Machine tool

Abstract

To provide a machine tool equipped with a working robot.SOLUTION: This machine tool comprises: a fixed side main spindle device fixed to a head on one side of a machine width direction; a movable side main spindle device having main spindles oppositely arranged so as to be coaxial to the fixed side main spindle device and assembled to the head so as to be movable in a main spindle direction with respect to the head; an upper turret device located at a position higher than that of the movable side main spindle device and disposed in a direction orthogonal to the main spindle with the movable side main spindle device between and configured so that a turret cutter holder having a tool attached thereto can move in a parallel direction and an orthogonal direction with respect to the main spindle; a lower turret device at a position lower than that of the movable side main spindle device; and a working robot assembled to a guide rail for moving the turret cutter holder of the upper turret device or the lower turret device in the direction parallel to the main spindle and movable in the same direction with the vicinity of the fixed side main spindle device as a standby position.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a machine tool equipped with a working robot inside.

Background Art

[0002] Patent Document 1 below discloses a machine tool having a turning function using a fixed tool and a milling function using a rotating tool. In the machine tool, a first spindle head and a second spindle head are arranged to face each other, a tool spindle is arranged above them, and a tool rest is arranged below them. Further, the machine tool is provided with an additional processing head and a robot arm capable of mounting a work gripping portion. The moving mechanism of the robot arm is provided with a linear guide and a rack horizontal to a base member fixed to a support column, and the robot arm is configured to linearly reciprocate by a pinion and a servo motor. Then, it is possible to wait for the lower tool rest or the tool spindle with a tool for removal processing mounted in advance, and the time for shifting from additional processing to removal processing can be shortened.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the machine tool of the prior art example, the machining area and the external area are partitioned, and the moving mechanism is configured such that a robot arm moves between them. And an openable and closable shutter is provided on the side cover that partitions the areas. In this machine tool, the robot arm retracts to the external area during machining, but since it needs to enter the machine during work, its moving mechanism takes up a large amount of space inside the machine. That is, a linear guide for moving the robot arm is arranged on the ceiling inside the machine, and the side cover protrudes into the machining area so as to surround the range up to which the robot arm moves to the working position.

[0005] Therefore, an object of the present invention is to provide a machine tool equipped with a work robot inside the machine in order to solve such problems.

Means for Solving the Problems

[0006] The machine tool according to the present invention is for imparting rotation to a workpiece held by a first spindle chuck, and a fixed-side spindle device fixed to a bed on one side in the machine width direction, and for imparting rotation to a workpiece held by a second spindle chuck. A movable-side spindle device that is arranged to face coaxially with the fixed-side spindle device and is assembled to be movable in the spindle direction with respect to the bed, and is arranged in a direction orthogonal to the spindle with the movable-side spindle device interposed therebetween, and a tool used for machining a workpiece held by the first spindle chuck or the second spindle chuck is attached. An upper turret device at a position higher than the movable-side spindle device and a lower turret device at a position lower than the movable-side spindle device, which are configured to move in parallel and orthogonal directions with respect to the spindle, and a guide rail for moving the turret tool rest of the upper turret device or the lower turret device in a direction parallel to the spindle. And a work robot that is assembled to the rail and is movable in the same direction with the vicinity of the fixed-side spindle device as a standby location.

Effects of the Invention

[0007] According to the above configuration, for the workpiece gripped by the first spindle chuck in the fixed-side spindle device or the workpiece gripped by the second spindle chuck in the movable-side spindle device arranged opposite, predetermined machining can be performed by the tools of the upper turret device and the lower turret device that are rotated and indexed, and further, predetermined work can be performed by a work robot that can move in the same direction with the vicinity of the fixed-side spindle device as a standby location. Then, by using the guide rail for moving the turret tool rest of the lower turret device for the movement of the work robot, it is not necessary to secure a dedicated movement space for the work robot inside the machine tool, and the enlargement of the machine tool can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0009] An embodiment of the machine tool according to the present invention will be described below with reference to the drawings. FIG. 1 is an external perspective view showing the machine tool of this embodiment. FIGS. 2 and 3 are perspective views showing the internal structure of the machine tool of this embodiment, and in particular, FIG. 3 shows a state in which a work robot is incorporated. This machine tool 1 is a small NC lathe in which various processing devices for processing a workpiece are assembled on a slant-type bed 2 that is inclined forward. In the machine tool 1, a closed space for processing a workpiece with a tool is configured as a processing chamber 10, and the entire machine body is covered with a machine body cover 9.

