JP4967684B2 - Workpiece supply / discharge device and work supply / discharge method - Google Patents

Description

  The present invention relates to a workpiece supply / discharge device and a workpiece supply / discharge method, and more specifically, a workpiece supply / discharge device and a workpiece supply / discharge device that supply / discharge a ring-shaped workpiece such as a bearing race ring to / from a machining part of a machine tool such as a polishing machine. Regarding the method.

  Conventionally, as a workpiece loading device that supplies and discharges ring-shaped workpieces such as rolling bearing raceways to and from machine tools, the workpiece is dropped by the dead weight of the unmachined workpiece and supplied to the processing unit, and the machined workpiece is dropped by the dead weight. A device has been devised for discharging (see, for example, Patent Document 1).

Specifically, the workpiece loading device described in Patent Document 1 is configured to store unprocessed ring-shaped workpieces stacked in an inshoot, drop them one by one from the inshoot one by one, and bend the workpiece guide. It is made to hold | maintain to a concave support part, and is conveyed to a process part. The ring-shaped workpiece that has been processed is dropped onto the discharge chute by its own weight, rolls on the discharge chute, and is discharged to a bucket or the like.
JP 2003-245839 A

  By the way, as in the workpiece loading device described in Patent Document 1, when supplying and discharging workpieces by falling under their own weight, it is difficult to avoid collision between workpieces, and depending on the material and weight, the workpiece may be damaged. As a result, not only the appearance quality deteriorates but also the product performance may be affected depending on the size of the scratch and the site of the scratch. In addition, the work may stick to the inshoot or discharge chute due to the adhesiveness of the machining fluid and may not fall by its own weight, which may hinder the supply and discharge of the work. In particular, in the processing of rolling bearing races, it is important to maintain and maintain the appearance quality and product performance without damaging the product, and there is a demand for a workpiece loading device that can achieve this requirement. It had been.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to hold a workpiece one by one and forcibly transport the workpiece, thereby reliably transporting the workpiece while preventing the workpiece from being damaged. The object is to provide a supply / discharge device and a workpiece supply / discharge method.

The above object of the present invention can be achieved by the following constitution.
(1) Having the same turning axis, each can turn to the discharge position, supply position, and machining position located on the same track around the turning axis, and can hold the workpiece in cooperation with each other. First and second arms,
A drive mechanism for driving the first and second arms around the pivot axis;
A biasing member that restrains relative rotation of the second arm with respect to the first arm;
A cylinder mechanism for rotating the second arm relative to the first arm;
Equipped with a,
The discharge position, supply position, and processing position are located in this order on the same track,
The cylinder mechanism against the biasing member, the work supply and discharge device, characterized in Rukoto the second arm relative to the first arm is located in the discharge position rotated relative to the supply position.
( 2 ) The workpiece is a ring-shaped workpiece,
A supply chuck capable of moving to the supply position and capable of gripping an axial end surface of the ring-shaped workpiece;
A discharge chuck capable of moving to the discharge position and capable of gripping an axial end surface of the ring-shaped workpiece;
The work feeding / discharging device according to (1), further comprising:
( 3 ) The workpiece is a ring-shaped workpiece,
A guide plate having an arcuate portion formed concentrically with the pivot axis,
The workpiece supply / discharge device according to (1) or (2) , wherein the discharge position and the supply position are formed on opposite sides of the vertical position of the arcuate portion.
( 4 ) Having the same turning axis, each can turn to the discharge position, supply position, and processing position located on the same track around the turning axis, and can hold the workpiece in cooperation with each other. First and second arms,
A drive mechanism for driving the first and second arms around the pivot axis;
A biasing member that restrains relative rotation of the second arm with respect to the first arm;
A cylinder mechanism for rotating the second arm relative to the first arm;
A workpiece supply / discharge method for a workpiece supply / discharge device comprising:
Supplying the unprocessed workpiece supplied to the supply position to the processing position while being gripped by the first and second arms;
Discharging the processed workpiece positioned at the processing position to the discharge position while being gripped by the first and second arms;
The cylinder mechanism rotates the second arm to the supply position relative to the first arm located at the discharge position by the cylinder mechanism so as to supply the unprocessed workpiece. Process,
A workpiece supply / discharge method for a workpiece supply / discharge device.
( 5 ) The unprocessed workpiece is supplied from the outside by a supply chuck movable to the supply position, and
The workpiece supply / discharge method of the workpiece supply / discharge device according to ( 4 ), wherein the processed workpiece is discharged to the outside by a discharge chuck movable to the discharge position.

