Is underway.

For example, Korean Patent No. 674182 discloses an open-type C & C system employing a standard interface server driving method. More specifically, a client including each application and an enterprise management system for operating an application module capable of being operated by a user, ; A standard interface server for collecting data from the client and converting the data into data suitable for controlling the hardware and transmitting the data; And a main control module for temporarily storing data transmitted through the standard interface server and driving the device driver through stored data.

In the above configuration, each application module is classified as a client, and each of the application modules has an open structure including a stand-alone file and connected to the main control module through a standard interface server, so that a control system suitable for a user can be easily implemented or integrated It is possible to easily mount a new application module in a system without requiring a separate interface, thereby facilitating the addition and management of a new module.

In addition, Japanese Patent Laid-Open No. 1998-024718 discloses a method of handling a metal sheet using a machine tool and an industrial robot. In particular, the invention relates to a method of moving a metal sheet of a workplace by an anthropomorphic robot comprising the steps of: (a) extracting pre-selected fixed input data identifying a geometry in a space of a component of a workplace; (b) From the machine tool of preselected variable input data consisting of the working sequence of the selected metal sheet and the shape and dimensions of the metal sheet to be handled in advance, and (c) identifying the preselected trajectory of the metal sheet to be handled Processing the fixed and variable input data in a process unit to automatically generate the output data; and (d) performing the above-described process for moving the metal sheet along the preselected trajectory to handle the metal sheet selected by the form And transmitting the output data to a control unit of the robot for driving the robot And provides a flexible production system for metal sheets.

The above-mentioned prior arts have advantages such as providing a standard interface and efficient operation of an industrial robot interlocked with a machine tool.

In addition, although the prior art has a high advantage in that an efficient machining process is performed through interlocking of a robot system and a machine tool system, since a robot system and a machine tool take up a separate space, a relatively large area is required for operation There are disadvantages.

On the other hand, in the case of a lathe among C & C machine tools, since the workpiece is rotated and the tool is machined by machining the workpiece, the workpiece can be used in a relatively small area and two spindles can be formed simultaneously, Which shows high production efficiency. Also, since the workpiece to be loaded on the shelf is also circular, there is an advantage that the loading and unloading can be automated with a relatively simple structure.

In the case where the robot system is provided on the above-mentioned shelf, there is an advantage that the entire lathe machining can be automated without requiring additional space, and a new type of CNC lathe is required.

The present invention provides a CNC machine tool having a robot system capable of automatically loading and unloading a workpiece and operating with a minimum of manpower.

According to an aspect of the present invention, there is provided a bobbin for a vehicle, comprising: a base; two fixed chucks disposed to face the front of the base and rotated while moving toward the front and left and right sides; And a robot control system for a CNC lathe including a lathe control device for controlling the stationary chuck and the tool rest, the CNC machine tool having a plurality of workpieces A stocker that seats a number of products after processing; Two lifting devices for raising a workpiece seated on the stocker and lowering a finished product; A robot system which is positioned at the upper end of the lathe and is transported in the vertical direction of the fixed chuck shaft to grip the workpiece drawn out of the elevating and lowering apparatus and transferring the workpiece to the fixed chuck and transferring the processed product from the fixed chuck to the lifting and lowering apparatus; A reversing device located at an upper end of the shelf and inverting a direction of a partially completed workpiece by the robot system; And a control device for controlling the robot system, the stocker, the ascending / descending device, and the reversing device.

Preferably, the stocker comprises: a rotating base disposed vertically; A plurality of rods formed at regular intervals in the circumferential direction of the rotating base end, and having three rods vertically coupled to the rotating base; And a support for transporting the guide up and down by the rods, wherein the work or product is positioned between the rods and is transported up and down by the support, So as to be intermittently rotated.

More preferably, the lifting / lowering device includes a vertical base positioned on the side of the rotation base, a driver moving up and down along the vertical base, and a driver attached to the driver to contact the lower end of the support, And a contact portion for moving the contact portion.

Preferably, the robotic system includes: a frame attached to an upper end of the shelf and disposed in the longitudinal direction of the shelf; A moving body that moves along the frame; And an operation unit attached to the moving body and moving up and down to grip the work or product.

