JP2009045708A - Work transfer system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress a work-transfer error of a transfer system which automatically supplies a small-diameter lens or the like to a processing device. <P>SOLUTION: The work transfer system 1 performs carrying-in and taking-out of a lens material W to/from a work-delivery position P2 of a grinding device 2 for grinding the lens material. Work-transfer containers 14a, 14b are supported by a transfer-container table 13 which can turn, and the transfer-container table 13 is supported by a table-supporting arm 12 which can linearly move back and forth. The table-supporting arm 12 is supported by an arm-supporting base 11 which can turn. The table-supporting arm 12 is positioned in a first turning position 12B, and the transfer-container table 13 is positioned in a travel position 13B. When the work-transfer container 14a is positioned in a turning position for work delivery, the work-transfer container 14a is positioned in the work-delivery position P2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a workpiece transfer apparatus that automatically transfers a workpiece to a processing apparatus such as a lens grinding apparatus. More specifically, a work transport container carrying a work such as a small-diameter lens is transported to the work delivery position of the processing apparatus and delivered to the processing apparatus, and the processed work is received by the work transport container from the processing apparatus side at that position. The present invention relates to a work transfer device that discharges to a predetermined place.

  In order to continuously process a workpiece such as a small-diameter lens through a plurality of processing steps and measurement steps, a workpiece transfer device that automatically transfers the workpiece to a processing device or a measurement device that performs each step is used. As a workpiece transfer device, a device for automatically transferring a workpiece transfer container containing a workpiece to each processing device and measuring device using a belt conveyor is known. Patent Document 1 discloses such a transfer device. Is disclosed.

In the conveying apparatus disclosed in Patent Document 1, a lens placed in a dish-shaped container is placed on a horizontally moving conveyor, the container is fixed to the conveyor with a fixture, the conveyor is driven, and the container containing the lens is removed. It is transported to a predetermined delivery position. Also, when the container is transported to the delivery position, the conveyor is stopped, the polishing holder is lowered toward the container on the conveyor, the lens in the container is sucked and fixed, and then the lens is supplied to the polishing dish. is doing. The processed lens is received by a container on a horizontal movement type conveyor and then transferred to a fixed side conveyor. Thereafter, the horizontal movement type conveyor is retracted in the horizontal direction.
Japanese Patent No. 2656658

  In the transport apparatus disclosed in Patent Document 1, when a container is moved between a horizontally moving conveyor and a fixed conveyor, the lens in the container may dance at a position between them, and the lens may be misaligned. There is. In particular, in the case of a small-diameter lens having a diameter of 10φ or less, positional deviation is likely to occur. That is, the container for storing the lens is fixed to the conveyor, but the lens itself is not fixed to the container. Therefore, when a small-diameter lens is transported, the lens may dance in the container during transport and cause positional displacement.

  It is sufficient to mount the suction mechanism on the container so that the lens does not move and suck and hold the lens. However, the container moves on the conveyor and is transferred between the conveyors. It is difficult to connect devices and the like.

  Further, when the lens is transferred between the container on the conveyor and the processing apparatus, the lens may be pressed against the belt conveyor together with the container by the pressing force of the polishing holder. When such a situation occurs, the conveying surface of the belt conveyor is deformed by the pressing force, and there is a possibility that the lens is displaced.

  In view of the above-described problems, an object of the present invention is to automatically supply a workpiece such as a small-diameter lens to a processing device such as a grinding device without misalignment, and efficiently perform a workpiece transfer operation. The object is to propose a workpiece transfer device that can handle the above.

