CA1296554C - Radial support device for the stay type for a rotary workpiece to be machined, grinder equipped with this device and, if required, with an automatic loading/unloading mechanism and its use particularly for the machining of mill rolls - Google Patents
Radial support device for the stay type for a rotary workpiece to be machined, grinder equipped with this device and, if required, with an automatic loading/unloading mechanism and its use particularly for the machining of mill rollsInfo
- Publication number
- CA1296554C CA1296554C CA000547681A CA547681A CA1296554C CA 1296554 C CA1296554 C CA 1296554C CA 000547681 A CA000547681 A CA 000547681A CA 547681 A CA547681 A CA 547681A CA 1296554 C CA1296554 C CA 1296554C
- Authority
- CA
- Canada
- Prior art keywords
- workpiece
- machined
- axis
- centre
- machining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/12—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces both externally and internally with several grinding wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/72—Auxiliary arrangements; Interconnections between auxiliary tables and movable machine elements
- B23Q1/76—Steadies; Rests
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/065—Steady rests
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Feeding Of Workpieces (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE:
Radial support device of the stay type, for example for a cylindrical surface grinder, in which the stay comprises two arms equipped with fences associated with jacks and is designed in such a way that the fences remain laid against the workpiece during machining, for the entire duration of this, at a pressure which is virtually constant despite the change in size of the workpiece as a result of the removal of material. The grinder is also equipped with an automatic mechanism for picking up the workpieces to be machined from a stocking table by means of manipulators carried by a carriage movable on a beam, depositing them on the machine tool and, once machining has been carried out, retrieving them in order to replace them on the stocking table. The invention is used for the grinding of mill rolls.
Radial support device of the stay type, for example for a cylindrical surface grinder, in which the stay comprises two arms equipped with fences associated with jacks and is designed in such a way that the fences remain laid against the workpiece during machining, for the entire duration of this, at a pressure which is virtually constant despite the change in size of the workpiece as a result of the removal of material. The grinder is also equipped with an automatic mechanism for picking up the workpieces to be machined from a stocking table by means of manipulators carried by a carriage movable on a beam, depositing them on the machine tool and, once machining has been carried out, retrieving them in order to replace them on the stocking table. The invention is used for the grinding of mill rolls.
Description
The present invention relates to the sector of machine tools and more particularly to cylindrical sur-face grinders.
The subject of the present invention is a radial S support device of the stay type for a rotary piece to be machined particularly on its cylindrical outer face.
The present invention also relates to a cylindri-cal surface grinder equipped with such a radial SuPpOrt device and an automatic loading/unloading mechanism in-tended for feeding it.
~ hen machine tools, such as lathes or cylindricalsurface grinders, are used for the machining of work-pieces, it is known that, when the workpiece is of rela-tively long length in comparison with diameter and, for example, i5 held between a centre and/or mandrel and a tail centre, the machining forces exerted on the workpiece by the tool, for example the grinding wheel, mak- it sag elastically in the manner of a beam, the two ends of which are fixed. Consequently, the sag momentarily ex-perienced by the workpiece and the eccentricity which canoccur during its rotation make it difficult to give this workpiece its theoretical dimension as a result of the elastic deformation caused by the forces generated by the tool. When the workpiece to be machined is relatively long, the relative movement of the tool parallel to the bed of the machine and therefore in relation to the suP-ported ends of the workpiece means that the sag is not uniform during the work; this sag is at its maximum in the iddle of the workpiece and at its minimum or vir-3û tually zero in the vicinity of the mandrel and/or centreand the tail centre when the workpiece is a uniform cylin-der.
Thus, if a cylindrical workpiece in particular is to be machined, problems arise when it comes to ensur-ing the theoretical dimension. Consequently, it is cus-tomary to use a stay which is either fixed or of the follower type.
As is known, the stay of whatever type serves as a bearing point for exerting a reaction force whi~h opposes and neutralizes the components of the machining forces. Depending on whether the stay is fixed, that is to say occupies an adjustable specific position on the bed of the machine tool, or whether the staY is movable and associated with the saddle vertically in line with or virtually opposite the tool, partial or virtually complete compensation of the machining forces is obtained, and only the elastic deformation of the workpiece, during machining and vertically in line with the tool under the action of the latter, makes it possible that the theoretical dimen-sion will be difficult to maintain, since the stay, by sup-porting the workpiece, partially or completely compen-sates the elastic sag which the workpiece undergoes in the manner of a beam, the two ends of which are fixed.
However, in the stays used, their position, trans-verse relative to the longitudinal axis along which the workpiece is driven in rotation during machining, is set once and for all. Consequently, during machining which results in a removal of material, the transverse location of the points of contact of the fences of the stay with the workpiece varies, since the removal of material corresponds to the generation of "play", however slight, between the surface being machined and the fences of the stay, as compared with the location of the same points of contact with thc surface bearing on the fences before the start of machining.
~ hen this "play" occurs, the stay consequently loses its effectiveness, since the workpiece being machined is capable of sagging elastically in the manner of a beam by an amount corresponding to the "play" genera-ted as a result of the removal of material during each pass of the tool, because of the force of the latter which lays or pushes the workpiece against the fences which re-main fixed transversely.
To avoid this elastic sagging, according to theinvention a radial support device was conceived, this being designed in such a way that contact between the 129655~
workpiece and at least one fence persists, whether be-fore the start of the machining, during machining or at the end of it, because of a virtually automatic compen-sation of the play arising as a result of the removal of the material, and virtually without any change in pressure on the ~orkpiece to be machined.
As a result of tfie solution provided according to the invention, the workpiece being machined is com-pletely prevented from experiencing a momentary sag.
The invention is used particularly in the grinding of mill rolls, especially those of a Sendzimir rolling mill, the unit mass of which is approximately twenty kilograms and which each have a length of around 800 mm and a diameter which varies between approximately 50 and 60 mm in the worn state and in the new state res-pectively.
The invention also relates to an automatic load-ing/unloading mechanism for feeding a machine tool equiPPed, for example, with the improved radial supPort device according to the invention.
In fact, the attachment and removal of the work-pieces to be machined or which have been machined on the machine tooL is a lengthy, difficult and laborious opera-tion. To overcome these disadvantages, an automatic mechanism is used, this picking up the workpieces to be machined, waiting on a stocking plane, depositing them on the machine where they are processed and then, once machining has been carried out, removing them from the machine and depositing them on the stocking plane once again.
The handling operations, with the exception of those relating to the first and last workpieces, are carried out in masked time, that is to say the transport of the workpieces, their presentation and their removal from the machine tool take place during the machining and monitoring of the workpiece placed on the machine.
To ensure that the machine, its radial support device and the automatic mechanism operate efficiently, 12g~SS4 a programmable computer makiny it possible to control and synchronize the operation of the assembly as a whole in real time i8 used.
According to the present invention, there is S provided a radial support device for a rotary workpiece to be machined, including a stay having a body, said device comprising:
- at least one arm mounted movably on the body of said stay and carrying a fence intended to come up against a surface of the workpiece to be machined, - a fluidic jack associated with said arm, for laying said fence against said surface of the workpiece, - a fluid accumulator connected at least to an active chamber of this jack and which has a considerably larger volume than that of the said active chamber, and - a pressure generator connected to a fluidic circuit consisting of the accumulator and of the jack, in such a way that a specific pressure prevailing in said fluidic circuit does not change virtually at all during a movement of the fence as a result of removal of material from the surface of the workpiece, against which said fence bears.
According to the invention, this radial support device can preferably, comprise a stay consisting of a body, on which are mounted movably at least two arms, each carrying a fence intended to come up against this face of the workpiece to be machined, under the action of fluidic jacks which act respectively on these arms.
According to the invenion, the fluid volume in this fluidic circuit can preferably be at least equal to one thousand times the variation in volume of this active chamber arising from the movement of these fences as a result of the removal of material from this surface of the workpiece to be machined.
~, 129~554 4a -Preferably, the invention applies to a cylindrical surface grinder comprising a bed equipped with a fixed workpiece-holding or driving headstock fitted with a mandrel or a spindle, the nose of which carries a centre, and with a S movuble tuilutock equipped with a tail ce ~
~.
B~
i~g~SS4 and a grinding-wheel hoLder movable relative to the bed and fitted with a grinding wheel, the centre/tail-centre axis of the grinder defining the geometrical machining axis of the workpiece to be machined and the grinder being equipped with a radial support device according to the invention.
Preferably, the machine of the type just mentioned possesses an automatic loading/unLoad-ing mechanism comprising a stocking surface for receiving the workpieces to be machined, a conveyor consisting of a carriage mounted movably on a beam, on which it executes a translational movement, and carrying two axially movable manipulators with a jack which are mounted inclined relative to one another, in such a way that, in the position for loading/unloading the machine, their respective axes pass through the geometrical centre/tail-centre axis, and which are equipped with pivoting V-shaped self-centering gripping jaws.
