JP2002066861A - Hand - Google Patents
HandInfo
- Publication number
- JP2002066861A JP2002066861A JP2000304186A JP2000304186A JP2002066861A JP 2002066861 A JP2002066861 A JP 2002066861A JP 2000304186 A JP2000304186 A JP 2000304186A JP 2000304186 A JP2000304186 A JP 2000304186A JP 2002066861 A JP2002066861 A JP 2002066861A
- Authority
- JP
- Japan
- Prior art keywords
- hand
- carry
- gripping
- work
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Feeding Of Workpieces (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明はロボツトやローダ等
の搬送装置に装着されているハンドに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand mounted on a transfer device such as a robot or a loader.
【０００２】[0002]
【従来の技術】従来、工作機械で旋削されるワークの形
態としては、シヤフト物（シヤフトワーク仕様）とフラ
ンジ物（チヤツクワーク仕様）があるが、一般にそれぞ
れのワーク仕様に応じて専用のハンドが製作されてい
る。具体的には、チヤツクワーク仕様の共用可能なシヤ
フトワーク仕様のハンドにおいて、ワークの横方向より
進入してワークを把持する一対の搬入・搬出ハンドを備
えた揺動型ハンドにあつては、振り動作により慣性力が
大きくなる傾向にあり出力の大きな駆動手段を必要とす
る。また、直動スライダ型ハンドであつても構造が大型
になりがちで、製作コストが高くなることと、ストツク
領域でのワークの姿勢が横置きにかぎられ平置きや多段
積みのワーク姿勢に対応がむずかしい。主に三つ爪を用
いるチヤツクワーク仕様のハンドにあつては、ワークの
軸方向より進入してワークを把持するため長いシヤフト
物を把持する場合は片持ちとなり、シヤフトの対象が限
られる。特にセンター加工には対応ができない。次に、
従来、工作機械の中には工具交換機能を備えたものがあ
るが、一般にツールチエンジヤーとツールストツカから
成るものと、ロボツトにより工具を交換するものがあ
る。前者は装置が大掛かりで高価なものとなる。後者は
ワークと共用とする把持爪をもつて工具を交換するた
め、ワークの対象が限られる場合がある。すくなくと
も、ツールホルダーの径や形状に合わした把持能力をも
とにワークの把持範囲が決まる可能性が大きく、多種多
様のワークに対応することがむずかしい。次に、従来、
主軸チヤツクへのワークの搬入装着時、ワークが正確に
チヤツク内に保持される様に搬入動作とはべつにワーク
を軸方向よりチヤツクに押し込む動作がある。一般にワ
ークの軸方向にバネを介して押圧しチヤツク内にワーク
を押し込むものと、ワークを把持する把持爪自体がバネ
に付勢され浮動することで、チヤツクへの無理な押圧を
除去するものが有る。前者はチヤツクワーク仕様と共用
可能なシヤフトワーク仕様をシヤフトワーク仕様として
使用する場合には押し込み手段を取り外さねばならない
問題があつた。すなわち、ワークに対するハンドの進入
が阻害されるため、チヤツクワーク仕様に限られる。後
者は多種多様なワークに対応する場合には把持爪の成形
で困難な問題点がある。2. Description of the Related Art Conventionally, there are two types of workpieces to be turned by a machine tool: a shaft (shaft work specification) and a flange (chamber work specification). In general, a dedicated hand is manufactured according to each work specification. Have been. Specifically, in the case of a hand of a shaft work specification that can be shared with a chuck work specification, in the case of an oscillating hand having a pair of carry-in / carry-out hands for entering the work from a lateral direction and gripping the work, a swing operation is performed. Accordingly, the inertia force tends to increase, and a driving means having a large output is required. In addition, the structure tends to be large even with a direct-acting slider-type hand, which increases the manufacturing cost, and supports the horizontal and multi-stacked work postures because the work position in the stock area is limited to horizontal. It is difficult. In the case of a chuck work type hand mainly using three claws, when a long shaft object is gripped by entering the work in the axial direction and gripping the work, the hand becomes cantilevered and the object of the shaft is limited. In particular, it cannot handle center machining. next,
2. Description of the Related Art Conventionally, some machine tools have a tool changing function. In general, there is a machine tool including a tool changer and a tool stocker, and a machine tool changing tool by a robot. The former requires a large-scale and expensive device. In the latter case, since the tool is exchanged with the holding claws shared with the work, the target of the work may be limited. At least, there is a great possibility that the gripping range of the workpiece is determined based on the gripping ability that matches the diameter and shape of the tool holder, and it is difficult to handle a wide variety of workpieces. Next,
When the work is loaded and mounted on the spindle chuck, there is an operation of pushing the work into the chuck from the axial direction in addition to the loading operation so that the work is accurately held in the chuck. Generally, there are two types: one that pushes the work into the chuck by pressing it in the axial direction of the work via a spring, and one that removes the forcible pressing on the chuck by the gripper itself that holds the work being biased by the spring and floating. Yes. The former has a problem that the push-in means must be removed when a shaft work specification that can be shared with the check work specification is used as the shaft work specification. That is, the hand is prevented from entering the work, so that the specification is limited to the chuck work specification. The latter has a difficult problem in forming gripping claws when dealing with a wide variety of works.
