U.S. patent application number 17/724119 was filed with the patent office on 2022-07-28 for gantry type conveying device and processing line.
This patent application is currently assigned to KOMATSU NTC LTD.. The applicant listed for this patent is KOMATSU NTC LTD.. Invention is credited to Hiroki HAYASHI, Minoru SAWADA.
Application Number | 20220234157 17/724119 |
Document ID | / |
Family ID | |
Filed Date | 2022-07-28 |
United States Patent
Application |
20220234157 |
Kind Code |
A1 |
SAWADA; Minoru ; et
al. |
July 28, 2022 |
GANTRY TYPE CONVEYING DEVICE AND PROCESSING LINE
Abstract
This gantry type conveying device is provided with: a beam which
is horizontally installed; a runner traveling along the beam; an
elevator supported to be movable in the vertical direction with
respect to the runner; and a loading part which is supported by the
lower portion of the elevator and on which a workpiece is loaded.
This processing line has the gantry type conveying device and a
machine tool. The machine tool is provided with: a base; and a
workpiece supporting device provided movable with respect to the
base in a forward and backward direction perpendicular to the
extending direction of the beam when viewed in a plane.
Inventors: |
SAWADA; Minoru; (Toyama,
JP) ; HAYASHI; Hiroki; (Toyama, JP) |
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Applicant: |
Name |
City |
State |
Country |
Type |
KOMATSU NTC LTD. |
Toyama |
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JP |
|
|
Assignee: |
KOMATSU NTC LTD.
Toyama
JP
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Appl. No.: |
17/724119 |
Filed: |
April 19, 2022 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15761087 |
Mar 17, 2018 |
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PCT/JP2016/075652 |
Sep 1, 2016 |
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17724119 |
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International
Class: |
B23Q 7/14 20060101
B23Q007/14; B23Q 7/04 20060101 B23Q007/04; B23Q 1/01 20060101
B23Q001/01; B23P 21/00 20060101 B23P021/00; B23Q 7/00 20060101
B23Q007/00 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 17, 2015 |
JP |
2015-183535 |
Claims
1. A gantry type conveying device, comprising: a beam horizontally
arranged; a runner that runs along the beam; an elevator that is
supported movably in upper-lower direction relatively to the
runner; and a placing section that includes an upper horizontal
surface at a top thereof and is supported at a lower portion of the
elevator to place a lower surface of a conveyance object on the
upper horizontal surface without clamping the conveyance object
toward the placing section during conveying, the beam being
disposed above the placing section.
2. The gantry type conveying device according to claim 1, wherein
the placing section is supported at the lower portion of the
elevator rotatably around a vertical axis, and wherein the placing
section has a plate shape and spaces for placing a plurality of the
conveyance objects on both sides opposite in a horizontal direction
across the vertical axis.
3. The gantry type conveying device according to claim 2, wherein
the plate shape has a single continuous plate shape.
4. The gantry type conveying device according to claim 1, wherein
the placing section is provided with a positioner that positions
the conveyance objects on the placing section.
5. The gantry type conveying device according to claim 2, wherein
the placing section is provided with a positioner that positions
the conveyance objects on the placing section.
6. The gantry type conveying device according to claim 1, further
comprising: a shifting device comprising a rotary servo motor, a
jig, and a work support device that shifts the conveyance object in
a direction perpendicular to an extension direction of the beam in
a plan view to deliver the conveyance object between itself and the
placing section, wherein the shifting device comprises a holding
section holds the conveyance object to receive the conveyance
object from the placing section.
7. A processing line, comprising: the gantry type conveying device
according to claim 1 and a machine tool that performs processing of
a work, wherein the conveyance object includes the work, and
wherein the machine tool is provided with a base, and a work
support device that is arranged movably in a direction
perpendicular to an extension direction of the beam in a plan view
and supports the work.
8. The processing line according to claim 7, wherein the work
support device includes a carriage movable in the direction
perpendicular to the extension direction of the beam in the plan
view, and a holder that is installed to the carriage and holds the
work, and wherein the holder is installed to the carriage rotatably
around an axis that is parallel to the beam.
9. The gantry type conveying device according to claim 2, further
comprising: a shifting device comprising a rotary servo motor, a
jig, and a work support device that delivers the conveyance object
between itself and the placing section, and moves the conveyance
object in a direction perpendicular to an extension direction of
the beam in a plan view.
10. The gantry type conveying device according to claim 4, further
comprising: a shifting device comprising a rotary servo motor, a
jig, and a work support device that delivers the conveyance object
between itself and the placing section, and moves the conveyance
object in a direction perpendicular to an extension direction of
the beam in a plan view.
11. The gantry type conveying device according to claim 5, further
comprising: a shifting device comprising a rotary servo motor, a
jig, and a work support device that delivers the conveyance object
between itself and the placing section, and moves the conveyance
object in a direction perpendicular to an extension direction of
the beam in a plan view.
12. The gantry type conveying device according to claim 9, wherein
the work support device includes a carriage movable in the
direction perpendicular to the extension direction of the beam in
the plan view, and a holder that is installed to the carriage and
holds the work, and wherein the holder is installed to the carriage
rotatably around an axis that is parallel to the beam.