In order to solve the above-described problems, the present invention provides a work transfer device that carries a work in and out of a work transfer position of a work processing device that performs predetermined processing on a work such as a lens.
At least first and second workpiece transfer containers;
A container transfer table supporting these first and second work transfer containers;
A table support arm that supports the container transport table in a rotatable state;
An arm support that supports the table support arm in a linearly movable state;
The transfer container table is turned around a first turning center line that is equidistant from the first and second work transfer containers, and the first and second work transfer containers are selectively used for workpiece transfer. Can be positioned in the swivel position,
The table support arm is capable of linearly moving on a plane intersecting the first turning center line to position the transfer container table at a forward position and a backward position,
The arm support base is capable of turning around a second turning center line parallel to the first turning center line and positioning the table support arm at a first turning position;
The first and second workpiece transfer containers are closer to the second turning center line when the transfer container table is at the retracted position than when the transfer container table is at the advanced position.
When the table support arm is positioned at the first turning position, the transfer container table is positioned at the advance position, and the first or second work transfer container is positioned at the work transfer turning position, the workpiece transfer turning is performed. The workpiece transfer container positioned at a position is positioned at the workpiece transfer position.

  In the workpiece transfer apparatus according to the present invention, the first and second workpiece transfer containers can be positioned at arbitrary positions in a plane area having a predetermined radius by turning the transfer container table, linearly moving the table support arm, and turning the arc support base. . Therefore, compared with the case where a workpiece conveyance container is conveyed using two conveyors, it can be set as a small and simple structure.

  In addition, since the work transfer container is always placed on the transfer container table and does not need to be transferred to another member, it is easy to adopt a configuration in which the work transfer container is equipped with a vacuum suction mechanism to hold the work by suction. It is.

  Further, the distance between the first and second work transfer containers and the first turning center line is reduced, and each work transfer container is positioned as close as possible to the second turning center line when the transfer container table is in the retracted position. If it does in this way, the centrifugal force which acts on the workpiece | work conveyed by each workpiece conveyance container at the time of the turning around the 1st and 2nd turning center line can be made small, and a moving distance can also be made small. As a result, it is possible to prevent the positional deviation of the workpiece during conveyance and to perform workpiece delivery in a short time.

Here, in the work conveyance device of the present invention,
The workpiece receiving position for receiving the workpiece before machining and the workpiece delivery position for delivering the workpiece after machining are specified.
The first work transport container is a supply-side work transport container for transporting a work before processing, and the second work transport container is a discharge-side work transport container for transporting a processed work,
The arm support base is turned about the second turning center line, and the table support arm is turned by a predetermined angle in one direction from the first turning position, and a predetermined angle in the opposite direction. Can be positioned at the third turning position that has just turned,
When the table support arm is positioned at the second turning position, the transfer container table is positioned at the advance position, and the supply-side work transfer container is positioned at the workpiece transfer turning position, the supply-side work transfer container is Positioned at the workpiece receiving position,
When the table support arm is positioned at the third turning position, the transfer container table is positioned at the forward movement position, and the discharge-side work transfer container is positioned at the work transfer turning position, the discharge-side work transfer container is The workpiece is positioned at the workpiece delivery position.

  According to this configuration, the workpiece is processed from the workpiece receiving position for receiving the workpiece before processing the supply-side workpiece transfer container by turning the transfer container table, linearly moving the table support arm, and turning the arm support base. Can be transferred to the workpiece delivery position. At the same time, the discharge-side workpiece transfer container can be transferred from the workpiece transfer position at which the processed workpiece is received from the processing apparatus to the workpiece transfer position at which the workpiece is transferred to the next processing step or the like. Therefore, the workpiece transfer operation can be performed efficiently in a short time.

  Next, in order to surely prevent the positional deviation of the workpiece being transferred, it is desirable to arrange an adsorption portion for holding the workpiece to be conveyed by vacuum suction in each workpiece conveyance container.

  Also, when transferring at the workpiece transfer position, the workpiece held in the workpiece transfer container is not displaced by the pressing force from the processing apparatus side, or the pressed portion is not damaged. For this purpose, it is desirable to support each workpiece transfer container by the transfer container table in a retractable state in a predetermined direction, that is, in a direction to relieve the pressing force from the processing apparatus.

