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WO2016075767A1 - Automatic loader - Google Patents

Automatic loader Download PDF

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Publication number
WO2016075767A1
WO2016075767A1 PCT/JP2014/079925 JP2014079925W WO2016075767A1 WO 2016075767 A1 WO2016075767 A1 WO 2016075767A1 JP 2014079925 W JP2014079925 W JP 2014079925W WO 2016075767 A1 WO2016075767 A1 WO 2016075767A1
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WO
WIPO (PCT)
Prior art keywords
rail member
base
autoloader
robot
machine tool
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.)
Ceased
Application number
PCT/JP2014/079925
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French (fr)
Japanese (ja)
Inventor
周一 平田
鈴山惠史
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.)
Fuji Corp
Original Assignee
Fuji Machine Manufacturing Co Ltd
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 Fuji Machine Manufacturing Co Ltd filed Critical Fuji Machine Manufacturing Co Ltd
Priority to JP2016558485A priority Critical patent/JP6415591B2/en
Priority to PCT/JP2014/079925 priority patent/WO2016075767A1/en
Publication of WO2016075767A1 publication Critical patent/WO2016075767A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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 an autoloader that delivers a workpiece to a processing machine mounted on a base.
  • a processing machine such as a machine tool may be provided with an autoloader for delivering and transferring the workpiece to and from the processing unit in order to send the workpiece to the processing unit.
  • the autoloader is provided with a robot that actually delivers a workpiece and a traveling device that moves the robot to a predetermined position.
  • the work is transported to each processing part by the autoloader, and the work loader carries in and out the work by the autoloader.
  • Patent Document 1 below discloses a machine tool in which a headstock itself moves to a work stocker without providing an autoloader.
  • the extension rail is fixed to the machine main body, and the head stock moves to the position of the extension rail so that the workpiece can be grasped from the workpiece stocker. And the workpiece
  • Processing machines are equipped with an autoloader for transporting workpieces, and the headstock itself moves.
  • the movement range is limited to the range in which the robot and the headstock deliver the workpiece to the machining unit.
  • the positions of the robot and the processing part overlap each other, which hinders maintenance work and the like. That is, when the worker performs work in front of the processing machine, the robot located in the front part of the worker gets in the way.
  • the same problem does not occur in the processing machine of Patent Document 1 that does not have an autoloader.
  • the traveling platform and the drive mechanism must be made robust. In addition, another problem such as enlargement occurs.
  • an object of the present invention is to provide an autoloader that does not hinder the work in the front part in order to solve such a problem.
  • the autoloader delivers a workpiece to a processing machine mounted on a base, and includes a robot for handling the workpiece, a traveling platform on which the robot is mounted and moved, A rail member that guides the movement of the carriage, the rail member being fixed to the base, and a standard rail member for guiding the robot to a workpiece delivery position with the processing machine, and the standard rail member And an extension rail member for guiding the robot to a position deviating from a workpiece delivery position with the processing machine.
  • the robot by connecting the extension rail member to the standard rail member fixed to the base, the robot moves to a position deviating from the workpiece delivery position with the processing machine, so that a work space is provided in front of the processing machine.
  • the autoloader does not interfere with the work on the processing machine.
  • FIG. 1 and 2 are perspective views showing a machine tool equipped with the autoloader of the present embodiment.
  • FIG. 1 shows the machining state
  • FIG. 2 shows the non-machining state.
  • the machine tool 5 is entirely covered with an exterior cover 3, and a machining portion is provided inside the machine tool 5.
  • a front cover 4 is provided on the front surface of the exterior cover 3, and an autoloader 10 is disposed therein.
  • the front cover 4 can be opened upward, and can be opened when performing maintenance work on a processing portion in the exterior cover 3.
  • the operation panel 6 is attached to the upper part of the front cover 4 according to the height of an operator's eyes.
  • the machine tool 5 is mounted on a movable bed 501 so that it can move on the base 2.
  • the base 2 is provided with four rails 201 in the front-rear direction.
  • the machine tool 5 includes a movable bed 501 on which wheels can be mounted in accordance with the width of two rails 201 positioned on the outside. Therefore, the machine tool 5 is capable of moving in the front-rear direction, and can be moved between a machining position where the workpiece machining shown in FIG. 1 can be performed and a non-machining position where maintenance or the like moved forward can be performed.
  • the machine tool 5 of the present embodiment is a turret lathe including a turret holding a rotary tool such as an end mill or a drill or a cutting tool such as a cutting tool. Therefore, the headstock with a chuck for gripping a workpiece, a turret device to which a tool is attached, a Z-axis drive device, an X-axis drive device, and a drive unit that move the turret device along the Z-axis and X-axis are controlled.
  • a processing control device and the like are provided.
  • the machine tool is not particularly limited to a lathe, and may be a drilling machine, a boring machine, a milling machine, a gear cutting machine, a cutting machine, or the like.
  • FIG. 3 is a perspective view showing the autoloader 10.
  • a state in which the robot arm 11 extends to the side of the machine tool 5 (not shown) mounted on the base 2 is shown.
  • FIG. 2 shows the autoloader 10 in a state where the robot arm 11 is folded and can travel and turn.
  • the robot arm 11 is mounted on the gantry block 12, and the upper arm member 111 and the forearm member 112 form a multi-joint structure via joint mechanisms 115 and 116.
  • the robot arm 11 can be deformed into a state in which the upper arm member 111 and the forearm member 112 are folded and in a forward inclined state by driving the joint mechanisms 115 and 116.
  • a robot hand 13 is provided at the distal end of the forearm member 112 so that the workpiece can be grasped and released.
  • FIG. 4 is a perspective view showing the base 2, and particularly shows two bases 2 to which the rail members 18 are attached.
  • the base 2 is integrally formed with a rail member 18 attached to the front part thereof.
  • the rail member 18 has a plate-like rail base 21 fixed to the front portion of the base 2, and a rack 22 and two traveling rails 23 are fixed to the rail base 21 side by side.
  • Two traveling sliders 25 that slide while holding the traveling rail 23 are attached to the traveling rail 23, and a traveling platform 16 (see FIG. 3) is fixed to the traveling slider 25.
  • the traveling table 16 is provided with a pinion 26 that meshes with the rack 22 and a traveling motor 27 that rotates the pinion 26. Therefore, when the driving motor 27 is driven, the pinion 26 rolls on the rack 22 and the traveling slider 25 slides on the traveling rail 23, so that the traveling platform 16 and the robot arm 11 move the front portion of the base 2 in the left-right width direction. Will be moved to.
  • the machine tool 5 can move in the front-rear direction on the base 2 (see FIG. 2). Therefore, the machine tool 5 moves with respect to the operator located in the front, and operations such as maintenance can be performed at that position.
  • the autoloader 10 is positioned in front of the machine tool 5, and in particular, the robot arm 11 is disposed upright. For this reason, when the machine tool 5 is moved in front of the base 2, the robot arm 11 becomes an obstacle to the movement. Therefore, in this embodiment, a configuration for retracting the robot arm so as not to hinder the movement of the machine tool 5 is employed.