【０００３】[0003]
【発明が解決しようとする課題】本発明では上記の問題
点を解決するもので、多種多様なワークの把持に対応し
ワークを搬送する他に、工具交換機能を備えたハンドを
提供すると共に、工作機械の主軸チヤツクへのワークの
押し込み手段を有するワーク仕様の共用型ハンドにおい
てシヤフトワーク仕様として使用する場合にも、押し込
み手段を取り外すことなく、固定した状態で使用が可能
なハンドを提供することを目的とするものである。SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems and provides a hand having a tool changing function in addition to conveying a work in response to holding various kinds of works. To provide a hand that can be used in a fixed state without removing the pushing means even when used as a shaft work specification in a shared type hand of a workpiece specification having a means for pushing a workpiece into a spindle chuck of a machine tool. It is intended for.
【０００４】[0004]
【課題を解決するための手段】上記の目的を達成するた
めに、搬入ハンド部材９Ａと搬出ハンド部材９Ｂの相対
的な直線方向の進退動作を介して、搬入把持爪１３Ａと
搬出把持爪１３Ｂの各々の把持中心線を移行させること
により、ワーク仕様に対応した把持形態に搬入把持爪１
３Ａと搬出把持爪１３Ｂとの組合せの切り換えが可能で
あると共に、ワーク用の把持駆動手段１４を介して把持
する工具交換用の一対の工具把持爪１５を備えたこと
と、ワークの押し込み手段１７が搬出ハンド部材９Ｂ上
の把持駆動手段と面する位置に取り付けたことにある。In order to achieve the above object, the carry-in gripping claw 13A and the carry-out gripping claw 13B are moved through the relative linear movement of the carry-in hand member 9A and the carry-out hand member 9B. By shifting each gripping center line, the carrying-in gripper 1 is brought into a gripping form corresponding to the work specification.
It is possible to switch the combination of the 3A and the carry-out gripping claw 13B, and to provide a pair of tool gripping claws 15 for tool exchange to be gripped via the gripping drive means 14 for the workpiece; Has been attached to the position facing the grip driving means on the unloading hand member 9B.
【０００５】[0005]
【発明の実施の形態】本発明の実施形態を実施例に基づ
き以下説明する。１は本発明のハンドで、工作機械の加
工領域とストツク領域を走行しワークの搬入・搬出を行
なう搬送装置２に装着されている。搬送装置２は工作機
械の加工軸でチヤツク３Ａを装備する主軸３の回転軸線
方向（Ｚ軸）の左右と、該Ｚ軸に対して直交する方向
（Ｘ軸）の上下に、サーボモータ等の送り駆動手段を介
して相対的に走行可能で、加工領域とストツカ領域を往
復動しワーク４（素材４Ａ・加工品４Ｂ）の搬送を行な
う。５は搬送装置２に装着されたハンド本体、６はハン
ド支持体で、主軸３の回転軸線方向に対して直交する方
向の回りに旋回可能な様に、ハンド本体５に支承された
旋回軸７に支持されている。旋回軸７はゼネバやサーボ
モータ等の駆動手段８を介して０度〜２７０度の３分割
度位置に旋回が可能である。９はＬ型のアームを成す搬
入ハンド部材９Ａと搬出ハンド部材９Ｂとを構成する一
対のハンド部材で、各々は前記旋回軸７の軸線に対して
直交する方向に相対的に進退動作が可能で、前記ハンド
支持体６に旋回軸を挟んで並設されたガイド６Ａ・ガイ
ド６Ｂに背中合わせで対称に支持されている。搬入ハン
ド部材９Ａと搬出ハンド部材９Ｂの縦方向に延びたアー
ム部の各々の全長にラック９ａ・ラック９ｂが設けら
れ、旋回軸７内に回動自在に支持された駆動軸１０に固
定されたピニオン１１と噛み合っている。本実施例で
は、ラック９ａ・ラック９ｂがピニオン１１と噛み合
い、ピニオン１１の回動で連動して相対的な動作をとる
構成になつているが、搬入ハンド部材９Ａと搬出ハンド
部材９Ｂがおのおの独立して動作する構成であつてもよ
い。例えば、搬入ハンド部材９Ａと搬出ハンド部材９Ｂ
のおのおのに作動シリンダまたはモータ等を連結して単
独の直線動作をとることは可能である。前記駆動軸１０
はサーボモータまたはロータリアクチエータ等の位置決
め手段１２を介して作動される。該位置決め手段１２に
はワークの形状・大きさ・加工形態に対応して、チヤツ
クワーク仕様とシヤフトワーク仕様の選択の切換えがで
きる情報が入力されていて、入力情報の選択によりハン
ド部材９の進退動作のストロークを任意に変えることが
可能である。単に、一ストロークを固定する場合には機
械的ストツパでもよい。１３は前記旋回軸７の軸線に対
して直交する方向に各々の把持中心線を有する搬入把持
爪１３Ａと搬出把持爪１３Ｂとお構成する一対のワーク
用の把持爪で、ワーク４の軸線に対して直交する方向
（横方向）よりハンド１が進入しワーク４を把持する。
該把持爪１３は指部１３ａと爪部１３ｂとを成し、前記
ハンド部材９の進退方向にむかって延び互いに相対的に
向いて、一方の搬入把持爪１３Ａは搬入ハンド部材９Ａ
上に取り付けられ、他方の搬出把持爪９Ｂは搬出ハンド
部材９Ｂ上に取り付けられている。該把持爪１３の各々
はハンド部材９の横方向に延びたアーム部に固定された
把持駆動手段１４上に装着され、アームの横方向に求心
的に開閉動作しワーク４を把持する。ハンド部材９の進
退動作を介して、把持爪１３の各々の把持中心線が移行
し相互に入れ換わることによつて、把持爪１３の各々の
向きが相対して内側と外側に切れ換わることが可能であ
る。１５は前記旋回軸７の軸線に対して直交する方向に
把持中心線を有する工具搬入把持爪１５Ａと工具搬出把
持爪１５Ｂとを構成する一対の工具交換用の工具把持爪
で、工具１６および工具保持具１６Ａの軸線に対して直
交する方向（横方向）よりハンドが進入し工具１６およ
び工具保持具１６Ａを把持する。該工具把持爪１５は工