  Next, by arranging a large number of workpiece transfer devices according to the present invention, a multiple workpiece transfer system for transferring workpieces via a plurality of processing devices and measuring devices can be constructed. That is, the workpiece transfer device having the above-described configuration may be disposed adjacent to each other, and the workpiece transfer position of one workpiece transfer device may be set as the workpiece receiving position of the other workpiece transfer device.

  In the work transfer device of the present invention, the transfer container table on which a plurality of work transfer containers are placed is turned, the table support arm that supports the transfer container table is linearly moved, and the arm support that supports the table support arm. By rotating the table, each transfer container table can be positioned at an arbitrary position on a plane around the rotation center line of the arm support table. In addition, by reducing the turning radius of the work transfer container during turning, it is possible to prevent or suppress the occurrence of positional deviation in the work transferred by the work transfer container during transfer, and by reducing the turning radius. Since the movement trajectory of the workpiece transfer container during transfer can be shortened, workpiece transfer can be performed efficiently in a short time.

  Embodiments of a workpiece transfer apparatus to which the present invention is applied will be described below with reference to the drawings.

(overall structure)
FIG. 1 is a perspective view showing a workpiece processing system provided with a lens transport device to which the present invention is applied. The workpiece processing system A includes a workpiece transfer device 1, a grinding device 2 in which a lens is carried out and loaded (delivered) by the workpiece transfer device 1, and a processed workpiece after being processed by the grinding device 2. And a delivery device 3 for delivering to the next process. A workpiece to be conveyed and processed by the workpiece conveying device 1 is, for example, a small-diameter lens material W of 10φ or less. In FIG. 1, only the main parts related to the workpiece transfer device 1 are shown for the grinding device 2 and the transfer device 3.

(Grinding equipment)
First, the grinding device 2 of the workpiece processing system A grinds the lens material 21 that holds the lens material W being ground, the elevating mechanism 22 that raises and lowers the lens holder 21 along the operation axis L, and the lens material W. A grinding tool 23 and the like are provided. The lens holder 21 includes a lens holder 21a and a linear shaft member 21b fixed to the back surface of the lens holder 21a. The elevating mechanism 22 includes an upper holder 22a, an arm base 22b that pivotally supports the upper holder 22a, and a feed mechanism 22c that reciprocally moves the upper holder 22a and the arm base 22b. The feed mechanism 22c can be constituted by, for example, a servo motor, a feed screw, a nut, or the like. The shaft holder 21b of the lens holder 21 is assembled to the upper holder 22a, whereby the lens holder 21a, the shaft member 21b, the upper holder 22a, and the arm base 22b are arranged coaxially with the operation axis L as the center.

  A holding surface 21e is provided on the tip surface of the lens holder 21a. One end of a suction passage 21f (see FIG. 3) is opened in the holding surface 21e, and the other end side of the suction passage 21f communicates with a suction side of a vacuum generator (not shown). The lens material W is sucked and held on the holding surface 21e by operating the vacuum generator and vacuuming the suction passage 21f. With the configuration as described above, the lens holder 21 can suck and hold the lens material W at its tip, and can move up and down along the operating axis L based on the operation of the lifting mechanism 22.

  The grinding tool 23 rotates a spindle 23b, a grinding plate 23a provided with a grinding surface at the tip, a spindle 23b integrally formed at the center of the back of the grinding plate 23a, an electric motor 23c for driving the spindle 23b, and the spindle 23b. A cup-shaped oscillating body 23d that is freely supported and an oscillating mechanism (not shown) for oscillating the oscillating body 23d are provided. The grinding tool 23 is disposed such that the center of the grinding pan 23a and the center axis of the spindle 23b coincide with the operation axis L, and the grinding surface of the grinding pan 23a and the holding surface 21e of the lens holder 21a are opposed to each other. It has become. The spindle 23b is pivotally supported via a bearing (not shown) and is rotated at a high speed by an electric motor 23c. The oscillating body 23d is arranged so that its oscillation center is located on the operation axis L, and can be oscillated at a predetermined oscillation angle. With the above configuration, the grinding pan 23a operates along a spherical core swinging locus based on the rotation of the spindle 23b and the swinging of the swinging body 23d. The configurations of the lens holder 21, the lifting mechanism 22, and the grinding tool 23 are merely examples, and any configuration may be used as long as the lens material W is held and moved on the operation axis L, and is limited to the configuration described above. It is not something.

