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WO2021135762A1 - 一种工件交换装置和方法 - Google Patents

一种工件交换装置和方法 Download PDF

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Publication number
WO2021135762A1
WO2021135762A1 PCT/CN2020/132124 CN2020132124W WO2021135762A1 WO 2021135762 A1 WO2021135762 A1 WO 2021135762A1 CN 2020132124 W CN2020132124 W CN 2020132124W WO 2021135762 A1 WO2021135762 A1 WO 2021135762A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
spindle
axis
library
machine tool
Prior art date
Application number
PCT/CN2020/132124
Other languages
English (en)
French (fr)
Inventor
陈虎
贺行健
汤洪涛
宫兴林
任志辉
李少智
郭洪震
张国靖
宋明山
刘绍毅
鞠兹丹
Original Assignee
科德数控股份有限公司
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 科德数控股份有限公司 filed Critical 科德数控股份有限公司
Priority to JP2022539215A priority Critical patent/JP7425880B2/ja
Priority to KR1020227020812A priority patent/KR102720402B1/ko
Priority to EP20910821.6A priority patent/EP4086036A4/en
Priority to US17/788,536 priority patent/US20230032696A1/en
Publication of WO2021135762A1 publication Critical patent/WO2021135762A1/zh

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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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15506—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being inserted in a tool holder directly from a storage device (without transfer device)
    • 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
    • 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
    • B23Q7/03—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 endless chain conveyors
    • 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
    • B23Q7/10—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 magazines
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • 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
    • 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
    • B23Q7/047—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 the gripper supporting the workpiece during machining
    • 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
    • B23Q2705/00—Driving working spindles or feeding members carrying tools or work
    • B23Q2705/10—Feeding members carrying tools or work
    • B23Q2705/102—Feeding members carrying tools or work for lathes
    • 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
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe

Definitions

  • the invention relates to the field of machine tool workpiece exchange, in particular to a workpiece exchange device and method.
  • the structure of the manipulator is complex. It uses multiple linear axis motions to complete the replacement of the workpiece.
  • the high-speed servo motor is used with screw drive.
  • the overall cost of multiple linear axes is relatively high; some manipulators use cylinder transmission, cooperate with limiters and sensors to realize the workpiece
  • the sensor must ensure that the cylinder is fully moved in place after the sensor detects it.
  • the cylinder Before reaching the collision limit, the cylinder must reduce its speed and reserve buffer time, which makes the entire replacement of the workpiece slower and limited. There is mechanical wear and looseness in the positioning, resulting in offset, and the adjustment must be repeated.
  • the invention provides a workpiece exchanging device and method, which can quickly and stably replace the workpiece.
  • a workpiece exchange device further comprising:
  • the workpiece spindle and workpiece library that can move along the X-axis and Z-axis of the machine tool;
  • the workpiece library is used to store workpieces, and the workpiece library is arranged on one side of the machine tool;
  • the workpiece spindle can move along the X-axis and Z-axis of the machine tool to the workpiece library, and grab the workpiece to be processed in the workpiece library from the workpiece library or transfer the processed workpiece to the workpiece library.
  • the detection device can detect the position of the workpiece spindle, the status of the workpiece on the workpiece spindle, and the position and angle of the workpiece in the workpiece library, the status includes workpiece, no workpiece, workpiece processed and The workpiece is unprocessed.
  • a knife handle is provided at the end of the workpiece, and a broach mechanism that cooperates with the knife handle is provided on the workpiece spindle.
  • the workpiece library further includes a workpiece gripper and a chain shaft;
  • the workpiece clamping jaws fix the workpiece in the workpiece magazine through the tool holder, the workpiece clamping jaws are arranged on the workpiece chain, the chain shaft drives the workpiece chain to transport the workpiece, and the chain shaft is fixed On the column of the machine tool.
  • a method for exchanging workpieces includes the following steps:
  • the workpiece spindle moves to an initial position, the initial position is away from the workpiece magazine in the Z-axis direction, and is located on the side where the workpiece can be grasped in the X-axis direction;
  • the workpiece spindle moves along the Z axis of the workpiece magazine, so that the workpiece spindle is coaxial with the workpiece;
  • the workpiece spindle moves along the X axis and is clamped with the workpiece
  • the workpiece spindle drives the workpiece to move away from the workpiece library along the Z axis.