The invention will be understood better from a 2û reading of the following description given purely by way of example and made with reference to the accompanying drawing, in which:
- Figure 1 is a diagrammatic top view of the assembly as a whole, consisting of a grinder, with which are assoc;ated a device and an automatic mechanism, according to the invention;
- Figure 2 is a view, similar to that of Figure 1, of the assembly as a whole, but from the side;
- Figure 3 is a view similar to that of Figure 1, but from the front;
- Figure 4 is a detailed view of part of the device according to the invention on a larger scale and partially in section;
- Figure S is a diagrammatic detailed view of the jaw of the manipulator of the automatic mechanism accord-ing to the invention;
- Figures 6A to 6E illustrate different phases in the operation of the automatic mechanism; and iX9~
- figure 7 shows a hydraulic diagram associated with the device.
Since many of the component elements of the in-vention are conventional in the technical sector to which they belong, they will be described only very briefly;
only the particular points relating directly or indirectly to the invention will be stressed.
As can be seen especially in Figures 1, 2 and 3, the drawing is of a cylindrical surface grinder 100, the bed 101 of which is equipped with a fixed driving or workpiece-holding headstock 110 fitted with a mandrel 111 and with a sPindle (not shown), the nose of which carries a centre 112; the bed of this grinder is also equipped with a movable tailstock 12û fitted with a tail centre 122. This grinder also possesses a grinding-~heel holder carriage 130, on which a grinding wheel 131 of axis 132 is mounted and with ~hich is associated a tracer 133 which will be discussed later. The bed is movable in a transla-tional movement on the base 102 of the machine tool, as is customary and as emerges below.
Associated with this grinder is a stay device 140 according to the invention, which is shown in detail in Figure 4. As can be seen, this stay comprises a body 141, and at least two arms 142 which are mounted movably on this body and which each carry a fence 143 at a free end. The fences are arranged in such a way that the perpendicular 144 to their respective points of contact with a workpiece 10 to be ground or being machined passes virtually through the geometrical axis of rotation 20 of the latter; this axis of rotation Z0 is defined by the centre and tail centre 112 and 122 respectively.
Associated with each of these arms and connected to its other end is a piston 145 of a fluidic, for example hydraulic double-acting jack, of which the chamber or cy-linder 146, where a fluid pressure is exerted, is con-nected to a fluid accumulator by means of a pipe, only the orifice 147 of which is shown. The fluid circuit 400 formed by the cylinder, the accumulator and the pipe can ~2~67554 be isolated from a pressure generator by means of a valve.
The hydraul;c circuit composed of the jacks, of the fluid accumulator and of the pressure generator will be des-cribed later with reference to Figure 7.
As can be seen from an exam;nation of Figure 4, one of the ;evers is horizontal and is integraL with the rod 148 of one of the pistons. This horizontal lever is keyed in terms of height, so that its LongitudinaL axis intercepts the axis of rotation 2û of the ~orkpiece on the machine and also passes ;hrough the axis 132 (not shown in this Figure) of the grinding wheel.
The other Lever 142 takes the form of a beLL
crank 149 articulated at its centre on an axis 150 so as to be pivotabLe. As iLLustrated, one of the Legs of this Lever carries a fence 143, whiLst its other Leg is con-nected to the rod 148 of the piston 145, for exampLe by means of a slot-and-pin connection.
As can be seen in this figure, the arm is keyed in such a way that its point of contact with the workpiece machined or being machined on the machine has a perPen-dicuLar 144 passing through the axis of rotation of the workpiece.
The reLative position of the two arms and of their fences are selected so that the resuLtant of the machining forces generated by the grinding ~heel 131 passes vir-tually through the bisecting plane of the dihedron, the edge of which is the geometrical axis of rotation 20 ^f the ~orkpiece, defined by the centre and tail centre, and the faces of which each pass through one of the points of contact of the fences with the workpiece on the machine.
The dra~ing in Figure 4 shows two workpieces 10M
and 10m, the true diameters of which correspond respec-tiveLy to the greatly exaggerated maximum and minimum diameters of a workpiece before and after machining.
Referring to this drawing, it will be seen that if, at the moment when the workpiece to be machined is mounted on the machine, the fences of the arms of the stay are laid against its outer surface 10M and these are keyed i~g~ss~
mechanically in this position, the fences will no longer be in contact with the outer surface 10m of the workpiece at the end of the machining of the latter, because of the removal of material, if the arms are immobilized in the position in which they are keyed. It will therefore be appreciated that, under the forces generated by the grind-ing wheel, the workpiece~momentarily sags elastically by this amount, in order to come against the fences. Of course, the amount of this sag is a function of the quan-tity of material removed and also of the longitudinalposition of the grinding wheel or tool relative to the centre and tail centre, and also of the nature of the workpiece itself.
When it is intended to grind rolls of a Sendzimir rolling mill, the length of which is around 800 mm and the mass of which is nearly 20 kg, it will be appreci-ated that this presents a proble0, in view of the fact that, during each machining operation, the quantity of material to be removed is of the order of on y a few tenths of a millimetre and that this operation is to be carried out with very narrow tolerances, for example a tolerance of ~0.005 mm as regards the diameter and a parallelism tolerance of ~0.005 mm at the diameter on the length of the roll, with a maximum roughness of five microinches.
The invention therefore aims to compensate auto-matically the "play" occurring as a result of machining by the removal of material, and for this purpose the fences of the stay which are in contact with the work-piece on the machine are associated with pistons.
As soon as the roll to be ground is mounted onthe machine tool and placed between the centre and tail centre, the fences 143 are laid against the workpiece, as shown in Figure 4, and by means of the pressure genera-tor a fluid is conveyed into the cylinder or active cham-ber 146 of the piston under a pressure selected so as to exert the desired force on the workpiece, in order to counterbalance the forces which will result from machining.
_ 9 _ The choice of Pressure is linked particularly to the characteristics of the machine tool, the type of work-piece to be machined, the operating methods and conditions.
the tolerances, etc.
When this has been done, the fluid is isolated by means of the abovementioned valve, for example a solenoid valve. The circuit then~formed by the two cylinders 147 of the jacks, the abovementioned fluid accumulator and the pipe, of which only the orifices opening into the cylinders are shown, is isolated.
This fluid accumulator has a very large vo~ume in relation to that of the cylinders. 3ecause of the rela-tively slight movement experienced by the fences and therefore the rods of the pistons, the volume of the cy-linder or cylinders can be considered as not varying orvarying hardly at all; this variation in volume, compared with the large volume of the accumulator, can be con-sidered as being of minor importance, and as is known the selective pressure exerted can, in this case, be con-sidered as constant. In fact, for a specific temperature,the relation can be considered satisfied.
The uniformity of the force exerted on the work-piece mounted on the machine, which ~as selected in order to counterbalance the machining forces which themselves change only slightly, ensures that the desired machining accuracy can be achieved, this being out of reach with the stays kno~n previously.
For reasons of friction and wearing resistance, attached fences 143, made of a polyamide-based plastic known by the trade name "Ertalon", are chosen.
In this embodiment, the stay is assumed to be fixed to the bed, but it is clear that it can also be mounted on the grinding-wheel holder 130 or the saddle or any other suitable part, so as to move together with the latter and constantly be virtually in line with the grinding wheel during the work carried out by the machine tool. In this embodiment, a single stay is used, but it is clear that a larger number of stays according to the lZ96SS~
invention can be employed, depending on the requirements to be met~ -To avoid the eccentricity which could arise as a result of a fault in the clamping of the ~orkpiece on the machine or an anomaly in the latter and which could impair the desired quality and accuracy of the work, a mandrel 111 having a "floating" mounting is used, so that the possible fault in the centering or driving of the latter does not affect the ~orkpiece which it causes to rotate.
This type of "floating" mandrel is well-known in the art.
As is known, during the grinding operations, the grinding wheel becomes worn and tends to lose its profile and to accumulate dirt, and it therefore has to be trued.
To carry out this operation, a diamond 190 is arranged on the movable tailstock 120. In this way, if the supply current to the motor driving the grinding ~heel is moni-tored, it is possible to conduct the diamond-trueing of the grinding wheel, at the time of the roughing cuts or the finishing cuts, during the forward run and/or return run.
So that the workpieces can be checked before and after machining, the machine is equipped with a tracer 133 for measuring their diameter.
As can be seen in Figures 1 and 3, the tracer is mounted on the grinding-wheel holder by means of a tri-angular frame, to which is fastened a control, for example a jack or the like. Such a control carries the tracer so as to be capable of moving it between a lo~ active measuring position and a high inactive retracted position.
This control is protected by a flexible sleeve deformabLe in the manner of a concertina. The tracer has a measuring finger associated with a movement-measuring instrument or of a suitable length and the necessary accuracy for the measurements to be made; this instrument can be analogue with a dial or digital with a display. Since all this is conventional and made up of elements found in the trade, there is no need to be detained here any longer.