  • the base 2 is usually handled integrally with a rail member 18 attached to the front as shown in FIG.
  • the machine tool 5 of the present embodiment has a plurality of machine tools 5 arranged side by side by arranging the bases 2 close to each other in the width direction. It is possible to arrange.
  • the rail members 18 mounted on the bases 2 are directly connected to each other. Therefore, the rail member 18 is formed with a length substantially corresponding to the width dimension of the base 2.
  • the rail member 18 that is handled integrally with the base 2 is hereinafter referred to as a “standard rail member 18”.
  • a so-called machining line in which a plurality of machine tools 5 are arranged side by side is formed thereon.
  • the standard rail members 18 are connected to each other so that the rack 22 and the traveling rail 23 are continuous, so that the robot arm 11 can move back and forth between the workpiece delivery positions of the machine tools 5.
  • the robot arm 11 can move to a position of the base 2 different from the machine tool 5 moving forward.
  • the machine tool 5 is mounted on one base 2.
  • the standard rail member 18 has only the width of the base 2, the movement of the machine tool 5 on the base 2 is limited. Therefore, an autoloader 10 capable of extending the movement range of the robot arm 11 is configured so as not to hinder the function of the machine tool 5 movable in the front-rear direction. That is, as shown in FIGS. 1 and 2, the robot arm 11 can move beyond the width of the base 2 by connecting the extension rail member 19 to the standard rail member 18.
  • FIG. 5 is a front view showing the standard rail member 18 and the extension rail member 19.
  • FIG. 6 is a front view showing the autoloader 10 to which the extension rail 19 is added.
  • the standard rail member 18 has the rack 22 and the two traveling rails 23 extending in the longitudinal direction fixed to the front surface of the rail base 21 which is a plate material in parallel in the vertical direction.
  • the rack 22 and the traveling rail 23 are formed shorter than the length of the rail base 21 in the longitudinal direction. That is, attachment portions 211 and 212 where the rack 22 and the traveling rail 23 do not exist are formed at the left and right ends of the rail base 21.
  • the extension rail member 19 has a rack 32 and two traveling rails 33 extending in the longitudinal direction on the front surface of a rail base 31 which is also a plate material, and is fixed in parallel in the vertical direction.
  • the rack 32 and the running rail 33 are formed with protruding portions 321 and 331 protruding from one end of the rail base 31 on the standard rail member 18 side.
  • the extension rail member 19 is provided with a leg portion 35 that supports the rail base 31 so that the height can be adjusted with respect to the standard rail member 18.
  • the extension rail member 19 has the end of the rail base 31 abutted against the end of the rail base 21 of the standard rail member 18, and the projecting portions 321 and 331 are overlapped with the mounting portion 212 and screwed.
  • a connecting plate 36 is fixed to the extension rail member 19.
  • the connecting plate 36 is overlapped with the mounting portion 211 of the standard rail member 19 and fastened with fixing bolts, whereby the rail bases 21 and 31 are more firmly connected.
  • the standard rail member 18 and the extended rail member 19 have their racks 22 and 32 and running rails 23 and 33 continuous, and each has one rack or running rail.
  • the extension rail member 19 is for securing a retreating place so as not to prevent the machine tool 5 from moving forward. Therefore, as shown in FIG. 6, it is only necessary that the robot arm 11 is laterally disengaged so as not to overlap the position of the machine tool 5 when viewed from the front-rear direction. Therefore, the dimension of the extension rail member 19 (the dimension of the rail base 31) may be a length corresponding to the width dimension of the robot arm 11. In the present embodiment, the length is approximately half that of the standard rail member 18.
  • the standard rail member 18 is provided with a mounting portion 211 that allows the extension rail member 19 to be connected on the left side of the drawing. If it is only for retracting the robot arm 11, only one of the extension rail members 19 is sufficient as shown in FIG. There is no need to connect the extension rail member 19 to the left side of the drawing. However, the point that the robot arm 11 can be moved to the position where the robot arm 11 is detached from the machine tool 5 by the extension rail member 19 has an advantageous effect for loading and unloading workpieces. Therefore, if it is considered to be used for loading and unloading workpieces, the extension rail members 19 are required on the left and right.
  • FIG. 7 is a perspective view showing a machine tool in which the extension rail member is applied to carry out the workpiece.
  • the robot arm 11 When the extension rail member 19 is connected, the robot arm 11 can come out of the front cover 4. Therefore, as shown in the figure, by disposing the work stocker 40 beside the machine tool 5, the processed work can be disposed thereon.
  • the extension rail member 19 is provided with a bracket 38 on the rail base 31, and the work stocker 40 is fixed to the bracket 38 and positioned.
  • the extension rail member 19 and the work stocker 40 are arranged only on the right side of the machine tool 5. Similarly, the extension rail member 19 and the work stocker 40 can be arranged on the left side of the machine tool. is there.
  • the autoloader 10 causes the robot arm 11 to move to the machine tool 5 by grasping the work placed on the left work stocker 40, and to the machining unit. After the delivery, the workpiece received from the processing unit is grasped and moved to the right workpiece stocker 40 and arranged there.
  • the posture of the robot arm 11 is changed due to an expansion / contraction operation or the like, the direction of the robot arm 11 is not changed by turning.
  • the robot arm 11 can be retracted by connecting the extension rail member 19 to the standard rail member 18. That is, as shown in FIG. 2, when the robot arm 11 moves to the extension rail member 19 located outside the front cover 4, it does not hinder the machine tool 5 from moving forward on the base 2.
  • the robot arm 11 can carry in and carry out the work as it is without changing the direction at the time of traveling from the front cover 4. Can do.
  • the extension rail member 19 has a configuration that can be easily attached to and detached from the standard rail member 18, so that it can be easily attached when necessary. That is, normally, the autoloader 10 is configured by the standard rail member 18 that is handled integrally with the base 2, but the extension rail member 19 can be easily attached if necessary, and a retreat place for the robot arm 11 is secured. The autoloader 10 can be made. Since the extension rail member 19 has a length corresponding to the width dimension of the robot arm 11, it does not take more space than necessary, and if the work stocker 40 is disposed, no space is wasted. And even if it is removed, it is not too big to store.
  • the robot arm 11 is retracted to the extension rail member 19 side while paying attention to the point that the machine tool 5 moves forward.
  • the present invention is for moving the machine tool 5. It is not just composed. That is, as described in the problem column, when the worker performs an operation on the front part of the machine tool 5, the problem is that the robot arm 11 is arranged in front of the processing unit.
  • the robot arm 11 needs to be moved to the retracted position when the front cover 4 is opened and the work is performed. There is. Therefore, the object on which the autoloader according to the present invention is mounted is not limited to the machine tool 5 movable in the front-rear direction, and may be another processing machine. Further, the configuration of the autoloader is not limited to the robot arm 11 shown in the embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)
  • Manipulator (AREA)

