Pallet for automation

Abstract

To provide a pallet for automation used for automatizing the transportation and processing of work-pieces.SOLUTION: This invention relates to a pallet for automation having: a pallet body for mounting a work-piece; and a handle fixed to the pallet body and capable of being gripped by a chuck. For example, in the handle, a first handle and a second handle are arranged so that respective center lines are coaxial with each other so as to hold the pallet body therebetween, and the center line is the rotational center of the pallet body, and the pallet body is a tabular member on which work-pieces are mounted on both front and rear faces, the first handle and the second handle are circular members, and each have a diameter of the second handle formed larger than that of the first handle on the side gripped by the chuck of the work automation transport device.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an automation pallet for automating the transportation and processing of workpieces. [Background technology]

[0002] In the automatic machining of a workpiece by a machine tool, the workpiece may be attached to a pallet and transported. For example, there is a device that places the workpiece on a pallet and transports it by a transport cart, and then transfers it to the table of the machine tool and positions and fixes it. In the transfer of the workpiece pallet in the following Patent Document 1, the workpiece that has been machined by the machine tool is placed on a cart and transported, and can be transported to another machine tool or a pallet stocker. The die material (workpiece) is placed and fixed on the pallet, and the pallet is transferred onto the transport cart in front of the pallet stocker, and the transport cart moves forward of the machine tool, and the pallet is then sent onto the table of the machine tool together with the workpiece, where it is positioned and processed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Application No. 3-350964 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional example, the workpiece transport and processing using the pallet requires a workpiece transport device for transporting the pallet on which the workpiece is placed and fixed, and the structure of the table provided on the machine tool are custom-made, and cannot be used to transport only the workpiece without using a pallet. For example, in a processing machine line where multiple machine tools such as lathes and machining centers are lined up, the workpiece itself is transported to each machine tool by an automatic workpiece transport device, and a predetermined processing is performed. That is, the automatic workpiece transport device and the spindle device of the machine tool are provided with chucks, and the workpiece is handed over to each other by the chucks. However, unlike the above-mentioned conventional example, such a processing machine line cannot automate the transport and processing of the pallet on which the workpiece is placed.

[0005] SUMMARY OF THE PRESENT DISCLOSURE In order to solve the above problems, an object of the present invention is to provide an automation pallet for automating the transportation and processing of workpieces. [Means for solving the problem]

[0006] The automation pallet according to the present invention has a pallet body on which a workpiece is attached, and a handle that is fixed to the pallet body and can be gripped by a chuck. Effect of the Invention

[0007] According to the above configuration, even if a workpiece is difficult to grasp with a chuck, it can be grasped by the chuck via the handle, making it possible to automate the transportation and processing of the workpiece attached to the pallet body. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing an example of a processing machine line in which an automation pallet is used. [Diagram 2] 1 is a perspective view showing the internal structure of a machining center that constitutes a processing machine line. [Diagram 3]FIG. 2 is a side view showing a simplified view of an automatic workpiece transport device that transfers and receives workpieces. [Figure 4] FIG. 2 is a perspective view showing an automation pallet on which a workpiece is attached. [Diagram 5] FIG. 1 is a perspective view of a state in which a robot hand is gripping an automation pallet carrying a workpiece. [Figure 6] 1 is a perspective view of a state in which an automation pallet held by a robot hand is received by a chuck on the machining center side. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of an automation pallet according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an example of a processing machine line in which an automation pallet is used. This processing machine line 1 is configured with one work stocker 3 and two modularized machining centers 5 lined up. FIG. 2 is a perspective view showing the internal structure of the machining center 5. The machining center 5 is assembled on a movable bed 11 and is configured compactly with a fixed width dimension. As shown in FIG. 1, the entire machine is covered with a machine body cover, and inside the machine body is configured a machining chamber 20 in which workpieces are machined within the range indicated by the dashed line.