  According to the workpiece feeding / discharging device and the workpiece feeding / discharging method of the present invention, the first workpiece having the same pivot axis, which is capable of gripping the workpiece and turning to a discharge position, a supply position, and a machining position located on the same track. And a second arm, a drive mechanism that drives the first and second arms, a biasing member that restrains relative rotation of the second arm with respect to the first arm, and a cylinder mechanism that rotates the second arm. The first and second arms that grip the workpiece can be driven by the drive mechanism to forcibly convey the workpiece from the supply position to the machining position and from the machining position to the discharge position one by one. This prevents workpieces from dropping, colliding, frictioning, rolling, etc., which occurred during transportation due to its own weight drop, and preventing transportation failures such as workpiece damage and sticking to the chute. can do.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a workpiece supply / discharge device according to the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, in the workpiece feeding / discharging device 1 of the present embodiment, a servo motor 10 as a drive mechanism is fixed to a base (not shown) with a turning shaft (rotating shaft) 11 horizontal. A first arm 12 is fixed to the turning shaft 11 and rotates as the turning shaft 11 rotates. Further, a second arm 13 is rotatably fitted to the pivot shaft 11. Grip portions 14 and 15 formed with substantially arc-shaped concave portions 14a and 15a for supporting the outer peripheral surface of a ring-shaped workpiece W such as a bearing raceway or the like at the distal ends of the first arm 12 and the second arm 13, The arcuate recesses 14a and 15a are fixed to face each other. The thickness of the gripping portions 14 and 15 is set to be thinner than the axial width of the ring-shaped workpiece W, and grips the substantially central portion in the axial direction of the ring-shaped workpiece W.

  A tension spring 18 as an urging member is attached between a first pin 16 fixed to the first arm 12 and a second pin 17 fixed to the second arm 13. The second arm 13 is biased toward the arm 12 in the approaching direction. As a result, the ring-shaped workpiece W is held between the arc-shaped concave portions 14 a and 15 a by the spring force of the tension spring 18.

  The second arm 13 is provided with an operation unit 19 protruding from the turning shaft 11 on the side opposite to the gripping unit 15. The operation unit 19 is disposed opposite to the piston rod 21 of the cylinder mechanism 20 fixed to the base, and is pressed by the extension of the piston rod 21 to resist the second arm 13 against the spring force of the tension spring 18. Then, it is rotated in a direction away from the first arm 12 (clockwise in FIG. 1). The stroke of the piston rod 21 is limited to an amount by which the second arm 13 driven by the cylinder mechanism 20 reaches a supply position SP described later in a state where the first arm 13 is positioned at a discharge position EP described later.

  A circle for preventing interference with the servomotor 10 is located on one side (rear in FIG. 1) of the movement space (movement range) of the first arm 12 and the second arm 13 (including the ring-shaped workpiece W). The first plate 22 in which the arc-shaped escape portion 22 a is formed is disposed in parallel with the moving direction of the first arm 12 and the second arm 13.

  A guide plate 23 having an arcuate portion 23 a formed concentrically with the turning shaft 11 of the servo motor 10 is fixed to the front surface of the first plate 22. The guide plate 23 is located below the ring-shaped workpiece W conveyed by the first arm 12 and the second arm 13, and the radius of the arc-shaped portion 23 a is the radius of the movement locus of the lower part of the outer peripheral surface of the ring-shaped workpiece W. Therefore, it is set slightly smaller. That is, a slight gap is formed between the ring-shaped workpiece W gripped and moved by the first arm 12 and the second arm 13 and the arc-shaped portion 23a, and interference occurs when the ring-shaped workpiece W moves. Never do.