(Work transfer device)
Next, the workpiece transfer device 1 is disposed adjacent to the grinding device 2. The workpiece transfer device 1 operates on the lens holder 21 that moves on the operating axis L by transferring the lens material W in a plane that intersects the moving direction of the lens holder 21 (the direction of the operating axis L). The lens material W is supplied from a position away from the axis L. A crossing position between the operating axis L and the plane on which the lens material W is conveyed is a workpiece transfer position P2 where the workpiece is transferred to the grinding device 2. The operation axis L is, for example, a vertical axis, and the workpiece conveyance device 1 conveys the lens material W in a horizontal direction orthogonal to the operation axis L, for example.

  The workpiece transfer apparatus 1 includes an arm support base 11, a table support arm 12, a transfer container table 13, and lens transfer containers 14a and 14b. The arm support 11 is a disk-shaped support, and is supported by the apparatus frame 1a so as to be rotatable around the second turning center line L2 at a position adjacent to the grinding apparatus 2, and an air cylinder type turning not shown. It is turned by the drive mechanism. The second turning center line L2 is a vertical axis parallel to the operating axis L of the lens holder 21a.

  The upper surface of the arm support 11 is a horizontal plane orthogonal to the second turning center line L2, and a table support arm 12 having a predetermined length is supported on the upper surface. The table support arm 12 is supported so as to rotate integrally with the arm support base 11, and the distal end portion 12 a side thereof is configured to be reciprocally linearly movable in a horizontal direction by an air cylinder type linear motion mechanism (not shown), for example. Has been. The table support arm 12 is arranged such that the central axis in the longitudinal direction is located on the second turning center line L2. And the rear-end part is from the retreat position (position shown as a continuous line in Drawing 1) where the front-end | tip part 12a is located on the 2nd turning center line L2 toward the horizontal direction which passes along the said 2nd turning center line L2. A linear reciprocation is possible between a forward position (a position indicated by an imaginary line in FIG. 1) located on the second turning center line L2.

  A fan-shaped transfer container table 13 is supported on the upper surface of the tip end portion 12a of the table support arm 12 so as to be rotatable about a vertical shaft 13a. The vertical shaft 13a has a center axis that coincides with a first turning center line L1 that is parallel to the second turning center line L2, and the transfer container table 13 is centered around the fan-shaped main portion around the first turning center line L1. It is attached to the table support arm 12 so that it can turn. The transport container table 13 is swung by, for example, a swivel mechanism including an air cylinder rack and gear shown in FIG.

  Two circular dish-shaped lens transport containers 14 a and 14 b are placed on the transport container table 13. The lens transport containers 14a and 14b are arranged so that their centers are equidistant from the first turning center line L1. Accordingly, when the transfer container table 13 is turned, the lens transfer containers 14a and 14b move on the same turning trajectory, so that one work transfer container is selectively set to the same turning angle position, that is, the workpiece transfer turning position. Can be positioned.

  Here, one lens transport container 14a is a supply-side work transport container that transports a lens material W1 before processing (see FIG. 4), and the other lens transport container 14b is a lens material W2 after processing (see FIG. 4). It is used as a discharge-side work transfer container for transferring

(Suction part and retraction mechanism of work transfer container)
FIG. 3 is a cross-sectional view showing a connecting portion between the lens transport container 14 a (14 b) and the transport container table 13. As shown in this figure, the lens transport container 14a (14b) is attached so as to penetrate the circular shallow dish-shaped work holder 41 opened upward and the transport container table 13 in the vertical direction, and its upper end. , A shaft 42 fixed to the bottom surface of the work holder 41, a spring 43 mounted between the bottom surface of the work holder 41 and the upper surface of the transport container table 13, and a packing 44 attached coaxially to the bottom surface of the work holder 41. And a vacuum suction device 47 connected to one end of the shaft 42 via a connector 45 and an air hose 46. A through hole is formed in the transfer container table 13 at the attachment position of the lens transfer container 14a (14b), and a sleeve 13b having an insertion hole through which the shaft 42 can be inserted is attached to the through hole.