13. The gantry type conveying device according to claim 10, wherein
the work support device includes a carriage movable in the
direction perpendicular to the extension direction of the beam in
the plan view, and a holder that is installed to the carriage and
holds the work, and wherein the holder is installed to the carriage
rotatably around an axis that is parallel to the beam.
14. The gantry type conveying device according to claim 11, wherein
the work support device includes a carriage movable in the
direction perpendicular to the extension direction of the beam in
the plan view, and a holder that is installed to the carriage and
holds the work, and wherein the holder is installed to the carriage
rotatably around an axis that is parallel to the beam.
15. The gantry type conveying device according to claim 1, wherein
a whole of the conveyance object and the beam are on a same side of
the placing section vertically.
16. The gantry type conveying device according to claim 1, wherein
the upper horizontal surface is larger than a dimension of the
conveyance object entirely in a horizontal direction so that the
conveyance object is placed on any place inside the upper
horizontal surface.
17. The gantry type conveying device according to claim 1, wherein
the beam supports the runner continuously at any position along the
beam.
18. The gantry type conveying device according to claim 1, wherein
the placing section comprises a mounting table which places a whole
of the conveyance object on an inside of the upper horizontal
surface of the mount table during conveying.
19. The gantry type conveying device according to claim 1, wherein
the placing section has an open space above the placing section and
the conveyance
20. The gantry type conveying device according to claim 1, further
comprising a rotation shaft, wherein the placing section is
supported at the lower portion of the elevator rotatably around a
vertical axis through a rotation shaft on the vertical axis, and
wherein the placing section is connected to a lower end of the
rotation shaft at the upper horizontal surface.
21. The gantry type conveying device according to claim 20, wherein
the placing section has a plate shape having a rectangular and a
diameter of the rotation shaft is smaller than a short side of the
rectangular.
22. The gantry type conveying device according to claim 1, wherein
the conveyance object is a work to be processed.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is continuation of a U.S. patent
application Ser. No. 15/761,087 filed on Mar. 17, 2018, which is a
U.S. National Stage Application under 35 U.S.C. .sctn. 371 of
International Patent Application No. PCT/JP2016/075652 filed Sep.
1, 2016, which claims the benefit of priority to Japanese Patent
Application No. 2015-183535 filed Sep. 17, 2015, the disclosures of
all of which are hereby incorporated by reference in their
entities.
TECHNICAL FIELD
[0002] The present invention relates to a gantry type conveying
device and a processing line.
BACKGROUND ART
[0003] Patent Document 1 (JP2002-178238 A) discloses an automatic
supply and removal device for supplying and removing a work to/from
a machine tool, as an example of a conventional gantry type
conveying device.
[0004] This automatic supply and removal device is provided with a
beam horizontally supported by two posts, a robot main-body
(runner) moving along this beam, and a robot hand provided to this
robot main-body to hold a work (see paragraphs [0020], FIG. 9,
etc.).
RELATED ART DOCUMENT
Patent Document
[0005] Patent Document 1: JP2002-178238 A
DISCLOSURE OF THE INVENTION
Problems to be Solved by the Invention
[0006] However, on the automatic supply and removal device (gantry
type conveying device) described in Patent Document 1, the robot
hand, which is a part for holding a work, has a complicated
structure because the robot hand clamps and conveys the work during
conveying. Further, as it is necessary to mount units such as clamp
driving means on the robot hand, the number of components is large
and the cost is high.
[0007] The present invention has been developed in this situation,
and an object of the invention is to provide a gantry type
conveying device and a processing line that enables reduction in
the number of components and has a compact and simple
structure.
Means for Solving the Problems
[0008] In order to solve the above-described problems, a gantry
type conveying device according to the invention includes: a beam
horizontally arranged; a runner that runs along the beam; an
elevator that is supported movably in upper-lower direction
relatively to the runner; and a mount that is supported at a lower
portion of the elevator to mount thereon a conveyance object.
[0009] By this structure, the conveyance object is conveyed such as
to be mounted on the mount that is supported at the lower portion
of the elevator movable in the upper/lower direction relatively to
the runner running along the beam. In other words, the conveyance
object is lifted by the mount and moved (lift and carry). In such a
manner, on the gantry type conveying device, just by mounting a
conveyance object on the mount without clamping a conveyance object
such as a work as conventionally done, the conveyance object can be
held and conveyed. Thus, according to the present invention, a unit
such as clamp driving means in unnecessary.
[0010] Consequently, according to the invention, it is possible to
provide a gantry type conveying device that enables reduction in
the number of components and has a compact and simple
structure.
[0011] Further, on the gantry type conveying device, the conveying
time can be shortened because clamping operation of a conveyance
object is not performed. Still further, as the mount has a simple
structure without driving means nor electrical wires, even when the
kind of a conveyance object such as a work is changed, it is
possible to easily replace the mount, corresponding to the kind of
the conveyance object.
[0012] The above-described gantry type conveying device is
preferably arranged such that: a plurality of the conveyance
objects can be mounted on the mount; and the mount is supported at
the lower portion of the elevator rotatably around a vertical
axis.
