JPH05301142A - Machine tool with carrying device - Google Patents

Abstract

PURPOSE:To provide a machine tool with a carrying device which is so designed as to simplify and facilitate carrying a work in/out in particular. CONSTITUTION:In order to allow a work carrying device to carry and detachably mount a work W housed in a work magazine WM on the circular dividing table mounting jig 10 located over a table 4 by means of the turning motion of an arm and the axial motion of a machine tool 1 with a swing arm type work carrying device fitted onto a spindle 6, the axial movement of the machine tool 1 and the operation of the circular dividing table mounting jig are carried out based on the command of a NC control means, and both the work carrying device and the work magazine are operated so as to be controlled based on the command of the NC control means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine tool equipped with a work transfer tool on a spindle head to transfer the work by machine movement and operation of the transfer tool, which can easily and easily carry the work in and out. Is.

[0002]

2. Description of the Related Art Conventional machine tools are equipped with a robot hand at a lateral position of the machine tool, and the work is carried by the robot hand to carry the work into and out of a clamping device on a table of the machine tool. Has been adopted. Further, as disclosed in Japanese Utility Model Laid-Open No. 63-136842, there has been proposed a method in which a robot hand is attached / detached to / from a spindle by a tool changing device or the like to exchange a work. In a machine tool equipped with a robot hand at a lateral position, since a robot hand with a heavy load and a large mounting space is mounted on the side surface of the spindle head, the spindle head causes mechanical strain in the lateral direction. In addition to degrading machining accuracy, for example, when a group of unmachined workpieces arranged in one corner on the table is transferred to and removed from a mounting jig in the limited space at the center of the table, a robot hand with a large movement range can be used. It has to be operated to carry the work, which inevitably makes it impossible to carry large work. Further, in the case of attaching / detaching the robot hand to / from the spindle by a tool changing device or the like and exchanging the work, the robot hand having a large motion range has to be operated, which makes it impossible to convey a large workpiece. ..

On the other hand, a machine tool has N movements in three axes.
Despite having the function of positioning by C control,
The robot hand will be installed on the head of the machine tool and will have a double drive system. Therefore, the control device of the robot hand and the control device of the machine tool are duplicated, resulting in an increase in cost and complicated program creation and operation maintenance.

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The present invention has been made in view of the above-mentioned conventional problems, and it is an object of the present invention to solve the problems. In particular, a hand serving as a gripper that performs a turning motion and an opening / closing operation on a side portion of a spindle head. It is an object of the present invention to provide a machine tool equipped with a carrier tool, which is capable of carrying a work by using movement control of the machine tool in three-axis directions.

[0005]

According to the present invention, a swing arm type work transfer tool is attached to a spindle head, and the work transfer tool is installed in a work magazine by a swing motion of the arm and an axial movement operation of a machine tool. In order to transfer and attach the work to and from the indexing circular table mounting jig arranged on the table, the axis movement of the machine tool and the indexing circular table mounting jig are performed based on the commands of the NC control device. The magazine is a machine tool with a carrier characterized in that its operation is controlled by a command from a PC controller.

[0006]

As a result, the work can be conveyed by using the three-axis movement control of the machine tool, and the PC controller of the carrier tool hand and the NC controller of the machine tool do not overlap with each other. You can drive based on the program. In addition, one work is taken out from the unprocessed work group arranged in one corner on the table, and it is easily and easily transferred to and removed from the index circle table mounting jig in the limited space at the center of the table. can do.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments shown in the drawings will be described below. Figure 1
FIG. 3 is a front view of a machine tool with a carrier according to the present invention, which includes a turning mechanism and an opening / closing operation. FIG. 2 is an overall perspective view showing the operation of the machine tool with a carrier according to the present invention shown in FIG. FIG. 3 is a block diagram showing the relationship between the machine tool and the control device,
FIG. 4 is a time chart showing the work exchange action.

Referring to FIG. 1, a machine tool with a carrier according to the present invention, which comprises a turning mechanism and an opening / closing operation, will be described. The machine tool 1 is a vertical milling machine or a vertical machining center composed of a bed 2, a knee 3, a table 4, a column 5, a spindle head 6 and the like.
The head 6 is moved and positioned in the Y-axis direction, and the spindle head 6 is vertically positioned in the Z-axis direction. A tool 8 is attached to the spindle 7,
The work W fastened to the chuck 10a of the index circular table mounting jig 10 at the center of the table is cut. A body function box 21 is attached to the right side of the spindle head 6 of the work transfer tool 20, and the work W is transferred by the axial movement of the machine tool 1 and the opening / closing operation of the gripper (hand) 11 of the transfer tool 20. .. That is, the work in the work magazine WM arranged at one corner on the table 4 is conveyed and detached from the index circular table mounting jig 10 arranged at the center of the table.

