JP2008188686A - Workpiece supply and discharge device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece supply and discharge device which carries out miniaturization, simplification of a supply and discharge mechanism, and positive conveyance while preventing generation of flaws of a workpiece, by holding and forcibly conveying the workpiece one by one while carrying out supply and discharge at the same time. <P>SOLUTION: The work supply and discharge device 1 is provided with a first arm turning a first holding part 11 along a first trajectory 13, and a second arm 20 turning a second holding part 21 along a second trajectory 23 passing through a work position WP and a supply and discharge position TP positioned on the first trajectory 13. The first holding part 11 and the second holding part 21 convey the work W from one to another of the work position WP and the supply and discharge position TP, and at the same time, from the other to the one. The first and the second trajectories 13, 23 are set so as to prevent interference of the first holding part 11 and the second holding part 21, the work position WP and the supply and discharge position TP are arranged in intersections P1, P2 of the first trajectory 13 and the second trajectory 23, and supply and discharge of the workpiece W are carried out from one supply and discharge position TP. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a workpiece feeding / discharging device, and more particularly, to a workpiece feeding / discharging device that feeds / discharges a ring-shaped workpiece such as a bearing race ring to / from a machining part of a machine tool such as a polishing machine.

  Conventionally, as a so-called double arm type supply / discharge device that supplies / discharges a ring-shaped workpiece such as a bearing ring of a rolling bearing to / from a processing machine, a pinion provided at each rotation center of the supply arm and the discharge arm is used. , Configured to mesh with teeth formed on both sides of the rack, and by moving the rack linearly, the supply arm and the discharge arm are swung in different directions so that the workpiece is supplied to and discharged from the processing machine. There is known a workpiece supply / discharge device (see, for example, Patent Document 1). The pitch circle diameters of the pinion of the supply arm and the discharge arm are different, and the turning angle of the discharge arm is larger than the turning angle of the supply arm and simultaneously turns in different directions. By this turning, the supply arm conveys the unprocessed workpiece supplied by its own weight by the supply chute from the supply chute to the processing unit, and at the same time, the discharge arm discharges the processed workpiece from the processing unit by its own weight. Transport to chute.

As another supply / discharge device, the unprocessed workpiece supplied by dropping its weight in the supply chute is held by the supply arm and supplied to the processing part of the grinding device, and the processed workpiece is held by the discharge arm. Then, a shoe grinding apparatus is known which is transported to a discharge chute, dropped by its own weight and discharged outside the machine. The supply arm and the discharge arm swing independently of each other and convey the workpiece (see, for example, Patent Document 2).
Japanese Utility Model Publication No. 6-57538 Japanese Patent Laid-Open No. 48-17196

  The workpiece feeding / discharging devices described in Patent Documents 1 and 2 are each provided with a dedicated supply arm and a discharge arm, respectively, and a workpiece is supplied between a supply chute and a discharge chute installed in different parts, and a processing unit. Since it is configured to be transported and discharged, it is necessary to provide a carry-in mechanism and a carry-out mechanism separately, and there is a problem that the apparatus becomes large.

  In addition, each workpiece supply / discharge device is designed to move by its own weight while guiding the supply / discharge of the workpiece with a chute, so that collision between the workpieces or between the workpiece and the jig can be avoided during the movement. Difficult, depending on the material and weight, the work may be scratched, which not only deteriorates the appearance quality but also may affect the product performance depending on the size of the scratch and the site of the scratch. In addition, the workpiece may stick to the chute due to the adhesiveness of the machining fluid and may not move, which may hinder the supply and discharge of the workpiece.

  In particular, in the processing of bearing rings for rolling bearings, it is important to transport and process the product without damaging the product in order to maintain good appearance quality and product performance. It was requested.

  The present invention has been made in view of the above-described problems, and the object thereof is to reduce the size of the apparatus by holding and forcibly transporting workpieces one by one while simultaneously supplying and discharging. An object of the present invention is to provide a workpiece supply / discharge device that can reliably convey a workpiece while preventing the workpiece from being damaged.