  • a method for exchanging workpieces includes the following steps:
  • the workpiece spindle moves to an end of the Z axis away from the workpiece magazine
  • the workpiece spindle moves along the X axis to align the workpiece on the workpiece spindle with the position where the workpiece is stored;
  • the workpiece spindle moves along the Z axis in the workpiece magazine, the workpiece spindle sends the workpiece to the workpiece magazine, and the workpiece spindle releases the workpiece;
  • the workpiece spindle moves away from the tool along the X-axis, so that the workpiece is separated from the workpiece spindle.
  • the invention provides a workpiece exchange device and method, which utilizes the movement of the workpiece spindle in the X-axis and Z-axis directions and the cooperation of the tool holder structure and the broach mechanism to realize the removal of the workpiece from the workpiece library and the transfer of the workpiece to the workpiece library.
  • the invention has the following beneficial effects: 1. Using the X axis and Z axis of the machine tool to make the workpiece spindle move in the plane and grab the workpiece, the precision is high, the speed is fast, and the position is closed loop, so that the grabbing action is more accurate and the operation is The speed and grasping accuracy are much higher than that of robots or manipulators, which greatly improves the efficiency of workpiece exchange; 2.
  • the workpiece is pre-installed with a tool holder interface, the broach mechanism and the tool holder structure are existing technologies, which have a large bearing capacity, high reliability, and convenient expansion of the workpiece library; 4. workpiece library and processing The working space is adjacent, the machine tool has a compact structure and a small footprint. The workpiece is taken and sent by the linear axis of the machine tool. No additional work stroke is required, which saves a lot of space and is beneficial to production organization.
  • Figure 1 is a schematic diagram of the structure of the workpiece exchange device disclosed in the present invention.
  • FIG. 2 is a schematic diagram of the initial position of the workpiece spindle before taking the workpiece in the present invention
  • FIG. 3 is a schematic diagram of the position of the workpiece spindle in the present invention when it is ready to take the workpiece, and is also a schematic diagram of the position after the workpiece is separated when the workpiece spindle is returned to the workpiece;
  • Fig. 4 is a schematic diagram of the clamping of the workpiece spindle with the workpiece at the position of the workpiece library in the present invention
  • Figure 5 is a schematic diagram of the position where the workpiece spindle grabs the workpiece and leaves the workpiece library in the present invention, and is also a schematic diagram of the position before the workpiece spindle returns to the workpiece.
  • a workpiece exchange device includes a workpiece library 1 and a workpiece spindle 3.
  • the workpiece library 1 is used to store the workpiece 2.
  • the workpiece spindle can move along the X axis and the Z axis of the machine tool and grab the workpiece.
  • the bed base of the machine tool is provided with a sliding table 4 that can move along the X axis of the machine tool.
  • the sliding table 4 is provided with a pallet 5 that can move along the Z axis of the machine tool.
  • the pallet 5 is provided with a workpiece spindle 3.
  • the bottom of the sliding table 4 is equipped with a sliding block that matches with the guide rails.
  • One end of the bed base is equipped with a driving motor.
  • the driving motor drives the sliding table 4 through the screw and nut. Movement; the sliding table 4 is provided with two guide rails in the Z-axis direction, the bottom of the supporting plate 5 is provided with a sliding block, and one end of the sliding table 4 is provided with a motor, and the motor drives the supporting plate 5 to move on the sliding table 4 along the Z axis.
  • the workpiece library 1 is fixed on the left side of the machine tool.
  • the workpieces in the workpiece library are arranged in the same direction as the spindle of the workpiece.
  • the side of the workpiece to be processed faces the direction of the column of the machine tool, and the other side of the workpiece is provided with a tool holder 21.
  • the X-axis and Z-axis of the machine tool constitute a plane coordinate system.
  • the end of the workpiece library 1 near the machine tool is in this coordinate system, and the workpiece spindle moves in this coordinate system.
  • the linear axis on the machine tool has high precision, fast speed and good stability, which improves the efficiency of workpiece grabbing and exchange.