  A suction hole 41a passes through the center of the bottom surface of the shallow circular recess opening upward in the work holder 41. A support portion 41b is formed to protrude around the suction hole 41a, and an annular packing 44 is attached to the outer peripheral surface of the support portion 41b. A suction passage 42 a is formed along the central axis of the shaft 42, and both ends thereof are open at both ends of the shaft 42. Inserted into the suction hole 41 a is the tip of a shaft 42 that penetrates the transport container table 13 and protrudes onto the table 13. Thereby, the suction passage 42a in the shaft 42 and the suction hole 41a communicate with each other. The lower end of the shaft 42 is inserted into the sleeve 13 b and protrudes below the table 13, and is connected to the air hose 46 via the connector 45. The air hose 46 is connected to the vacuum generator of the vacuum suction device 47. Therefore, by operating the vacuum suction device 47, suction can be performed from the suction hole 41a via the air hose 46, the connector 45, and the shaft 42.

  When the circular lens material W is placed on the work holder 41 in a coaxial state, the surface of the lens material W comes into contact with the upper end of the packing 44. When the upper end of the packing 44 is bent due to the weight of the lens material W or pressing from above, the surface of the lens material W is supported by being in contact with the upper end of the support portion 41b. Since the gap between the suction hole 41a and the surface of the lens material W is closed by the packing 44, the lens material W is attracted to the work holder 41 by operating the vacuum suction device 47 and suctioning from the suction hole 41a side. can do. Since the lens transfer containers 14a and 14b are always placed on the transfer container table 13, connection to the vacuum suction device 47 or the like is possible.

  Moreover, the diameter of the tip of the shaft 42 is reduced stepwise, and the work holder 41 and the shaft 42 are integrally fixed by fitting the stepped portion into the lower end portion of the suction hole 41a. On the other hand, the shaft 42 is inserted into the transfer container table 13 via the sleeve 13b so as to be slidable in the axial direction. The spring 43 is attached to the outer peripheral side of the shaft 42, and both ends of the spring 43 are fixed to the upper surface of the table 13 (the upper surface of the sleeve 13 b) and the bottom surface of the work holder 41, respectively. On the other hand, a flange portion 42b projecting to the outer peripheral side is provided at the lower end portion of the shaft 42. The upward movement of the shaft 42 and the work holder 41 is restricted by the contact between the flange portion 42b and the end face of the sleeve 13b.

  Since the work holder 41 and the shaft 42 are urged toward the upper side of the table 13 by the elastic force of the spring 43, when no load or pressing force is applied to the work holder 41, the flange portion 42b is connected to the sleeve 13b. The work holder 41 and the shaft 42 are moved up to a position where they hit the end surface of the workpiece. Accordingly, the work holder 41 is elastically supported on the table 13 by the elastic force of the spring 43. When a load or pressing force is applied to the work holder 41, the work holder 41 can be retracted to the table 13 side by elastic deformation of the spring 43.

(Drive system of work transfer device)
In the workpiece transfer device 1, the arm support base 11, the table support arm 12, and the transfer container table 13 are operated by independent drive devices. A turning drive device (not shown) is provided between the arm support 11 and the device frame 1a. The swivel driving device includes, for example, a pinion fixed to the arm support 11 and disposed on a swivel center line L2 of the arm support 11, two parallel racks meshed with the pinion from both sides, and each rack Are provided with two air cylinders for linearly moving each and a solenoid valve for controlling supply / exhaust to each air cylinder. In this turning drive device, each rack is linearly moved to a predetermined position by appropriately performing opening / closing control of the electromagnetic valve, and based on this, the pinion and the arm support base 11 are rotationally driven to the predetermined position.