[0013] By this structure, as it is possible to mount a plurality
of, for example, works on a single mount and simultaneously convey
them, efficient conveyance is possible. For example, on a gantry
type conveying device on which conventional clamping of works, in
order to replace a work before processing and a work after
processing by a machine tool, it is necessary to provide two robot
hands to the device as one set for work replacement. In contrast,
by this structure, for example, by mounting a work before
processing and a work after processing on a single mount and
rotating the mount around a vertical axis, it is possible to
selectively move one work to a position facing a machine tool. In
such a manner, it is possible to replace a work before processing
and a work after processing, using a single mount.
[0014] The above-described gantry type conveying device is
preferably arranged such that: the mount is provided with a
positioning member that positions the conveyance object on the
mount.
[0015] By this structure, it is possible to prevent a conveyance
object from being shifted from the mount, and ensure the delivery
of the conveyance object between the mount and, for example, a
machine tool.
[0016] In order to solve the above-described problems, a processing
line according to the present invention includes: the
above-described gantry type conveying device; and a machine tool
that performs processing of a work, wherein the conveyance object
include the work, and wherein the machine tool is provided with a
base, and a work support device that is arranged movably in a
direction perpendicular to an extension direction of the beam in a
plan view and supports the work.
[0017] By this structure, it is possible to provide a processing
line for which a gantry type conveying device, which has a compact
and simple structure and enables reduction in the number of
components, is applied for a machine tool.
[0018] Further, using the work support device of the machine tool,
as a mechanism for conveying a conveyance object in a direction
perpendicular to a beam, it is possible to convey this conveyance
object to an arbitrary position in three-dimensional direction. In
such a manner, it is possible to make the structure of the entire
processing line more compact and simple.
[0019] The above-described processing line is preferably arranged
such that: the work support device includes a carriage movable in
the direction perpendicular to the extension direction of the beam
in the plan view, and a holding section that is installed to the
carriage and holds the work: and the holding section is rotatable
around an axis that is parallel to the beam.
[0020] By this structure, in making the holding section hold a
work, it is possible to select one of the upper surface and the
lower surface of the work, as the fitting reference surface, the
one facing the holding section. That is, it is possible to replace
the fitting reference surface, of the work, which faces the holding
section. In such a manner, for example, processing of both the
upper surface and the lower surface of the work is made
possible.
[0021] The above-described gantry type conveying device preferably
further includes: a shifting device that delivers the conveyance
object between itself and the mount and moves the conveyance object
in a direction perpendicular to an extension direction of the beam
in a plan view.
[0022] By this structure, it is possible by the shifting device to
move a conveyance object in a direction perpendicular to the beam,
the conveyance object being lifted by the mount and moved along the
beam. In such a manner, the conveyance object can be conveyed to a
three dimensionally arbitrary position.
Advantageous Effect of the Invention
[0023] According to the present invention, it is possible to
provide a gantry type conveying device and a processing line that
enables reduction in the number of components and has a compact and
simple structure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] FIG. 1 is a schematic front view of a processing line in an
embodiment of the present invention;
[0025] FIG. 2 is a schematic side view of the processing line;
[0026] FIG. 3 is a schematic perspective view showing the periphery
of a work support device of a machine tool shown in FIG. 1;
[0027] FIG. 4 is an enlarged front view of the periphery of a
runner of a gantry type conveying device shown in FIG. 1;
[0028] FIG. 5 is an enlarged side view of the periphery of the
runner of the gantry type conveying device;
[0029] FIG. 6 is an enlarged plan view of the periphery of the
runner of the gantry type conveying device;
[0030] FIG. 7A is an enlarged plan view of a mount and FIG. 7B is
an enlarged side view of the mount;
[0031] FIGS. 8A to 8D are schematic side views for illustrating a
method of conveying a work, with the lower surface of the work as a
fitting reference surface facing a jig;
[0032] FIGS. 9A to 9D are schematic side views for illustrating the
method of conveying a work following FIGS. 8A to 8D;
[0033] FIGS. 10A and 10D are schematic side views for illustrating
the method of conveying a work following FIGS. 9A to 9D;
[0034] FIG. 11 is a schematic perspective view showing the
periphery of the work support device in a state that a jig of a
hold section is at an upper position as a result of being rotated
by 180 degrees around A-axis from a lower position shown in FIG.
3;
[0035] FIGS. 12A to 12D are schematic side views for illustrating a
method of conveying a work, with the upper surface of the work as a
fitting reference surface facing a jig;
[0036] FIGS. 13A to 13D are schematic side views for illustrating
the method of conveying a work following FIGS. 12A to 12D; and
[0037] FIGS. 14A to 14D are schematic side views for illustrating
the method of conveying a work following FIGS. 13A to 13D.
EMBODIMENTS FOR CARRYING OUT THE INVENTION
[0038] Embodiments of the present invention will be described in
detail, referring to the drawings, as appropriate.
[0039] In the respective figures, the same reference symbols will
be assigned to the same elements, and overlapping description will
be omitted. Further, the size and the shape of a member may be
schematically represented with a change or exaggeration for the
convenience of illustration.
[0040] FIG. 1 is a schematic front view of a processing line 100 in
an embodiment of the present invention. FIG. 2 is a schematic side
view of the processing line 100. FIG. 3 is a schematic perspective
view showing the periphery of a work support device 85 of a machine
tool 80 shown in FIG. 1.