具保持具の外径に合わした把持部１５ａを形成し、ハン
ド部材９の進退方向に向かって延び互いにワーク用の把
持爪１３とは相対的に向いて、一方の工具搬入把持爪１
５Ａは搬入ハンド部材９Ａ上に取り付けられ、他方の工
具搬出把持爪１５Ｂは搬出ハンド部材９Ｂ上に取り付け
られている。該工具把持爪１５の開閉動作はワーク用の
把持駆動手段１４を介して行なわれる。工具把持爪１５
はシヤフト物のワーク径より把持径が大きく、図６で示
す通りシヤフトワーク仕様の把持形態に切り換わつた場
合であつてもワーク４と工具把持爪１５が干渉すること
はない。シヤフトワーク仕様の把持形態では小径のワー
クに合わして爪部１３ｂが交換される。１７は搬出ハン
ド部材９Ｂ上に把持駆動手段１４と面する位置に取り付
けられ、ワーク４を主軸３のチヤツク３Ａに押し込む押
し込み手段である。チヤツクワーク仕様において、ワー
クである素材４Ａをチヤツク３Ａに搬入・装着する際
に、素材４Ａが搬入把持爪１３Ａから解放された時に、
素材４Ａの軸方向より押圧して素材４Ａをチヤツク３Ａ
内に完全に収め確実な着座を行なうところのものであ
る。押し込み手段１７の構成は、搬出ハンド部材９Ｂ上
に素材４Ａの軸方向に摺動自在に支持されたガイドロッ
ド１８と、ガイドロッド１８に支持され素材４Ａと当接
しバネ１９を介して素材４Ａの軸方向より押圧する押し
込み部材２０とより成っている。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples. Reference numeral 1 denotes a hand of the present invention, which is mounted on a transfer device 2 which travels in a machining area and a stock area of a machine tool and carries in / out a work. The transfer device 2 is a processing axis of a machine tool, and includes a servo motor and the like disposed vertically on the left and right sides in the rotation axis direction (Z axis) of the spindle 3 equipped with the chuck 3A and in the direction (X axis) orthogonal to the Z axis. The workpiece 4 (the raw material 4A and the processed product 4B) is transported by reciprocatingly moving between the processing area and the stocking area via the feed driving means. Reference numeral 5 denotes a hand main body mounted on the transport device 2, and 6 denotes a hand support, and a turning shaft 7 supported by the hand main body 5 so as to be able to turn around a direction orthogonal to the rotation axis direction of the main shaft 3. It is supported by. The swivel shaft 7 can be swiveled to three division positions of 0 to 270 degrees via driving means 8 such as a Geneva or a servomotor. Reference numeral 9 denotes a pair of hand members constituting a carry-in hand member 9A and a carry-out hand member 9B forming an L-shaped arm, each of which is capable of relatively moving forward and backward in a direction perpendicular to the axis of the turning shaft 7. The guides 6A and 6B, which are arranged side by side with the hand support 6 with a pivot axis therebetween, are symmetrically supported back to back. Racks 9a and 9b are provided on the entire length of each of the vertically extending arms of the carry-in hand member 9A and the carry-out hand member 9B, and are fixed to the drive shaft 10 rotatably supported in the turning shaft 7. It is in mesh with the pinion 11. In the present embodiment, the racks 9a and 9b engage with the pinion 11 and take a relative action in conjunction with the rotation of the pinion 11, but the carry-in hand member 9A and the carry-out hand member 9B are independent of each other. The configuration may be such that the device operates in the following manner. For example, the carry-in hand member 9A and the carry-out hand member 9B
It is possible to connect a working cylinder or a motor or the like to each of them to perform a single linear operation. The drive shaft 10