The mode of operation of the grinder equipped with the stay according to the invention is as follows.
The dimension of the diameter of the roll to be ground is taken, and after a visual examination of its surface state and, in particular, an evaluation of the S number of cracks and ~plits and their size the specialist decides on the quantity of material to be removed in order to regenerate the roll. After this initial dimensioning, therefore, the dimension of the final diameter to be ob-tained, in ordér to rectify the defects of the worn mill roll and thus renew it, is known. The reference of the roll to be machined, its initial dimension and its final dimens;on to be obtained are entered, for example, in the memory of a programmabLe computer by means of the key-board of a control desk available to the attendant, and the operating cycle of the machine is started.
The parameters relating to the supply current for the grinding wheel have also been entered in the computer beforehand, once and for all. In this way, the complete machining cycle can take place under the control of the computer.
At the end of machining, after the bed, together with everything which it carries, has executed a certain number of alternate translational movements parallel to the axis 20 by travelling in front of the grinding-wheel holder 130, the actual dimension assumed by the workpiece is compared with the theoretical dimension displayed, taking into account the permissible tolerance, for exam-ple 0.05 mm more or less in this case.
The automatic loading/unloading mechanism and its mode of operation will now be described.
As can be seen especially in Figures 1, 2 and 3, the automatic loading/unloading mechanism 200 comprises a stocking surface or table 210 for receiving the work-pieces 10 to be machined and the workpieces machined, for example, by grinding. The workpieces rest in suitable cradles of appropriate geometry, for example V-blocks.
~f appropriate, the surfaces of the cradles have a cover-ing, so that the machined surfaces of the workpieces are not damaged when the latter are deposited on them.
A conveyor 220 consisting of a carriage 221 moves on a horizontal beam 222. This carriage, for example self-propelled, carries two manipulators 223 controlled by jacks 224, so as to be capable of moving in their respective axes 225. As can be seen, these manipulators are mounted inclined relative to one another and virtually symmetrically in relation to the vertical, so that, in the position for loading or unloading the machine tool, their respective axes 225 pass through the geometrical axis 20 defined by the centre and tail centre.
As can be seen in more detail in Figure 5, the free lower end of each of the manipulators is equipped with at least one pair of self-centering gripping jaws 226 mounted pivotally opposite one another. These V-shaped jaws, carried by axles shown diagrammatically, work in the manner of tongs in order to grasp or release the workpieces to be handLed. The jaws are moved near to and/or away from one another by means of a special motor or jack (not shown) or by means of the jack 224, with which a suitabLe linkage (not shown) is associated; in the latter case, the opening or closing of the jaws takes place automatically at the start or end of the low stroke, when the jaws approach or move away from the axis 20 respectively.
The opening and closing of the jaws for gripping and releasing the mill rolls are operations which are controlled by any suitable appropriate technique, as is well known. The jaws are self-centering, so that they can automatically compensate any fault in centering or alignment relative to the workpieces to be picked up or let go, and also so that it is possible to take into account variations in the diameter of the workpieces as a function of their true state. The self-propelling carriage is equipped, for examPle~ with an electric or hydraulic motor, so as to be movable on the beam, as is known; this motor drives a friction roller or a pinion which engages on a rack.
lZ96~5~
Two manipulators are used, so that the automatic mechanism can operate in masked time, with the exception of the first and last workpieces deposited on and removed from the machine tool.
Operating phases of the automatic mechanism for loading and unloading the machine tool, for example the grinder, according to the invention are ilLustrated in Figures 6A to 6E.
It will be assumed that the mill rolls to be ground have been deposited in their cradle on the stock-ing table 210, that one roll 101 has been placed on the grinder by means of one of the manipulators and is being ground, and that another roll 102 has been picked up and awaits grinding, held in the jaws of one of the maniPuta-tors in a high position. The other manipulator is alsoin the high position, with the jaws open, empty and on stand-by. The automatic loading mechanism is then in the position indicated in Figure 6A.
At the end of grinding, the grinding wheel 131 moves back Perpendicularly to the axis 20 and away from the machined workpiece 101, and one of the manipulators, namely the empty one on stand-by, descends in order to take hold of the roll 101 on the grinder. The mandrels, centre and tail centre move, as indicated below by way of example, in order to release the ground roll 11 which is now supported only by the jaws of the manipulator which have closed on it. The automatic mechanism is then in the position shown in figure 6~.
The first manipulator which grips the ground roll 101 rises, whilst the other manipulator descends in order to present the roll 102 to be ground on the machine tool.
This phase is illustrated in Figure 6C. With the work-piece to be machined still held captive in the jaws, the centre, tail centre and mandrel take up position, as des-cribed later by way of example, so that the workpiece 102is taken up by the machine tool. The jaws of the manipu-lator then release the roll 10z to be ground, and the empty manipulator rises. The carriage then occupies a l~g65~
- 14 - ~
position identical to that shown ;n f;gure 6A, the differ-ence being that the full and empty manipulators have been reversed respectively. At the same time as the grinding wheel moves perpendicularly to the axis 20 and approaches the workpiece to be ground 102, the carriage 221-moves to-wards the table 210.
The carriage, which has moved to the left, is above the table 210, and the first manipulator descends and deposits the ground roLl 101. This is illustrated in Figure 6D. The manipulator in question rises again, and the other man;pulator descends and then picks up the following roll 103 to be ground. The loaded manipulator rises again, and the carriage thereafter resumes its stand-by position, represented by broken lines, near the grinder, this being illustrated in Figure 6E, and so on and so forth until the end of the machining of the last roll present on the table. The operation of the zutomatic mechanism is also controlled by the computer.
Thus, the only operations to be carried out by an attendant are to place the rolls to be machined on the stocking table 210, carry out a visual appraisal of the rolls, measure their diameter and determine the value of the diameter which they shall have after machining, in order to be renewed. The information relating to the location of a particular roll on the table, that i5 to say its address, and to the values of its diameter before machining and its diameter after machining are disp~ayed in the computer memory by means of the keyboard of the desk available to the operator.
This prior operation for the acquisition of in-formation is repeated for each of the twelve rolls, if the table is intended to receive twelve of these. Once this has been done, the operator can initiate an operating cycle.
A complete operating cycle of the grinder with its stay and its automatic mechanism according to the invention will now be described.
The first workpiece is presented between the lZg6SS~
centre and tail centre by means of a manipulator, and the tail centre approaches the workpiece to be ground, en-counters it and pushes it up against the centre; the centre and tail centre, tightened up in this way, retain the workpiece to be ground by gripping it, and the mandrel closes its jaws, so that it can drive the workpiece to be ground, at the start of the cycle. The fences of the stay are then brought in contact with the workpiece and laid against the~latter with the particular pressure selected; the tracer 133 then checks the actual diameter of the workpiece placed on the grinder, and the computer compares this value with the value displayed for this workpiece. If the difference between the actual diameter and the diameter displayed by the operator is greater than a selected value set, for example, at 0.05 mm, the operating cycle is blocked and an anomaly is signalled.
This anomaly can arise either as a result of an error in the indexing of the coordinates for the location of the roll on the table or because the manual measurement was made at another point over the length of the roll, differ-ent from that where the tracer works. To clear up the uncertainty, a second measurement is automatically made at another point. If the difference between the displayed and measured dimensions of the diameters is less than the value set, there is no need to make another measurement and the work cycle can be started. Otherwise, the operat-ing cycle of the machine is stoPped and the operator is called and must take action.
Subsequently, when this initial check has been carried out, the computer associated with the machine, which has been programmed to determine the number of roughing cuts and finishing cuts and the step setting, starts the machining cycle.
Cleaning, then diamond-trueing of the grinding wheel and a roughing operation, followed by finishing machining, are then carried out. As mentioned, the dia-mond-trueing operations are also under the control of the computer, in the memory of which the values of the supply lZ9~S54 current to the grinding wheel have been entered.
At the end of the machining cycle, the workpiece is grasped by one of the manipulators, the fences of the stay are retracted, the mandrel is loosened, and the tail centre moves back and away from the workpiece, without the bed moving in the opposite direction, in order to separate the centre from~the ground workpiece, the latter being released from the grinder. The other manipuLator places on the machine tool the following workpiece to be machined, which it was carrying on stand-by, and the mani-pulator loaded with the renewed workpiece deposits the lat-ter on the table and picks up the following workpiece to be machined. This cycle is thus repeated without any human involvement, until all the workpieces waiting on the stocking table have been machined, and a complete new cycle takes place again.
There is no need to deal at greater length eith?r with the way in which the centre and tail centre approach one another and move away from one another axially along the axis 20 which they define, or with the overall move-ments of the latter, also along this axis, in order to retain or release a workpiece respectively. These are conventional movements which are obtained in any suitable customary way by acting on either one or both of the centre and tail centre and, if appropriate, also on either one or both of the stocks and, if necessary, on the bed.