[0010] The machining center 5 is configured such that a spindle head 12 for holding a tool is provided at the front, a spindle chuck 13 is provided to which a tool such as a drill can be attached and detached, and the attached tool is rotated by a spindle motor 14. The spindle head 12 is mounted on a drive unit 10 so that it can move in three axial directions associated with machining, part replacement, and the like. The drive unit 10 is mounted with an X-axis slide 16 that moves in the width direction of the machine body relative to a Y-axis slide 15 that moves in the front-rear direction of the machine body, and a Z-axis slide 17 that moves in the up-down direction of the machine body relative to the X-axis slide 16. The movement of each slide is configured such that the rotation output of a servo motor is converted into linear motion by a ball screw mechanism.

[0011] An NC circular table device equipped with a chuck 21 for gripping a workpiece, and a tool magazine 18 positioned above it, are provided below the spindle head 12, which is moved by the drive unit 10. The tool magazine 18 stores a plurality of tools, and an automatic tool changer is installed inside the opening and closing door. The machining center 1 also has a control device 19 mounted at the rear of the machine body for controlling the drive of the spindle head 12, chuck 21, drive unit 10, and tool magazine 19.

[0012] The two machining centers 5 arranged side by side have their front covers 22 connected in the machine width direction to form a work transport space for transporting workpieces. In the work transport space, the work stocker 3 and the automatic work transport device 8 for transporting workpieces to the two machining centers 5 are installed.

[0013] 3 is a simplified side view of the automatic workpiece transport device 8 that transfers the workpiece W, and shows the state in which the automatic workpiece transport device 8 has entered the inside of the machining center 5. The automatic workpiece transport device 8 is composed of a traveling device 32 that moves a traveling platform 31, and a workpiece transport robot 33 that is rotatably mounted on the traveling platform 31. The workpiece transport robot 33 is provided with an upper arm member 35 and a forearm member 36, and is configured to change its form by driving a first joint mechanism 37 and a second joint mechanism 38 using servo motors. That is, the upper arm member 35 and the forearm member 36 can be transformed into a compact moving posture in which they are folded and erected as shown by the dashed dotted line, and a working posture in which they are extended and inclined forward as shown by the solid line.

[0014] Furthermore, a robot hand 39 equipped with a chuck 41 (see Fig. 5) is attached to the tip of the work transport robot 33, enabling it to grip and release the workpiece W. In the automatic work transport device 8, the work transport robot 33 in a moving posture moves by being driven by the traveling device 32, is positioned at a predetermined position, and rotates on the traveling platform 31 to face the workpiece stocker 3 as shown in Fig. 1, and faces the machining center 5 as shown in Fig. 3. Then, the work transport robot 33 takes a working posture, whereby the workpiece W is delivered to and from the workpiece stocker 3 and the machining center 5.

[0015] In the processing machine line 1, a plurality of workpieces to be processed are placed on a work stocker 3, from which the workpieces are removed and returned after being processed in a machining center 5. The work stocker 3 is configured so that a plurality of workpiece placement tables 23 move in the circumferential direction along an elliptical track K indicated by a dashed line, and when the automatic work transfer device 8 takes in and out the workpieces, the drive control is performed so that a predetermined workpiece placement table 23 stops at the delivery position.

[0016] In this embodiment, the machining centers 5 are arranged side by side, but other machining lines may be configured by adding machine tools such as lathes and drill presses, or inspection machines. In these various machining lines, the workpiece W itself is generally transported as shown in FIG. 3, and the workpiece W is transferred between the chuck 41 of the robot hand 39 and the chuck 21 of the NC circular table device. Both the chucks 21 and 41 are three-jaw chucks, and the workpiece W is also intended to be a shape that can be gripped by the chuck jaws. Therefore, even if other machine tools such as lathes and drill presses, or inspection machines, are added to the machining line, the same chuck mechanism is used for each.

[0017] However, workpieces come in various shapes and are made of soft materials such as aluminum, and the chucks constituting the machining center 5 and the automatic workpiece transport device 8 may not be able to directly grip the workpiece as shown in Fig. 3. Therefore, when the processing target is changed, manual work using a jig is added by the operator, and the production efficiency of the processing machine line 1 drops significantly. Therefore, in this embodiment, an automation pallet is proposed that enables the automatic transport of workpieces in the automatic workpiece transport device 8 even if the workpieces cannot be directly gripped by the chucks 21, 41.