Is operated via positioning means 12 such as a servomotor or a rotary actuator. The positioning means 12 is provided with information for switching the selection between the chuck work specification and the shaft work specification according to the shape, size and processing form of the work. Can be changed arbitrarily. When simply fixing one stroke, a mechanical stopper may be used. Reference numeral 13 denotes a pair of work gripping claws comprising a carrying-in gripping claw 13A and a carrying-out gripping claw 13B having respective gripping center lines in a direction orthogonal to the axis of the turning shaft 7; The hand 1 enters from an orthogonal direction (lateral direction) and grips the work 4.
The gripping claw 13 forms a finger portion 13a and a claw portion 13b, extends toward the retreating direction of the hand member 9 and is relatively opposed to each other. One of the loading gripping claws 13A is a loading hand member 9A.
And the other carry-out gripping claw 9B is mounted on the carry-out hand member 9B. Each of the gripping claws 13 is mounted on gripping drive means 14 fixed to a laterally extending arm portion of the hand member 9, and centrifugally opens and closes in the lateral direction of the arm to grip the workpiece 4. As the gripping center lines of the gripping claws 13 shift and exchange with each other via the advancing / retreating operation of the hand member 9, the respective directions of the gripping claws 13 are switched inward and outward relative to each other. It is possible. Reference numeral 15 denotes a pair of tool gripping claws for tool exchange, which constitute a tool carrying gripping claw 15A and a tool carrying gripping claw 15B having a gripping center line in a direction orthogonal to the axis of the turning shaft 7. The hand enters from a direction (horizontal direction) orthogonal to the axis of the holder 16A and grips the tool 16 and the tool holder 16A. The tool gripping claw 15 forms a gripping portion 15a corresponding to the outer diameter of the tool holder, and extends in the direction in which the hand member 9 advances and retreats, and is relatively opposed to the workpiece gripping claw 13. Loading grip 1
5A is mounted on the carry-in hand member 9A, and the other tool carry-out gripping claw 15B is mounted on the carry-out hand member 9B. The opening / closing operation of the tool gripping claw 15 is performed via the workpiece gripping drive means 14. Tool gripping claw 15
6, the gripping diameter is larger than the diameter of the workpiece of the shaft, and the workpiece 4 and the tool gripping claw 15 do not interfere with each other even when the gripping mode is switched to the gripping form of the shaft work specification as shown in FIG. In the gripping form of the shaft work specification, the claw portion 13b is replaced according to a small-diameter work. Reference numeral 17 denotes a pushing means which is mounted on the unloading hand member 9B at a position facing the grip driving means 14, and pushes the work 4 into the chuck 3A of the main shaft 3. In the chuck work specification, when the material 4A as a work is carried in and mounted on the chuck 3A, when the material 4A is released from the carry-in gripper 13A,
The material 4A is pressed from the axial direction of the material 4A to chuck the material 4A.