The above object of the present invention can be achieved by the following constitution.
(1) a first arm having a first holding part for holding a workpiece and capable of turning so as to move the first holding part along a first track around a first turning axis;
A second holding part that holds the workpiece and has a second turning axis different from the first turning axis and along a second track that passes through a machining position and a supply / discharge position that are located on the first track. A second arm pivotable to move the second holding part;
With
The first and second trajectories are arranged such that when the first holding portion moves from one of the processing position and the supply / discharge position to the other, the second holding portion moves from the other of the supply / discharge position and the processing position. The workpiece feeding / discharging device is set so as to prevent the interference between the first and second holding portions when moving to.
(2) The above-described (1), further comprising a transport mechanism having a chuck portion that can move to the supply / discharge position and can hold the workpiece positioned at the supply / discharge position simultaneously with the first or second holding portion. The workpiece feeding / discharging device according to 1).
(3) When the second holding unit moves from one of the supply / discharge position and the processing position to the other when the first holding unit moves from one of the processing position and the supply / discharge position to the other, The work feeding / discharging device according to (1), wherein the first and second holding portions pass on a straight line connecting the first and second turning axes.
(4) The second track has a larger radius of curvature than the first track,
The work feeding / discharging device according to any one of (1) to (3), wherein the first turning shaft is located in a circle constituting the second track.

  According to the workpiece supply / discharge device of the present invention, the first arm for turning the first holding portion along the first track, the machining position located on the first track, and the second track passing through the supply / discharge position. A second arm that pivots the second holding part, and the first holding part and the second holding part are one from the machining position and the supply / discharge position to the other while preventing interference with each other. Therefore, the workpiece supply / discharge position is set to one location, and the workpiece can be supplied and discharged from the same location. Thereby, it is not necessary to separately provide a carry-in mechanism and a carry-out mechanism, and the apparatus can be reduced in size.

  Moreover, the workpiece | work can be hold | maintained one by one with the 1st and 2nd holding | maintenance part, and a workpiece | work can be forcibly conveyed from one to the other of a processing position and a supply / discharge position, and the other to one side, respectively. 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.

  Hereinafter, each embodiment of the workpiece supply / discharge device according to the present invention will be described in detail with reference to the drawings.

(First embodiment)
As shown in FIGS. 1 and 2, the workpiece supply / discharge device 1 according to the first embodiment includes a first arm 10 having a first holding part 11, a second arm 20 having a second holding part 21, and a chuck part. A transport mechanism 30 having 31 is provided.

  The first arm 10 can turn about the first turning shaft 12, thereby moving the first holding unit 11 along the first track 13 (see FIG. 2) around the first turning shaft 12. . A first servo motor 15 as a driving device is fixed to a base (not shown) of the workpiece supply / discharge device 1, and a pulley 17 fixed to the rotating shaft 16 and a first rotating shaft 12 are fixed. A belt 18 is wound around the pulley 14. The rotation of the first servo motor 15 is transmitted to the first turning shaft 12 through the pulley 17, the belt 18, and the pulley 14 to swing and rotate the first arm 10.

  The first holding portion 11 disposed at the tip of the first arm 10 is swingable around the pin 43 by a fixing claw 41 fixed to the first arm 10 and an opening / closing mechanism such as a cylinder device (not shown). The movable claw 42 is provided. The fixed claw 41 and the movable claw 42 hold, for example, the outer peripheral surface of the ring-shaped workpiece W such as a bearing race from both sides in the radial direction. In the present embodiment, the fixed claw 41 and the movable claw 42, and the fixed claw 45 and the movable claw 46, which will be described later, are prevented so that the claw 41, 42, 45, 46 and the workpiece W do not come into contact with each other during processing. The holding surface has a curvature radius slightly larger than the outer diameter of the workpiece W. For this reason, at the time of conveyance, the workpiece | work W is hold | maintained by contact | abutting with these nail | claws 41, 42, 45, 46 by gravity or centrifugal force.

  The second arm 20 can turn about a second turning shaft 22 arranged in parallel with the first turning shaft 12, and thereby the second holding portion 21 can be turned around the second turning shaft 22. (See FIG. 2). The second arm 20 and the first arm 10 are arranged so as to be shifted in the direction perpendicular to the paper surface in FIG. Specifically, the first arm 10 (including the belt mechanism portion) is disposed on the front side, and the second arm 20 is disposed on the back side, whereby interference between the second arm 20 and the first arm 10 occurs. Is prevented. The second turning shaft 22 is driven to swing and rotate by a second servo motor 25 which is a driving device fixed to the base of the workpiece supply / discharge device 1.