  • the X-axis and Z-axis of the machine tool are parts of the machine tool itself, with simple structure and good stability, which makes the workpiece grasping more reliable.
  • the detection device includes a plurality of sensors, which detect whether there is a workpiece at the station, whether the angle of the workpiece is accurate, whether the workpiece has been processed, and so on.
  • the position closed-loop servo system of the machine tool is used to accurately detect the displacement of the workpiece spindle 3, and the precise control enables the workpiece spindle to quickly and stably grasp the workpiece.
  • the workpiece spindle 3 is provided with a broach mechanism 31, and the end of the workpiece 2 is provided with a tool holder structure matched with the broach mechanism 31.
  • the cooperation between the broach mechanism and the tool holder is the existing technology, which is stable in grasping, heavy-bearing, high reliability, and convenient to expand the workpiece library.
  • the workpiece library 1 is integrated on the machine tool and is adjacent to the processing area of the machine tool. It has a compact structure and a small footprint, which not only improves the utilization rate of the workshop, but also facilitates production organization.
  • the workpiece library 1 also includes a chain shaft 11 and a workpiece chain 12 wound on the chain shaft 11.
  • the chain shaft 12 is fixed on the column of the machine tool and driven by a motor.
  • the chain shaft 12 drives the workpiece chain 11 to move, and the workpiece chain 11 is provided with workpieces.
  • the clamping jaw 13 and the workpiece 2 are fixed on the workpiece chain 12 by the workpiece clamping jaw 13.
  • the workpiece chain 12 is composed of a plurality of links connected to each other in an articulated manner.
  • the working chain 12 is wound on the outside of the chain shaft 11, and the workpiece chain 11 is provided with a workpiece gripper 13 which fixes the workpiece 2 on the workpiece chain 12 ,
  • the end of the workpiece 2 is pre-installed with a tool holder 21, and the tool holder 21 cooperates with the workpiece clamping jaw 13 to realize the fixation of the workpiece in the workpiece library 1.
  • the cooperation of the broach mechanism 31 on the end surface of the workpiece spindle 3 and the tool holder structure on the workpiece 2 can realize the gripping of the workpiece 2.
  • the structure of the workpiece clamping jaw 13 is an existing tool holder structure, and the cooperation and fixing of the tool holder and the tool holder is the existing technology.
  • the connection form of the tool holder and the tool holder is used to construct the workpiece library, which not only has good reliability, but also can be used in Conveniently expand the workpiece library when needed.
  • the workpiece is clamped in the form of a tool holder, which has large bearing capacity, stable clamping and fast replacement speed, which greatly improves the replacement efficiency.
  • a method for realizing workpiece installation including the following steps:
  • the workpiece spindle is in the initial position, the initial position is far away from the workpiece library in the Z-axis direction, and on the side where the workpiece can be grasped in the X-axis direction; the initial position can be multiple points in the area that meets the above conditions.
  • the workpiece library 1 is fixed on the left side of the machine tool.
  • the workpiece in the workpiece library is aligned with the workpiece spindle in the same direction.
  • the side of the workpiece to be processed faces the direction of the machine tool column.
  • the other side of the workpiece is provided with a tool holder 21.
  • the side is the side of the workpiece with the tool holder;
  • the workpiece library starts the workpiece library, transport the workpiece, and move the workpiece to a position close to the machine tool; the workpiece library cyclically transports the workpiece along the Z-axis direction, and the workpiece is transported to the end of the workpiece library near the machine tool, that is, the workpiece moves to the position close to the machine tool.
  • the workpiece spindle moves along the Z axis of the workpiece magazine, so that the workpiece spindle and the workpiece are coaxial;
  • the workpiece spindle moves along the X axis and is clamped with the workpiece. At this time, the position of the workpiece spindle is shown in Figure 4;
  • the workpiece spindle moves along the Z axis to separate the workpiece from the workpiece library. At this time, the position of the workpiece spindle is shown in Figure 5. Then the sliding table and the pallet move together to transport the workpiece to the position to be processed.
  • the workpiece library is started, and the motor drives the chain shaft 11 to rotate the workpiece chain 12 to drive the workpiece 2 to a position where the workpiece spindle 3 can be grasped.
  • the workpiece spindle 3 moves along the Z axis and approaches the workpiece library 1.