  A substantially rectangular second plate 24 is disposed on the other side (front side in FIG. 1) of the movement space (movement range) of the first arm 12 and the second arm 13 (including the ring-shaped workpiece W). Are arranged in parallel. The distance between the first plate 22 and the second plate 24 is set to be slightly larger than the axial width of the ring-shaped workpiece W. As a result, the ring-shaped workpiece W is movable between the first plate 22 and the second plate 24 by being gripped by the first arm 12 and the second arm 13.

  The first plate 22 and the second plate 24 are formed with a substantially U-shaped notch 25 facing each other so that a supply chuck 30 described later can enter and exit without interference. This position is the supply position SP of the ring-shaped workpiece W. Further, the first plate 22 and the second plate 24 are formed with a substantially U-shaped notch 26 facing each other so that a discharge chuck 35 described later can enter and exit without interference. This position becomes the discharge position EP of the ring-shaped workpiece W.

  As shown in FIG. 2, the discharge position EP, the supply position SP, and the processing position WP are located in this order on the same track. The discharge position EP and the supply position SP are arranged on opposite sides with respect to the vertical position VL of the arcuate portion 23a. Thereby, even if the ring-shaped workpiece W gripped by the gripping portions 14 and 15 is released in the vicinity of the discharge position EP, the ring-shaped workpiece W rolls on the arc-shaped portion 23a. To reach the discharge position EP. Similarly, when released near the supply position SP, the supply position SP is reached.

  The supply chuck 30 is used to supply the ring-shaped workpiece W to the workpiece supply / discharge device 1. The supply chuck 30 has a direction A and a direction perpendicular to a plane on which the first arm 12 and the second arm 13 turn by a gantry loader (not shown). It is arranged to be movable in the direction B. The discharge chuck 35 is for discharging the ring-shaped workpiece W from the workpiece feeding / discharging device 1, and is disposed so as to be movable in a direction C and a vertical direction D perpendicular to the turning surface by a gantry loader (not shown). ing.

  The supply chuck 30 includes a pair of gripping arms 31 and 32 that can approach and separate from each other. The pair of gripping arms 31 and 32 sandwich an axial end surface of the ring-shaped workpiece W and externally (for example, a previous process). To the workpiece supply / discharge device 1 (supply position SP). Further, the discharge chuck 35 includes a pair of gripping arms 36 and 37 that can approach and separate from each other, and the pair of gripping arms 36 and 37 sandwich the end surface in the axial direction of the ring-shaped workpiece W so that the workpiece feeding / discharging device can be used. 1 (discharge position EP) is transferred to the outside (for example, a processing apparatus for the next process) and discharged.

  For example, a centerless polishing machine or the like for processing the ring-shaped workpiece W is disposed at the processing position WP. The work holding mechanism 40 of the centerless polishing machine receives the ring-shaped work W gripped and transported by the first arm 12 and the second arm 13 and holds it so that it can be processed. The workpiece holding mechanism 40 includes, for example, a driving plate 41 that rotates in contact with one side surface of the ring-shaped workpiece W, and a pair of pressure plates 42 and 43 that press the other side surface of the ring-shaped workpiece W toward the driving plate 41. And have. The pressure plates 42 and 43 are arranged to face each other and are rotatably supported.

  In addition, the ring-shaped workpiece W is held in a state where both end surfaces in the axial direction are in contact with the driving plate 41 and the pressure plates 42 and 43 at the time of processing, but the ring-shaped workpiece W includes the first arm 12 and the second arm. 13, the driving plate 41 and the pressure plates 42, 43 are transported reliably and delivered to the work holding mechanism 40 without being obstructed by the transport plate 41 and the pressure plates 42, 43.