More preferably, the operating portion comprises: An intermediate body slidably coupled to the moving body in a vertical direction; A supplier that slides in the vertical direction to the intermediate body; A horse assembly rotatably coupled to the end of the manufacturer at an angle of 45 degrees; Two grips attached to the horseshoe at an angle of 90 degrees; Two pulleys rotatably fixed to the intermediate body; A belt wound on the pulley; And a fixing unit fixing the moving body and a part of the belt, and fixing the part of the belt and the work supplier.

Preferably, the reversing device is composed of two identical unit devices, the unit device comprising: a body rotatably mounted on the base in a vertical axis direction; An actuating body extending in the longitudinal direction of the body; And a reversing grip attached to an end of the operating body.

The CNC machine tool equipped with the robot system according to the present invention includes a gantry type robot system installed on the top of the CNC lathe, a stocker for sequentially storing a plurality of workpieces on the side of the lathe, and an inversion device installed on the top of the lathe, A plurality of workpieces are sequentially processed only by placing the workpieces before machining on the stocker, and the finished workpieces are stuck on the stocker again.

1 is a configuration diagram of a CNC machine tool equipped with a robot system according to the present invention,
Fig. 2 is a configuration diagram of the shelf shown in Fig. 1,
FIG. 3 is a configuration diagram of the stocker shown in FIG. 1,
Fig. 4 is a configuration diagram of the seat portion shown in Fig. 3,
Fig. 5 is a configuration diagram of the lifting apparatus shown in Fig. 1,
Fig. 6 is a configuration diagram of the robot system shown in Fig. 1,
Fig. 7 is a configuration diagram of the operating unit shown in Fig. 6,
8 is an operational state diagram of the operating section,
9 is a configuration diagram of the inverting apparatus shown in Fig. 1,
10 is an operational state diagram of the reversing device.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1, a CNC machine tool 100 having a robot system according to the present invention includes a shelf 10, a stocker 20 installed on the side of the shelf 10, A lifting and lowering device 40 for placing the processed product 2 on the stocker 20 and taking out the work 1 from the worker 1; A gantry type robot system 50 that loads the product 2 on the shelf 10 and unloads the finished product 2 from the shelf 10 and moves the product 2 to the stocker 20; A reversing device 80 for reversing the processed workpiece 1, and a control device 90 for controlling the respective elements.

2, the shelf 10 includes a base 11 for supporting the entire structure, two fixing chucks 12 located inside the base 11, vertical And two tool rests 13 that are arranged in the same plane.

Of course, the fixing chuck 12 is connected to the main shaft which rotates with respect to the base 11.

A plurality of tools necessary for machining are mounted on the tool rest 13, and a tool necessary for the present machining is rotated to the direction of the fixed chuck 12 As shown in FIG.

At this time, the machining of the workpiece 1 moves forward and left and right as the stationary chuck 12 rotates and interacts with the tool mounted on the tool rest 13 to cut the surface of the workpiece 1.

The work procedure as described above is performed through a separate lathe control unit 19 and the lathe control unit 19 controls the operation of the two fixed chucks 12 and the two tool rests 13. [

3, the stocker 20 is installed on the side surface of the shelf 10 and serves to seat a plurality of workpieces 1 or finished products 2.

The stocker 20 includes a rotating base 21 rotating intermittently, a seating part 21 located at the upper end of the rotating base 21 and composed of three rods and equally spaced in the circumferential direction of the rotating base 21 22), and a support table (23) inserted into the seating part (22) and moving up and down.

The rotating base (21) is configured to rotate intermittently by a distance between the seating portions (22). For example, if the number of the seating portions 22 is 10, the seating portion 22 is configured to rotate by 36 degrees.

4, when the workpiece 1 is positioned between the bars and at the same time the support 23 is positioned at the lower end of the workpiece 1, the support part 23 is moved The work 1 is projected to the upper end of the seating part 22 so that the work 1 is taken out to the outside.

On the other hand, two lifting devices 40 are provided on the side surface of the stocker 20,

The lifting device 40 includes a vertical base 41 and a driving body 42 which moves the vertical base 41 up and down. The lifting and lowering device 40 is attached to the driving body 42, And a contact portion 43 for raising the contact portion 23.

The driving body 42 is guided by the vertical base 41 and moves up and down. The driving body 42 is driven by a linear actuator.

As shown in FIG. 5, the contact portion 43 is located at a portion where the rotary base 21 is not formed, and the support 23 rises.

The contact portion 43 moves to expose the length of the work 1 to the robot system 50 to the seating portion 22.

One of the lifting and lowering devices 40 is used for carrying out the work 1 and the other is used for the wearing of the finished product 2.

