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US20020086628A1 - Machine tool with a manipulator - Google Patents

Machine tool with a manipulator Download PDF

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Publication number
US20020086628A1
US20020086628A1 US10/045,366 US4536601A US2002086628A1 US 20020086628 A1 US20020086628 A1 US 20020086628A1 US 4536601 A US4536601 A US 4536601A US 2002086628 A1 US2002086628 A1 US 2002086628A1
Authority
US
United States
Prior art keywords
workpiece
gripper
clamping
machine tool
jaws
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/045,366
Other languages
English (en)
Inventor
Pavel Blazek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stama Maschinenfabrik GmbH
Original Assignee
Stama Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stama Maschinenfabrik GmbH filed Critical Stama Maschinenfabrik GmbH
Assigned to STAMA MASCHINENFABRIK GMBH reassignment STAMA MASCHINENFABRIK GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BLAZEK, PAVEL
Publication of US20020086628A1 publication Critical patent/US20020086628A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/04—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being arranged to operate simultaneously at different stations, e.g. with an annular work-table moved in steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers

Definitions

  • the present invention relates to a machine tool, comprising a workpiece carrier for clamping a workpiece to be machined, and a headstock in which a rotary-driven tool spindle is mounted, into which spindle tools for machining the workpieces can be clamped, as well as a device for removing and holding for further machining the workpiece that has been finished in the workpiece carrier.
  • Such a machine tool is known from EP 0 368 996 B1.
  • the known machine tool is a moving column machine, on the machine bed whereof a clamping device for workpiece bars is arranged.
  • the clamping device is provided with a rotary drive, so that a workpiece bar can be machined at all four longitudinal sides by means of a tool that is clamped into the tool spindle.
  • DE 196 35 258 C1 discloses a comparable machine tool, in which, however, the clamping device is pivotable about an axis that runs transversally with respect to the longitudinal axis of the workpiece bars. In this manner, it is possible to machine the four longitudinal sides of the workpiece and its front side remote from the clamping device.
  • the workpiece is mostly cut from the rest of the workpiece bar by means of a circular saw that can be clamped into the tool spindle.
  • the clamping device is moved again into its horizontal position, so that the unit for gripping and pivoting can advance and grip the workpiece at the front side that has now been machined. After that, the workpiece is completely cut, whereupon—as described above—also the sixth side can be machined.
  • the device comprises a manipulator for positioning a gripper, by which gripper a workpiece is removable that has been finished in the workpiece carrier, and a clamping station into which the gripper holding the workpiece can be inserted.
  • the inventors of the present invention have recognized, namely, that a manipulator, i.e. a kind of a robot arm, may be used for transferring the finished workpiece, although both the accuracy of positioning and the holding forces of such manipulators are not sufficient for machining by means of a milling tool with the accuracy desired. For this reason, such manipulators have, up to now, not been used for holding workpieces during machining.
  • a clamping station provided according to the invention, these disadvantages of the manipulator that is otherwise constructed in a very cost-effective and simple manner, can be remedied by clamping the gripper into the clamping station. This means that a clamping station arranged in a predetermined adjustment provides accuracy as well as the holding forces required, while the pure handling is done by the manipulator.
  • the manipulator grips the workpiece in any position, whereupon it can be completely cut from the workpiece bar. After that, the manipulator pivots the workpiece such as required for the next machining, and then inserts its gripper into the clamping station where it is suitably clamped.
  • the manipulator comprises a beam that is pivotable about a vertical axis, at which beam the gripper is pivotably mounted about a rotation axis that runs transversally with respect to the vertical axis.
  • the workpiece can horizontally be removed from the workpiece carrier in a simple manner.
  • the gripper then first pivots the workpiece by 90° and moves then laterally into the clamping station where it is locked. After the fifth side has been machined in this clamping, the gripper moves out of the clamping station, turns the workpiece by 180°, and then enters the clamping station again, so that now the sixth side can be machined.
  • the beam is vertically adjustable into the direction of the vertical axis.
  • This measure means a considerable advantage in time, since the workpieces can also be vertically removed, so that pivoting back the clamping device prior to removing the workpiece can be omitted for workpiece carriers with a pivot drive.
  • the clamping station comprises clamping jaws for centering and holding the gripper, which clamping jaws are adapted to an outer contour of the gripper.