[0018] Fig. 4 is a perspective view showing an automation pallet with a work attached, and in particular shows the state where it is mounted on the stocker 3 shown in Fig. 1. The stocker 3 shown in Fig. 1 has a work Wx attached to an automation pallet 25 mounted thereon, but this is different from the workpiece placement table 23 used when the workpiece is directly gripped and transported, and has been changed to one on which the automation pallet 25 can be installed, as described later.

[0019] The automation pallet 25 has a pair of a first handle 27 and a second handle 28 formed integrally with a pallet body 26 to which a workpiece Wx is attached. The pallet body 26 is a rectangular plate material, and a workpiece Wx having a complex shape can be fixed to both sides of the pallet body 26. The workpiece Wx is fixed in a fixed position with a bolt or the like so as not to be displaced from the pallet body 26. The circular first and second handles 27, 28 are fitted and fixed integrally to the short side portions at both ends of the longitudinal direction of the pallet body 26. In particular, the first and second handles 27, 28 fixed to sandwich the pallet body 26 from both sides in the longitudinal direction are configured so that their center lines O are coaxial and the center line O is the rotation center of the pallet body 26.

[0020] The first and second handles 27, 28 are designed to have different diameters as shown in the figure. Specifically, the first handle 27 held by the chuck 41 of the robot hand 39 is formed to be smaller than the second handle 28 held by the chuck 21 of the machining center 5. The diameters of the first and second handles 27, 28 may be large enough to be held by the chucks 21, 41. However, the automation pallet 25 with the workpiece Wx attached thereto is installed vertically as shown in FIG. 4 in a standby state in the stocker 3 or the like. Therefore, the diameter of the second handle 28 is designed to be large to enhance stability, and the diameter of the first handle 27 is designed to be small. In addition, the second handle 28 with a large diameter is formed in a cylindrical shape to reduce weight, since it is located at the tip during transportation (see FIG. 5).

[0021] The workpiece stand 23 that holds the automation pallet 25 has three projections 24 formed on its horizontal upper surface at equal intervals on the same circumference. The outer peripheral surface of the second handle 28 is pressed into the three projections 24 with moderate resistance, so that the automation pallet 25 is stably held on the workpiece stand 23. In addition, the first handle 27 held by the robot hand 39 has engagement grooves 29 formed in three places so that the chuck jaws 43 of the chuck 41 can fit into them, and is configured so that the phase is constant when the automation pallet 25 is held. This makes it possible to grasp the inclination of the automation pallet 25 and the workpiece Wx held by the machining center 5.

[0022] 5 is a diagram showing a state during conveyance by the automatic workpiece conveyance device 8, and is a perspective view of a state in which the automation pallet 25 carrying the workpiece Wx is gripped by the robot hand 39. Also, FIG. 6 is a diagram showing a state in which the workpiece Wx is delivered to the machining center 5 side, and is a perspective view of a state in which the automation pallet 25 gripped by the robot hand 39 is received by the chuck 21.

[0023] A workpiece Wx that cannot be directly gripped by a general chuck such as a three-jaw chuck is fixed to an automation pallet 25 and placed by an operator on a workpiece placement table 23 provided on a stocker 3 as shown in Fig. 4. In automatic processing on the processing machine line 1, a plurality of workpieces Wx arranged on a circumference are moved simultaneously by the drive of the stocker 3, and a predetermined one stops at a delivery position and is taken out by an automatic work transfer device 8. In the automatic work transfer device 8, a robot hand 39 at the tip is moved to the automation pallet 25 by the drive of the work transfer robot 33, and the chuck jaws 43 bite into the engagement groove 29 of the first handle 27 to grip the workpiece.

[0024] The workpiece Wx to be machined is conveyed as shown in Fig. 5 with the automation pallet 25 held by the robot hand 39. The automation pallet 25 has a second handle 28 at the tip in the moving direction of the robot hand 39, and when the workpiece Wx is delivered to the machining center 5, the second handle 28 is fitted into the chuck 21 as shown in Fig. 6. After the chuck 21 holds the second handle 28, the chuck on the robot hand 39 side releases the first handle 27, completing the delivery.