[0041] In FIG. 1 and FIG. 2, X-axis direction corresponds to the
left-right direction (horizontal direction), Y-axis direction
corresponds to the upper-lower direction (vertical direction), and
Z-axis direction corresponds to the front-rear direction (depth
direction) (likewise in FIGS. 3 to 6). In FIG. 2, a gantry type
conveying device 10 is shown only partially, for the brevity of
illustration.
[0042] As shown in FIG. 1 and FIG. 2, the processing line 100 is
provided with the gantry type conveying device 10 for conveying a
work W as a conveyance object, and machine tools 80 for processing
the work W. On the processing line 100, a plurality of machine
tools 80 are arranged along X-axis direction, however, in FIG. 1,
only one unit is shown for the convenience of description. In this
case, the gantry type conveying device 10 conveys the work W into
the machine tool 80 installed at the upstream end of the flow of
the work W, conveys the work W to a neighboring one of the machine
tools 80, and conveys the work W out from the machine tool 80
installed at the downstream end. However, only one machine tool 80
may be arranged on the processing line 100. In this case, the
gantry type conveying device 10 conveys the work W from a work
storage section for conveying-in into a machine tool 80, and
conveys the work W out from the machine tool 80 to a work storage
section for conveying-out.
[0043] As shown in FIG. 2, in the present embodiment, a machine
tool 80 is a horizontal type machine tool on which a main shaft 81
is arranged such as to be along the horizontal direction. The
machine tool 80 is provided with a base 82, a column 83, a saddle
84, a work support device 85, and a cover 86.
[0044] The column 83 is arranged on the base 82, movably in X-axis
direction (the direction perpendicular to the sheet of FIG. 2), the
movement being relative to the base 82. The column 83 is moved
along X-axis direction by screw transfer by forward and reverse
rotation of a screw shaft (not shown) driven by a motor (not shown)
installed to the base 82. The saddle 84 is arranged movably in
Y-axis direction (upper-lower direction), the movement being
relative to the column 83. The saddle 84 is moved along Y-axis
direction by screw transfer by forward and reverse rotation of a
screw shaft (not shown) driven by a motor (not shown) installed to
the column 83.
[0045] The saddle 84 rotatably supports the main shaft 81, a tool T
being installed to the tip end of the main shaft 81. Inside the
saddle 84, a rotation shaft (not shown) is disposed; one end side
of the rotation shaft is connected to the main shaft 81; and the
other end side of the rotation shaft is connected to a motor (not
shown). When this motor is driven, the main shaft 81 is
rotated.
[0046] The work support device 85 supports a work W, which is an
object of processing. The work support device 85 is disposed
movably, the movement being relative to the base 82 and in the
horizontal direction perpendicular in a plan view to the extension
direction of a beam 11 (see FIG. 1), in other words Z-axis
direction (front-rear direction). The work support device 85 is
moved along Z-axis direction by screw transfer by forward and
reverse rotation of a screw shaft (not shown) driven by a motor
(not shown) installed to the base 82.
[0047] As shown in FIG. 3, the work support device 85 is provided
with a carriage 87 movable in Z-axis direction, and a holding
section 88 installed to the carriage 87 to hold a work W. The
holding section 88 is installed to the carriage 87, rotatably
around A-axis, which is parallel to the beam 11 (see FIG. 1). The
holding section 88 is provided with a turn table 90 rotated through
a driving force transmission mechanism (not shown) such as gears or
belt, by driving a motor 89, and a jig 91 that is installed to the
turn table 90 to position and set the work W.
[0048] As shown in FIG. 1 and FIG. 2, the cover 86 is arranged such
as to cover the processing region in processing a work W, the work
support device 85, and the like, so as to prevent scattering and
leaking of coolant and the like.
[0049] A front upper surface 92 of the cover 86 is formed such as
to be located lower than the rear upper surface. In such a manner,
a mount 14 of the gantry type conveying device 10 can be made close
to the work support device 85 to a larger extent in the height
direction (Y-axis direction). Accordingly, it is possible to make
it easy to convey the work W into or out from the work support
device 85.
[0050] Further, the front upper surface 92 of the cover 86 is
provided with a door 93 openable and closable, for example, such as
to slide in left-right direction (X-axis direction). The door 93 is
opened when a work W is conveyed into or out from the machine tool
80, and is closed when the work W is processed.
[0051] The gantry type conveying device 10 is provided with the
beam 11 horizontally arranged, a runner 12 that is driven along the
beam 11, an elevator 13 that is supported movably in upper-lower
direction relatively to the runner 12, and the mount 14 supported
at the lower portion of the elevator 13 to mount the work W. The
beam 11 is fixed at the upper portions of the plural posts 15,
15.
[0052] FIG. 4 is an enlarged front view of the periphery of the
runner 12 of the gantry type conveying device 10 shown in FIG. 1.
FIG. 5 is an enlarged side view of the periphery of the runner 12
of the gantry type conveying device 10. FIG. 6 is an enlarged plan
view of the periphery of the runner 12 of the gantry type conveying
device 10. FIG. 7A is an enlarged plan view of the mount 14 and
FIG. 7B is an enlarged side view of the mount 14. Incidentally, in
FIG. 6, the mount 14 and the like are not shown, for the brevity of
description.
[0053] As shown in FIG. 4, the runner 12 is provided with a running
plate 16 in a rectangular shape in a front view. A running servo
motor 17 is mounted on the running plate 16.