It is intended to be completely seated in the interior and perform secure seating. The configuration of the pushing means 17 includes a guide rod 18 slidably supported in the axial direction of the material 4A on the unloading hand member 9B, and a material 4A supported by the guide rod 18 and abutting on the material 4A via a spring 19. It comprises a pushing member 20 for pressing in the axial direction.
【０００６】以上が本発明の構成であるが、次に本発明
の作用を説明する。本発明のハンドは水平面と垂直面に
対して旋回可能であるため、ワークのストツク領域での
姿勢が平置きや横置き問わずワークの把持が出来るもの
で、ストツク領域でのワークの搬入・搬出はもちろんの
こと、加工領域への受渡しにおいても同様である。従っ
て、ストツク領域および加工領域でのワークの搬出・搬
入におけるハンドの姿勢にともなう動作は省略して説明
する。図１はチヤツクワーク仕様の把持形態を示すもの
である。通常、待機位置においてはこの状態を保持して
いる。この形態は搬入把持爪１３Ａと搬出把持爪１３Ｂ
が互いに内側に向いていて、ワークの軸方向よりハンド
が進入しワークを把持するものである。搬入把持爪１３
Ａを介してストツク領域にある素材４Ａが把持されチヤ
ツク３Ａに搬入・装着されると加工が始まる。加工後、
搬出把持爪１３Ｂを介して加工品４Ｂが把持され、加工
領域より搬出されストツク領域に戻される。この動作工
程においては、搬送装置２はストツク領域と加工領域双
方にＺ軸方向左右およびＸ軸上下に動作すると共にハン
ド１が駆動手段８を介して旋回動しワークは反転する。
チヤツクワーク仕様においては、チヤツク３Ａへのワー
クの装着を確実にするためワークの押し込み手段１７を
必要とする場合があるので、次に、素材４Ａのチヤツク
３Ａの装着時における押し込み手段との動作関係を説明
する。チヤツクワーク仕様における押し込み手段１７の
押し込み軸線は常に搬入把持爪１３Ａの把持中心線と一
致していて、ハンド１が素材４Ａの軸方向より進入し搬
入把持爪１３Ａを介して素材４Ａが把持される際、素材
４Ａはバネ１９に抗した状態で把持される。チヤツク３
Ａが開き素材４Ａがチヤツク３Ａに装着される際に、搬
入把持爪１３Ａが開き解放されると素材４Ａは軸方向よ
りバネ１９に付勢された押し込み部材２０を介して押し
出されチヤツク３Ａ内に押し込まれた後にチヤツク３Ａ
に把持される。次に図２に示すシヤフトワーク仕様の把
持形態を説明する。本発明のハンドはチヤツクワーク仕
様とシヤフトワーク仕様が相互に切換えが可能なことお
特徴とするもので、前記のチヤツクワーク仕様からシヤ
フトワーク仕様への切換えの作用を説明する。シヤフト
ワーク仕様においては、ワークの軸方向に対して横方向
より進入してワークを把持するため、把持爪１３の向き
を相対して外向きに切換えることである。把持爪１３の
外向き指令で、位置決め手段１２が動作し駆動軸１０を
経てピニオン１１が回動するとラック９ａ・ラック９ｂ
が相対的に動作し、これにより搬入ハンド部材９Ａおよ
び搬出ハンド部材９Ｂが前進する。この時、把持爪１３
の把持中心線が外側に向かって移行する。ハンド部材９
が前進しワークに対して把持爪１３の横方向の進入が可
能な位置に達すると、位置決め手段１２の動作は停止し
把持爪１３は外向きの状態を保持する。この後のワーク
の搬入・搬出動作はチヤツクワーク仕様と同じで、ハン
ド１の旋回動および搬送装置２のＸ軸およびＺ軸方向の
動作を介して搬入把持爪１３Ａは素材４Ａを把持し、搬
出把持爪１３Ｂが加工品４Ｂを把持する。以上がシヤフ
トワーク仕様の把持形態への切換え動作を説明したが、
前記のチヤツクワーク仕様の把持形態への切換え動作を
簡単に説明する。把持爪１３の内向きの指令を得てピニ
オン１１が逆回動させると、ラック９ａ・ラック９ｂは
相対的に動作し搬入ハンド部材９Ａおよび搬出ハンド部
材９Ｂは後退する。この時、把持爪１３の把持中心線が
内側に向かって移行する。そして搬入把持爪１３Ａの把
持中心線が押し込み手段１７の押し込み軸線と一致した
時ピニオン１１の回動が停止する。これにより把持爪１
３の向きが相対して内向きの状態が保持されたことにな
る。次に、シヤフトワーク仕様での押し込み手段１７と
の相対位置関係を説明する。シヤフトワーク仕様では押
し込み手段１７のワークに対する押し込み軸線が図６で
示す通り搬入把持爪１３Ａの把持中心線と一致すること
が無いため、そのままの固定した状態でワークに対する
横方向からの把持爪１３の進入が可能である。次に工具
交換の作用を簡単に説明する。加工主軸や刃物台上に取
り付けられた工具と新規工具を自動的に交換する場合、
工具把持爪１５の姿勢は常にチヤツクワーク仕様の把持
形態の状態で用いる。その作用動作はシヤフトワーク仕
様の作用と同様で工具１６および工具保持具１６Ａの軸
線に対して横方向より工具把持爪１５が進入して工具１
６および工具保持具１６Ａを把持する。新規工具は工具
搬入把持爪１５Ａで把持され使用済み工具は工具搬出把
持爪１５Ｂで把持される。ハンドの旋回動で工具軸を横
軸および立軸相互の切換えが可能である。The above is the configuration of the present invention. Next, the operation of the present invention will be described. Since the hand of the present invention can be swung with respect to a horizontal plane and a vertical plane, the workpiece can be gripped regardless of whether the workpiece is in a horizontal or horizontal position in the stock area, and can be loaded and unloaded in the stock area. Needless to say, the same applies to delivery to a processing area. Therefore, the description will be omitted by omitting the operation associated with the posture of the hand in unloading and loading the work in the stock area and the processing area. FIG. 1 shows a gripping form of a chuck work specification. Normally, this state is maintained at the standby position. In this embodiment, the carry-in gripper 13A and the carry-out gripper 13B