  The operation of this embodiment will be described. For convenience of explanation, the first arm 12 of the workpiece supply / discharge device 1 is positioned at the discharge position EP, and the second arm 13 is rotated by being pushed by the piston rod 21 that is extended, and is positioned at the supply position SP. (The state shown in FIG. 1).

  As shown in FIGS. 1 and 6, the supply chuck 30 moves horizontally in the direction A while holding the axial end surface of the ring-shaped workpiece W between the pair of gripping arms 31 and 32, and then descends to lower the ring-shaped workpiece W. Is conveyed between the first plate 22 and the second plate 24. Thereby, the ring-shaped workpiece W is supplied to the supply position SP from the outside (for example, the processing apparatus of the previous process) (step S1). At this time, since the substantially U-shaped notch 25 is formed in the first plate 22 and the second plate 24, the first and second plates 22 and 24 and the supply chuck 30 do not interfere with each other.

  When the servo motor 10 is actuated to rotate the first arm 12 in the clockwise direction in the drawing and the first arm 12 reaches the supply position SP, the ring-shaped workpiece W has a pair of gripping portions 14 and 15 (arc-shaped concave portions). 14a and 15a), the outer peripheral surface is sandwiched and gripped (step S2). Next, the pair of gripping arms 31 and 32 move in a direction away from each other to release the ring-shaped workpiece W and transfer it to the first and second arms 12 and 13. After the supply chuck 30 is raised, the supply chuck 30 moves horizontally in the direction A to prepare for the next work supply.

  Next, as shown in FIG. 3, when the turning shaft 11 of the servo motor 10 further rotates clockwise, the first and second arms 12 and 13 move to the machining position WP together with the ring-shaped workpiece W to be gripped. Thereby, the ring-shaped workpiece W is transported from the supply position SP to the machining position WP (step S3). At this time, the ring-shaped workpiece W is gripped by the spring force of the tension spring 18. Note that the piston rod 21 of the cylinder mechanism 20 is drawn into the cylinder mechanism 20 while the ring-shaped workpiece W is conveyed from the supply position SP to the machining position WP.

  The ring-shaped workpiece W transferred to the processing position WP is delivered to a workpiece holding mechanism 40 of a processing apparatus such as a centerless polishing apparatus. Specifically, as shown in FIG. 4, the ring-shaped workpiece W has an outer peripheral surface in contact with a reference shoe 45 fixed to a base 44 such as a centerless polishing apparatus, and both sides are paired with the driving plate 41. Between the pressure plates 42 and 43. Then, while pressing the pressure plates 42 and 43 toward the driving plate 41 side, the driving plate 41 is rotated to rotate the ring-shaped workpiece W, and for example, the inner peripheral surface and the outer peripheral surface of the bearing race are polished (step S4). .

  When the ring-shaped workpiece W is held by the workpiece holding mechanism 40, the rotational axis L1 of the driving plate 41 and the axis L2 of the ring-shaped workpiece W are eccentric by a slight amount δ. As a result, a force in the direction of the reference shoe 45 acts on the ring-shaped workpiece W as it rotates, so that the ring-shaped workpiece W is pressed against the reference shoe 45 and processed using the reference shoe 45 as a processing reference.

  As shown in FIG. 5, after the ring-shaped workpiece W that has been processed is gripped by the first and second arms 12 and 13, the servo motor 10 is operated to rotate in the opposite direction to the first arm 12. When rotated counterclockwise, the second arm 13 urged in the direction approaching the first arm 12 by the spring force of the tension spring 18 holds the ring-shaped workpiece W with the spring force, while counterclockwise. The ring-shaped workpiece W is rotated in the direction and conveyed from the machining position WP to the discharge position EP (step S5).

  At this time, since the piston rod 21 of the cylinder mechanism 20 is drawn into the cylinder mechanism 20, the operating portion 19 does not interfere with the piston rod 21, and the first and second arms 12 and 13 are counterclockwise. It does not become an obstacle to the rotation to the. Then, the discharge chuck 35 moves horizontally and vertically to the discharge position EP, and the pair of gripping arms 36 and 37 hold the end face in the axial direction of the ring-shaped workpiece W (step S6).