  • the detection device detects the position of the workpiece spindle 3 and confirms that the workpiece spindle 3 is in a proper position in the Z-axis direction, that is, the workpiece spindle can move along the X-axis to be clamped with the workpiece 2.
  • the pallet 5 moves along the X axis to start the broaching mechanism on the end face of the workpiece spindle, and the workpiece is tightened by the broaching mechanism. After the workpiece 2 is clamped on the spindle, the sliding table 4 and the pallet 5 move in cooperation to transport the workpiece 2 to the processing area.
  • a method for returning workpieces includes the following steps:
  • the workpiece 2 is installed in the workpiece spindle 3.
  • the workpiece spindle 3 moves to the end of the Z axis away from the workpiece library, and the workpiece library is started.
  • the workpiece chain 12 rotates under the drive of the chain shaft 11, so that the workpiece storage position of the workpiece library faces the direction of the machine tool. That is, the opening of the workpiece gripper 13 is rotated to the position where the workpiece is placed in the workpiece inventory when facing the workpiece spindle, and the workpiece is ready to be picked up.
  • the sliding table 4 transports the workpiece spindle 3 along the X axis.
  • the inspection device detects and confirms the workpiece 2 and the workpiece library 1.
  • the position of the workpiece spindle is shown in Figure 5, and after the detection is correct, as shown in Figure 4, the workpiece spindle 3 moves along the Z-axis of the workpiece magazine 1, and the workpiece spindle 3 is transported by the pallet 5. Feed into the workpiece clamping jaw 13, start the tool release function of the end face broaching mechanism of the workpiece spindle 3, and the workpiece spindle 3 releases the workpiece. As shown in Figure 3, the sliding table 4 moves away from the tool 6 along the X axis, so that the workpiece 2 is completely separated from the workpiece spindle 3, the chain axis rotates, and the workpiece chain 12 is driven to transport the workpiece 2, and the pallet moves along the Z axis. Move the workpiece spindle out of the tool magazine.