Are directed inward from each other, and the hand enters from the axial direction of the work and grips the work. Loading grip claw 13
Processing starts when the material 4A in the stock area is gripped via A and is carried in / attached to the chuck 3A. After processing
The processed product 4B is gripped via the carry-out gripping claw 13B, carried out of the processing area, and returned to the stock area. In this operation step, the transport device 2 moves in both the stock area and the processing area in the left-right direction in the Z-axis and up and down in the X-axis, and the hand 1 pivots via the driving means 8 to reverse the work.
In the chuck work specification, a work pushing means 17 may be required in order to secure the work to the chuck 3A. Next, an operation relationship with the pushing means at the time of attaching the work 4A to the chuck 3A will be described. explain. The pushing axis of the pushing means 17 in the chuck work specification always coincides with the grip center line of the carry-in gripper 13A, and the hand 1 enters from the axial direction of the material 4A and the material 4A is gripped through the carry-in gripper 13A. The material 4A is gripped against the spring 19. Check 3
When the material gripper 13A is opened and released when the material A is opened and the material 4A is mounted on the chuck 3A, the material 4A is pushed out through the pushing member 20 urged by the spring 19 from the axial direction, and is pushed into the chuck 3A. Check 3A after being pushed in
Is gripped. Next, a gripping form of the shaft work specification shown in FIG. 2 will be described. The hand of the present invention is characterized in that it is possible to switch between the chuck work specification and the shaft work specification. The operation of switching from the chuck work specification to the shaft work specification will be described. In the shaft work specification, the direction of the gripping claws 13 is switched outward in order to grip the work by entering the work in a lateral direction with respect to the axial direction of the work. When the positioning means 12 is operated by the outward command of the gripping claws 13 and the pinion 11 rotates through the drive shaft 10, the racks 9a and 9b
Operate relatively, whereby the carry-in hand member 9A and the carry-out hand member 9B move forward. At this time, the grip 13
The gripping center line shifts outward. Hand member 9
Moves forward and reaches a position where the gripping claw 13 can enter the workpiece in the horizontal direction, the operation of the positioning means 12 stops, and the gripping claw 13 is kept outward. The subsequent loading / unloading operation of the workpiece is the same as that of the chuck work specification. The loading / holding claw 13A grips the material 4A via the turning movement of the hand 1 and the X-axis and Z-axis operations of the transfer device 2, and carries out the loading / unloading. The claw 13B grips the processed product 4B. The switching operation to the grip form of the shaft work specification has been described above.