Abstract

Provided is an automatic loader (10) for transferring a workpiece to and from a working machine (5) mounted on a base (2). The automatic loader (10) has: a robot (11) for handling the workpiece; a traveling base (16) moving with the robot mounted thereon; and a rail member for guiding the movement of the traveling base. The rail member comprises: a standard rail member (18) affixed to the base (2) and guiding the robot (11) to a position where the workpiece is transferred to and from the working machine (5); and an extension rail member (19) capable of being mounted to and removed from the standard rail member and guiding the robot (11) to a position offset from the position where the workpiece is transferred to and from the working machine (5).

Description

オートローダAutoloader

　本発明は、ベースに搭載された加工機械に対してワークの受渡しを行うオートローダに関する。 The present invention relates to an autoloader that delivers a workpiece to a processing machine mounted on a base.

　工作機械などの加工機械は、加工部へとワークを送り込むため、その加工部との間でワークの受渡しや搬送を行うためのオートローダが設けられていることがある。オートローダは、ワークの受渡しを実際に行うロボットと、そのロボットを所定の位置に移動させる走行装置とが設けられている。そして、加工部が複数ある場合にはオートローダによって各々の加工部へとワークが搬送され、また、ワークストッカに対しては、オートローダによってワークの搬入や搬出が行われる。一方、下記特許文献１は、オートローダを設けることなく主軸台自体がワークストッカへ移動する工作機械が開示されている。この工作機械は、延長レールが機械本体に固定され、主軸台が延長レールの位置まで移動してワークストッカからワークを掴みとることができる。そして、主軸台に把持されたワークが加工部へと搬入され、加工が行われた後、再びワークストッカへと戻される。 A processing machine such as a machine tool may be provided with an autoloader for delivering and transferring the workpiece to and from the processing unit in order to send the workpiece to the processing unit. The autoloader is provided with a robot that actually delivers a workpiece and a traveling device that moves the robot to a predetermined position. When there are a plurality of processing parts, the work is transported to each processing part by the autoloader, and the work loader carries in and out the work by the autoloader. On the other hand, Patent Document 1 below discloses a machine tool in which a headstock itself moves to a work stocker without providing an autoloader. In this machine tool, the extension rail is fixed to the machine main body, and the head stock moves to the position of the extension rail so that the workpiece can be grasped from the workpiece stocker. And the workpiece | work hold | gripped by the headstock is carried in to a process part, and after a process is performed, it returns to a workpiece | work stocker again.

特開平１０－１３８００２号公報Japanese Patent Laid-Open No. 10-138002

　加工機械では、ワークを搬送するためにオートローダが搭載され、また、主軸台自体が移動するなどの構成がとられている。しかしながら、その移動範囲はロボットや主軸台が加工部に対してワークの受渡しを行う範囲に限られていた。そのため、前部にオートローダが配置された加工機械においては、ロボットと加工部との位置が重なってしまってしまい、メンテナンス作業などの妨げになってしまう。つまり、作業者が加工機械の前方で作業を行う場合、その前方部分に位置するロボットが邪魔になってしまう。一方、オートローダが存在しない特許文献１の加工機械には同様の課題が生じるわけではないが、一加工部ごとに主軸台が走行する構成では、走行台や駆動機構を堅牢な構成にしなければならず、また大型化してしまうなどの別の課題が生じることとなる。 Processing machines are equipped with an autoloader for transporting workpieces, and the headstock itself moves. However, the movement range is limited to the range in which the robot and the headstock deliver the workpiece to the machining unit. For this reason, in a processing machine in which an autoloader is arranged at the front part, the positions of the robot and the processing part overlap each other, which hinders maintenance work and the like. That is, when the worker performs work in front of the processing machine, the robot located in the front part of the worker gets in the way. On the other hand, the same problem does not occur in the processing machine of Patent Document 1 that does not have an autoloader. However, in the configuration in which the headstock travels for each processing unit, the traveling platform and the drive mechanism must be made robust. In addition, another problem such as enlargement occurs.