  When the pair of gripping arms 36 and 37 sandwich the ring-shaped workpiece W, the cylinder mechanism 20 immediately operates and extends until the piston rod 21 contacts the stopper. As a result, the piston rod 21 presses the operating portion 19 to rotate the second arm 13 in the clockwise direction against the spring force of the tension spring 18, and the second arm 13 moves to the supply position SP (step). S7). While the second arm 13 is moving to the supply position SP, the discharge chuck 35 rises and then moves horizontally to move the ring-shaped workpiece W from the work supply / discharge device 1 (discharge position EP) to the outside (for example, the next). It is conveyed and discharged to a processing apparatus) (step S8). Thereafter, the same operation is repeated to supply, process, and discharge the ring-shaped workpiece W.

  Therefore, according to the workpiece supply / discharge device 1 and the workpiece supply / discharge method of this embodiment, the ring-shaped workpiece W can be gripped and turned to the discharge position EP, supply position SP, and processing position WP located on the same track. The first and second arms 12 and 13 having the same pivot axis 11, the servo motor 10 that drives the first and second arms 12 and 13, and the relative rotation of the second arm 13 with respect to the first arm 12 Since the restraint tension spring 18 and the cylinder mechanism 20 that rotates the second arm 13 are provided, the first and second arms 12 and 13 that grip the ring-shaped workpiece W are driven by the servo motor 10 to thereby form the ring-shaped workpiece. W can be forcibly conveyed while being gripped one by one from the supply position SP to the processing position WP and from the processing position WP to the discharge position EP. This prevents the workpiece W from dropping, colliding, frictioning, rolling, etc., which occurred during transportation due to its own weight drop, and preventing damage to the workpiece and transport troubles such as sticking to the chute. Can be transported.

  Further, according to the present embodiment, the discharge position EP, the supply position SP, and the processing position WP are positioned in this order on the same track. In addition, since the cylinder mechanism 20 rotates the second arm 13 relative to the supply position SP with respect to the first arm 12 located at the discharge position EP, the processed workpiece W is conveyed to the discharge position EP. Immediately after the discharge chuck 35 is gripped, only the second arm 13 is rotated to the supply position SP while the first arm 12 remains in the discharge position EP without waiting for the discharge chuck 35 to leave the discharge position EP. An unprocessed workpiece W can be received from the supply chuck 30. As a result, the supply and discharge of the workpiece W can be performed at the same time, and the supply and discharge time can be shortened to supply and discharge the workpiece W efficiently.

  Furthermore, according to the present embodiment, the supply chuck 30 that can grip the axial end face of the ring-shaped workpiece W and move to the supply position SP, and the grip chuck the axial end face of the ring-shaped workpiece W and move to the discharge position EP. The discharge chuck 35 is provided, so that the processed workpiece W can be discharged by the discharge chuck 35 and at the same time the unprocessed workpiece W can be supplied by the supply chuck 30, thereby shortening the conveyance time of the workpiece W. Thus, the workpiece W can be supplied and discharged efficiently.

  In addition, according to the present embodiment, the guide plate 23 having the arcuate portion 23a formed concentrically with the turning shaft 11 is further provided, and the discharge position EP and the supply position SP are the vertical position VL of the arcuate portion 23a. Are formed opposite to each other, the workpiece release of the supply chuck 30 at the supply position SP and the timing of gripping by the first and second arms 12 and 13, and the first and second at the discharge position EP. Even if the timing of releasing the workpiece S by the arms 12 and 13 and the timing of gripping the discharge chuck 35 are shifted and the workpiece is not restrained, the workpiece W is guided by the arc-shaped portion 23a of the guide plate 23 and is supplied to the discharge position EP and the supply position EP. Thus, the workpiece W can be supplied and discharged without any trouble.