[0010] Inside the processing chamber 10, portions directly related to the workpiece among the various processing devices are arranged via a seal structure. In the machine tool 1, a first spindle device 3 and a second spindle device 4 for rotatably gripping a workpiece are arranged opposite each other on the left and right of the bed 2 when viewed from the front, and an upper turret device 5 and a lower turret device 6 equipped with a plurality of tools for workpiece processing are arranged in front of and behind the second spindle device 4. In FIGS. 2 and 3, in order to show the arrangement inside the processing chamber 10 in the various processing devices, the side walls and ceiling portions on the side of the first spindle device 3 are omitted.

[0011] In the first and second spindle devices 3 and 4, the respective spindles are horizontal in the machine body width direction, and the spindles are positioned coaxially by the opposed arrangement. In this embodiment, the direction parallel to the spindles of the first and second spindle devices 3 and 4 (the left and right width direction of the bed 2) will be described as the Z axis. And the second spindle device 4 that is coaxial with the first spindle device 3 is configured to move in the spindle direction (machine body width direction). That is, the first spindle device 3 is a fixed-side spindle device with the spindle head fixed to the bed 2, while the second spindle device 4 is a movable-side spindle device movable in the Z-axis direction.

[0012] The first spindle device 3 is configured such that a spindle is rotatably provided in a casing, and a first spindle chuck 11 integrated with the spindle is rotated by a spindle motor. Therefore, in the machining chamber 10, a predetermined rotation is imparted to the workpiece W held by the first spindle chuck 11. Similarly, the second spindle device 4 is configured such that a rotatable spindle is provided in the casing, and a second spindle chuck 13 integrated with the spindle is rotated by a spindle motor. The second spindle chuck 13 is located on the opposite side of the first spindle chuck 11 in the machining chamber 10, and rotation is imparted to the workpiece W received from the first spindle chuck 11.

[0013] The machine tool 1 is a two-turret opposed two-axis lathe, and an upper turret device 5 and a lower turret device 6 are arranged so as to sandwich the second spindle device 4. Since the bed 2 of the machine tool 1 is tilted forward, the upper turret device 5 at the back of the machine body is located at a higher position than the second spindle device 4, and the lower turret device 6 on the front side of the machine body is arranged at a lower position than the second spindle device 4. The upper and lower turret devices 5 and 6 have the same structure, and a plurality of tools (turret tools) T are arranged at equal intervals in the circumferential direction on the disk-shaped turret tool holders 15 and 16 and are detachably attached.

[0014] In the upper and lower turret devices 5 and 6, the turret tool holders 15 and 16 equipped with the tools T are located in the machining chamber 10, and the tools T used for machining are indexed by rotation. Further, the turret tool holders 15 and 16 are configured to move in the Z-axis direction, the vertical direction perpendicular to the Z-axis, and the 45-degree direction same as the inclination of the upper surface of the bed 2 in the machining chamber 10. In the present embodiment, this vertical plane direction is described as the Y-axis, and the inclination direction of the bed 2 is described as the X-axis.