[0054] As shown in FIG. 5, a pinion 18 is connected to the drive
shaft of the running servo motor 17. The pinion 18 is engaged with
a rack 20 installed to the beam 11 through a reference block 19.
Accordingly, the runner 12 can run (see arrow A1 in FIG. 4) along
the beam 11, driven by the running servo motor 17.
[0055] An upper rail 21 is installed to the upper surface of the
reference block 19, and a lower rail 22 is installed to the lower
surface of the beam 11. On the other hand, a load receiving roller
23 is installed to the running plate 16 to be rotatable. The load
receiving roller 23 rolls in sliding contact with the upper surface
of the upper rail 21, and receives and supports the load of the
runner 12 and the like. Further, the upper rail 21 and the lower
rail 22 are sandwiched respectively by guide rollers 24, 25 from
the respective both ends so that the runner 12 is guided in
running.
[0056] As shown in FIG. 6, the elevator 13 is provided with a
longitudinal elevation member 26 with a horizontal cross-section
substantially in a C-shape (U-shape). The elevator 13 is supported
on the running plate 16 by a movement guide mechanism 27, such as
to be movable in vertical direction (Y-axis direction). The
movement guide mechanism 27 is provided with two guide rails 28
installed to the back surface (rear surface) of the elevation
member 26, and plural sliders 29 slidably engaged with the
respective guide rails 28, and is a known linear movement
mechanism.
[0057] As shown in FIG. 4, an elevation servo motor 30 is mounted
on the running plate 16. A pinion 31 is connected to the drive
shaft of the elevation servo motor 30. The pinion 31 is engaged
with a rack 32 installed to the side surface of the elevation
member 26 of the elevator 13. Accordingly, being driven by the
elevation servo motor 30, the elevator 13 is movable in upper-lower
direction (see arrow A2 in FIG. 4), relatively to the runner
12.
[0058] Accompanying the upward-downward movement of the elevator
13, the mount 14 is moved up and down between the upper position
(see FIG. 8A, etc.) taken when the work W is conveyed along the
beam 11 and a lower position (see FIG. 8B, etc.) taken when the
work W is supplied to or removed from the machine tool 80.
[0059] The elevation member 26 of the elevator 13 is provided with
a bottom wall 33 on the lower end side. A rotary servo motor 34 is
mounted on the upper surface of the bottom wall 33 of the elevation
member 26. A rotation shaft 35 is connected to the drive shaft of
the rotary servo motor 34. The mount 14 is fixed at the lower end
of the rotation shaft 35. That is, the mount 14 is supported by the
bottom wall 33 at the lower portion of the elevator 13 through the
rotary servo motor 34 and the rotation shaft 35, such as to be able
to rotate around a vertical axis (Y-axis) (see arrow A3 in FIG.
4).
[0060] As shown in FIGS. 7A and 7B, the mount 14 has a plate shape
that is substantially rectangular. Herein, the concept `rectangular
shape` includes not only `strictly rectangular` but also
`substantially rectangular shape`, for example, a rectangular shape
whose corner portions are chamfered, rounded, or partially notched.
Plural works W (herein, two) can be mounted on the mount 14.
Concretely, the mount 14 is in a point symmetric shape with respect
to a fitting center 36 of the rotation shaft 35, and the works W
can be mounted on the both sides, with the fitting center 36
therebetween.
[0061] The mount 14 is provided with positioning pins 37, 38, which
serve as positioning members for positioning the works W in a
horizontal surface on the mount 14, the positioning pins 37, 38
being fixed by screw fastening or the like. Further, the mount 14
is provided with support pads 39 and guides 40 fixed by screw
fastening or the like. The works W are positioned on a horizontal
surface such that the positioning pins 37, 38 come in contact with
the side surfaces of the works W while the works W are guided by
the guides 40. The works W are supported such that the support pads
39 receive loads.
[0062] Incidentally, the structure of positioning and mounting the
works W on the mount 14 is not limited to the above-described
structure. For example, the works W may be positioned on the
horizontal surface such that positioning pins, which are fixed on
the mount 14, are inserted in hole portions formed on the works W.
In this case, large diameter portions in a stepped shape may be
arranged at the lower portions of the positioning pins so that
these large diameter portions receive the loads of the works W to
support the works W.
[0063] In the present embodiment, the work support device 85 (see
FIG. 2) of the machine tool 80 has also a function to deliver a
work W between the work support device 85 and the mount 14 and move
the work W in Z-axis direction (front-rear direction).
[0064] In the following, operations in the above-described present
embodiment will be described. First, referring to FIGS. 8 to 10, a
method of conveying a work W with the lower surface of a work W as
a fitting reference surface, which faces the jig 91 will be
described.
[0065] The jig 91 in FIGS. 8 to 10 is used to fit a work W to the
holding section 88 of the work support device 85, with the lower
surface of the work W as the fitting reference surface. In FIGS. 8
to 10, the work W without hatching shows a work W before processing
on the machine tool 80 concerned, while the hatched work W shows a
work W after processing (likewise in FIGS. 12 to 14).
[0066] As shown in FIG. 8A, when the gantry type conveying device
10 starts operation upon an instruction from a control device (not
shown, likewise hereinafter), the runner 12 (see FIG. 4, likewise
hereinafter) is driven by the running servo motor 17 (see FIG. 4,
likewise hereinafter) to run along the beam 11 (see FIG. 4,
likewise herein). Then, the runner 12 moves to and stops at a
position right above the door 93 arranged on the front upper
surface 92 of the cover 86 of the machine tool 80 (see FIG. 2 for
each, likewise hereinafter).