To rectify any possible fault in the centering or alignment of the workpiece to be machined, carried by a manipulator and presented to the machine tool, the mani-pulators 223 are mounted in a "floating" manner on thecarriago 221. This prevents a possible lack of accuracy in the positioning of the carriage and/or of the manipu-lators. Such a solution makes it possible to adopt less strict tolerances and therefore limit the cost of the equipment and/or of the controls of the latter.
finally, as a reminder, it may be mentioned that this assembly is equipped with position and/or movement and/or proximity sensors, as reqyired; these sensors, selected according to the functions ~hich they must per-form, are placed at suitable locations and, if necessary, connected to the computer which controls the assembly as a ~hole. Figure 4 sho~s such sensors 300 associated with a shank 301 integral ~ith the piston rod 148. This is a customary technique.
It ~as explained that a computer controlled the operation of the assemb~y as a whole. The techniques for programming computers and for preparing instructions are ~ell kno~n to the specialists, and there is therefore no need to deal with these at greater length; computers and the corresponding programs for this type of operation make use of current conventional kno~ledge put into prac-tise by the specialists.
Referring no~ to Figure 7, the fluidic circuit, designated as a ~hole by the reference 400, will be des-cribed.
In the example, this circuit 400, for instance hydraulic, comprises a fluid accumulator circuit 400a consisting of the active chambers or cylinders 146 of the hydraulic jacks described above and of a fluid accumulator 401, to ~hich these active chambers 146 are connected in parallel by means of a pipe 402 connected to the fluid accumulator 401 and divided into two pipes 403 and 404 connected to the active chambers 146 respectively.
This circuit also possesses a pressure generator 400b consisting of a hydraulic pump 405 driven by means~
of an electric motor 406. This pump 405 is connected in a closed circuit to a tank 407 by means of a pipe 408, to ~hich an adjustable pressure controller of the accumulator circuit 400a is connected by means of a pipe 410, on uhich a solenoid shut-off valve 411 is mounted; the other chambers of these hydraulic jacks opposite their active chambers 146 are connected to the tank 407 by means of a pipe 412, to ~hich the solenoid valve 411 is also con-nected.
Furthermore, on the pipe 402 of the accumulator circuit 400a there is a pressure governor 413 for measuring i~96~5~
the pressure prevailing in the circuit and in the pipe 408 of the pressure generator 400b; at the outlet of the pump 405 there is also a pressure governor 414 which makes it possible to measure the pressure of the outlet of the pump 405.
In the process described above, in order to reach a specific pressure in the active chambers 146 of the hydraulic jacks, with which a specific pressure of the fences 143 on the workpiece to be machined 10 is associa-ted, the solenoid valve 411 of the pipe 410 is opened and the pump 405 is actuated by starting up the electric motor 406. By means of the preset pressure controller 409, the pump 405 delivers fluid to the accumulator circuit 400a composed of the active chambers 146, of the fluid accumu-lator 401 and of the pipes 402, 403 and 404. ~hen the desired pressure, detected by the pressure governor 413, is reached, the solenoid valve 411 is closed in order to shut off the pipe 410 and thus isolate the accumulator circuit 4ûOa; the pump 405 is subsequently stopped by disconnecting the motor 406.
To cause a drop in the pressure of the accumulator circuit 4ûOa and thus cause the fences 143 to retract in order to move them away from the machined workpiece 10, the solenoid valve 411 is actuated so as to open the pipe 412 and that of the pump 405 which, via the pressure con-troller 409 and the pipe 412, delivers fluid to the cham-bers of the jacks opposite their active chambers 146; the accumulator circuit 400a empties into the tank 407 through the pipe 41û v;a the solenoid valve 411.
The invention affords undeniable advantages. It considerably increases the capacity of the machine tool and greatly improves the quality of machining as a re-sult of an exact knowledge of the ranges, thus allowing reproducibility to be achieved. Moreover, benefits arise from the use of the machined workpieces, namely ground mill rolls; in fact, it thus becomes certain that the amount of metal removed will always be sufficient to eliminate the worn layer of the "fatigued" roll, whereas ~" - 19 -before the attendant could only provide a visually satis-factory superficial appearance (blanching), whilst allow-ing underlying defects, such as cracks, to remain, there-by causing the roll to be dismantled from the rolling S mill once again, in order to remove such a roll from it when an operating fault appeared at the very start of operation of the mill.
.
The subject of the present invention is a radial S support device of the stay type for a rotary piece to be machined particularly on its cylindrical outer face.
The present invention also relates to a cylindri-cal surface grinder equipped with such a radial SuPpOrt device and an automatic loading/unloading mechanism in-tended for feeding it.
~ hen machine tools, such as lathes or cylindricalsurface grinders, are used for the machining of work-pieces, it is known that, when the workpiece is of rela-tively long length in comparison with diameter and, for example, i5 held between a centre and/or mandrel and a tail centre, the machining forces exerted on the workpiece by the tool, for example the grinding wheel, mak- it sag elastically in the manner of a beam, the two ends of which are fixed. Consequently, the sag momentarily ex-perienced by the workpiece and the eccentricity which canoccur during its rotation make it difficult to give this workpiece its theoretical dimension as a result of the elastic deformation caused by the forces generated by the tool. When the workpiece to be machined is relatively long, the relative movement of the tool parallel to the bed of the machine and therefore in relation to the suP-ported ends of the workpiece means that the sag is not uniform during the work; this sag is at its maximum in the iddle of the workpiece and at its minimum or vir-3û tually zero in the vicinity of the mandrel and/or centreand the tail centre when the workpiece is a uniform cylin-der.
Thus, if a cylindrical workpiece in particular is to be machined, problems arise when it comes to ensur-ing the theoretical dimension. Consequently, it is cus-tomary to use a stay which is either fixed or of the follower type.
As is known, the stay of whatever type serves as a bearing point for exerting a reaction force whi~h opposes and neutralizes the components of the machining forces. Depending on whether the stay is fixed, that is to say occupies an adjustable specific position on the bed of the machine tool, or whether the staY is movable and associated with the saddle vertically in line with or virtually opposite the tool, partial or virtually complete compensation of the machining forces is obtained, and only the elastic deformation of the workpiece, during machining and vertically in line with the tool under the action of the latter, makes it possible that the theoretical dimen-sion will be difficult to maintain, since the stay, by sup-porting the workpiece, partially or completely compen-sates the elastic sag which the workpiece undergoes in the manner of a beam, the two ends of which are fixed.
However, in the stays used, their position, trans-verse relative to the longitudinal axis along which the workpiece is driven in rotation during machining, is set once and for all. Consequently, during machining which results in a removal of material, the transverse location of the points of contact of the fences of the stay with the workpiece varies, since the removal of material corresponds to the generation of "play", however slight, between the surface being machined and the fences of the stay, as compared with the location of the same points of contact with thc surface bearing on the fences before the start of machining.
~ hen this "play" occurs, the stay consequently loses its effectiveness, since the workpiece being machined is capable of sagging elastically in the manner of a beam by an amount corresponding to the "play" genera-ted as a result of the removal of material during each pass of the tool, because of the force of the latter which lays or pushes the workpiece against the fences which re-main fixed transversely.
To avoid this elastic sagging, according to theinvention a radial support device was conceived, this being designed in such a way that contact between the 129655~
workpiece and at least one fence persists, whether be-fore the start of the machining, during machining or at the end of it, because of a virtually automatic compen-sation of the play arising as a result of the removal of the material, and virtually without any change in pressure on the ~orkpiece to be machined.
As a result of tfie solution provided according to the invention, the workpiece being machined is com-pletely prevented from experiencing a momentary sag.
The invention is used particularly in the grinding of mill rolls, especially those of a Sendzimir rolling mill, the unit mass of which is approximately twenty kilograms and which each have a length of around 800 mm and a diameter which varies between approximately 50 and 60 mm in the worn state and in the new state res-pectively.
The invention also relates to an automatic load-ing/unloading mechanism for feeding a machine tool equiPPed, for example, with the improved radial supPort device according to the invention.
In fact, the attachment and removal of the work-pieces to be machined or which have been machined on the machine tooL is a lengthy, difficult and laborious opera-tion. To overcome these disadvantages, an automatic mechanism is used, this picking up the workpieces to be machined, waiting on a stocking plane, depositing them on the machine where they are processed and then, once machining has been carried out, removing them from the machine and depositing them on the stocking plane once again.
The handling operations, with the exception of those relating to the first and last workpieces, are carried out in masked time, that is to say the transport of the workpieces, their presentation and their removal from the machine tool take place during the machining and monitoring of the workpiece placed on the machine.
To ensure that the machine, its radial support device and the automatic mechanism operate efficiently, 12g~SS4 a programmable computer makiny it possible to control and synchronize the operation of the assembly as a whole in real time i8 used.