[0025] In the machining center 5 that has received the workpiece Wx, the movement positions of the Y-axis slide 15, X-axis slide 16, and Z-axis slide 17 are adjusted by controlling the drive unit 10, and a tool such as a drill mounted on the spindle head 12 is positioned at the machining section for the workpiece Wx. Then, in addition to the position adjustment controlled by the drive unit 10, the spindle motor 14 controls the rotation to perform a predetermined machining operation with the tool on the workpiece Wx. Furthermore, since the workpieces Wx are attached to both the front and back sides of the pallet body 26 of the automation pallet 25, after machining of one workpiece Wx is completed, the workpiece is turned over 180 degrees and the other workpiece Wx is machined in the same manner.

[0026] In the processing machine line 1, the automation pallet 25 after the processing of the workpiece Wx has been completed is gripped again by the chuck 41 of the robot hand 39 of the automatic workpiece transport device 8 and moved to the adjacent machining center 5 or returned as is to the stocker 3. In the stocker 3, the empty workpiece placement table 23 is positioned at the delivery position and the outer circumferential surface of the second handle 28 is pressed into the three protrusions 24 to hold the automation pallet 25. Note that, although not present in the processing machine line 1 of this embodiment, in a processing machine line that has a temporary storage area for the workpiece Wx, this can be accommodated by installing the workpiece placement table 23 in the temporary storage area.

[0027] Therefore, according to the automation pallet 32 ​​of this embodiment, even if the workpiece Wx is difficult to grip with the chucks 21, 41, etc., it is possible to automate the transportation and processing of the workpiece Wx in the processing machine line 1. In other words, regardless of the shape or material of the workpiece Wx, as long as it can be processed by a machine tool, the automation pallet 32 ​​can automate the transportation and processing of the workpiece Wx by attaching it to the pallet body 26. Therefore, various workpieces can be accommodated by improving the workpiece mounting fittings on the pallet body 26 and the shape itself.

[0028] Also, the pair of first and second handles 27 and 28 fixed to the pallet body 26 can be improved according to the chuck that grips them. In this embodiment, an engagement groove 29 is formed in the first handle 27, into which the chuck claws 43 on the robot hand 39 bite and grip, so that even if the angle of the automation pallet 25 changes during transportation, the posture relative to the robot hand 39 can be stabilized. Also, the second handle 28 is formed with a large diameter to increase stability in a standby state, while being made hollow and cylindrical to reduce weight.

[0029] Although one embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and various modifications are possible without departing from the spirit of the present invention. For example, in the above embodiment, the automation pallet 32 ​​corresponding to the stocker 3, machining center 5, and automatic workpiece transport device 8 constituting the processing machine line 1 has been described, but the objects for automating workpiece transport and processing are not limited to this. The automation pallet should be designed with the pallet body, first handle, and second handle as appropriate according to the chuck of the machine tool or the like that is the object of automation and the shape of the workpiece that is the object of processing. Furthermore, in the above embodiment, the handles are a pair of the first handle and the second handle to perform automatic transport and automatic processing, but in cases where only automatic transport is required, only one handle may be used. [Explanation of symbols]

[0030] 1... Machining line 3... Work stocker 5... Machining center 8... Automatic work transfer device 10... Drive device 12... Spindle head 19... Control device 21... Chuck 23... Work placement table 25... Automation pallet 26... Pallet body 27... First handle 28... Second handle 33... Work transfer robot 39... Robot hand 41... Chuck Wx... Work

Claims

1. A pallet body on which the workpiece is attached; A handle fixed to the pallet body and capable of being gripped by a chuck; An automation palette having:

2. The handles are a first handle and a second handle arranged to sandwich the pallet body.

3. 3. The pallet for automation according to claim 2, wherein the first handle and the second handle have centerlines that are coaxial with each other and the centerline is the center of rotation of the pallet body.

4. 4. A pallet for automation according to claim 1, wherein the pallet body is a plate-like member on both sides of which a workpiece can be attached.

5. An automation pallet as described in claim 2 or claim 3, wherein the first handle and the second handle are circular members, and the diameter of the second handle is larger than that of the first handle that is gripped by a chuck of an automatic workpiece transport device.

6. 6. A pallet for automation according to claim 5, wherein said first handle is formed with an engagement groove into which a chuck claw constituting a chuck of an automatic workpiece transport device fits.

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