　そこで、本発明は、かかる課題を解決すべく、前方部分での作業の妨げにならないオートローダを提供することを目的とする。 Therefore, an object of the present invention is to provide an autoloader that does not hinder the work in the front part in order to solve such a problem.

　本発明の一態様におけるオートローダは、ベースに搭載された加工機械に対してワークの受渡しを行うものであって、ワークを取り扱うためのロボットと、前記ロボットを搭載して移動する走行台と、前記走行台の移動を案内するレール部材とを有し、前記レール部材は、前記ベースに固定され、前記加工機械とのワーク受渡し位置に前記ロボットを案内するための標準レール部材と、前記標準レール部材に着脱可能であり、前記加工機械とのワーク受渡し位置から外れた位置に前記ロボットを案内するための延長レール部材とで構成されている。 The autoloader according to one aspect of the present invention delivers a workpiece to a processing machine mounted on a base, and includes a robot for handling the workpiece, a traveling platform on which the robot is mounted and moved, A rail member that guides the movement of the carriage, the rail member being fixed to the base, and a standard rail member for guiding the robot to a workpiece delivery position with the processing machine, and the standard rail member And an extension rail member for guiding the robot to a position deviating from a workpiece delivery position with the processing machine.

　本発明によれば、ベースに固定された標準レール部材に延長レール部材を連結することにより、ロボットが加工機械とのワーク受渡し位置から外れた位置に移動するため、加工機械の前方に作業スペースができ、オートローダが加工機械に対する作業の妨げにならないようなる。 According to the present invention, by connecting the extension rail member to the standard rail member fixed to the base, the robot moves to a position deviating from the workpiece delivery position with the processing machine, so that a work space is provided in front of the processing machine. The autoloader does not interfere with the work on the processing machine.

一実施形態のオートローダを搭載した工作機械を示した斜視図である。It is the perspective view which showed the machine tool carrying the autoloader of one Embodiment. 一実施形態のオートローダを搭載した工作機械を示した斜視図である。It is the perspective view which showed the machine tool carrying the autoloader of one Embodiment. オートローダの一実施形態を示した斜視図である。It is the perspective view which showed one Embodiment of the autoloader. レール部材を装着した２台のベースを示した斜視図である。It is the perspective view which showed two bases with which the rail member was mounted | worn. 標準レール部材と延長レール部材とを示した正面図である。It is the front view which showed the standard rail member and the extension rail member. オートローダの一実施形態を示した正面図である。It is the front view which showed one Embodiment of the autoloader. 延長レール部材をワークの搬出に適用した工作機械を示した斜視図である。It is the perspective view which showed the machine tool which applied the extension rail member to the carrying-out of a workpiece | work.

　次に、本発明に係るオートローダの一実施形態について、図面を参照しながら以下に説明する。図１及び図２は、本実施形態のオートローダを搭載した工作機械を示した斜視図である。特に図１は加工状態が示され、図２は非加工状態が示されている。工作機械５は、全体が外装カバー３によって覆われており、その内部には加工部が設けられている。外装カバー３の前面部には前カバー４が設けられ、その中にオートローダ１０が配置されている。前カバー４は上方への開放が可能な構成であり、外装カバー３内の加工部のメンテナンス作業などを行う際には開けられるようになっている。そして、前カバー４の上部には、作業者の目線の高さに合わせて操作パネル６が取り付けられている。 Next, an autoloader according to an embodiment of the present invention will be described below with reference to the drawings. 1 and 2 are perspective views showing a machine tool equipped with the autoloader of the present embodiment. In particular, FIG. 1 shows the machining state and FIG. 2 shows the non-machining state. The machine tool 5 is entirely covered with an exterior cover 3, and a machining portion is provided inside the machine tool 5. A front cover 4 is provided on the front surface of the exterior cover 3, and an autoloader 10 is disposed therein. The front cover 4 can be opened upward, and can be opened when performing maintenance work on a processing portion in the exterior cover 3. And the operation panel 6 is attached to the upper part of the front cover 4 according to the height of an operator's eyes.

　工作機械５は、ベース２の上を移動できるように可動ベッド５０１の上に搭載されている。ベース２は、図４に示すように、一台に４本のレール２０１が前後方向に設けられている。つまり一台のベース２には、幅の狭い工作機械であれば２台を搭載することが可能である。工作機械５は、外側に位置する２本のレール２０１幅に合わせて車輪の搭載が可能な可動ベッド５０１を備えている。そのため、工作機械５は、前後方向に移動が可能能であり、図１に示すワーク加工が可能な加工位置と、前方に移動したメンテナンスなどが可能な非加工位置との移動が可能である。 The machine tool 5 is mounted on a movable bed 501 so that it can move on the base 2. As shown in FIG. 4, the base 2 is provided with four rails 201 in the front-rear direction. In other words, two units can be mounted on one base 2 if the machine tool is narrow. The machine tool 5 includes a movable bed 501 on which wheels can be mounted in accordance with the width of two rails 201 positioned on the outside. Therefore, the machine tool 5 is capable of moving in the front-rear direction, and can be moved between a machining position where the workpiece machining shown in FIG. 1 can be performed and a non-machining position where maintenance or the like moved forward can be performed.

　ところで、本実施形態の工作機械５は、例えばエンドミルやドリルなどの回転工具、或いはバイトなどの切削工具を保持したタレットを備えるタレット旋盤である。そのため、ワークを把持するチャックを備えた主軸台や、工具が取り付けられたタレット装置、そのタレット装置をＺ軸やＸ軸に沿って移動させるＺ軸駆動装置やＸ軸駆動装置、駆動部を制御するための加工制御装置などを備えている。ただし、工作機械は、特に旋盤に限るわけではなく、ボール盤、中ぐり盤、フライス盤、歯切り盤、切削盤等であってもよい。 By the way, the machine tool 5 of the present embodiment is a turret lathe including a turret holding a rotary tool such as an end mill or a drill or a cutting tool such as a cutting tool. Therefore, the headstock with a chuck for gripping a workpiece, a turret device to which a tool is attached, a Z-axis drive device, an X-axis drive device, and a drive unit that move the turret device along the Z-axis and X-axis are controlled. A processing control device and the like are provided. However, the machine tool is not particularly limited to a lathe, and may be a drilling machine, a boring machine, a milling machine, a gear cutting machine, a cutting machine, or the like.