Next, the machine tool 1 and NC & PC shown in FIG.
The relationship with the control devices 100 and 200 will be described with a block diagram. The NC control device 100 has a four-axis control function for rotationally controlling the X, Y, Z axis servomotors MX, MY, MZ and the indexing motor M1 of the indexing circle table mounting jig 10. In addition, the PC control device 200 uses the work transfer tool 20.
It has a control function of a three-axis system for controlling rotation of the opening / closing cylinder C1 of the hand 11, the arm 22 turning cylinder C2 of the carrier 20, and the indexing motor M2 of the work magazine WM. These NC & PC control devices 100, 200 are
The NC control devices 100 mainly interact with each other by control signals.
Each device 20, 1 by M signal (start command signal) from
1. Start the WM, and when the operation ends, set the end signal to P
From the C control device 200 to the NC control device 100,
There is a relationship that causes the NC control device 100 to execute the program of the next step.

Next, the carrying action will be described with reference to FIGS. The work magazine WM arranged at one corner on the table 4 is indexed to the transport indexing position (a) by setting one of the works W1, W2, ... as W by the activation of the indexing motor M2 of the PC control device 200. Be done. At this time the arm is 2
In the 2'horizontal state, the gripper (hand) 11 is positioned right above the transport indexing position (a) by the X-axis movement (+) of the table 4. After that, the gripper (hand) 11 surrounds the work W by the Z-axis movement (-), and after the work is gripped, the gripper (hand) 11 traces the work W by the Z-axis movement (+) (a). Lift with. After that, the arm is swung vertically downward along the locus (b), and the work W is brought close to the chuck 10a of the indexing circular table mounting jig 10. Then, the work W is inserted into the chuck 10a along the locus (c) by the X-axis movement (-) of the table 4, and the work is delivered by the chucking operation of the chuck 10a and the work release of the gripper (hand) 11. After that, the arm 22 is turned counterclockwise along the locus b to move away from the indexing circular table mounting jig 10, and the arm 22 'is made to stand by as indicated by a chain double-dashed line. The above is the operation when the "workpiece is conveyed to the indexing circular table" (■).

When the work W is mounted on the indexing circle table mounting jig 10 and the work is finished,
Move to the action of (■) when carrying out the work to the work magazine. This transporting action shifts the action of "transporting the work to the indexing circular table" (■) in exactly the same way in the opposite direction for each step, and first, the transporting indexing position of the work magazine WM. Return it as a processed work to the position taken out from (a). After that, in order to carry out the next unprocessed work, the work magazine WM is indexed, and a cycle is repeated to repeat the action of the previous "transporting the work to the indexing circular table" (■). The work magazine WM arranged at one corner on the table 4 may be an embodiment arranged at the machine front part on the table 4.

It is needless to say that the present invention is not limited to the above-mentioned respective embodiments, and design changes can be further made within the scope of the invention. The machine tool type can be applied to a horizontal machine tool.

[0013]

EFFECTS OF THE INVENTION Since the present invention is configured as described above, it is possible to carry a work by using the machine tool three-axis movement control, and also the PC control device of the carrier tool hand and the NC control of the machine tool. It can operate based on the program of each control device without overlapping with the device. In addition, one work is taken out from the unprocessed work group arranged in one corner on the table, and it is easily and easily transferred to and removed from the index circle table mounting jig in the limited space at the center of the table. There is an effect that can be done.

[Brief description of drawings]

FIG. 1 is a front view of a machine tool with a carrier according to the present invention, which includes only opening and closing operations.

FIG. 2 is an overall perspective view showing the operation of the machine tool with a carrier of the present invention.

FIG. 3 is a block diagram showing a relationship between a machine tool and a control device.

FIG. 4 is a time chart showing a work exchange action.

[Explanation of symbols]

 1, 1 Machine tool 4 Table 6 Spindle head 10 Indexing circular table mounting jig 20 Work transfer tool 22 Arm 11 Hands a, b, c Transfer path WM Work magazine (a) Transfer indexing position 100 NC controller 200 PC Controller M1, M2 Indexing motor

Claims (1)

[Claims] 1. A swing arm type work transfer tool is attached to a spindle head, and the work transfer tool is arranged so that a work in a work magazine is arranged on a table by a turning motion of the arm and an axial movement operation of a machine tool. In order to transfer and attach to and from the jig table mounting jig, the machine tool axis movement and indexing circle table mounting jig are performed based on commands from the NC controller, and the work transfer tool and work magazine are commands from the PC controller. A machine tool with a carrier tool, which is controlled by the operation.