  • the workpiece exchanging device disclosed in the present invention is not limited to the above-mentioned machine tool structure.
  • Machine tools without a worktable structure can use the invention to exchange workpieces and workpiece spindles.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Turning (AREA)
  • Jigs For Machine Tools (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

一种工件交换装置，工件主轴（3）设置在托板（5）上，托板（5）设置滑台（4）上，托板（5）能够沿机床Z轴运动，滑台（4）能够沿机床X轴运动，包括：工件库（1）；工件库（1）用于存放工件，工件主轴（3）能够沿机床X轴和Z轴运动并抓取工件。一种工件交换的方法，通过滑台（4）和托板（5）的配合运动，实现工件主轴（3）从工件库（1）中取出待加工工件（2）或将加工后工件（2）送回至工件库（1）中的工件主轴（3）。该工件交换装置利用机床坐标系抓取工件，精度高、速度快，并且不需要新增辅助机构，结构简便，稳定性高，可靠性好。

Description

一种工件交换装置和方法 技术领域
本发明涉及机床工件交换领域，尤其涉及一种工件交换装置和方法。
背景技术
现有机床的工件更换大多由机器人、机械手或人工操作完成。
使用机器人更换工件运行快，效率高，但机器人在工作时，工作行程需要占用额外的空间，不利于生产组织；而且由于机器人的核心部件由国外垄断，导致采购成本和维修成本极为高昂，而且备件从国外发货，进货周期长，导致维修周期长，不利于企业连续生产，一旦机器人核心部件出现突发故障，影响生产，企业将损失非常严重。
机械手结构复杂，使用多个直线轴运动完成工件的更换，采用高速的伺服电机配合丝杠传动，多直线轴整体成本较高；有的机械手采用气缸传动，配合限位器和传感器，实现工件的更换，但这种形式的机械手更换工件时，传感器检测后要保证气缸完全运动到位，到达碰撞限位之前，气缸要降低速度，预留缓冲时间，这使整个更换工件动作比较慢，而且限位定位存在机械磨损和松动，导致偏移，要重复进行调整。
使用人工更换工件的成本低于机器人的采购成本和维修成本，且相对比较稳定，但人工更换工件速度慢，工作效率低，远远低于机械自动化的工作效率，这会使企业的效益收到很大影响，而且，人工成本逐年上涨，进一步压缩企业的利润空间。
发明内容
本发明提供一种工件交换装置和方法，可以快速稳定的更换工件。
一种工件交换装置，还包括：
能够沿机床X轴和Z轴运动的工件主轴和工件库；
所述工件库用于存放工件，所述工件库设置于机床的一侧；
所述工件主轴能够沿机床X轴和Z轴运动至所述工件库，并从所述工件 库抓取所述工件库待加工的工件或者向所述工件库移送加工后的工件。
进一步地，还包括：
检测装置，所述检测装置能够检测所述工件主轴的位置、所述工件主轴上工件的状态和所述工件库中工件的位置和角度，所述状态包括有工件、无工件、工件已加工和工件未加工。
进一步地，所述工件的端部设有的刀柄，所述工件主轴上设有与所述刀柄相互配合的拉刀机构。
进一步地，所述工件库还包括工件夹爪和链条轴；
所述工件夹爪通过所述刀柄将工件固定在所述工件库内，所述工件夹爪设置于工件链条上，所述链条轴驱动所述工件链条输送所述工件，所述链条轴固定在机床的立柱上。
一种工件交换方法，包括以下步骤：
所述工件主轴运动至初始位置，所述初始位置在Z轴方向远离所述工件库，在X轴方向位于所述工件可抓取的一侧；
启动所述工件库，运送所述工件，使所述工件运动至靠近机床的位置；
所述工件主轴沿Z轴向所述工件库运动，使所述工件主轴与所述工件同轴；
所述工件主轴沿X轴运动并与所述工件卡接；
所述工件主轴带动所述工件沿Z轴运动脱离所述工件库。
一种工件交换方法，包括以下步骤：
所述工件主轴运动至Z轴远离所述工件库的一端；
启动所述工件库，使所述工件库的存放工件的位置朝向机床方向，
所述工件主轴沿X轴运动，使工件主轴上的工件与所述存放工件的位置对齐；
所述工件主轴沿Z轴向所述工件库运动，所述工件主轴将工件送至工件库内，所述工件主轴松开工件；
所述工件主轴沿X轴向远离刀具方向运动，使所述工件脱离所述工件主轴。