[0015] The second spindle device 4 having a structure movable in the Z-axis direction, and the upper and lower turret devices 5 and 6 each have two guide rails parallel to the Z-axis fixed to the bed 2, and the guide blocks of the Z-axis tables on which the respective devices are mounted mesh therewith to form linear guides. Further, a ball screw mechanism that converts the rotational output of a servo motor into linear movement is incorporated in the Z-axis table of each movable device. Furthermore, the upper and lower turret devices 5 and 6 are provided with overlapping configurations for moving the turret tool holders 15 and 16 in the Y-axis direction and the X-axis direction. The movement mechanisms in each axial direction are constituted by a linear guide and a ball screw mechanism in the same manner as in the Z-axis direction.

[0016] In a two-turret opposed two-axis lathe having a structure like the machine tool 1, the upper and lower turret devices 5 and 6 are arranged above and below the opposed first spindle device 3 and second spindle device 4 (which is also the front-rear direction of the machine body). In the present embodiment, as shown in FIG. 2, they are arranged sandwiching the second spindle device 4 side which is the movable-side spindle device.

[0017] By arranging the upper and lower turret devices 5 and 6 on the second spindle device 4 side, empty spaces are provided in the upper and lower parts on the first spindle device 3 side in the machine interior covered by the machine body cover 9. In the reverse arrangement, empty spaces would be provided in the upper and lower parts on the second spindle device 4 side. And the empty spaces formed on the first spindle device 3 side (the same applies to the second spindle device 4 side) are on the extension where the turret tool holders 15 and 16 in the upper and lower turret devices 5 and 6 move in the Z-axis direction.

[0018] Therefore, in the present embodiment, as shown in FIG. 4, the empty space below the first spindle device 3 shown in FIG. 2 becomes the standby chamber 20 provided in the machine cover 9, and the work robot 7 shown in FIG. 3 is arranged therein. Since there is a side wall 101 between the standby chamber 20 configured as a closed space and the processing chamber 10 (see FIG. 4), the work robot 7 is configured to be able to move back and forth between the standby chamber 20 and the processing chamber 10 through the side wall 101. Therefore, the guide rail 21 provided to move the turret tool rest 16 extends beyond the processing chamber 10 portion to the standby chamber 20 portion.

[0019] The work robot 7 is mounted on the Z-axis table 22 and is configured to be movable in the Z-axis direction in the same manner as the second spindle device 4 and the like. A guide block is fixed to the lower surface of the Z-axis table 22, and a linear guide that can slide is configured by engaging with the guide rail 21. Further, a nut member is fixed to the lower surface of the movable Z-axis table 22, and a ball screw mechanism is configured by passing a screw shaft 24 connected to the rotating shaft of the servo motor 23 therethrough. In this way, the work robot 7 shares the two guide rails 21 of the second spindle device 4, and the screw shafts 24 and 25 of the ball screw mechanism are rotatably supported coaxially by bearings 26 and 27 therebetween.

[0020] The work robot 7 is a six-axis control robot in which a first arm 72 and a second arm 73 are connected to a swivel part 71 fixed to the Z-axis table 22, and a work chuck 74 is attached to the tip (see FIG. 6). Therefore, the work robot 7 can take a compact moving posture and a standby posture in which each joint part is folded during movement and standby, and a work posture in which the first arm 72 and the second arm 73 are extended during work. In the machine tool 1, this work robot 7 functions as a work automatic transfer device for carrying in and out the work W, and further functions as an automatic tool changer for the upper and lower turret devices 5 and 6.

[0021] When the working robot 7 functions as a workpiece automatic transfer device, as shown in FIGS. 4 to 6, a workpiece stocker 50 is installed on the machine tool 1 such that a waiting room 20 and a space are continuous. Here, FIG. 4 is a perspective view of the machine tool 1 showing a state in which the working robot 7 functions as a workpiece automatic transfer device. FIG. 5 is a partially enlarged view of the machine tool 1 showing a state in which the working robot 7 moves. And FIG. 6 is a partially enlarged view of the machine tool 1 showing a state in which the working robot 7 delivers a workpiece to the second main spindle chuck 13.