According to the present invention, there is S provided a radial support device for a rotary workpiece to be machined, including a stay having a body, said device comprising:
- at least one arm mounted movably on the body of said stay and carrying a fence intended to come up against a surface of the workpiece to be machined, - a fluidic jack associated with said arm, for laying said fence against said surface of the workpiece, - a fluid accumulator connected at least to an active chamber of this jack and which has a considerably larger volume than that of the said active chamber, and - a pressure generator connected to a fluidic circuit consisting of the accumulator and of the jack, in such a way that a specific pressure prevailing in said fluidic circuit does not change virtually at all during a movement of the fence as a result of removal of material from the surface of the workpiece, against which said fence bears.
According to the invention, this radial support device can preferably, comprise a stay consisting of a body, on which are mounted movably at least two arms, each carrying a fence intended to come up against this face of the workpiece to be machined, under the action of fluidic jacks which act respectively on these arms.
According to the invenion, the fluid volume in this fluidic circuit can preferably be at least equal to one thousand times the variation in volume of this active chamber arising from the movement of these fences as a result of the removal of material from this surface of the workpiece to be machined.
~, 129~554 4a -Preferably, the invention applies to a cylindrical surface grinder comprising a bed equipped with a fixed workpiece-holding or driving headstock fitted with a mandrel or a spindle, the nose of which carries a centre, and with a S movuble tuilutock equipped with a tail ce ~
~.
B~
i~g~SS4 and a grinding-wheel hoLder movable relative to the bed and fitted with a grinding wheel, the centre/tail-centre axis of the grinder defining the geometrical machining axis of the workpiece to be machined and the grinder being equipped with a radial support device according to the invention.
Preferably, the machine of the type just mentioned possesses an automatic loading/unLoad-ing mechanism comprising a stocking surface for receiving the workpieces to be machined, a conveyor consisting of a carriage mounted movably on a beam, on which it executes a translational movement, and carrying two axially movable manipulators with a jack which are mounted inclined relative to one another, in such a way that, in the position for loading/unloading the machine, their respective axes pass through the geometrical centre/tail-centre axis, and which are equipped with pivoting V-shaped self-centering gripping jaws.
The invention will be understood better from a 2û reading of the following description given purely by way of example and made with reference to the accompanying drawing, in which:
- Figure 1 is a diagrammatic top view of the assembly as a whole, consisting of a grinder, with which are assoc;ated a device and an automatic mechanism, according to the invention;
- Figure 2 is a view, similar to that of Figure 1, of the assembly as a whole, but from the side;
- Figure 3 is a view similar to that of Figure 1, but from the front;
- Figure 4 is a detailed view of part of the device according to the invention on a larger scale and partially in section;
- Figure S is a diagrammatic detailed view of the jaw of the manipulator of the automatic mechanism accord-ing to the invention;
- Figures 6A to 6E illustrate different phases in the operation of the automatic mechanism; and iX9~
- figure 7 shows a hydraulic diagram associated with the device.
Since many of the component elements of the in-vention are conventional in the technical sector to which they belong, they will be described only very briefly;
only the particular points relating directly or indirectly to the invention will be stressed.
As can be seen especially in Figures 1, 2 and 3, the drawing is of a cylindrical surface grinder 100, the bed 101 of which is equipped with a fixed driving or workpiece-holding headstock 110 fitted with a mandrel 111 and with a sPindle (not shown), the nose of which carries a centre 112; the bed of this grinder is also equipped with a movable tailstock 12û fitted with a tail centre 122. This grinder also possesses a grinding-~heel holder carriage 130, on which a grinding wheel 131 of axis 132 is mounted and with ~hich is associated a tracer 133 which will be discussed later. The bed is movable in a transla-tional movement on the base 102 of the machine tool, as is customary and as emerges below.
Associated with this grinder is a stay device 140 according to the invention, which is shown in detail in Figure 4. As can be seen, this stay comprises a body 141, and at least two arms 142 which are mounted movably on this body and which each carry a fence 143 at a free end. The fences are arranged in such a way that the perpendicular 144 to their respective points of contact with a workpiece 10 to be ground or being machined passes virtually through the geometrical axis of rotation 20 of the latter; this axis of rotation Z0 is defined by the centre and tail centre 112 and 122 respectively.
Associated with each of these arms and connected to its other end is a piston 145 of a fluidic, for example hydraulic double-acting jack, of which the chamber or cy-linder 146, where a fluid pressure is exerted, is con-nected to a fluid accumulator by means of a pipe, only the orifice 147 of which is shown. The fluid circuit 400 formed by the cylinder, the accumulator and the pipe can ~2~67554 be isolated from a pressure generator by means of a valve.
The hydraul;c circuit composed of the jacks, of the fluid accumulator and of the pressure generator will be des-cribed later with reference to Figure 7.
As can be seen from an exam;nation of Figure 4, one of the ;evers is horizontal and is integraL with the rod 148 of one of the pistons. This horizontal lever is keyed in terms of height, so that its LongitudinaL axis intercepts the axis of rotation 2û of the ~orkpiece on the machine and also passes ;hrough the axis 132 (not shown in this Figure) of the grinding wheel.
The other Lever 142 takes the form of a beLL
crank 149 articulated at its centre on an axis 150 so as to be pivotabLe. As iLLustrated, one of the Legs of this Lever carries a fence 143, whiLst its other Leg is con-nected to the rod 148 of the piston 145, for exampLe by means of a slot-and-pin connection.
As can be seen in this figure, the arm is keyed in such a way that its point of contact with the workpiece machined or being machined on the machine has a perPen-dicuLar 144 passing through the axis of rotation of the workpiece.
The reLative position of the two arms and of their fences are selected so that the resuLtant of the machining forces generated by the grinding ~heel 131 passes vir-tually through the bisecting plane of the dihedron, the edge of which is the geometrical axis of rotation 20 ^f the ~orkpiece, defined by the centre and tail centre, and the faces of which each pass through one of the points of contact of the fences with the workpiece on the machine.
The dra~ing in Figure 4 shows two workpieces 10M
and 10m, the true diameters of which correspond respec-tiveLy to the greatly exaggerated maximum and minimum diameters of a workpiece before and after machining.
Referring to this drawing, it will be seen that if, at the moment when the workpiece to be machined is mounted on the machine, the fences of the arms of the stay are laid against its outer surface 10M and these are keyed i~g~ss~
mechanically in this position, the fences will no longer be in contact with the outer surface 10m of the workpiece at the end of the machining of the latter, because of the removal of material, if the arms are immobilized in the position in which they are keyed. It will therefore be appreciated that, under the forces generated by the grind-ing wheel, the workpiece~momentarily sags elastically by this amount, in order to come against the fences. Of course, the amount of this sag is a function of the quan-tity of material removed and also of the longitudinalposition of the grinding wheel or tool relative to the centre and tail centre, and also of the nature of the workpiece itself.
When it is intended to grind rolls of a Sendzimir rolling mill, the length of which is around 800 mm and the mass of which is nearly 20 kg, it will be appreci-ated that this presents a proble0, in view of the fact that, during each machining operation, the quantity of material to be removed is of the order of on y a few tenths of a millimetre and that this operation is to be carried out with very narrow tolerances, for example a tolerance of ~0.005 mm as regards the diameter and a parallelism tolerance of ~0.005 mm at the diameter on the length of the roll, with a maximum roughness of five microinches.
The invention therefore aims to compensate auto-matically the "play" occurring as a result of machining by the removal of material, and for this purpose the fences of the stay which are in contact with the work-piece on the machine are associated with pistons.
As soon as the roll to be ground is mounted onthe machine tool and placed between the centre and tail centre, the fences 143 are laid against the workpiece, as shown in Figure 4, and by means of the pressure genera-tor a fluid is conveyed into the cylinder or active cham-ber 146 of the piston under a pressure selected so as to exert the desired force on the workpiece, in order to counterbalance the forces which will result from machining.
_ 9 _ The choice of Pressure is linked particularly to the characteristics of the machine tool, the type of work-piece to be machined, the operating methods and conditions.
the tolerances, etc.
When this has been done, the fluid is isolated by means of the abovementioned valve, for example a solenoid valve. The circuit then~formed by the two cylinders 147 of the jacks, the abovementioned fluid accumulator and the pipe, of which only the orifices opening into the cylinders are shown, is isolated.
This fluid accumulator has a very large vo~ume in relation to that of the cylinders. 3ecause of the rela-tively slight movement experienced by the fences and therefore the rods of the pistons, the volume of the cy-linder or cylinders can be considered as not varying orvarying hardly at all; this variation in volume, compared with the large volume of the accumulator, can be con-sidered as being of minor importance, and as is known the selective pressure exerted can, in this case, be con-sidered as constant. In fact, for a specific temperature,the relation can be considered satisfied.