[0067] Herein, the mount 14 is located at the upper position when
the work W is conveyed along the beam 11. The work support device
85 is located at a rear position that is set posterior to the mount
14 of the gantry type conveying device 10 in Z-axis direction
(front-rear direction). The work W after processing is clamped by a
clamp mechanism (not shown, likewise hereinafter) provided on the
holding section 88 of the work support device 85 (see FIG. 3,
likewise hereinafter).
[0068] Subsequently, the door 93 is opened, and as shown in FIG.
8B, the elevator 13 is driven by the elevation servo motor 30 (see
FIG. 4, likewise hereinafter) to move down. Accompanying this, the
mount 14 moves down to and stops at the lower position taken when
the mount 14 supplies the work W to or removes the work W from the
machine tool 80.
[0069] Subsequently, as shown in FIG. 8C, the work support device
85 moves forward to and stops at a front position taken when the
work support device 85 delivers the work W. Then, a portion of the
mount 14, at which portion a work W is not mounted on the mount 14
and the portion is free, is inserted below the work W which is
after processing and fitted to the jig 91 of the work support
device 85.
[0070] Subsequently, the clamp of the work W by the clamp mechanism
is released, and as shown in FIG. 8D, the elevator 13 is driven by
the elevation servo motor 30 to move up by a predetermined
distance. Accompanying this, the mount 14 moves up to and stops at
a middle position that is between the above-described upper
position and the lower position and is a little higher than the
lower position. Thus, the work W is lifted by the predetermined
distance to be mounted on the mount 14.
[0071] Subsequently, as shown in FIG. 9A, the work support device
85 moves backward to and stops at an off-position that is between
the above-described front position and the rear position and is a
little posterior to the front position.
[0072] Subsequently, as shown in FIG. 9B, the mount 14 is driven by
the rotary servo motor 34 to rotate by 180 degrees around the
vertical axis (Y-axis). Thus, the positions of the work W before
processing and the work W after processing are switched to each
other in the front-rear direction.
[0073] Subsequently, as shown in FIG. 9C, the work support device
85 moves forward from the off-position to the front position and
stops.
[0074] Subsequently, as shown in FIG. 9D, the elevator 13 is driven
by the elevation servo motor 30 to move down by the predetermined
distance. Accompanying this, the mount 14 moves down from the
middle position to the lower position and stops. Thus, the work W
before processing is mounted onto the jig 91 and clamped by the
clamp mechanism.
[0075] Subsequently, as shown in FIG. 10A, the work support device
85 moves backward to the above-described rear position and stops.
Then, the portion, at which the work W before processing has been
mounted on the mount 14, is relatively drawn out from below the
work W before processing and comes to appear.
[0076] Subsequently, as shown in FIG. 10B, the elevator 13 is
driven by the elevation servo motor 30 to move up. Accompanying
this, the mount 14 moves up to the above-described upper position
and stops, and the door 93 gets closed. Thereafter, the machine
tool 80 performs certain processing of the work W, which is
supported by the work support device 85 and is before
processing.
[0077] Subsequently, referring to FIGS. 11 to 14D, a method of
conveying a work W, with the upper surface of the work W as a
fitting reference surface facing the jig 91, will be described.
[0078] FIG. 11 is a schematic perspective view showing the
periphery of the work support device 85 in a state that the jig 91
of the hold section 88 is at an upper position as a result of being
rotated by 180 degrees around A-axis from a lower position shown in
FIG. 3. FIGS. 12A to 14D are schematic side views for illustrating
a method of conveying a work W, with the upper surface of the work
W as a fitting reference surface facing the jig 91.
[0079] The jig 91 in FIGS. 12A to 14D is a jig for fitting the work
W to the holding section 88 of the work support device 85, with the
upper surface of the work W as the fitting reference surface.
[0080] As shown in FIG. 12A, when the gantry type conveying device
10 starts operation upon an instruction from the control device,
the runner 12 is driven by the running servo motor 17 to run along
the beam 11. Then, the runner 12 moves to and at the position right
above the door 93 arranged on the front upper surface 92 of the
cover 86 of the machine tool 80.
[0081] In this occasion, the mount 14 is at the upper position
taken when the work W is conveyed along the beam 11. The work
support device 85 is at the rear position that is set posterior to
the mount 14 in Z-axis direction (front-rear direction). The work W
is clamped by the clamp mechanism arranged on the holding section
88 at an upper position, as shown in FIG. 11.
[0082] Subsequently, the door 93 gets opened, and as shown in FIG.
12B, the elevator 13 is driven by the elevation servo motor 30 to
move down. Accompanying this, the mount 14 moves down to and stops
at the lower position taken when the work W is supplied to or
removed from the machine tool 80.
[0083] Subsequently, as shown in FIG. 12C, the work support device
85 moves forward to and stops at the front position taken when the
work support device 85 delivers the work W. Then, a portion of the
mount 14, at which portion a work W is not mounted on the mount 14
and the portion is free, is relatively inserted below the work W
which is after processing and installed to the jig 91 of the work
support device 85.