The operation of switching the chuck work specification to the gripping form will be briefly described. When the pinion 11 is rotated in reverse by receiving an inward command of the gripping claws 13, the racks 9a and 9b relatively operate, and the carry-in hand member 9A and the carry-out hand member 9B retreat. At this time, the grip center line of the grip claw 13 shifts inward. The rotation of the pinion 11 is stopped when the gripping center line of the loading gripping claw 13A coincides with the pushing axis of the pushing means 17. This allows gripping claw 1
That is, the inward state is maintained with the directions of the three. Next, the relative positional relationship with the pushing means 17 in the shaft work specification will be described. In the shaft work specification, the pushing axis of the pushing means 17 with respect to the work does not coincide with the grasping center line of the carry-in grasping claw 13A as shown in FIG. Entering is possible. Next, the operation of tool change will be briefly described. When automatically replacing a new tool with a tool mounted on the machining spindle or tool post,
The posture of the tool gripping claw 15 is always used in a gripping state of chuck work specification. The operation is the same as that of the shaft work specification, and the tool gripping claw 15 enters from the lateral direction with respect to the axis of the tool 16 and the tool holder 16A, and the tool 1
6 and the tool holder 16A. The new tool is gripped by the tool carry-in gripper 15A, and the used tool is gripped by the tool carry-out gripper 15B. The tool axis can be switched between the horizontal axis and the vertical axis by the turning motion of the hand.
【０００７】[0007]
【発明の効果】以上より本発明の構成と作用により次の
効果を有する。本発明ではシヤフトワーク仕様とチヤツ
クワーク仕様の各々の専用のハンドを必要とすることな
く、一つのハンドをもつて共用することが可能である。
また、一対のハンド部材の相対的な進退動作により、一
対の把持爪の把持中心線が互いに離隔・接近が可能なた
め、ハンドの旋回時にワークに対応して振りの調整が可
能で、ハンドの旋回にともなう慣性力および動力エネル
ギーを減少できる。さらにワーク用の把持駆動手段を介
して工具把持爪を動作させて工具を把持するため、専用
の工具交換装置を必要としない。また、シヤフトワーク
仕様の把持形態に切換えられた場合でも押し込み手段を
取り外す必要がない。As described above, the following effects can be obtained by the structure and operation of the present invention. According to the present invention, it is possible to share one hand with one hand without requiring a dedicated hand for each of the shaft work specification and the check work specification.
In addition, the relative movement of the pair of hand members allows the gripping center lines of the pair of gripping claws to be separated and approached from each other, so that the swing can be adjusted in accordance with the workpiece when the hand turns, and the hand can be adjusted. Inertial force and power energy associated with turning can be reduced. Further, since the tool is gripped by operating the tool gripping claw via the workpiece gripping drive means, a dedicated tool changing device is not required. Further, even when the gripping mode is switched to the shaft work specification, there is no need to remove the pushing means.
【図１】本発明のハンドのチヤツクワーク仕様の把持形
態を示す斜視図。FIG. 1 is a perspective view showing a gripping form of a hand of the present invention in a chuck work specification.
【図２】本発明のハンドのシヤフトワーク仕様の把持形
態を示す斜視図。FIG. 2 is a perspective view showing a gripping form of a hand of the present invention in a shaft work specification.
【図３】工作機械との関係を示す搬送装置と本発明のハ
ンドを示す斜視図。FIG. 3 is a perspective view showing a transfer device showing a relationship with a machine tool and a hand of the present invention.
【図４】本発明のハンドを示す一部断面したチヤツクワ
ーク仕様の把持形態を示す正面図。FIG. 4 is a front view showing a gripping form of a chuck work specification in a partially sectional view showing the hand of the present invention.
【図５】工具およびワークを装着した状態の上記図４の
右側面図。FIG. 5 is a right side view of FIG. 4 in a state where a tool and a work are mounted.
【図６】本発明のハンドを示す一部切り欠いたシヤフト
ワーク仕様の把持形態を示す正面図。FIG. 6 is a front view showing a partially cut-out gripping form of a shaft work specification showing the hand of the present invention.