  Further, the table support arm 12 incorporates an air cylinder type linear motion mechanism, and the front end portion 12a side of the table support arm 12 reciprocates linearly based on the expansion and contraction of the air cylinder.

  Further, as shown in FIG. 2, a turning drive device including a gear 13 c, a rack 13 d, and an air cylinder 13 e is attached between the transport container table 13 and the table support arm 12. The gear 13 c is attached to a vertical shaft 13 a that is a rotation shaft of the transport container table 13. As the rack 13d moves forward or backward based on the operation of the air cylinder device 13e, the gear 13c and the transport container table 13 are rotationally driven to a predetermined position. Note that the configuration of such a driving device is an example, and various modifications can be made.

  A drive mechanism that drives each of the arm support base 11, the table support arm 12, and the transfer container table 13 is driven and controlled by a control device (not shown). For example, the control device can be configured around a microcomputer, and drives the arm support 11, the table support arm 12, and the transport container table 13 by outputting a pre-programmed control signal to the drive mechanism. Thus, a series of operations as described later is realized. The control device is connected to a control device or the like for controlling a processing device such as a host computer or the grinding device 2 and the like, so that the control device is linked to the movement of other devices and the output of various sensors. Transport is possible.

  In addition, the above-described suction operation of the lens material W in the lens transport container 14a (14b) is performed in conjunction with the movements of the arm support base 11, the table support arm 12, and the transport container table 13. For this purpose, the operating state of the vacuum suction device 47 can be switched based on control signals for the arm support 11, the table support arm 12, and the transfer container table 13.

(Delivery device)
Next, the delivery device 3 has a lens holder 31 that can be moved up and down along the operation axis L4. The delivery device 3 is disposed adjacent to the grinding device 2 and moves the lens holder 31 forward and backward toward a predetermined delivery position (processed lens delivery position P3) between the grinding device 2 and the next process. Can do. In addition, as the transfer device 3, a device having a reversing function capable of reversing the front and back surfaces of the lens material W received from the work conveying device 1 and delivering it to the next process in the reversed state may be used. If it does in this way, processing of the surface can be performed with grinding device 2, and processing of the back can be performed in the next process.

(Each position of work transfer device)
Here, the operation position of each part in the workpiece transfer apparatus 1 will be described. Referring to FIG. 1, P1 represents a receiving position of an unprocessed lens (before processing), P2 represents a lens delivery position, and P3 represents a delivery position of a processed (after processing) lens. The workpiece conveyance device 1 moves one of the lens conveyance containers 14a and 14b to these three positions P1 to P3 and stops it, thereby transferring the lens material W to and from the grinding device 2, as well as the previous process and the next process. The lens material W is transferred between the two. In order to transport the lens material W to each position of P1 to P3, the arm support base 11, the table support arm 12, and the transport container table 13 can be positioned at each position set as follows. .

  Three rotation stop positions of the arm support 11 are set, the second support position 12A in which the table support arm 12 faces the previous process side (P1 side), and the table support arm 12 on the grinding device 2 side (P2 side). And a third turning position 12C in which the table support arm 12 faces the delivery device 3 side (P3 side). These turning stop positions can be switched by rotating the arm support base 11 by 90 degrees.

  Two stop positions of the table support arm 12 are set. The retreat position 13A where the transport container table 13 is located near the center of the arm support base 11 (second turning center line L2), and the transport container table 13 is the arm. This is the forward movement position 13B that is away from the center of the support base 11 (second turning center line L2).

  Two rotation stop positions of the transfer container table 13 are set, a position (supply position) where the lens transfer container 14a is positioned at the workpiece transfer turning position 14A on the linear movement path of the table support arm 12, and a lens transfer. This is a position (discharge position) where the container 14b is positioned at the workpiece transfer turning position.

(Work transfer device operation)
Next, the operation of the workpiece transfer apparatus 1 will be described with reference to FIGS.