[0084] Subsequently, as shown in FIG. 12D, the elevator 13 is
driven by the elevation servo motor 30 to move up by a
predetermined distance. Accompanying this, the mount 14 moves up to
and stops at the middle position that is between the
above-described upper position and the lower position and is a
little higher than the lower position. The clamp of the work W by
the clamp mechanism is released at this middle position, and the
work W after processing gets mounted onto the mount 14.
[0085] Subsequently, as shown in FIG. 13A, the elevator 13 is
driven by the elevation servo motor 30 to move down by the
predetermined distance. Accompanying this, the mount 14 moves down
to the above-described lower position and stops.
[0086] Subsequently, as shown in FIG. 13B, the work support device
85 moves backward to and stops at the off-position that is between
the above-described front position and the rear position and is a
little posterior to the front position.
[0087] Subsequently, as shown in FIG. 13C, the mount 14 is driven
by the rotary servo motor 34 to rotate by 180 degrees around the
vertical axis (Y-axis). Thus, the positions of the work W before
processing and the work W after processing are switched to each
other in the front-rear direction.
[0088] Subsequently, as shown in FIG. 13D, the work support device
85 moves forward from the off-position to the front position and
stops.
[0089] Subsequently, as shown in FIG. 14A, the elevator 13 is
driven by the elevation servo motor 30 to move up by the
predetermined distance. Accompanying this, the mount 14 moves up to
the above-described middle position and stops. The work W before
processing is clamped at this middle position by the clamp
mechanism.
[0090] Subsequently, as shown in FIG. 14B, the elevator 13 is
driven by the elevation servo motor 30 to move down by the
predetermined distance. Accompanying this, the mount 14 moves down
to the above-described lower position and stops.
[0091] Subsequently, as shown in FIG. 14C, the work support device
85 moves backward to the above-described rear position and stops.
Then, the portion, at which the work W before processing has been
mounted on the mount 14, is relatively drawn out from below the
work W and comes to appear.
[0092] Subsequently, as shown in FIG. 14D, the elevator 13 is
driven by the elevation servo motor 30 to move up. Accompanying
this, the mount 14 moves up to the above-described upper position
and stops, and the door 93 is closed. Thereafter, the machine tool
80 performs certain processing of the work W, which is supported by
the work support device 85 and is before processing.
[0093] As described above, the gantry type conveying device 10 in
the present embodiment is provided with the runner 12, which runs
along the beam 11, the elevator 13, which is supported movably in
upper-lower direction relatively to the runner 12, and the mount
14, which is supported at the lower portion of the elevator 13 to
mount a work W on.
[0094] Accordingly, in the present embodiment, a work W is conveyed
in such a manner that the work W is mounted on the mount 14 that is
supported at the lower portion of the elevator 13, which is movable
in upper-lower direction relatively to the runner 12 which runs
along the beam 11. That is, the work W is lifted by the mount 14
and moved (lift and carry). In such a manner, on the gantry type
conveying device 10, it is possible to hold and convey a work W by
just mounting the work W on the mount 14, without the necessity of
clamping the work W as conventional. Accordingly, a unit such as
clamp-driving means is unnecessary.
[0095] Consequently, according to the present embodiment, it is
possible to provide a gantry type conveying device 10 that enables
reduction in the number of components and has a compact and simple
structure.
[0096] Further, as clamping operation of a work W is not performed
on the gantry type conveying device 10, the conveyance time can be
shortened. Further, as the mount 14 has a simple structure without
driving means and electrical wires, even when the kind of a work W
is changed, it is possible to easily replace the mount 14,
corresponding to the kind of the work W.
[0097] Further, in the present embodiment, plural works W can be
mounted on the mount 14, and the mount 14 is supported at the
bottom wall 33, which is the lower portion of the elevator 13, such
as to be able to rotate around the vertical axis via the rotary
servo motor 34 and the rotation shaft 35.
[0098] By this structure, efficient conveying is enabled because
plural works W can be mounted on a single mount 14 and
simultaneously conveyed. For example, for a gantry type conveying
device, on which conventional clamping of works W is performed, it
is necessary to provide two robot hands as one set for replacing
works in order to replace, for a machine tool 80, between a work W
before processing and a work W after processing. On the other hand,
according to the present embodiment, for example, by mounting a
work W before processing and a work W after processing on a single
mount 14 and turning the mount 14 around a vertical axis, it is
possible to selectively move one work W to a position facing a
machine tool 80. In such a manner, it is possible to replace a work
W before processing and a work W after processing, using a single
mount 14.
[0099] Further, in the present embodiment, the mount 14 is provided
with the positioning pins 37, 38 for positioning works W on the
mount 14.
[0100] By this structure, it is possible to prevent works W from
deviating from the mount 14, and ensure the delivery of a work W
between the mount 14 and, for example, the work support device 85
of a machine tool 80.
[0101] Still further, the processing line 100 in the present
embodiment is provided with the gantry type conveying device 10 and
the machine tool 80. The machine tool 80 is provided with the base
82 and the work support device 85, which is arranged such as to be
movable, in a direction perpendicular to the extension direction of
the beam 11 in a plan view, relatively to the base 82.
[0102] By this structure, it is possible to provide a processing
line 100 for which a gantry type conveying device 10, which has a
compact and simple structure and enables reduction in the number of
components, is applied to a machine tool 80 or machine tools 80.