２ 搬送装置 ５ ハンド本体 ６ ハンド支持体 ７ 旋回軸 ８ 駆動手段 ９ ハンド部材 １０ 駆動軸 １２ 位置決め手段 １３ 把持爪 １４ 把持駆動手段 １５ 工具把持爪 １７ 押し込み手段 DESCRIPTION OF SYMBOLS 2 Conveying device 5 Hand main body 6 Hand support 7 Rotating axis 8 Driving means 9 Hand member 10 Driving shaft 12 Positioning means 13 Gripping claw 14 Gripping driving means 15 Tool gripping claw 17 Pushing means
Claims (3)
の搬送装置において、該搬送装置に装着されたハンド本
体５と、該ハンド本体５上に支承され駆動手段８を介し
て旋回可能な旋回軸７に支持されているハンド支持体６
と、該ハンド支持体６に支持され前記旋回軸７の軸線に
対して直交する方向に相対的に進退動作が相互に可能な
搬入ハンド部材９Ａと搬出ハンド部材９Ｂとから成る一
対のハンド部材９と、該ハンド部材９の進退動作のスト
ローク位置を任意に変えることが可能な位置決め手段１
２と、前記旋回軸７の軸線に対して直交する方向に各々
の把持中心線を有しワークの軸線に対して直交する方向
よりハンドが進入しワークを把持する搬入把持爪１３Ａ
と搬出把持爪１３Ｂとから成る一対の把持爪１３とを構
成し、該把持爪１３は前記ハンド部材９の進退方向に向
かって延び互いに相対的に向いて一方の搬入把持爪１３
Ａが前記搬入ハンド部材９Ａ上に取り付けられ、他方の
搬出把持爪１３Ｂが前記搬出ハンド部材９Ｂ上に取り付
けられていて前記ハンド部材９の進退動作を介して、一
対の把持爪１３の各々の把持中心線が移行し把持爪１３
の各々の向きが相対して内向きと及び外向きとに切れ換
わることを特徴とするハンド。1. A transfer device for loading and unloading a work into and out of a processing area, a hand body 5 mounted on the transfer device, and a swivel supported on the hand body 5 and capable of turning via a driving means 8. Hand support 6 supported on shaft 7
And a pair of hand members 9 comprising a carry-in hand member 9A and a carry-out hand member 9B supported by the hand support 6 and capable of reciprocating relative to each other in a direction perpendicular to the axis of the turning shaft 7. Positioning means 1 capable of arbitrarily changing the stroke position of the advance / retreat operation of the hand member 9
2, and a carry-in gripping claw 13A that has a gripping center line in a direction orthogonal to the axis of the turning shaft 7 and has a hand that enters from a direction orthogonal to the axis of the workpiece and grips the workpiece.
And a pair of gripping claws 13 comprising a carrying-in gripping claw 13B. The gripping claws 13 extend in the direction in which the hand member 9 advances and retreat, and are relatively opposed to each other.
A is attached on the carry-in hand member 9A, and the other carry-out grasping claw 13B is attached on the carry-out hand member 9B, and each of the pair of grasping claws 13 is grasped through the advance / retreat operation of the hand member 9. Center line shifts and gripper claw 13
Characterized in that the respective directions are switched inward and outward relative to each other.
材９Ｂ上の把持駆動手段１４と面する位置に取り付けら
れた請求項１の記載のハンド。2. The hand according to claim 1, wherein the work pushing means 17 is mounted at a position facing the grip driving means 14 on the unloading hand member 9B.
開閉動作し工具を把持する工具交換用の工具搬入把持爪
１５Ａと工具搬出把持爪１５Ｂとから成る一対の工具把
持爪１５をワーク用の把持爪１３と相対する方向に延び
て装着された請求項１の記載のハンド。3. A pair of tool gripping claws 15 comprising a tool changing gripping claw 15A and a tool unloading gripping claw 15B for tool exchange for gripping a tool by opening and closing through the gripping drive means 14 for the workpiece. 2. The hand according to claim 1, wherein the hand extends and is mounted in a direction opposed to the gripping claws 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000304186A JP4243710B2 (en) | 2000-08-29 | 2000-08-29 | hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000304186A JP4243710B2 (en) | 2000-08-29 | 2000-08-29 | hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002066861A true JP2002066861A (en) | 2002-03-05 |
| JP4243710B2 JP4243710B2 (en) | 2009-03-25 |
Family
ID=18785272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000304186A Expired - Fee Related JP4243710B2 (en) | 2000-08-29 | 2000-08-29 | hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4243710B2 (en) |
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| JP2007536090A (en) * | 2004-05-10 | 2007-12-13 | エス エム エス オイムコ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Bar and tube extruder |
| CN102765089A (en) * | 2012-08-02 | 2012-11-07 | 中国船舶重工集团公司第七0四研究所 | Multifunctional head for clamping anchor chain and steel cable |
| JP2013510002A (en) * | 2009-11-10 | 2013-03-21 | トルンプ マシーネン オーストリア ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディトゲゼルシャフト | Production equipment, especially for bending freely |
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2000
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| JP2013510002A (en) * | 2009-11-10 | 2013-03-21 | トルンプ マシーネン オーストリア ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディトゲゼルシャフト | Production equipment, especially for bending freely |
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| CN112792842B (en) * | 2021-02-04 | 2022-07-19 | 太原科技大学 | Clamping mechanism convenient to replace and used for integrated robot and using method of clamping mechanism |
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