　次に図３は、オートローダ１０を示した斜視図である。特に、ベース２上に搭載されている不図示の工作機械５側にロボットアーム１１が延びた状態が示されている。ところで図２には、ロボットアーム１１が折り畳まれて走行や旋回が可能な状態のオートローダ１０が示されている。そのロボットアーム１１は、架台ブロック１２に搭載されており、上腕部材１１１と前腕部材１１２とが関節機構１１５，１１６を介して多関節構造をなしている。ロボットアーム１１は、その関節機構１１５，１１６の駆動により、上腕部材１１１及び前腕部材１１２が、折り畳まれた状態と伸びて前傾した状態とに変形可能なものである。そして、前腕部材１１２の先端部分にはロボットハンド１３が備えられ、ワークの把持及び解放が可能になっている。 Next, FIG. 3 is a perspective view showing the autoloader 10. In particular, a state in which the robot arm 11 extends to the side of the machine tool 5 (not shown) mounted on the base 2 is shown. FIG. 2 shows the autoloader 10 in a state where the robot arm 11 is folded and can travel and turn. The robot arm 11 is mounted on the gantry block 12, and the upper arm member 111 and the forearm member 112 form a multi-joint structure via joint mechanisms 115 and 116. The robot arm 11 can be deformed into a state in which the upper arm member 111 and the forearm member 112 are folded and in a forward inclined state by driving the joint mechanisms 115 and 116. A robot hand 13 is provided at the distal end of the forearm member 112 so that the workpiece can be grasped and released.

　ロボットアーム１１を支持する架台ブロック１２は、旋回テーブル１５を介して走行台１６の上に搭載されている。従って、ロボットアーム１１は、旋回テーブル１５の駆動によって向きを変えることができ、走行台１６の移動によって位置を変えることができるようになっている。その走行台１６は、ベース２に固定されたレール部材１８に対して走行可能に取り付けられている。ここで図４は、ベース２を示した斜視図であり、特にレール部材１８を装着した２台のベース２が示されている。 The gantry block 12 that supports the robot arm 11 is mounted on the traveling table 16 via a turning table 15. Therefore, the direction of the robot arm 11 can be changed by driving the turntable 15, and the position can be changed by moving the traveling platform 16. The traveling platform 16 is attached to a rail member 18 fixed to the base 2 so as to travel. Here, FIG. 4 is a perspective view showing the base 2, and particularly shows two bases 2 to which the rail members 18 are attached.

　ベース２には、その前部にレール部材１８が取り付けられて一体的に構成されている。レール部材１８は、ベース２の前部に固定される板状のレール台２１を有し、そのレール台２１に対してラック２２や２本の走行レール２３が上下に並べて固定されている。走行レール２３には、その走行レール２３を掴んだ状態で摺動する走行スライダ２５が上下２個ずつ取り付けられ、この走行スライダ２５に対して走行台１６（図３参照）が固定されている。そして、その走行台１６には、ラック２２に噛合するピニオン２６と、そのピニオン２６に回転を与える走行用モータ２７とが設けられている。従って、走行用モータ２７の駆動によりピニオン２６がラック２２を転動し、走行スライダ２５が走行レール２３を摺動することにより、走行台１６およびロボットアーム１１がベース２の前方部分を左右幅方向に移動することになる。 The base 2 is integrally formed with a rail member 18 attached to the front part thereof. The rail member 18 has a plate-like rail base 21 fixed to the front portion of the base 2, and a rack 22 and two traveling rails 23 are fixed to the rail base 21 side by side. Two traveling sliders 25 that slide while holding the traveling rail 23 are attached to the traveling rail 23, and a traveling platform 16 (see FIG. 3) is fixed to the traveling slider 25. The traveling table 16 is provided with a pinion 26 that meshes with the rack 22 and a traveling motor 27 that rotates the pinion 26. Therefore, when the driving motor 27 is driven, the pinion 26 rolls on the rack 22 and the traveling slider 25 slides on the traveling rail 23, so that the traveling platform 16 and the robot arm 11 move the front portion of the base 2 in the left-right width direction. Will be moved to.

　ところで、前述したように、工作機械５はベース２上を前後方向に移動することが可能である（図２参照）。よって、前方に位置する作業者に対して工作機械５が移動し、その位置でメンテナンスなどの作業が可能である。しかし、本実施形態の場合、オートローダ１０が工作機械５の前方に位置し、特にロボットアーム１１が起立した状態で配置されている。そのため、ベース２の前方へ工作機械５を移動させる際、ロボットアーム１１が移動の妨げになってしまう。そこで本実施形態では、工作機械５の移動を妨げないようにロボットアームを退避させるための構成がとられている。 Incidentally, as described above, the machine tool 5 can move in the front-rear direction on the base 2 (see FIG. 2). Therefore, the machine tool 5 moves with respect to the operator located in the front, and operations such as maintenance can be performed at that position. However, in the case of the present embodiment, the autoloader 10 is positioned in front of the machine tool 5, and in particular, the robot arm 11 is disposed upright. For this reason, when the machine tool 5 is moved in front of the base 2, the robot arm 11 becomes an obstacle to the movement. Therefore, in this embodiment, a configuration for retracting the robot arm so as not to hinder the movement of the machine tool 5 is employed.