Further, using the work support device 85 of the machine tool 80,
as a mechanism for conveying a work W in a direction perpendicular
to a beam, it is possible to convey this conveyance object to an
arbitrary position in three-dimensional direction. In such a
manner, it is possible to make the structure of the entire
processing line 100 more compact and simple.
[0103] Yet further, in the present embodiment, the work support
device 85 is provided with the carriage 87 movable in a direction
perpendicular to the extension direction of the beam 11 in a plan
view, and the holding section 88 installed to the carriage 87 to
hold a work W, and the holding section 88 can rotate around A-axis
in parallel to the beam 11.
[0104] By this structure, in making the holding section 88 hold a
work W, it is possible to select one of the upper surface and the
lower surface of the work W, as the fitting reference surface, the
one facing the holding section 88. That is, it is possible to
replace the fitting reference surface, of the work, which faces the
holding section. In such a manner, for example, processing of both
the upper surface and the lower surface of the work W is made
possible.
[0105] The present invention has been described above, based on
embodiments, however, the present invention is not limited to the
structures described in the above-described respective embodiments,
and it is possible to change or modify the structures described in
the respective embodiments in a range without departing from the
spirit, including appropriate combination and selection. Further,
the structures in the above-described embodiments allow partial
addition, deletion, and substitution.
[0106] For example, the above embodiments have been described,
taking an example of applying the invention to a horizontal type
machine tool, however, without being limited thereto, the invention
can be applied to various machine tools. The present invention can
be applied, for example, to vertical type machine tools, and
machining centers provided with an automatic tool replacing
device.
[0107] Further, although, the above embodiments have been
described, taking an example where conveyance objects conveyed by
the gantry type conveying device 10 are works W, however, the
invention is not limited thereto. The gantry type conveying device
10 can also convey, for example, the jig 91 for setting a work W
provided on the work support device 85. By such a structure, even
if the kind of works W has been changed, the gantry type conveying
device 10 can convey and replace the jig 91, corresponding to the
kind of the works W.
[0108] Still further, although, in the above-described embodiments,
as the driving force transmission mechanism in moving the runner 12
and the elevator 13 by a motor, a mechanism using a rack and pinion
is used, the invention is not limited thereto. Other driving force
transmission mechanisms, for example, a screw transfer mechanism, a
mechanism using a belt and a pulley, or the like, may be used.
Still further, in the above-described embodiments, as the mechanism
for rotating the mount 14, a mechanism in which the rotation shaft
35 is connected to the drive shaft of the rotary servo motor 34 is
used, however, the invention is not limited thereto. For example, a
mechanism in which a gear fixed to the drive shaft of the rotary
servo motor 34 is engaged with a gear fixed to the rotation shaft
35 may be used.
[0109] Further, although, in the above-described embodiments, the
mount 14 allows mounting two works W thereon, the invention is not
limited thereto, and a structure allowing mounting more than two
works W thereon may be applied. In this case, the mount 14 may have
a structure on which plural kinds of works W can be simultaneously
mounted. Further, although the mount 14 has a rectangular plate
shape, the invention is not limited thereto. The mount 14 may have
other shapes, for example, an elliptical shape, a cross shape, or
the like in a plan view.
[0110] Still further, in the above-described embodiments, as the
mechanism for conveying a work W in the direction perpendicular to
a beam, the work support device 85 of the machine tool 80 is used,
however, the invention is not limited thereto. For example, the
gantry type conveying device 10 may be provided with a shifting
device that delivers a work W between itself and the mount 14 and
moves the work W in a direction (front-rear direction)
perpendicular in a plan view to the extension direction of the beam
may be provided. By this structure, it is possible to move a work W
that is lifted by the mount 14 and moved along the beam 11 can be
moved by the shifting device in a direction perpendicular to the
beam 11. In such a manner, the work W can be conveyed to a three
dimensionally arbitrary position.
DESCRIPTION OF REFERENCE SYMBOLS
[0111] 10 gantry type conveying device [0112] 11 beam [0113] 12
runner [0114] 13 elevator [0115] 14 mount [0116] 15, 15 post [0117]
16 running plate [0118] 17 running servo motor [0119] 18 pinion
[0120] 19 reference block [0121] 20 rack [0122] 21 upper rail
[0123] 22 lower rail [0124] 23 load receiving roller [0125] 24, 25
guide roller [0126] 26 elevation member [0127] 27 movement guide
mechanism [0128] 28 guide rail [0129] 29 slider [0130] 30 elevation
servo motor [0131] 31 pinion [0132] 32 rack [0133] 33 bottom wall
[0134] 34 rotary servo motor [0135] 35 rotation shaft [0136] 36
fitting center [0137] 37, 38 positioning pin (positioning member)
[0138] 39 support pad [0139] 40 guide [0140] 80 machine tool [0141]
81 main shaft [0142] 82 base [0143] 83 column [0144] 84 saddle
[0145] 85 work support device [0146] 86 cover [0147] 87 carriage
[0148] 88 holding section [0149] 89 motor [0150] 90 turn table
[0151] 91 jig [0152] 92 front upper surface [0153] 93 door [0154]
100 processing line [0155] T tool [0156] W work (conveyance
object)
* * * * *