本发明提供一种工件交换装置和方法，利用工件主轴在X轴和Z轴方向上的运动和刀柄结构与拉刀机构的配合，实现了在工件库内取出工件和向工 件库运送工件，完成工件交换工作。本发明具有以下有益效果：1、利用机床自身的X轴和Z轴使工件主轴在平面内运动并抓取工件，精度高、速度快，而且是位置闭环的，使抓取动作更精准，运行速度和抓取精准度均远高于机器人或机械手，大大提高了工件交换的效率；2、利用机床自身的X轴和Z轴进行工件交换，不需额外增加辅助机构，机械结构更加简洁，不仅可靠性更好，而且节省成本；3、工件预装有刀柄接口，拉刀机构和刀柄结构是现有技术，承重大，可靠性高，而且方便扩展工件库；4、工件库与加工作业空间相邻，机床整机结构紧凑，占地小，取送工件由机床直线轴运动完成，不需额外工作行程，节省大量空间，有利于生产组织。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明公开的工件交换装置结构示意图；
图2为本发明中工件主轴取工件之前的初始位置示意图；
图3为本发明中工件主轴准备取工件时的位置示意图，也是工件主轴送回工件时使工件脱离后的位置示意图；
图4为本发明中工件主轴在工件库位置与工件卡接示意图；
图5为本发明中工件主轴抓取工件离开工件库的位置示意图，也是工件主轴送回工件之前的位置示意图。
图中：1、工件库；11链条轴；12、工件链条；13、工件夹爪；2、工件；21、刀柄；3、工件主轴；31、拉刀机构；4、滑台；5、托板。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于 本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，一种工件交换装置，包括工件库1和工件主轴3，工件库1用于存放工件2，工件主轴能够沿机床X轴和Z轴运动并抓取工件。机床的床身底座上设有可沿机床X轴运动的滑台4，滑台4上设有可沿机床Z轴运动的托板5，托板5上设有工件主轴3。
床身底座上设有X轴方向的两条导轨，滑台4底部设有与导轨配合的滑块，床身底座的一端设有驱动电机，驱动电机通过丝杠和丝母配合驱动滑台4运动；滑台4上设有Z轴方向的两条导轨，托板5底部设有滑块，滑台4的一端设有电机，电机驱动托板5在滑台4上沿Z轴运动。
工件库1固定在机床左侧面，工件库中的工件与工件主轴并列同向，工件待加工的一侧朝向机床的立柱方向，工件另一侧设有刀柄21。机床X轴和Z轴构成平面坐标系，工件库1靠近机床的一端处于此坐标系内，工件主轴在此坐标系内运动。机床上直线轴运动精度高、速度快、稳定性好，使工件的抓取交换效率提高。机床的X轴和Z轴为机床本身的部件，结构简便，稳定性好，使工件抓取的可靠性更高。
进一步地，还包括检测装置，检测装置用于检测工件主轴3的位置、工件主轴3上工件的状态以及工件库1中工件的位置和角度，工件主轴3上工件的状态包括工件主轴3上有工件、工件主轴3上无工件、工件主轴3上的工件已加工，工件主轴3上的工件未加工。检测装置包括多个传感器，通过多个传感器检测工位处有无工件，工件角度是否准确，工件是否已经加工等。工件主轴3在运动过程中，利用机床的位置闭环伺服系统准确检测工件主轴3的位移量，精准控制，使工件主轴迅速稳定抓取工件。
工件主轴上3设有拉刀机构31，工件2的端部设有与拉刀机构31配合的刀柄结构。拉刀机构与刀柄的配合是现有技术，抓取稳定，承重大，可靠性高，且方便扩展工件库。
工件库1集成在机床上，与机床的加工区域相邻，结构紧凑，占地面积小，不仅提高了厂房利用率，而且利于生产组织。
工件库1还包括链条轴11和绕在链条轴11上的工件链条12，链条轴12固定在机床的立柱上并由电机驱动，链条轴12带动工件链条11运动，工件 链条11上设有工件夹爪13，工件2通过工件夹爪13固定在工件链条12上。
工件链条12由多个以铰接方式彼此连接的链节组成，工作链条12绕在链条轴11外侧，工件链条11上设有工件夹爪13，工件夹爪13将工件2固定在工件链条12上，工件2端部预装有刀柄21，刀柄21与工件夹爪13配合实现工件在工件库1中的固定。工件主轴3的端面上的拉刀机构31与工件2上刀柄结构的配合，可实现对工件2的抓紧。工件夹爪13结构为现有的刀座结构，刀座与刀柄的配合固定是现有技术，采用刀柄与刀座的连接形式构建工件库，不仅具有很好的可靠性，还可以在需要时方便的扩展工件库。采用刀柄的形式夹持工件，承重大，夹持稳定，更换速度快，极大的提高了更换效率。
一种实现工件安装的方法，包括以下步骤：
如图2所示，工件主轴处于初始位置，初始位置在Z轴方向远离工件库，在X轴方向位于工件可抓取的一侧；该初始位置可以为满足上述条件的区域内多个点，工件库1固定在机床左侧面，工件库中的工件与工件主轴并列同向，工件待加工的一侧朝向机床的立柱方向，工件另一侧设有刀柄21，工件可抓取的一侧为工件设有刀柄的一侧；
启动工件库，运送工件，使所述工件运动至靠近机床的位置；工件库沿Z轴方向循环运送工件，工件运送至工件库靠近机床的一端即为工件运动至靠近机床的位置。