The uniformity of the force exerted on the work-piece mounted on the machine, which ~as selected in order to counterbalance the machining forces which themselves change only slightly, ensures that the desired machining accuracy can be achieved, this being out of reach with the stays kno~n previously.
For reasons of friction and wearing resistance, attached fences 143, made of a polyamide-based plastic known by the trade name "Ertalon", are chosen.
In this embodiment, the stay is assumed to be fixed to the bed, but it is clear that it can also be mounted on the grinding-wheel holder 130 or the saddle or any other suitable part, so as to move together with the latter and constantly be virtually in line with the grinding wheel during the work carried out by the machine tool. In this embodiment, a single stay is used, but it is clear that a larger number of stays according to the lZ96SS~
invention can be employed, depending on the requirements to be met~ -To avoid the eccentricity which could arise as a result of a fault in the clamping of the ~orkpiece on the machine or an anomaly in the latter and which could impair the desired quality and accuracy of the work, a mandrel 111 having a "floating" mounting is used, so that the possible fault in the centering or driving of the latter does not affect the ~orkpiece which it causes to rotate.
This type of "floating" mandrel is well-known in the art.
As is known, during the grinding operations, the grinding wheel becomes worn and tends to lose its profile and to accumulate dirt, and it therefore has to be trued.
To carry out this operation, a diamond 190 is arranged on the movable tailstock 120. In this way, if the supply current to the motor driving the grinding ~heel is moni-tored, it is possible to conduct the diamond-trueing of the grinding wheel, at the time of the roughing cuts or the finishing cuts, during the forward run and/or return run.
So that the workpieces can be checked before and after machining, the machine is equipped with a tracer 133 for measuring their diameter.
As can be seen in Figures 1 and 3, the tracer is mounted on the grinding-wheel holder by means of a tri-angular frame, to which is fastened a control, for example a jack or the like. Such a control carries the tracer so as to be capable of moving it between a lo~ active measuring position and a high inactive retracted position.
This control is protected by a flexible sleeve deformabLe in the manner of a concertina. The tracer has a measuring finger associated with a movement-measuring instrument or of a suitable length and the necessary accuracy for the measurements to be made; this instrument can be analogue with a dial or digital with a display. Since all this is conventional and made up of elements found in the trade, there is no need to be detained here any longer.
The mode of operation of the grinder equipped with the stay according to the invention is as follows.
The dimension of the diameter of the roll to be ground is taken, and after a visual examination of its surface state and, in particular, an evaluation of the S number of cracks and ~plits and their size the specialist decides on the quantity of material to be removed in order to regenerate the roll. After this initial dimensioning, therefore, the dimension of the final diameter to be ob-tained, in ordér to rectify the defects of the worn mill roll and thus renew it, is known. The reference of the roll to be machined, its initial dimension and its final dimens;on to be obtained are entered, for example, in the memory of a programmabLe computer by means of the key-board of a control desk available to the attendant, and the operating cycle of the machine is started.
The parameters relating to the supply current for the grinding wheel have also been entered in the computer beforehand, once and for all. In this way, the complete machining cycle can take place under the control of the computer.
At the end of machining, after the bed, together with everything which it carries, has executed a certain number of alternate translational movements parallel to the axis 20 by travelling in front of the grinding-wheel holder 130, the actual dimension assumed by the workpiece is compared with the theoretical dimension displayed, taking into account the permissible tolerance, for exam-ple 0.05 mm more or less in this case.
The automatic loading/unloading mechanism and its mode of operation will now be described.
As can be seen especially in Figures 1, 2 and 3, the automatic loading/unloading mechanism 200 comprises a stocking surface or table 210 for receiving the work-pieces 10 to be machined and the workpieces machined, for example, by grinding. The workpieces rest in suitable cradles of appropriate geometry, for example V-blocks.
~f appropriate, the surfaces of the cradles have a cover-ing, so that the machined surfaces of the workpieces are not damaged when the latter are deposited on them.
A conveyor 220 consisting of a carriage 221 moves on a horizontal beam 222. This carriage, for example self-propelled, carries two manipulators 223 controlled by jacks 224, so as to be capable of moving in their respective axes 225. As can be seen, these manipulators are mounted inclined relative to one another and virtually symmetrically in relation to the vertical, so that, in the position for loading or unloading the machine tool, their respective axes 225 pass through the geometrical axis 20 defined by the centre and tail centre.
As can be seen in more detail in Figure 5, the free lower end of each of the manipulators is equipped with at least one pair of self-centering gripping jaws 226 mounted pivotally opposite one another. These V-shaped jaws, carried by axles shown diagrammatically, work in the manner of tongs in order to grasp or release the workpieces to be handLed. The jaws are moved near to and/or away from one another by means of a special motor or jack (not shown) or by means of the jack 224, with which a suitabLe linkage (not shown) is associated; in the latter case, the opening or closing of the jaws takes place automatically at the start or end of the low stroke, when the jaws approach or move away from the axis 20 respectively.
The opening and closing of the jaws for gripping and releasing the mill rolls are operations which are controlled by any suitable appropriate technique, as is well known. The jaws are self-centering, so that they can automatically compensate any fault in centering or alignment relative to the workpieces to be picked up or let go, and also so that it is possible to take into account variations in the diameter of the workpieces as a function of their true state. The self-propelling carriage is equipped, for examPle~ with an electric or hydraulic motor, so as to be movable on the beam, as is known; this motor drives a friction roller or a pinion which engages on a rack.
lZ96~5~
Two manipulators are used, so that the automatic mechanism can operate in masked time, with the exception of the first and last workpieces deposited on and removed from the machine tool.
Operating phases of the automatic mechanism for loading and unloading the machine tool, for example the grinder, according to the invention are ilLustrated in Figures 6A to 6E.
It will be assumed that the mill rolls to be ground have been deposited in their cradle on the stock-ing table 210, that one roll 101 has been placed on the grinder by means of one of the manipulators and is being ground, and that another roll 102 has been picked up and awaits grinding, held in the jaws of one of the maniPuta-tors in a high position. The other manipulator is alsoin the high position, with the jaws open, empty and on stand-by. The automatic loading mechanism is then in the position indicated in Figure 6A.
At the end of grinding, the grinding wheel 131 moves back Perpendicularly to the axis 20 and away from the machined workpiece 101, and one of the manipulators, namely the empty one on stand-by, descends in order to take hold of the roll 101 on the grinder. The mandrels, centre and tail centre move, as indicated below by way of example, in order to release the ground roll 11 which is now supported only by the jaws of the manipulator which have closed on it. The automatic mechanism is then in the position shown in figure 6~.
The first manipulator which grips the ground roll 101 rises, whilst the other manipulator descends in order to present the roll 102 to be ground on the machine tool.
This phase is illustrated in Figure 6C. With the work-piece to be machined still held captive in the jaws, the centre, tail centre and mandrel take up position, as des-cribed later by way of example, so that the workpiece 102is taken up by the machine tool. The jaws of the manipu-lator then release the roll 10z to be ground, and the empty manipulator rises. The carriage then occupies a l~g65~
- 14 - ~
position identical to that shown ;n f;gure 6A, the differ-ence being that the full and empty manipulators have been reversed respectively. At the same time as the grinding wheel moves perpendicularly to the axis 20 and approaches the workpiece to be ground 102, the carriage 221-moves to-wards the table 210.
The carriage, which has moved to the left, is above the table 210, and the first manipulator descends and deposits the ground roLl 101. This is illustrated in Figure 6D. The manipulator in question rises again, and the other man;pulator descends and then picks up the following roll 103 to be ground. The loaded manipulator rises again, and the carriage thereafter resumes its stand-by position, represented by broken lines, near the grinder, this being illustrated in Figure 6E, and so on and so forth until the end of the machining of the last roll present on the table. The operation of the zutomatic mechanism is also controlled by the computer.
Thus, the only operations to be carried out by an attendant are to place the rolls to be machined on the stocking table 210, carry out a visual appraisal of the rolls, measure their diameter and determine the value of the diameter which they shall have after machining, in order to be renewed. The information relating to the location of a particular roll on the table, that i5 to say its address, and to the values of its diameter before machining and its diameter after machining are disp~ayed in the computer memory by means of the keyboard of the desk available to the operator.
This prior operation for the acquisition of in-formation is repeated for each of the twelve rolls, if the table is intended to receive twelve of these. Once this has been done, the operator can initiate an operating cycle.
A complete operating cycle of the grinder with its stay and its automatic mechanism according to the invention will now be described.
The first workpiece is presented between the lZg6SS~
centre and tail centre by means of a manipulator, and the tail centre approaches the workpiece to be ground, en-counters it and pushes it up against the centre; the centre and tail centre, tightened up in this way, retain the workpiece to be ground by gripping it, and the mandrel closes its jaws, so that it can drive the workpiece to be ground, at the start of the cycle. The fences of the stay are then brought in contact with the workpiece and laid against the~latter with the particular pressure selected; the tracer 133 then checks the actual diameter of the workpiece placed on the grinder, and the computer compares this value with the value displayed for this workpiece. If the difference between the actual diameter and the diameter displayed by the operator is greater than a selected value set, for example, at 0.05 mm, the operating cycle is blocked and an anomaly is signalled.