  In addition, this invention is not limited to embodiment mentioned above, A deformation | transformation, improvement, etc. are possible suitably. For example, in the present embodiment, the workpiece has been described as a ring-shaped workpiece such as a bearing race, but is not limited thereto, and may be a workpiece having various shapes such as a disk-shaped workpiece. Moreover, the apparatus which processes a workpiece | work is not limited to a centerless grinding machine, The workpiece supply / discharge apparatus of this invention can be applied also to other processing apparatuses, such as cutting and grinding, and there exists the same effect.

It is a perspective view of the workpiece supply / discharge device showing a state where an unprocessed workpiece is supplied to a supply position by a supply chuck. It is the schematic which shows the positional relationship of a discharge position, a supply position, and a process position. It is a perspective view of the workpiece supply / discharge device showing a state in which the workpiece is gripped by the first and second arms and conveyed to the machining position. It is a principal part longitudinal cross-sectional view which shows the state by which the workpiece | work was hold | maintained by the workpiece | work holding | maintenance mechanism of processing machines, such as a centerless grinder. It is a perspective view of the workpiece supply / discharge device showing a state in which a processed workpiece is conveyed from the processing position to the discharge position. It is a flowchart which shows the supply / discharge procedure of a workpiece | work.

Explanation of symbols

1 Work supply / discharge device 10 Servo motor (drive mechanism)
11 Rotating shaft 12 First arm 13 Second arm 18 Tension spring (biasing member)
20 Cylinder mechanism 23 Guide plate 23a Arc-shaped part 30 Supply chuck 35 Discharge chuck EP Discharge position SP Supply position VL Vertical position W of arc-shaped part W-shaped workpiece (work)
WP machining position

Claims (5)

A first shaft that has the same pivot axis, can pivot to a discharge position, a supply position, and a machining position that are located on the same track around the pivot axis, and can grip a workpiece in cooperation with each other. And a second arm;
A drive mechanism for driving the first and second arms around the pivot axis;
A biasing member that restrains relative rotation of the second arm with respect to the first arm;
A cylinder mechanism for rotating the second arm relative to the first arm;
Equipped with a,
The discharge position, supply position, and processing position are located in this order on the same track,
The cylinder mechanism against the biasing member, the work supply and discharge device, characterized in Rukoto the second arm relative to the first arm is located in the discharge position rotated relative to the supply position. The workpiece is a ring-shaped workpiece,
A supply chuck capable of moving to the supply position and capable of gripping an axial end surface of the ring-shaped workpiece;
A discharge chuck capable of moving to the discharge position and capable of gripping an axial end surface of the ring-shaped workpiece;
The work feeding / discharging device according to claim 1, further comprising: The workpiece is a ring-shaped workpiece,
A guide plate having an arcuate portion formed concentrically with the pivot axis,
3. The workpiece supply / discharge device according to claim 1, wherein the discharge position and the supply position are formed opposite to each other with respect to a vertical position of the arcuate portion. A first shaft that has the same pivot axis, can pivot to a discharge position, a supply position, and a machining position that are located on the same track around the pivot axis, and can grip a workpiece in cooperation with each other. And a second arm;
A drive mechanism for driving the first and second arms around the pivot axis;
A biasing member that restrains relative rotation of the second arm with respect to the first arm;
A cylinder mechanism for rotating the second arm relative to the first arm;
A workpiece supply / discharge method for a workpiece supply / discharge device comprising:
Supplying the unprocessed workpiece supplied to the supply position to the processing position while being gripped by the first and second arms;
Discharging the processed workpiece positioned at the processing position to the discharge position while being gripped by the first and second arms;
The cylinder mechanism rotates the second arm to the supply position relative to the first arm located at the discharge position by the cylinder mechanism so as to supply the unprocessed workpiece. Process,
A workpiece supply / discharge method for a workpiece supply / discharge device. The raw workpiece is supplied from the outside by a supply chuck movable to the supply position, and
The work feeding / discharging method of the workpiece feeding / discharging device according to claim 4 , wherein the processed workpiece is discharged to the outside by a discharge chuck movable to the discharge position.

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