　ところでベース２は、通常、図４に示すようにレール部材１８が前部に装着され、一体的に取り扱われる。図１及び図２にはベース２が１台分しか記載されていないが、本実施形態の工作機械５は、ベース２を幅方向に近接して配置することにより複数の工作機械５を横並びに配置することが可能である。その場合、ベース２同士が互いに極めて近い位置に配置されるため、各ベース２に装着されたレール部材１８同士は直接連結されることとなる。よって、レール部材１８は、ほぼベース２の幅寸法に対応した長さで形成されている。図４に示した２つのレール部材１８は、基準となるもの（図面左側）と、それに連結するためのもの（図面右側）とで多少の構成の違いはあるものの、前述したようにほぼベース２の幅寸法に対応した長さで形成されている。そこで、ベース２と一体的に取り扱われるレール部材１８のことを以降「標準レール部材１８」という。 Incidentally, the base 2 is usually handled integrally with a rail member 18 attached to the front as shown in FIG. Although only one base 2 is shown in FIGS. 1 and 2, the machine tool 5 of the present embodiment has a plurality of machine tools 5 arranged side by side by arranging the bases 2 close to each other in the width direction. It is possible to arrange. In that case, since the bases 2 are arranged at positions very close to each other, the rail members 18 mounted on the bases 2 are directly connected to each other. Therefore, the rail member 18 is formed with a length substantially corresponding to the width dimension of the base 2. The two rail members 18 shown in FIG. 4 are substantially the same as the base 2 as described above, although there is a slight difference in configuration between the reference (the left side in the drawing) and the connecting member (the right side in the drawing). It is formed with a length corresponding to the width dimension. Therefore, the rail member 18 that is handled integrally with the base 2 is hereinafter referred to as a “standard rail member 18”.

　複数のベース２が幅方向に配置された場合、その上には複数の工作機械５が横並びに配置されたいわゆる機械加工ラインが構成される。そして、この機械加工ラインでは、標準レール部材１８同士が連結されてラック２２や走行レール２３が連続するため、ロボットアーム１１が各工作機械５のワーク受渡し位置を行き来することが可能になる。また、機械加工ラインでは、工作機械５がベース２に対して前後方向に移動可能であるため、工作機械５同士が近接していても、メンテナンス作業などに不具合が生じることはない。その際、ロボットアーム１１は、前方へ移動する工作機械５とは別のベース２の位置へ移動することができる。 When a plurality of bases 2 are arranged in the width direction, a so-called machining line in which a plurality of machine tools 5 are arranged side by side is formed thereon. In this machining line, the standard rail members 18 are connected to each other so that the rack 22 and the traveling rail 23 are continuous, so that the robot arm 11 can move back and forth between the workpiece delivery positions of the machine tools 5. Further, in the machining line, since the machine tool 5 can move in the front-rear direction with respect to the base 2, even if the machine tools 5 are close to each other, there is no problem in maintenance work or the like. At that time, the robot arm 11 can move to a position of the base 2 different from the machine tool 5 moving forward.

　しかしながら本実施形態では、図１及び図２に示すように、工作機械５が１台のベース２上に搭載された構成である。こうした構成では、標準レール部材１８がベース２の幅寸法分しかないため、工作機械５のベース２上の移動が制限されてしまうことになる。そこで、前後方向に移動可能な工作機械５の当該機能を阻害しないようにするため、ロボットアーム１１の移動範囲の拡張が可能なオートローダ１０が構成されている。すなわち、図１及び図２に示すように、標準レール部材１８に対して延長レール部材１９を連結することにより、ベース２の幅寸法以上にロボットアーム１１が移動できるようになっている。 However, in the present embodiment, as shown in FIGS. 1 and 2, the machine tool 5 is mounted on one base 2. In such a configuration, since the standard rail member 18 has only the width of the base 2, the movement of the machine tool 5 on the base 2 is limited. Therefore, an autoloader 10 capable of extending the movement range of the robot arm 11 is configured so as not to hinder the function of the machine tool 5 movable in the front-rear direction. That is, as shown in FIGS. 1 and 2, the robot arm 11 can move beyond the width of the base 2 by connecting the extension rail member 19 to the standard rail member 18.

　ここで図５は、標準レール部材１８と延長レール部材１９とを示した正面図である。また、図６は、延長レール１９を加えたオートローダ１０を示した正面図である。標準レール部材１８は、前述したように、板材であるレール台２１の前面に長手方向に延びたラック２２や２本の走行レール２３が上下に並べて平行に固定されている。そして、ラック２２及び走行レール２３は、レール台２１の長手方向の寸法よりも短く形成されている。すなわち、レール台２１の左右両端にはラック２２や走行レール２３が存在しない取付部２１１，２１２が形成されている。 FIG. 5 is a front view showing the standard rail member 18 and the extension rail member 19. FIG. 6 is a front view showing the autoloader 10 to which the extension rail 19 is added. As described above, the standard rail member 18 has the rack 22 and the two traveling rails 23 extending in the longitudinal direction fixed to the front surface of the rail base 21 which is a plate material in parallel in the vertical direction. The rack 22 and the traveling rail 23 are formed shorter than the length of the rail base 21 in the longitudinal direction. That is, attachment portions 211 and 212 where the rack 22 and the traveling rail 23 do not exist are formed at the left and right ends of the rail base 21.

　一方、延長レール部材１９は、同じく板材であるレール台３１の前面に長手方向に延びたラック３２や２本の走行レール３３が上下に並べて平行に固定されている。そして、ラック３２及び走行レール３３は、標準レール部材１８側にレール台３１の一端から突き出した突出部３２１，３３１が形成されている。そして、延長レール部材１９には、レール台３１を支持する脚部３５が設けられ、標準レール部材１８に対して高さが合わせられるようになっている。 On the other hand, the extension rail member 19 has a rack 32 and two traveling rails 33 extending in the longitudinal direction on the front surface of a rail base 31 which is also a plate material, and is fixed in parallel in the vertical direction. The rack 32 and the running rail 33 are formed with protruding portions 321 and 331 protruding from one end of the rail base 31 on the standard rail member 18 side. The extension rail member 19 is provided with a leg portion 35 that supports the rail base 31 so that the height can be adjusted with respect to the standard rail member 18.