  Although the first swivel shaft 12 of the first arm 10 has been described as swinging and rotating via the pulley 17, the belt 18, and the pulley 14, the first swivel shaft 12 is the same as the second swivel shaft 22. May be directly driven by the first servo motor 15. In this case, the second arm 20 is disposed on the front side of the first arm 10.

  The second track 23 is set so as to pass through the machining position WP and the supply / discharge position TP located on the first track 13. In other words, the supply / discharge position TP and the machining position WP are provided at the intersections P <b> 1 and P <b> 2 between the first track 13 and the second track 23. The second track 23 has a larger radius of curvature than the first track 13, and the first turning shaft 12 is disposed so as to be located in a circle that constitutes the second track 23. Further, the first track 13 and the second track 23 do not interfere with each other even if the workpiece W held by the first and second holding portions 11 and 21 swings and rotates in different directions within the same plane. Is set.

  The second holding portion 21 disposed at the tip of the second arm 20 is swingable around the pin 47 by a fixing claw 45 fixed to the second arm 20 and an opening / closing mechanism such as a cylinder device (not shown). The movable claw 46 is provided. The fixed claw 45 and the movable claw 46 hold the outer peripheral surface of the ring-shaped workpiece W such as a bearing race ring from both sides in the radial direction.

  The first servo motor 15 and the second servo motor 25 are controlled so as to swing and rotate in different directions at the same time, whereby the first and second holding portions 11 and 21 are moved to the first track 13 and It moves on the second track 23 from one of the supply / discharge position TP and the processing position WP to the other and from the other to the other in synchronization.

  In addition, a guide plate 48 is disposed along the moving direction at the side of the moving space of the first and second holding portions 11 and 21, and is held by the first and second holding portions 11 and 21. This prevents the workpiece W being transported from falling off.

  The transport mechanism 30 is a gantry loader, for example, which has a chuck portion 31 and can move in a horizontal direction A and a vertical direction B between an unillustrated pre-process and post-process apparatus and a supply / discharge position TP. The chuck unit 31 has a pair of gripping arms 32 and 33 that are movable in a direction to approach or separate from each other by a driving device (not shown) such as a cylinder device, and the outer periphery of the workpiece W by the gripping arms 32 and 33. Hold the surface and hold it. And the unprocessed workpiece | work W is received from the apparatus of a front process, and it supplies to the supply / discharge position TP. In addition, the processed workpiece is received at the supply / discharge position TP and carried out to the apparatus in the subsequent process. Note that the gripping arms 32 and 33 may grip and grip the end face in the axial direction of the workpiece W.

  The operation of this embodiment will be described. For convenience of explanation, it is assumed that the first holding unit 11 is located at the supply / discharge position TP and the second holding unit 21 is located at the machining position WP.

  The chuck portion 31 that holds the unprocessed workpiece W by the pair of gripping arms 32 and 33 in the apparatus in the previous process moves in the horizontal direction A and further descends in the vertical direction B to convey the workpiece W to the supply / discharge position TP. To do. Here, the outer peripheral surface of the ring-shaped workpiece W is held by the fixed claw 41 and the movable claw 42 of the first holding unit 11 and transferred to the first holding unit 11. The workpiece W is processed at the processing position WP while the unprocessed ring-shaped workpiece W is transferred from the chuck portion 31 to the first holding portion 11.

  When the machining at the machining position WP is completed, the first servo motor 15 starts to rotate. The rotation is transmitted to the first turning shaft 12 through the pulley 17, the belt 18, and the pulley 14 to rotate the first arm 10 counterclockwise in the drawing. Accordingly, the first holding unit 11 moves on the first track 13 from the supply / discharge position TP to the machining position WP, and transports the held workpiece W to the machining position WP.

  Further, in synchronism with the rotation of the first arm 10, the second servo motor 25 rotates in the opposite direction to the first servo motor 15 and rotates the second arm 20 in the clockwise direction in the figure. Accordingly, the second holding unit 21 moves on the second track 23 from the processing position WP to the supply / discharge position TP, and conveys the processed workpiece W held therein to the supply / discharge position TP.

  The unprocessed ring-shaped workpiece W held by the first holding portion 11 and the processed workpiece W held by the second holding portion 21 move in different directions in synchronization within the same plane, It passes on a straight line L connecting the first turning axis 12 and the second turning axis 22. When the first holding unit 11 and the second holding unit 21 are located on the straight line L, they are at the farthest positions on the first track 13 and the second track 23, so that the large workpiece W does not interfere with the same plane. Passing in is possible.