[0022] The workpiece stocker 50 is configured such that a plurality of transfer pallets 51 for mounting workpieces W are continuously arranged in the circumferential direction and move integrally in a row. A workpiece transfer position with the working robot 7 is set on the circumference, and control is enabled such that an arbitrary transfer pallet 51 is positioned at the position. In the workpiece stocker 50 in the drawing, only the upper part is represented by a frame 52 for easy understanding, but the box-shaped main body is covered with covers forming the ceiling and side surfaces. On the other hand, as shown in FIG. 1, the machine tool 1 is provided with an opening / closing shutter 18 on the front surface of the machine body where the waiting room 20 is located. Therefore, in order to enable the transfer of the workpiece W between the machine tool 1 and the workpiece stocker 50 as shown in FIG. 4, an opening / closing door (not shown) provided on the side surface of the workpiece stocker 50 side and the opening / closing shutter 18 of the machine tool 1 are opened, and both spaces are continuous.

[0023] The working robot 7 not only performs work through both spaces in the waiting room 20 and the workpiece stocker 50 in this way, but also moves from the waiting room 20 into the processing room 10 to perform various operations. Therefore, an opening 111 through which the working robot 7 can pass is formed in the side wall 101 of the processing room 10, and a side shutter 28 that can be opened and closed is provided there. The opening 111 is formed corresponding to the inclined floor surface portion of the processing room 10 such that the working robot 7 in a compact moving posture can pass through. The side shutter 28 closing the opening 111 has an opening / closing mechanism that opens and closes in an arc shape so as to be arranged at the position shown by the broken line in FIG. 5 when opened, although not shown in detail.

[0024] Next, the operation of the machine tool 1 of the present embodiment will be described. In the machine tool 1, workpiece machining can be performed on the workpiece W on the first spindle device 3 side (first machining) and on the workpiece W on the second spindle device 4 side (second machining). In the first machining, as will be described later, the workpiece W carried in by the work robot 7 is gripped by the first spindle chuck 11. Then, predetermined machining is performed on the workpiece W using one or both of the tools T of the upper and lower turret devices 5 and 6.

[0025] In the upper and lower turret devices 5 and 6, the tools T used for machining are indexed by the rotation of the turret tool holders 15 and 16, respectively. Then, the turret tool holders 15 and 16 move within the machining chamber 10 so that the tool T is sent to the machining position with respect to the workpiece W. The turret tool holders 15 and 16 approach the first spindle device 3 side from right to left within the machining chamber 10 by moving in the Z-axis direction, and the cutting edge is applied to the workpiece W by moving in the X-axis and Y-axis directions. Thereby, turning machining or the like of the rotating workpiece W is performed. After the completion of such first machining, the machine tool 1 performs the second machining by transferring the workpiece W to the second spindle device 4.

[0026] The second spindle device 4 moves within the machining chamber 10 toward the first spindle device 3, so that the second spindle chuck 13 grips the machined workpiece W from the opposite side, and the transfer of the workpiece W is completed by the release operation of the first spindle chuck 11. The second spindle device 4 that has received the workpiece W by the second spindle chuck 13 moves to the right within the machining chamber 10 from there and returns to the machining position, where predetermined second machining is performed using one or both of the tools T of the upper and lower turret devices 5 and 6.

[0027] Next, for the first machining performed first, a predetermined workpiece W is carried from the off-machine workpiece stocker 50 to the first spindle chuck 11 of the first spindle device 3 by the work robot 7. A plurality of workpieces W are arranged on the circumference of the workpiece stocker 50, and among them, there are workpieces W before machining and machined workpieces W that have been processed. A predetermined workpiece W is sent to the workpiece transfer position and positioned.

[0028] The working robot 7 in the waiting room 20 extends from the front side of the fuselage where the opening and closing shutter 18 is open into the work stocker 50, and grips the corresponding work W with the working chuck 74 at the tip. As shown in FIG. 5, the working robot 7 changes its orientation in a moving posture while receiving the work W, and moves to the machining chamber 10. In the machine tool 1, when the working robot 7 is waiting or working in the waiting room 20, the side shutter 28 and the like are closed, and the influence of coolant and chips scattered in the machining chamber 10 can be prevented. On the other hand, when the working robot 7 works in the machining chamber 10, the side shutter 28 opens and the working robot 7 can pass through the opening 111 of the side wall 101.