A robot system 50 is attached to the upper end of the base 11 of the shelf 10 to transfer the work 1 of the stocker 20 to the shelf 10 and the finished product 2 To the stocker (20).

6, the robot system 50 includes a frame 51 installed at the upper end of the base 11 in the longitudinal direction of the base 11 and a frame 51 extending in the longitudinal direction of the frame 51, A moving body 52 moving in the longitudinal direction, and an operating portion 60 attached to the moving body 52 and having a vertical stroke.

That is, although the robot system 50 is configured as a gantry type, it does not move to the front of the shelf 10, and shows a difference in degrees of freedom between a general gantry robot and a body.

7, the operation unit 60 includes an intermediate body 61 guided by the moving body 52 and slidable in the vertical direction, a workpiece 62 guided by the intermediate body 61 and movable up and down, A horseshoe assembly 63 that rotates at an angle of 45 degrees at the end of the manufacturer 62 and two grips 64 that are mounted on the horseshoes assembly 63.

At this time, the grips 64 are arranged at 90 angles, respectively, and the positions of the grips 64 are changed when the horses 63 are rotated.

The grip 64 performs only a gripping or ungripping operation, and the driving is implemented in an electric or pneumatic manner.

On the other hand, a pulley 65 is positioned on the upper and lower sides of the intermediate member 61, and a belt 66 is supported on the two pulleys 65. The belt 66 is preferably constructed of a timing belt to prevent slippage, and one of the two pulleys 65 is configured to rotate by a separate driving motor.

The belt 66 includes two fixing portions 67. One fixing portion 67 is fixed to the moving body 52 and the other fixing portion 67 located on the opposite side is fixed to the above- Respectively.

Therefore, when the pulley 65 is rotated by the motor, the intermediate body 61 and the distal end 63 simultaneously move and move faster than the simple linear actuator, There is an advantage that a stroke can be implemented.

The movement path of the center of the grip 64 is arranged on the same line as the center of the seating part 22 located in the two actuating parts of the up / down moving device 40 installed on the stocker 20.

On the other hand, a reversing device 80 is installed at the upper end of the shelf 10.

The reversing device 80 is a device for holding a partially processed workpiece 1 on one fixing chuck 12 in the opposite direction to another fixing chuck 12 and is interlocked with the robot system 50 It works.

9, two unit devices 81 are installed parallel to each other, and the unit device 81 includes a body 82 rotated with respect to a vertical axis of the base 11 An actuating body 83 provided on the body 82 and extending in the longitudinal direction, and an inverting grip 84 attached to an end of the actuating body 83.

10, when the workpiece 1, which has been machined by the grip 64 of the robot system 50, is transferred to the unit device 81 on one side, the reversing device 80 rotates the reversing grip 84 And after extending the actuators 83 on both sides, gripping the other side inversion grip 84 and gripping the current side grip 84 by ungripping, The workpiece 1 is moved to the other unit device 81.

Then, when the other unit device 81 is rotated by 90 degrees in the counterclockwise direction, the workpiece 1 is placed in the inverted position.

That is, since the reversing device 80 performs the function of reversing the position of the gripped workpiece 1 in the robot system 50, machining of one side of the workpiece 1 is completed in one fixing chuck 12 After the robot system 50 scrapes the workpiece 1 and then changes the gripping position using the reversing device 80 and then fixes the workpiece 1 to another fixing chuck 12, The entire workpiece 1 is processed to become the product 2 when the remaining part of the workpiece 1 is processed.

The control device 90 controls the stocker 20, the ascending / descending device 40, the robot system 50 and the reversing device 80 and transmits and receives a control signal to and from the shelf control device 19, And controls the entire operation.

Hereinafter, the overall operating state of the CNC machine tool 100 having the robot system according to the present invention will be described. At this time, each operation is performed through the control device 90 or the shelf control device 19, and if necessary, the control device 90 and the shelf control device 19 transmit necessary state information to each other.

First, the worker places the work 1 on the seating part 22 of the stocker 20. At this time, the last one of all the seating parts 22 is emptied so that the apparatus 100 does not recognize the workpiece 1, thereby stopping the entire process.

When the workpiece 1 is filled as described above, the lifting / lowering device 40 raises the first seating portion 22 to operate so that a part of the workpiece 1 is exposed to the outside of the seating portion 22.

Thereafter, the robot system 50 grips the work 1, moves up and moves to one fixed chuck 12. Thereafter, the grip 64 is rotated so that the workpiece 1 is vertically disposed.