This anomaly can arise either as a result of an error in the indexing of the coordinates for the location of the roll on the table or because the manual measurement was made at another point over the length of the roll, differ-ent from that where the tracer works. To clear up the uncertainty, a second measurement is automatically made at another point. If the difference between the displayed and measured dimensions of the diameters is less than the value set, there is no need to make another measurement and the work cycle can be started. Otherwise, the operat-ing cycle of the machine is stoPped and the operator is called and must take action.
Subsequently, when this initial check has been carried out, the computer associated with the machine, which has been programmed to determine the number of roughing cuts and finishing cuts and the step setting, starts the machining cycle.
Cleaning, then diamond-trueing of the grinding wheel and a roughing operation, followed by finishing machining, are then carried out. As mentioned, the dia-mond-trueing operations are also under the control of the computer, in the memory of which the values of the supply lZ9~S54 current to the grinding wheel have been entered.
At the end of the machining cycle, the workpiece is grasped by one of the manipulators, the fences of the stay are retracted, the mandrel is loosened, and the tail centre moves back and away from the workpiece, without the bed moving in the opposite direction, in order to separate the centre from~the ground workpiece, the latter being released from the grinder. The other manipuLator places on the machine tool the following workpiece to be machined, which it was carrying on stand-by, and the mani-pulator loaded with the renewed workpiece deposits the lat-ter on the table and picks up the following workpiece to be machined. This cycle is thus repeated without any human involvement, until all the workpieces waiting on the stocking table have been machined, and a complete new cycle takes place again.
There is no need to deal at greater length eith?r with the way in which the centre and tail centre approach one another and move away from one another axially along the axis 20 which they define, or with the overall move-ments of the latter, also along this axis, in order to retain or release a workpiece respectively. These are conventional movements which are obtained in any suitable customary way by acting on either one or both of the centre and tail centre and, if appropriate, also on either one or both of the stocks and, if necessary, on the bed.
To rectify any possible fault in the centering or alignment of the workpiece to be machined, carried by a manipulator and presented to the machine tool, the mani-pulators 223 are mounted in a "floating" manner on thecarriago 221. This prevents a possible lack of accuracy in the positioning of the carriage and/or of the manipu-lators. Such a solution makes it possible to adopt less strict tolerances and therefore limit the cost of the equipment and/or of the controls of the latter.
finally, as a reminder, it may be mentioned that this assembly is equipped with position and/or movement and/or proximity sensors, as reqyired; these sensors, selected according to the functions ~hich they must per-form, are placed at suitable locations and, if necessary, connected to the computer which controls the assembly as a ~hole. Figure 4 sho~s such sensors 300 associated with a shank 301 integral ~ith the piston rod 148. This is a customary technique.
It ~as explained that a computer controlled the operation of the assemb~y as a whole. The techniques for programming computers and for preparing instructions are ~ell kno~n to the specialists, and there is therefore no need to deal with these at greater length; computers and the corresponding programs for this type of operation make use of current conventional kno~ledge put into prac-tise by the specialists.
Referring no~ to Figure 7, the fluidic circuit, designated as a ~hole by the reference 400, will be des-cribed.
In the example, this circuit 400, for instance hydraulic, comprises a fluid accumulator circuit 400a consisting of the active chambers or cylinders 146 of the hydraulic jacks described above and of a fluid accumulator 401, to ~hich these active chambers 146 are connected in parallel by means of a pipe 402 connected to the fluid accumulator 401 and divided into two pipes 403 and 404 connected to the active chambers 146 respectively.
This circuit also possesses a pressure generator 400b consisting of a hydraulic pump 405 driven by means~
of an electric motor 406. This pump 405 is connected in a closed circuit to a tank 407 by means of a pipe 408, to ~hich an adjustable pressure controller of the accumulator circuit 400a is connected by means of a pipe 410, on uhich a solenoid shut-off valve 411 is mounted; the other chambers of these hydraulic jacks opposite their active chambers 146 are connected to the tank 407 by means of a pipe 412, to ~hich the solenoid valve 411 is also con-nected.
Furthermore, on the pipe 402 of the accumulator circuit 400a there is a pressure governor 413 for measuring i~96~5~
the pressure prevailing in the circuit and in the pipe 408 of the pressure generator 400b; at the outlet of the pump 405 there is also a pressure governor 414 which makes it possible to measure the pressure of the outlet of the pump 405.
In the process described above, in order to reach a specific pressure in the active chambers 146 of the hydraulic jacks, with which a specific pressure of the fences 143 on the workpiece to be machined 10 is associa-ted, the solenoid valve 411 of the pipe 410 is opened and the pump 405 is actuated by starting up the electric motor 406. By means of the preset pressure controller 409, the pump 405 delivers fluid to the accumulator circuit 400a composed of the active chambers 146, of the fluid accumu-lator 401 and of the pipes 402, 403 and 404. ~hen the desired pressure, detected by the pressure governor 413, is reached, the solenoid valve 411 is closed in order to shut off the pipe 410 and thus isolate the accumulator circuit 4ûOa; the pump 405 is subsequently stopped by disconnecting the motor 406.
To cause a drop in the pressure of the accumulator circuit 4ûOa and thus cause the fences 143 to retract in order to move them away from the machined workpiece 10, the solenoid valve 411 is actuated so as to open the pipe 412 and that of the pump 405 which, via the pressure con-troller 409 and the pipe 412, delivers fluid to the cham-bers of the jacks opposite their active chambers 146; the accumulator circuit 400a empties into the tank 407 through the pipe 41û v;a the solenoid valve 411.
The invention affords undeniable advantages. It considerably increases the capacity of the machine tool and greatly improves the quality of machining as a re-sult of an exact knowledge of the ranges, thus allowing reproducibility to be achieved. Moreover, benefits arise from the use of the machined workpieces, namely ground mill rolls; in fact, it thus becomes certain that the amount of metal removed will always be sufficient to eliminate the worn layer of the "fatigued" roll, whereas ~" - 19 -before the attendant could only provide a visually satis-factory superficial appearance (blanching), whilst allow-ing underlying defects, such as cracks, to remain, there-by causing the roll to be dismantled from the rolling S mill once again, in order to remove such a roll from it when an operating fault appeared at the very start of operation of the mill.
.
Claims (18)
1. Radial support device for a rotary workpiece to be machined, including a stay having a body, said device comprising:
- at least one arm mounted movably on the body of said stay and carrying a fence intended to come up against a surface of the workpiece to be machined, - a fluidic jack associated with said arm, for laying said fence against said surface of the workpiece, - a fluid accumulator connected at least to an active chamber of this jack and which has a considerably larger volume than that of the said active chamber, and - a pressure generator connected to a fluidic circuit consisting of the accumulator and of the jack, in such a way that a specific pressure prevailing in said fluidic circuit does not change virtually at all during a movement of the fence as a result of removal of material from the surface of the workpiece, against which said fence bears.
- at least one arm mounted movably on the body of said stay and carrying a fence intended to come up against a surface of the workpiece to be machined, - a fluidic jack associated with said arm, for laying said fence against said surface of the workpiece, - a fluid accumulator connected at least to an active chamber of this jack and which has a considerably larger volume than that of the said active chamber, and - a pressure generator connected to a fluidic circuit consisting of the accumulator and of the jack, in such a way that a specific pressure prevailing in said fluidic circuit does not change virtually at all during a movement of the fence as a result of removal of material from the surface of the workpiece, against which said fence bears.
2. Device according to claim 1, characterized in that at least two arms, are mounted movably on said body each of said arms carrying a fence intended to come up against said surface of the workpiece to be machined, under an action of fluidic jacks which act respectively on said arms.
3. Device according to claim 2, characterized in that said fluidic circuit has a fluid volume at least equal to one thousand times a variation in volume of the active chamber arising from a movement of said fences as a result of the removal of material from the surface of the workpiece to be machined.
4. Device according to claim 1, characterized in that a perpendicular to a point of contact of said fence with the workpiece to be machined passes virtually through a geometrical machining axis of the latter.
5. Device according to claim 2, characterized in that at least one of the arms consists of a rod of a piston of the associated jack, and in that the associated fence is centered on a longitudinal axis of said rod.
6. Device according to claim 5, characterized in that at least one of the arms consists of a lever forming a bell crank which is articulated at its centre on an axis parallel to a geometrical machining axis, and one of the ends of which carries the associated fence and the other end of which is connected to the said rod of the associated jack.