[0029] Since the guide rail 21 passes under the opening 111, a predetermined rotation is given to the screw shaft 24 by driving the servo motor 23, and the working robot 7 mounted on the Z-axis table 22 can move from the position in the waiting room 20 shown in FIG. 5 to the position in the machining chamber 10 shown in FIG. 6. The floor surface of the machining chamber 10 is covered with a cover so that the coolant flows down to the front part of the fuselage. In particular, the upper turret device 5 and the upper and middle stages of the second spindle device 4 are provided with movable covers 31 and 32 that move in the Z-axis direction integrally with the Z-axis tables on which the respective devices are mounted. Further, since the lower turret device 6 and the working robot 7 move independently in the lower stage, telescopic telescopic covers 33 are connected to the Z-axis tables of both devices.

[0030] The working robot 7 that has moved into the processing chamber 10 assumes a working posture as shown in Fig. 6, and the workpiece W held by the working chuck 74 at the tip is delivered to the first main spindle chuck 11. On the other hand, since the second machining has been completed in the second main spindle device 4, the working robot 7 further moves toward the second main spindle device 4 side and receives the machined workpiece W from the second main spindle chuck 13. The working robot 7 holding the workpiece W assumes a moving posture as shown in Fig. 5, passes through the opening 111, and returns from the processing chamber 10 to the standby chamber 20 side. The unloading of the workpiece by the working robot 7 is performed by an operation reverse to the workpiece loading, and the machined workpiece W is carried to the standby chamber 20 and further returned to the empty transfer pallet 51 of the workpiece stocker 50.

[0031] Incidentally, in addition to having the workpiece automatic transfer function as described above, the working robot 7 also has an automatic tool change function for the turret tool posts 15 and 16. Fig. 7 is a partially enlarged perspective view of the machine tool 1 showing the state in which the working robot 7 functions as an automatic tool changer. The machine tool 1 is provided with an opening / closing door 17 in the machine body cover 9 corresponding to the processing chamber 10 located in the central part, and has a structure that can be slid open and closed in both the left and right directions. Generally, in the turret lathe, for tool change work, the operator opens the opening / closing door, and tool change for the turret tool post is performed. In such a case, in the machine tool 1 with two turrets assembled to the slant bed 2 tilted forward, the upper turret device 5 is located deep inside the machine body, and the operator has to work at a deep position inside the processing chamber 10.

[0032] In this regard, in the machine tool 1, by attaching a working chuck 75 capable of handling the tool T, the working robot 7 can be used as an automatic tool changer. Since the standby chamber 20 is partitioned from the processing chamber 10, the replacement of the working chuck 75 for the working robot 7 can be performed by opening the opening / closing shutter 18 even while the machine tool 1 is in operation. Although not shown in detail for the tool magazine that stores a plurality of tools T, for example, it is arranged on the left side surface of the machine tool 1 where the standby chamber 20 is located, and has a configuration capable of selecting and controlling the corresponding tool T.

[0033] The machine tool 1 has the corresponding tool T delivered with attachment and detachment between the tool box and the turret tool posts 15 and 16 by the work robot 7. At this time, similar to the transfer of the workpiece described above, the work robot 7 moves between the waiting room 20 and the machining room 10 in a compact moving posture, and predetermined work is performed in each space in the working posture. For example, as shown in FIG. 7, when the first arm 72 and the second arm 73 extend, the work chuck 75 at the tip returns to the turret tool post 16 located inside the machine, and thus the attachment and detachment of the tool T are performed.