  • the gripper comprises exchangeable jaws that are adapted to an outer contour of the workpiece. This measure increases the accuracy even further, since the workpiece can be held in a considerably safer manner by adapted jaws than by standardized jaws. This measure has also advantages in design because in a transition to machining a workpiece with another geometry, merely the jaws of the gripper need to be newly adapted, all other aggregates of the machine tool remain unchanged, without reduction in accuracy or speed of machining.
  • the workpiece carrier comprises a clamping device that is transversally pivotable with respect to the vertical axis, by which clamping device the workpiece can be brought into a vertical adjustment for machining of its side remote from the clamping device.
  • FIG. 1 shows a schematic side view of the new machine tool
  • FIG. 2 shows a top view of the machine tool from FIG. 1, also in a schematic view
  • FIG. 3 shows a representation like FIG. 2, but with a workpiece pivoted by 90°;
  • FIG. 4 shows a top view onto a gripper clamped in a clamping station
  • FIG. 5 shows the gripper from FIG. 4 in isolated representation.
  • FIG. 1 a machine tool very schematically shown and comprising a machine bed 11 , is generally designated with 10 .
  • a moving column 12 is arranged at which a headstock 14 is mounted.
  • Headstock 14 can be positioned with reference to machine bed 11 in the three directions in space in a common manner.
  • a tool spindle 15 is rotary-driven mounted into which tools 16 can be inserted for machining a workpiece 18 that is held in a workpiece carrier 19 .
  • Workpiece carrier 19 comprises a clamping device 21 into which workpiece 18 is clamped.
  • Clamping device 21 can be pivoted about a pivot axis indicated in 22 such as indicated by an arrow 23 .
  • workpiece 18 is being machined at its side 24 remote from clamping device 21 .
  • a device 26 for removing and holding a workpiece 18 finished in clamping device 21 is arranged on machine bed 11 .
  • This device 26 comprises a manipulator 27 that carries a gripper 28 on its outer end. Behind manipulator 27 , a clamping station 29 is indicated into which gripper 28 can be clamped in a manner yet to be described.
  • a deposit station 31 is indicated at the right side of manipulator 27 onto which manipulator 27 lays down finished workpieces 18 .
  • Manipulator 27 comprises a beam 33 that is mounted at an upright 34 pivotable about a vertical axis 35 that runs transversally with respect to pivot axis 22 , as indicated by an arrow 36 .
  • Gripper 28 is mounted at beam 33 pivotable about a rotation axis 38 that runs transversally with respect to pivot axis 22 and with respect to vertical axis 35 , as is indicated by an arrow 39 .
  • FIG. 2 shows the machine tool from FIG. 1 in a top view, wherein headstock 14 and tool spindle 15 are merely indicated in dashes.
  • clamping device 21 is mounted at a base 41 at which also a motor 42 is provided for pivoting clamping device 21 about pivot axis 22 .
  • Clamping station 29 comprises two clamping jaws 44 movable towards each other, which clamping jaws each comprise in a direction facing each other a curved surface 45 that is adapted in its contour to an outer contour of gripper 28 as indicated at 46 .
  • a recess 47 is provided between clamping jaws 44 , so that gripper 28 can be put between clamping jaws 44 , without a workpiece 18 that possibly protrudes to the bottom being moved and/or coming into contact with a support surface 48 for clamping jaws 44 .
  • clamping device 21 Before clamping device 21 is pivoted into the position shown in FIG. 1 and 2 in which side 24 of workpiece 18 points to the top for machining, it is located in the position shown in FIG. 3, in which longitudinal sides 49 of workpiece 18 can be machined. It can be seen in FIG. 3 that workpiece 18 is part of a long workpiece bar that is pushed, step by step, through clamping device 21 from the left to the right.
  • manipulator 27 grips workpiece 18 with its gripper 28 , whereupon the tool shown in FIG. 1 that is a circular saw, then cuts workpiece 18 from the remaining workpiece bar.
  • Manipulator 27 pivots then to the side into the direction of arrow 36 , rotating at the same time gripper 28 about rotation axis 38 , so that front side 24 of workpiece 18 now points to the bottom.
  • clamping jaws 44 engage at jaws 50 of gripper 28 and center same and press same simultaneously onto support surface 48 .
  • Jaws 50 comprise to this end a contour 51 that is adapted to the outer contour of workpiece 18 .
  • Contour 51 can be better seen in FIG. 5, where gripper 28 is shown without clamping station 29 .
  • FIG. 4 another holding jaw 53 is shown in there that can be used for even better centering and holding of gripper 28 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)
  • Turning (AREA)
US10/045,366 1999-04-30 2001-10-29 Machine tool with a manipulator Abandoned US20020086628A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19919647A DE19919647C2 (de) 1999-04-30 1999-04-30 Werkzeugmaschine mit einem Manipulator
DE19919647.8 1999-04-30
PCT/EP2000/001167 WO2000066319A1 (fr) 1999-04-30 2000-02-12 Machine-outil a manipulateur

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/001167 Continuation WO2000066319A1 (fr) 1999-04-30 2000-02-12 Machine-outil a manipulateur

Publications (1)

Publication Number Publication Date
US20020086628A1 true US20020086628A1 (en) 2002-07-04

Family

ID=7906376

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/045,366 Abandoned US20020086628A1 (en) 1999-04-30 2001-10-29 Machine tool with a manipulator

Country Status (5)