如图3所示，工件主轴沿Z轴向所述工件库运动，使工件主轴与工件同轴；
工件主轴沿X轴运动并与工件卡接，此时工件主轴位置如图4所示；
工件主轴沿Z轴运动，使工件脱离工件库，此时工件主轴位置如图5所示，然后滑台和托板配合运动，将工件运送至待加工位置。
工件在安装之前，工件主轴3上没有工件，滑台4运送工件主轴3至X轴上远离刀具6的一端。启动工件库，电机驱动链条轴11，进而使工件链条12转动，带动工件2至工件主轴3可抓取的位置，同时工件主轴3沿Z轴运动，靠近工件库1。检测装置检测工件主轴3的位置，确认工件主轴3在Z轴方向处于合适位置，即工件主轴可沿X轴运动与工件2卡接。检测无误后，托板5沿X轴运动，启动工件主轴端面的拉刀机构，通过拉刀机构把工件拉 紧。工件2夹紧在主轴上之后，滑台4和托板5配合运动，将工件2运送至加工区域。
一种实现工件送回的方法，包括以下步骤：
工件2装在工件主轴3内，工件主轴3运动至Z轴远离工件库的一端，启动工件库，工件链条12在链条轴11的带动下转动，使工件库的存放工件的位置朝向机床方向，即将工件夹爪13的开口转动至朝向工件主轴时的工件库存放工件位置，准备接取工件，滑台4将工件主轴3沿X轴上运送，检测装置进行检测，确认工件2与工件库1对齐，此时工件主轴的位置如图5所示，检测无误后，如图4所示，工件主轴3沿Z轴向工件库1运动，工件主轴3在托板5的运送下，将工件2送入工件夹爪13中，启动工件主轴3端面拉刀机构的松刀功能，工件主轴3松开工件。如图3所示，滑台4沿X轴向远离刀具6的方向运动，使工件2完全脱离工件主轴3，链条轴转动，带动工件链条12将工件2运走，托板沿Z轴运动，使工件主轴离开刀具库。
本发明公开的工件交换装置不局限于上述机床结构，无工作台结构的机床，都可以用该发明来实现工件与工件主轴的交换。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (6)

  1. 一种工件交换装置，其特征在于，还包括：
    工件库(1)和能够沿机床X轴和Z轴运动的工件主轴(3)；
    所述工件库(1)用于存放工件(2)，所述工件库(1)设置于机床的一侧；
    所述工件主轴(3)能够沿机床X轴和Z轴运动至所述工件库(1)，并从所述工件库抓取所述工件库(1)待加工的工件(2)或者向所述工件库移送加工后的工件。
  2. 根据权利要求1所述的工件交换装置，其特征在于，还包括：
    检测装置，所述检测装置能够检测所述工件主轴(3)的位置、所述工件主轴(3)上工件的状态和所述工件库(1)中工件的位置和角度，所述状态包括有工件、无工件、工件已加工和工件未加工。
  3. 根据权利要求1所述的工件交换装置，其特征在于，所述工件(2)的端部设有的刀柄(21)，所述工件主轴(3)上设有与所述刀柄(21)相互配合的拉刀机构(31)。
  4. 根据权利要求3所述的工件交换装置，其特征在于，所述工件库(1)还包括工件夹爪(13)和链条轴(11)；
    所述工件夹爪(13)通过所述刀柄(21)将工件(2)固定在所述工件库(1)内，所述工件夹爪(13)设置于工件链条(12)上，所述链条轴(11)驱动所述工件链条(12)输送所述工件(2)，所述链条轴(11)固定在机床的立柱上。
  5. 一种根据权利要求1所述的工件交换方法，其特征在于，包括以下步骤：
    所述工件主轴运动至初始位置，所述初始位置在Z轴方向远离所述工件库，在X轴方向位于所述工件可抓取的一侧；
    启动所述工件库，运送所述工件，使所述工件运动至靠近机床的位置；
    所述工件主轴沿Z轴向所述工件库运动，使所述工件主轴与所述工件同轴；
    所述工件主轴沿X轴运动并与所述工件卡接；
    所述工件主轴带动所述工件沿Z轴运动脱离所述工件库。
  6. 一种根据权利要求1所述的工件交换方法，其特征在于，包括以下步 骤：
    所述工件主轴运动至Z轴远离所述工件库的一端；
    启动所述工件库，使所述工件库的存放工件的位置朝向机床方向，
    所述工件主轴沿X轴运动，使工件主轴上的工件与所述存放工件的位置对齐；
    所述工件主轴沿Z轴向所述工件库运动，所述工件主轴将工件送至工件库内，所述工件主轴松开工件；
    所述工件主轴沿X轴向远离刀具方向运动，使所述工件脱离所述工件主轴。
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CN111037348A (zh) 2020-04-21
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US20230032696A1 (en) 2023-02-02
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