[0034] Therefore, since the machine tool 1 is configured such that the work robot 7 can move in the Z-axis direction by using the guide rail 21 that enables the second spindle device 4 to move in the Z-axis direction, there is no need to secure a dedicated moving space for moving the work robot 7 inside the machine, and the enlargement of the entire machine body can be suppressed. The machine tool 1, which is a two-turret opposed two-axis lathe, can exhibit the original functions of the processing machine even in the state shown in FIG. 2 where the work robot 7 does not exist, and the work robot 7 with effective functions can be assembled without significant improvement. In addition, since the waiting room 20 for the work robot 7 can be secured, the machine tool 1 does not need to be made large.

[0035] The machine tool 1 equipped with the work robot 7 can automatically transfer the workpiece W by combining with the stocker 50, and continuous automatic processing regarding a certain number of workpieces W becomes possible. In addition, the machine tool 1 can automate the tool change setup work by combining a tool magazine. In addition to being configured on the turret-type bed 2, the machine tool 1 has a compact overall configuration because the above-mentioned waiting room 20 uses the empty space for mounting the work robot 7. Furthermore, since the bed 2 is tilted forward, a space for the work robot 7 to operate without interference can be secured above the waiting room 20.

[0036] As described above, one embodiment of the present invention has been explained. However, the present invention is not limited thereto, and various modifications can be made without departing from the spirit thereof. For example, the arrangement of various processing devices can be changed, and it may be such that the arrangement of the fixed-side spindle device and the movable-side spindle device is reversed. Also, in the above embodiment, the work robot 7 is configured to move using the guide rail 21 of the lower turret device 6, but it may be configured to use the guide rail of the upper turret device 5.

Explanation of Reference Numerals

[0037] 1... Machine tool 2... Bed 3... First spindle device 4... Second spindle device 5... Upper turret device 6... Lower turret device 7... Work robot 10... Machining chamber 11... First spindle chuck 13... Second spindle chuck 15, 16... Turret tool post 20... Waiting chamber 21... Guide rail 23... Servo motor 28... Side shutter 101... Side wall 111... Opening W... Workpiece

Claims

1. It is for imparting rotation to a workpiece gripped by a first spindle chuck, and includes a fixed-side spindle device fixed to a bed on one side in the machine body width direction, and It is for imparting rotation to a workpiece gripped by a second spindle chuck, and is arranged so that the spindles are coaxially opposed to each other, and a movable-side spindle device assembled to be movable in the spindle direction with respect to the bed, and A turret tool rest arranged in a direction orthogonal to the spindle with the movable-side spindle device interposed therebetween, and having a tool used for machining a workpiece gripped by the first spindle chuck or the second spindle chuck attached thereto, and an upper turret device positioned higher than the movable-side spindle device and a lower turret device positioned lower than the movable-side spindle device, which are configured to move in directions parallel and orthogonal to the spindle, and A work robot assembled to a guide rail for moving the turret tool rest of the upper turret device or the lower turret device in a direction parallel to the spindle, and movable in the same direction with a vicinity of the fixed-side spindle device as a standby location, and A machine tool having the same.

2. A machining chamber which is arranged with the first spindle chuck of the fixed-side spindle device, the second spindle chuck of the movable-side spindle device, and the turret tool rests of the upper turret device and the lower turret device respectively, and in which machining operations on a workpiece are performed, and A standby chamber partitioned by a side wall of the machining chamber as a standby location for the work robot, and The machine tool according to Claim 1 having the same.

3. The machine tool according to Claim 2, wherein a side shutter which can be opened and closed is provided at an opening formed in a side wall of the machining chamber, and the work robot can move between the standby chamber and the machining chamber through the opening.

4. The machine tool according to Claim 1, wherein the work robot is a multi-axis robot equipped with a replaceable work chuck at its tip.

5. The machine tool according to Claim 4, wherein the work robot performs delivery of a workpiece to the first spindle chuck of the fixed-side spindle device and the second spindle chuck of the movable-side spindle device, and attachment and detachment of a tool to and from each turret tool rest of the upper turret device and the lower turret device.

Images