  The unprocessed ring-shaped workpiece W transferred to the processing position WP by the first holding unit 11 is processed by a processing device (not shown). On the other hand, the processed workpiece W transported to the supply / discharge position TP by the second holding unit 21 is gripped by the pair of gripping arms 32 and 33 of the chuck unit 31 and is moved in the vertical direction B and the horizontal direction A by the transport mechanism 30. It is transported and delivered to the post-process device. Next, the chuck unit 31 receives a new unprocessed ring-shaped workpiece W from the device in the previous process, conveys it to the supply / discharge position TP, and causes the second holding unit 21 waiting at the supply / discharge position TP to grip it.

  When the machining by the machining apparatus is completed, the machined workpiece W is held by the first holding unit 11, and the first servo motor 15 and the second servo motor 25 rotate in synchronization with the reverse direction to the first, One arm 10 is rotated from the processing position WP to the supply / discharge position TP, and the second arm 20 is rotated from the supply / discharge position TP to the processing position WP. Thereby, the processed workpiece W held by the first holding unit 11 is moved from the machining position WP to the supply / discharge position TP, and the unprocessed workpiece W held by the second holding unit 21 is changed from the supply / discharge position TP to the machining position WP. It is conveyed to. Also at this time, the two workpieces W pass each other without interfering on a straight line L connecting the first swing shaft 12 and the second swing shaft 22.

  Thereafter, similarly, the first holding part 11 and the second holding part 21 are alternately turned from one of the supply / discharge position TP and the processing position WP to the other, and from the other to the other, and the unprocessed or processed work W. Are held one by one and forcibly transported.

  Therefore, according to the workpiece supply / discharge device 1 of the present embodiment, the first arm 10 that turns the first holding unit 11 along the first track 13, the machining position WP positioned on the first track 13, and the supply / discharge And a second arm 20 for turning the second holding portion 21 along the second track 23 passing through the position TP. The first holding portion 11 and the second holding portion 21 are processed while preventing mutual interference. Since the position WP and the supply / discharge position TP move from one to the other and from the other to the other, respectively, the supply / discharge position TP of the work W can be one place, and the work W can be supplied and discharged from the same place. . Thereby, it is not necessary to separately provide a carry-in mechanism and a carry-out mechanism, and the apparatus can be reduced in size.

  Moreover, the workpiece | work W is hold | maintained one by one with the 1st and 2nd holding | maintenance parts 11 and 21, and the workpiece | work W is forcedly conveyed from one side to the other of the processing position WP and the supply / discharge position TP, respectively. be able to. This prevents the workpiece W from dropping, colliding, frictioning, rolling, etc., which has occurred during transportation due to its own weight drop, and preventing damage to the workpiece W and sticking to the chute. Can be conveyed.

  Moreover, according to the workpiece supply / discharge device 1 of the present embodiment, the transport mechanism 30 has the chuck portion 31 that can move to the supply / discharge position TP and hold the workpiece W positioned at the supply / discharge position TP. The conveyance mechanism 30 for loading and unloading the workpiece W from the position TP to the previous process and the subsequent process can be shared, the apparatus can be further downsized, and the workpiece supply / discharge device 1 can be manufactured at low cost. Can do.

  Furthermore, according to the workpiece supply / discharge device 1 of the present embodiment, when the first holding unit 11 moves from one of the processing position WP and the supply / discharge position TP to the other, the second holding unit 21 moves to the supply / discharge position TP and When moving from the other processing position WP to the other, the first and second holding portions 11 and 21 pass on a straight line connecting the first and second pivot shafts 12 and 22, so The first holding unit 11 and the second holding unit 21 can pass each other at a position where the two tracks 23 are farthest apart, and a large workpiece W can be simultaneously conveyed in different directions without interfering in the same plane.

  In addition, according to the workpiece supply / discharge device 1 of the present embodiment, the second track 23 has a larger radius of curvature than the first track 13, and the first turning shaft 12 is located in a circle constituting the second track 23. Thus, the mechanisms can be compactly arranged, and the work supply / discharge device 1 can be miniaturized by minimizing the space required for movement of the first and second holding portions 11 and 21.