　延長レール部材１９は、レール台３１の端部が標準レール部材１８のレール台２１の端部に突き当てられ、突出部３２１，３３１が取付部２１２に重ねられてネジ止めされる。また、延長レール部材１９には連結板３６が固定されている。この連結板３６が標準レール部材１９の取付部２１１に重ねられ、固定ボルトによって締結されることによって、より強固にレール台２１，３１が連結される。標準レール部材１８と延長レール部材１９とは、そのラック２２，３２及び走行レール２３，３３が連続し、各々に１本のラックや走行レールになる。 The extension rail member 19 has the end of the rail base 31 abutted against the end of the rail base 21 of the standard rail member 18, and the projecting portions 321 and 331 are overlapped with the mounting portion 212 and screwed. A connecting plate 36 is fixed to the extension rail member 19. The connecting plate 36 is overlapped with the mounting portion 211 of the standard rail member 19 and fastened with fixing bolts, whereby the rail bases 21 and 31 are more firmly connected. The standard rail member 18 and the extended rail member 19 have their racks 22 and 32 and running rails 23 and 33 continuous, and each has one rack or running rail.

　延長レール部材１９は、前述したように工作機械５の前進を妨げないようにする退避場所を確保するためのものである。従って、図６に示すように、前後方向から見て工作機械５の位置と重ならないように、ロボットアーム１１が横に外れていればよい。そのため、延長レール部材１９の寸法（レール台３１の寸法）は、ロボットアーム１１の幅寸法に対応させた長さであればよい。本実施形態では、標準レール部材１８のほぼ半分の長さである。 As described above, the extension rail member 19 is for securing a retreating place so as not to prevent the machine tool 5 from moving forward. Therefore, as shown in FIG. 6, it is only necessary that the robot arm 11 is laterally disengaged so as not to overlap the position of the machine tool 5 when viewed from the front-rear direction. Therefore, the dimension of the extension rail member 19 (the dimension of the rail base 31) may be a length corresponding to the width dimension of the robot arm 11. In the present embodiment, the length is approximately half that of the standard rail member 18.

　ところで、標準レール部材１８には、図面左側にも延長レール部材１９の連結を可能にする取付部２１１が設けられている。ロボットアーム１１を退避させるためだけであれば、図６に示すように、延長レール部材１９を連結するのは一方だけで十分である。図面左側に延長レール部材１９を連結する必要はない。しかし、延長レール部材１９によってロボットアーム１１が工作機械５から外れた位置まで移動可能な点は、ワークの搬入・搬出にも有利な効果を発揮する。そこで、ワークの搬入・搬出に利用することも合わせて考慮すれば左右に延長レール部材１９が必要になる。ここで図７は、延長レール部材をワークの搬出に適用した工作機械を示した斜視図である。 By the way, the standard rail member 18 is provided with a mounting portion 211 that allows the extension rail member 19 to be connected on the left side of the drawing. If it is only for retracting the robot arm 11, only one of the extension rail members 19 is sufficient as shown in FIG. There is no need to connect the extension rail member 19 to the left side of the drawing. However, the point that the robot arm 11 can be moved to the position where the robot arm 11 is detached from the machine tool 5 by the extension rail member 19 has an advantageous effect for loading and unloading workpieces. Therefore, if it is considered to be used for loading and unloading workpieces, the extension rail members 19 are required on the left and right. Here, FIG. 7 is a perspective view showing a machine tool in which the extension rail member is applied to carry out the workpiece.

　延長レール部材１９を連結した場合、ロボットアーム１１は前カバー４から外に出ることができる。そのため、図示するように、工作機械５の横にワークストッカ４０を配置することにより、加工後のワークをその上に配置させることができる。延長レール部材１９には、レール台３１にブラケット３８が設けられており、ワークストッカ４０がブラケット３８に固定されて位置決めされる。 When the extension rail member 19 is connected, the robot arm 11 can come out of the front cover 4. Therefore, as shown in the figure, by disposing the work stocker 40 beside the machine tool 5, the processed work can be disposed thereon. The extension rail member 19 is provided with a bracket 38 on the rail base 31, and the work stocker 40 is fixed to the bracket 38 and positioned.

　図７には、工作機械５の右側にしか延長レール部材１９やワークストッカ４０が配置されていないが、同様に工作機械の左側にも延長レール部材１９やワークストッカ４０を配置することが可能である。その場合、図面左側から右側に向けてワークが流れるとすれば、オートローダ１０は、ロボットアーム１１が左側のワークストッカ４０に置かれたワークを掴んで工作機械５へと移動し、加工部への受渡しを行った後、加工部から受け取ったワークを掴んで右側のワークストッカ４０へと移動して、そこに配置する。この間、ロボットアーム１１は、伸縮作動などによって姿勢の変化はあるものの、旋回によって向きを変えることはない。 In FIG. 7, the extension rail member 19 and the work stocker 40 are arranged only on the right side of the machine tool 5. Similarly, the extension rail member 19 and the work stocker 40 can be arranged on the left side of the machine tool. is there. In this case, if the work flows from the left side to the right side of the drawing, the autoloader 10 causes the robot arm 11 to move to the machine tool 5 by grasping the work placed on the left work stocker 40, and to the machining unit. After the delivery, the workpiece received from the processing unit is grasped and moved to the right workpiece stocker 40 and arranged there. During this time, although the posture of the robot arm 11 is changed due to an expansion / contraction operation or the like, the direction of the robot arm 11 is not changed by turning.