Country Link
US (1) US20020086628A1 (fr)
EP (1) EP1175278A1 (fr)
JP (1) JP2002542954A (fr)
DE (1) DE19919647C2 (fr)
WO (1) WO2000066319A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070204732A1 (en) * 2006-02-13 2007-09-06 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of work pieces
US20070234541A1 (en) * 2006-03-14 2007-10-11 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of workpieces
US20160114417A1 (en) * 2013-05-22 2016-04-28 Gleason-Pfauter Maschinenfabrik Gmbh Method for producing and/or processing a gear and gear cutting machine
CN108213500A (zh) * 2018-02-08 2018-06-29 江西景旺精密电路有限公司 一种钻孔自动作业设备及作业方法
CN109051752A (zh) * 2018-08-16 2018-12-21 深圳市智坤机械设备有限公司 素子入铝壳上料装置
CN110076635A (zh) * 2019-06-03 2019-08-02 东莞智富五金制品有限公司 一种多工位柔性五金加工中心及其加工方法
US20210046666A1 (en) * 2019-08-16 2021-02-18 United Grinding Group Management AG Processing module for a building panel

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1260310B1 (fr) 2001-05-17 2008-04-23 Chiron-Werke GmbH & Co. KG Machine-outil pour l'usinage d'une pièce en forme de barre
EP1260307B1 (fr) 2001-05-17 2007-10-24 Chiron-Werke GmbH & Co. KG Machine-outil et procédé d'usinage d'une pièce en forme de barre
DE10145674B4 (de) * 2001-05-17 2005-12-15 Chiron-Werke Gmbh & Co Kg Werkzeugmaschine zur Bearbeitung eines stangenförmigen Werkstücks
DE102004054191A1 (de) * 2004-11-10 2006-05-11 Cross Hüller GmbH Fertigungsstraße zur Bearbeitung von Werkstücken
DE102009050476B4 (de) * 2009-10-23 2015-06-18 Airbus S.A.S. Bohrvorrichtung
DE102010007890B4 (de) 2010-02-08 2019-01-03 Chiron-Werke Gmbh & Co Kg Werkzeugmaschine zum Bearbeiten von schlanken Werkstücken
CN106312097B (zh) * 2015-07-01 2019-05-31 中国五洲工程设计集团有限公司 一种大长细比推进剂组合式自动车药装置
JP6250900B2 (ja) * 2015-09-29 2017-12-20 ファナック株式会社 工作機械とロボットとの協働によってワークを加工する方法
CN112676901A (zh) * 2020-12-08 2021-04-20 重庆机电职业技术大学 一种用于钢板材料铣床加工的自动上料机
DE102023112340A1 (de) 2023-05-10 2024-11-14 Chiron Group Se Werkzeugmaschine und Verfahren zur Bearbeitung von Werkstücken

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0088645B1 (fr) * 1982-03-10 1987-10-28 Renishaw plc Machine-outil
DE3440762A1 (de) * 1984-11-08 1986-05-07 Pittler Maschinenfabrik Ag, 6070 Langen Vertikal arbeitende werkzeugmaschine mit handhabungsgeraet
CH658216A5 (fr) * 1985-09-06 1986-10-31 Bula & Fils Mach Procede de finissage de pieces moulees ou usinees et centre de finissage pour la mise en oeuvre de ce procede.
DE3818903A1 (de) * 1988-06-03 1989-12-14 Stama Maschinenfabrik Gmbh Bohr- und fraeswerk
DE9204108U1 (de) * 1992-03-27 1993-07-22 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Bearbeitungszelle zur Nachbearbeitung von Gußteilen
DE19635258C1 (de) * 1996-08-30 1998-02-12 Stama Maschinenfabrik Gmbh Bohr- und Fräswerk zum Verarbeiten von Werkstoffstangen

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070204732A1 (en) * 2006-02-13 2007-09-06 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of work pieces
US7631407B2 (en) * 2006-02-13 2009-12-15 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of work pieces
US20070234541A1 (en) * 2006-03-14 2007-10-11 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of workpieces
US7367929B2 (en) * 2006-03-14 2008-05-06 Stama Maschinenfabrik Gmbh Machine tool and method for cutting machining of workpieces
US20160114417A1 (en) * 2013-05-22 2016-04-28 Gleason-Pfauter Maschinenfabrik Gmbh Method for producing and/or processing a gear and gear cutting machine
US9914180B2 (en) * 2013-05-22 2018-03-13 Gleason-Pfauter Maschinenfabrik Gmbh Method for producing and/or processing a gear and gear cutting machine
CN108213500A (zh) * 2018-02-08 2018-06-29 江西景旺精密电路有限公司 一种钻孔自动作业设备及作业方法
CN109051752A (zh) * 2018-08-16 2018-12-21 深圳市智坤机械设备有限公司 素子入铝壳上料装置
CN110076635A (zh) * 2019-06-03 2019-08-02 东莞智富五金制品有限公司 一种多工位柔性五金加工中心及其加工方法
US20210046666A1 (en) * 2019-08-16 2021-02-18 United Grinding Group Management AG Processing module for a building panel

Also Published As

Publication number Publication date
JP2002542954A (ja) 2002-12-17
WO2000066319A1 (fr) 2000-11-09
EP1175278A1 (fr) 2002-01-30
DE19919647A1 (de) 2000-11-09
DE19919647C2 (de) 2003-08-21

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Legal Events

Date Code Title Description
AS Assignment

Owner name: STAMA MASCHINENFABRIK GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:BLAZEK, PAVEL;REEL/FRAME:012493/0992

Effective date: 20011019

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO PAY ISSUE FEE