(Second Embodiment)
Next, a workpiece supply / discharge device according to a second embodiment of the present invention will be described with reference to FIG. As shown in FIG. 3, the workpiece supply / discharge device 2 of the second embodiment differs from the workpiece supply / discharge device 1 of the first embodiment in the configuration of the first holding portion 51 and the second holding portion 52, and the ring-shaped workpiece W The work W is held on the inner peripheral surface of the. That is, the first embodiment is a device suitable for processing the inner peripheral surface while holding the outer peripheral surface of the ring-shaped workpiece W, but the present embodiment holds the inner peripheral surface of the workpiece W. This is an apparatus suitable for processing the outer peripheral surface. Since other parts are the same as those of the workpiece supply / discharge device 1 of the first embodiment of the present invention, the same parts are denoted by the same or corresponding reference numerals, and description thereof will be omitted or simplified.

  The first holding part 51 and the second holding part 52 disposed at the tips of the first arm 10 and the second arm 20 have the same work holding mechanism. The work holding mechanism is a holding pin 53 that has an outer diameter slightly smaller than the inner diameter of the ring-shaped work W and is movably disposed in a direction C perpendicular to the moving surfaces of the first arm 10 and the second arm 20. The first arm 10 and the second arm 20 are disposed at the tips of the first arm 10 and the second arm 20, respectively.

The holding pin 53 moves in a direction protruding from the first arm 10 and the second arm 20 and enters the inner diameter of the ring-shaped workpiece W to hold the workpiece W, and the first arm 10 and the second arm 20. Move to the side and release the workpiece W held. Further, since the outer diameter of the holding pin 53 is slightly smaller than the inner diameter of the workpiece W, the workpiece W is conveyed while being held in contact with the outer diameter of the holding pin 53 by gravity or centrifugal force, and is moved to the processing position WP. The moved workpiece W is positioned so that the outer diameter of the holding pin 53 does not contact the inner peripheral surface thereof, and the outer peripheral surface is processed.
Since other operations and effects are the same as those of the workpiece supply / discharge device 1 of the first embodiment, the description thereof will be omitted.

  In addition, this invention is not limited to each 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 ring. However, the workpiece is not limited to this, and various types of workpieces can be handled by modifying the holding mechanism of the holding portion. Therefore, the workpieces can be transferred efficiently in the same plane. Moreover, the apparatus which processes a ring-shaped workpiece | work may be arbitrary processing apparatuses, such as grinding | polishing, cutting, and grinding.

  Furthermore, it is preferable to synchronize the movement of the first holding unit and the second holding unit to the machining position WP and the supply / discharge position TP, respectively, as in the present embodiment. The timing to reach each position does not necessarily have to be the same, and may be set so as not to interfere with each other during movement.

It is a principal part perspective view of the workpiece | work feeding / discharging apparatus which is 1st Embodiment of this invention. It is a front view of the workpiece supply / discharge device in FIG. It is a principal part perspective view of the workpiece supply / discharge device which is 2nd Embodiment of this invention.

Explanation of symbols

1, 2 Work feeding / discharging device 10 First arm 11 First holding part 12 First turning shaft 13 First track 20 Second arm 21 Second holding unit 22 Second turning shaft 23 Second track 30 Conveying mechanism 31 Chuck part L Straight line TP connecting the first and second swivel axes Feeding / discharging position W Ring-shaped work (work)
WP machining position

Claims (4)

A first arm having a first holding part for holding a workpiece and capable of turning so as to move the first holding part along a first track around a first turning axis;
A second holding portion that holds the workpiece and a second turning axis different from the first turning axis, along a second track that passes through a machining position and a supply / discharge position located on the first track. A second arm pivotable to move the second holding part;
With
The first and second trajectories are arranged such that when the first holding portion moves from one of the processing position and the supply / discharge position to the other, the second holding portion moves from the other of the supply / discharge position and the processing position. The workpiece feeding / discharging device is set so as to prevent interference between the first and second holding portions when moving to.   2. The transfer mechanism according to claim 1, further comprising a chuck portion that is movable to the supply / discharge position and can hold the workpiece positioned at the supply / discharge position simultaneously with the first or second holding portion. Work supply / discharge device.   When the first holding part moves from one of the machining position and the supply / discharge position to the other, the second holding part moves from the other of the supply / exhaust position and the machining position to the other. The workpiece supply / discharge device according to claim 1, wherein the second holding portion passes on a straight line connecting the first and second turning axes. The second track has a larger radius of curvature than the first track,
The work feeding / discharging device according to any one of claims 1 to 3, wherein the first turning shaft is located in a circle constituting the second track.

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