At this time, after the fixing chuck 12 moves forward, the workpiece 1 is gripped and moved backward.

The robot system 50 then ascends.

Thereafter, the work 1 is processed by the operation of the fixing chuck 12 and the tool rest 13.

When the processing is completed, the robot system 50 descends to grip the work 1 and invert the work 1 through the inversion device 80.

When the reversal is completed, the robot system 50 grips the workpiece 1 and transfers it to another fixing chuck 12. [

At this time, after moving to the front side of the fixing chuck 12, the work 1 is gripped and the remaining part is processed to complete the product 1.

When the processing is completed, the robot system 50 grips the product 2, and then rotates the grip 64 to arrange the product 2 in the vertical direction.

At this time, the remaining part of the ascending / descending device 40 is positioned in an elevated state, and the robot system 50 receives the product 2 with the seating part 22 in which the ascending / descending device 40 is located .

Thereafter, the ascending / descending device 40 descends to seat the product 2, and then rotates the stocker 20 so that the other seating part 22 is positioned in the ascending / descending device 40.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, And all of the various forms of embodiments that can be practiced without departing from the technical spirit.

1: Workpiece 2: Product
10: shelf 11: base
12: Fixing chuck 13: Tool stand
19: Shelf control device 20: Stocker
21: rotation base 22: seat part
23: support 40: lifting device
41: vertical base 42:
43: contact portion 50: robot system
51: frame 52: mobile body
60: operating part 61: intermediate
62: Company 63: Horse Group
64: Grip 65: Pulley
66: belt 67:
80: inverting device 81: unit device
82: Body 83: Operator
84: inverted grip 90: control device
100: CNC Machine Tools

Claims (6)

A base, two fixed chucks arranged to face the front of the base and to rotate forward and to the left and right, two tool chucks disposed vertically with the fixed chuck and equipped with a plurality of tools, 1. A CNC machine tool having a robot system applied to a CNC lathe including a chuck and a tool control unit for controlling the tool base,
A stocker positioned on the side of the shelf to seat a plurality of workpieces before processing and a plurality of products after processing;
Two lifting devices for raising a workpiece seated on the stocker and lowering a finished product;
A robot system which is positioned at the upper end of the lathe and is transported in the vertical direction of the fixed chuck shaft to grip the workpiece drawn out of the elevating and lowering apparatus and transferring the workpiece to the fixed chuck and transferring the processed product from the fixed chuck to the lifting and lowering apparatus;
A reversing device located at an upper end of the shelf and inverting a direction of a partially completed workpiece by the robot system; And
And a control device for controlling the robot system, the stocker, the ascending / descending device, and the reversing device.
[2] The stoker of claim 1,
A rotating base disposed vertically;
A plurality of rods formed at regular intervals in the circumferential direction of the rotary base end, and having three rods vertically coupled to the rotary base; And
Wherein the workpiece or product is positioned between the rods and is vertically conveyed by the rods, and wherein the rotary base is moved by the control device such that the rope is always placed on the raising / lowering device And the robot system is intermittently rotated so as to be located at a predetermined position.
[3] The apparatus of claim 2, wherein the lifting / lowering device comprises: a vertical base positioned on the side of the rotation base; an actuator moving up and down along the vertical base; and a driving body attached to the driving body, And a contact portion for moving the robot system.
The robot system according to claim 1, wherein the robot system comprises:
A frame attached to an upper end of the shelf and disposed in the longitudinal direction of the shelf;
A moving body that moves along the frame; And
And a manipulation unit attached to the moving body and moving up and down to grind the work or product.
5. The apparatus according to claim 4, wherein the operation unit comprises:
An intermediate body slidably coupled to the moving body in a vertical direction;
A supplier that slides in the vertical direction to the intermediate body;
A horse assembly rotatably coupled to the end of the manufacturer at an angle of 45 degrees;
Two grips attached to the horseshoe at an angle of 90 degrees;
Two pulleys rotatably fixed to the intermediate body;
A belt wound on the pulley; And
And a fixing unit fixing the moving body and a part of the belt and fixing a part of the belt and the work supplier.
[2] The apparatus of claim 1, wherein the inverting device comprises two identical unit devices,
A body rotatably mounted on the base in a vertical axis direction;
An actuating body extending in the longitudinal direction of the body; And
And a reversing grip attached to an end of the actuating body.

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