　よって、本実施形態によれば、延長レール部材１９を標準レール部材１８に連結することにより、ロボットアーム１１が退避可能になった。すなわち、図２に示すように、前カバー４の外に位置する延長レール部材１９にまでロボットアーム１１が移動することにより、ベース２上を工作機械５が前方へ移動する際の妨げにならない。加えて、ベース２の隣にワークストッカ４０を配置させることにより、ロボットアーム１１は、前カバー４から出た位置で、走行時の向きを変えることなく、そのままワークの搬入や搬出作業を行うことができる。 Therefore, according to this embodiment, the robot arm 11 can be retracted by connecting the extension rail member 19 to the standard rail member 18. That is, as shown in FIG. 2, when the robot arm 11 moves to the extension rail member 19 located outside the front cover 4, it does not hinder the machine tool 5 from moving forward on the base 2. In addition, by arranging the work stocker 40 next to the base 2, the robot arm 11 can carry in and carry out the work as it is without changing the direction at the time of traveling from the front cover 4. Can do.

　延長レール部材１９は、標準レール部材１８に対して容易に着脱できる構成であるため、必要な場合に簡単に取り付けることができる。つまり通常は、ベース２と一体的に取り扱われる標準レール部材１８によってオートローダ１０が構成されているが、必要に応じて延長レール部材１９を簡単に取り付けることができ、ロボットアーム１１の退避場所を確保したオートローダ１０にすることができる。延長レール部材１９は、ロボットアーム１１の幅寸法に対応した長さであるため、必要以上にスペースを取るわけではなく、ワークストッカ４０を配置すればまったくスペースの無駄はなくなる。そして、取り外した場合でも、収納しておくのに大きすぎるようなものではない。 The extension rail member 19 has a configuration that can be easily attached to and detached from the standard rail member 18, so that it can be easily attached when necessary. That is, normally, the autoloader 10 is configured by the standard rail member 18 that is handled integrally with the base 2, but the extension rail member 19 can be easily attached if necessary, and a retreat place for the robot arm 11 is secured. The autoloader 10 can be made. Since the extension rail member 19 has a length corresponding to the width dimension of the robot arm 11, it does not take more space than necessary, and if the work stocker 40 is disposed, no space is wasted. And even if it is removed, it is not too big to store.

　以上、本発明の一実施形態について説明したが、本発明はこれらに限定されるものではなく、その趣旨を逸脱しない範囲で様々な変更が可能である。
　例えば、前記実施形態では、工作機械５が前方へ移動する点に着目して、ロボットアーム１１を延長レール部材１９側へ退避させることを説明したが、本発明は、工作機械５の移動のためだけに構成されたものではない。つまり、課題の欄でも記載したように、作業者が工作機械５の前方部分で作業を行う場合に、加工部の前にロボットアーム１１が配置されていることが問題である。 As mentioned above, although one Embodiment of this invention was described, this invention is not limited to these, A various change is possible in the range which does not deviate from the meaning.
For example, in the above-described embodiment, the robot arm 11 is retracted to the extension rail member 19 side while paying attention to the point that the machine tool 5 moves forward. However, the present invention is for moving the machine tool 5. It is not just composed. That is, as described in the problem column, when the worker performs an operation on the front part of the machine tool 5, the problem is that the robot arm 11 is arranged in front of the processing unit.

　従って、図１に示すように工作機械５がベース２の通常位置にある状態であっても、前カバー４を開けて作業を行う場合には、ロボットアーム１１が退避位置に移動している必要がある。よって、本発明に係るオートローダを搭載する対象としては、前後方向に移動可能な工作機械５に限定されるわけではなく、その他の加工機械であってもよい。
　また、オートローダの構成も実施形態で示したロボットアーム１１などに限定されるわけではない。 Therefore, even when the machine tool 5 is in the normal position of the base 2 as shown in FIG. 1, the robot arm 11 needs to be moved to the retracted position when the front cover 4 is opened and the work is performed. There is. Therefore, the object on which the autoloader according to the present invention is mounted is not limited to the machine tool 5 movable in the front-rear direction, and may be another processing machine.
Further, the configuration of the autoloader is not limited to the robot arm 11 shown in the embodiment.

２…ベース　３…外装カバー　４…前カバー　５…工作機械　１０…オートローダ　１１…ロボットアーム　１６…走行台　１８…標準レール部材　１９…延長レール部材
 
 
 

  DESCRIPTION OF SYMBOLS 2 ... Base 3 ... Exterior cover 4 ... Front cover 5 ... Machine tool 10 ... Autoloader 11 ... Robot arm 16 ... Running stand 18 ... Standard rail member 19 ... Extension rail member



Claims (3)

　ベースに搭載された加工機械に対してワークの受渡しを行うオートローダであって、
　前記オートローダは、ワークを取り扱うためのロボットと、前記ロボットを搭載して移動する走行台と、前記走行台の移動を案内するレール部材とを有し、
前記レール部材は、
　前記ベースに固定され、前記加工機械とのワーク受渡し位置に前記ロボットを案内するための標準レール部材と、
　前記標準レール部材に着脱可能であり、前記加工機械とのワーク受渡し位置から外れた位置に前記ロボットを案内するための延長レール部材とで構成されたことを特徴とするオートローダ。 An autoloader that delivers workpieces to the processing machine mounted on the base,
The autoloader includes a robot for handling a workpiece, a traveling platform that moves by mounting the robot, and a rail member that guides the movement of the traveling platform,
The rail member is
A standard rail member fixed to the base for guiding the robot to a workpiece delivery position with the processing machine;
An autoloader which is detachable from the standard rail member and is constituted by an extension rail member for guiding the robot to a position deviated from a workpiece delivery position with the processing machine. 　前記延長レール部材は、前記ロボットの退避位置を構成するものであることを特徴とする請求項１に記載のオートローダ。 The autoloader according to claim 1, wherein the extension rail member constitutes a retracted position of the robot. 　前記延長レール部材は、前記ロボットの幅寸法に対応した長さで形成されたものであることを特徴とする請求項２に記載のオートローダ。
 

  The autoloader according to claim 2, wherein the extension rail member is formed with a length corresponding to a width dimension of the robot.


PCT/JP2014/079925 2014-11-12 2014-11-12 Automatic loader Ceased WO2016075767A1 (en)

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