7. Device according to claim 5, characterized in that said fences are arranged to form a dihedron defining a bisectional plane presenting a vertex that is a geometrical machining axis and faces that pass through points of contact of the fences with the workpiece to be machined, said bisectional plane virtually containing a resultant of machining forces.
8. Device according to claim 2, characterized in that said jacks are connected in parallel to said accumulator.
9. Device according to claim l, 2, 3, 4, 5, 6 or 7, characterized in that said fence or fences are made of polyamide based plastic.
10. Device according to one of claims 1 and 2, characterized in that the stay is fixed to a grinding-wheel holder.
11 Device according to claim 5, 6 or 7, in combination with a cylindrical surface grinder comprising a bed equipped with a fixed workpiece-holding or driving headstock fitted with a mandrel and with a spindle, said spindle having a nose carrying a centre, and with a movalbe tailstock fitted with a movable tail centre, and a grinding-wheel holder movable relative to the bed and fitted with a grinding-wheel, said centre of the nose and said movable tail centre defining a geometrical control axis forming the geometrical machining axis of the workpiece to be machined.
12. Device according to claim 11, in which the arm formed by the rod of the piston is directed in such a way that its axis passes through the geometrical centre axis and the axis of rotation of the grinding-wheel and is perpendicular to said geometrical centre axis and said axis of rotation.
13. Device according to claim 11, in which the stay is a follower stay fixed to the grinding-wheel holder.
14. Device according to claim 11, in which the mandrel is mounted in a floating manner.
15. Device according to claim 11, in which the grinding-wheel holder is equipped with at least one dimension-measuring tracer.
16. Device according to claim 11, in which an automatic mechanism for loading or unloading comprises a stocking surface for receving the workpiece to be machined and a workpiece that has been machined, a conveyor consisting of a carriage mounted movably on a beam, on which said carriage can execute a translation movement, and carrying two axially movable manipulators with a jack, which are mounted inclined relative to one another in such a way that, in a position for loading or unloading the grinder, their respective axes pass through the geometrical centre axis, and which are equipped with pivoting V-shaped self-centering gripping jaws.
17. Device according to claim 16, in which the manipulators are mounted in a floating manner on said carriage, so as to be tiltable ina plane passing through the geometrical centre axis.
18. Device according to claim 16, in combination with a programmable computer for controlling and monitoring an operation and interlinking of operating phases and processes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8613383 | 1986-09-25 | ||
| FR8613383A FR2604383B1 (en) | 1986-09-25 | 1986-09-25 | RADIAL SUPPORT DEVICE FOR A ROTATING WORKPIECE OF THE GLASS TYPE, AND GRINDER EQUIPPED WITH THIS DEVICE AND THE NEED OF A LOADING / UNLOADING AUTOMATON AND ITS APPLICATION IN PARTICULAR TO THE MACHINING OF ROLLING ROLLERS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1296554C true CA1296554C (en) | 1992-03-03 |
Family
ID=9339254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000547681A Expired - Fee Related CA1296554C (en) | 1986-09-25 | 1987-09-24 | Radial support device for the stay type for a rotary workpiece to be machined, grinder equipped with this device and, if required, with an automatic loading/unloading mechanism and its use particularly for the machining of mill rolls |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP0262039A1 (en) |
| JP (1) | JPS63150157A (en) |
| KR (1) | KR880003705A (en) |
| BR (1) | BR8704957A (en) |
| CA (1) | CA1296554C (en) |
| FI (1) | FI874178A (en) |
| FR (1) | FR2604383B1 (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5201145A (en) * | 1990-03-31 | 1993-04-13 | Shin-Etsu Handotai Company, Limited | Monocrystal ingot attitude-adjusting/surface-grinding/conveying apparatus |
| JP2536005Y2 (en) * | 1991-10-02 | 1997-05-21 | 日新製鋼株式会社 | Easy roll automation for roll grinder |
| KR20020073756A (en) * | 2001-03-16 | 2002-09-28 | 은종일 | Protective circuit for ballast high pressure discharge lamp |
| ITMI20070068A1 (en) * | 2007-01-19 | 2008-07-20 | Techint Spa | DEVICE AND METHOD OF POSITIONING AND LOCKING FOR SUPPORT LAMINATES FOR MILLING CYLINDERS IN GRINDING MACHINES AND GRINDING MACHINES USING THE SAME |
| CN103962901A (en) * | 2013-02-01 | 2014-08-06 | 嘉禾工具有限公司 | Fully-automatic grinder |
| CN103506901A (en) * | 2013-09-07 | 2014-01-15 | 陈先锋 | Efficient wire drawing machine |
| CN104002231A (en) * | 2014-06-18 | 2014-08-27 | 青岛建诚伟业机械制造有限公司 | Beam assembly and sander with same installed |
| CN104708506B (en) * | 2015-03-18 | 2016-12-07 | 杭州正强万向节有限公司 | A kind of heavy Hooke's joint Full-automatic cylindrical grinder |
| CN107671631A (en) * | 2017-11-03 | 2018-02-09 | 南京泉峰汽车精密技术股份有限公司 | Apparatus for automatically removing burr for axial workpiece |
| CN108214138A (en) * | 2017-12-08 | 2018-06-29 | 李毅宏 | A kind of internal grinder for saving water resource |
| CN108247519A (en) * | 2018-01-22 | 2018-07-06 | 浙江杰克机床股份有限公司 | A kind of lathe for shaft-like workpiece surface treatment |
| CN109434476B (en) * | 2018-11-16 | 2020-08-18 | 深圳市稳定机械有限公司 | Rotor car drapes over one's shoulders cutting edge of a knife or a sword burnishing machine |
| CN109436799A (en) * | 2019-01-03 | 2019-03-08 | 昆山康达斯机械设备有限公司 | A kind of upper and lower automatic feeder of weld tabs |
| KR102095149B1 (en) | 2019-04-24 | 2020-03-30 | 동양정공 주식회사 | Surface grinding device for cylindrical magnet |
| CN110561248A (en) * | 2019-09-05 | 2019-12-13 | 晋江市阳光汽车配件有限公司 | full-automatic cantilever grinding machine |
| CN110883657B (en) * | 2019-11-28 | 2021-06-11 | 上海矩顶工程科技有限公司 | Polishing device for nodular cast iron jacking pipe and using method thereof |
| US11478831B2 (en) | 2020-03-04 | 2022-10-25 | Primetals Technologies USA LLC | Mechanical high speed roll change system for use with robotic roll change system |
| CN113714877B (en) * | 2021-09-30 | 2023-12-08 | 浙江仲全数控科技有限公司 | Flat grinder capable of automatically feeding and discharging |
| CN115229675A (en) * | 2022-07-14 | 2022-10-25 | 安徽誉林汽车部件有限公司 | Positioning and clamping tool for polishing production of automobile bushing |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1885233A (en) * | 1926-02-10 | 1932-11-01 | Norton Co | Fluid pressure operated steadyrest |
| US2086024A (en) * | 1935-11-22 | 1937-07-06 | Norton Co | Hydraulically operated steady rest |
| DE1237005B (en) * | 1963-08-07 | 1967-03-16 | Guenter Burghardt | Workpiece conveyor system with recordings for the orderly storage of several workpieces |
| US3427755A (en) * | 1965-12-20 | 1969-02-18 | Brown & Sharpe Mfg | Counter-force motivated back rest |
| GB1160276A (en) * | 1965-12-28 | 1969-08-06 | Hobson Ltd H M | Improvements in or relating to Work Steadies |
| DE1920804A1 (en) * | 1969-04-24 | 1970-11-12 | Waldrich Gmbh H A | Device for automatic roll change on roll grinders or the like. |
| DE2622772C3 (en) * | 1976-05-21 | 1980-05-08 | Hoesch Werke Ag, 4600 Dortmund | Device for transporting and changing rolls on roll processing machines |
-
1986
- 1986-09-25 FR FR8613383A patent/FR2604383B1/en not_active Expired - Fee Related
-
1987
- 1987-09-18 EP EP87402093A patent/EP0262039A1/en not_active Withdrawn
- 1987-09-24 FI FI874178A patent/FI874178A/en not_active Application Discontinuation
- 1987-09-24 CA CA000547681A patent/CA1296554C/en not_active Expired - Fee Related
- 1987-09-24 KR KR870010595A patent/KR880003705A/en not_active Application Discontinuation
- 1987-09-25 JP JP62240568A patent/JPS63150157A/en active Pending
- 1987-09-25 BR BR8704957A patent/BR8704957A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EP0262039A1 (en) | 1988-03-30 |
| BR8704957A (en) | 1988-05-17 |
| FR2604383A1 (en) | 1988-04-01 |
| KR880003705A (en) | 1988-05-28 |
| JPS63150157A (en) | 1988-06-22 |
| FR2604383B1 (en) | 1993-05-07 |
| FI874178A0 (en) | 1987-09-24 |
| FI874178A (en) | 1988-03-26 |
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| MKLA | Lapsed |