(1) First, as shown in FIG. 4 (1), the table support arm 12 is positioned at the first turning position 12B, the transfer container table 13 is positioned at the retracted position 13A, and one lens transfer container 14a is transferred to the workpiece. It is assumed that it is positioned at the turning position 14A for use.

  In this state, the lens material W1 before processing is set in the lens transport container 14a (supply side lens transport container), and the processed lens material W2 is set in the other lens transport container 14b (discharge side lens transport container). It is assumed that Further, it is assumed that the lens materials W1 and W2 are sucked and held by the vacuum suction device 47 of the lens transport containers 14a and 14b.

(2) In this state, first, the table support arm 12 is advanced, and as shown in FIG. 4 (2), the lens transport container 14a is moved toward P2 (lens delivery position) and positioned at that position. Since the lens materials W1 and W2 are sucked and held during the movement, the lens materials W1 and W2 do not dance in the container, and displacement is prevented or suppressed. Subsequently, the vacuum suction of the lens transport container 14a is released, so that the lens material W1 can be delivered.

  At the same time, the lens holder 21 of the grinding device 2 is lowered to bring the holding surface 21e of the lens holder 21a into contact with the surface of the lens material W1. Then, vacuum suction on the lens holder 21a side is started, the lens material W1 is sucked and the lens holder 21 is raised. Thereby, the workpiece | work W1 before a process is handed over to the grinding apparatus 2. FIG.

  When adsorbing the lens material W1, the lens material W1 is pressed by the lowered lens holder 21a. The lens material W1 and the work holder 41 can be retracted in the pressing direction (downward) by contraction of the spring 43. Therefore, deformation and breakage of the lens transport container 14a and the table 13 are suppressed, and the displacement of the lens material W1 is suppressed.

(3) After the lens material W1 is delivered to the grinding device 2, in order to start the grinding process in the grinding device 2, the table support arm 12 is moved backward as shown in FIG. Is retracted from the operating axis L, and the transfer container table 13 is positioned at the retracted position 13A. Next, the transport container table 13 is swung clockwise as viewed from above, and the lens transport container 14b is positioned at the workpiece transfer swivel position 14A on the linear movement path of the table support arm 12.

  After the arm support table 13 and the table support arm 12 are retracted from the operation axis L, the grinding device 2 lowers the lens holder 21a along the operation axis L to bring the lens material W1 into contact with the grinding plate 23a. Grinding is started by operating the spindle 23b and the rocking body 23d. During the grinding process, the workpiece transfer device 1 performs the following operations (4) to (5) to deliver the processed lens material W2 set in the lens transfer container 14b to the next process, and further (6 ) To (8) are performed, and an operation for receiving an unprocessed lens material W1 to be processed next is performed.

(4) First, as shown in FIG. 4 (4), the arm support 11 is turned 90 degrees counterclockwise and stopped while the transport container table 13 is in the retracted position 13A. Thereby, the table support arm 12 is positioned at the third turning position 12C facing the delivery position P3.

(5) Next, as shown in FIG. 4 (5), the table support arm 12 is advanced, and the lens transport container 14b is moved toward the lens delivery position P3 and positioned there. After this, the vacuum suction of the lens transport container 14b is released to allow the lens material W2 to be delivered, the delivery device 3 is operated, and the lens material 31 is adsorbed and taken out by the lens holder 31. As a result, both lens transport containers 14a and 14b are emptied.

(6) Next, as shown in FIG. 4 (6), the table support arm 12 is retracted again, and the transfer container table 13 is returned to the retracted position and positioned there. In this state, the transport container table 13 is swung counterclockwise as viewed from above, and the lens transport container 14a is positioned at the workpiece transfer swivel position 14A on the linear movement path of the table support arm 12.

(7) Subsequently, as shown in FIG. 4 (7), the arm support base 11 is rotated 180 degrees clockwise and stopped while the transfer container table 13 is in the retracted position 13A. As a result, the table support arm 12 is positioned at the second turning position 12B facing the raw lens receiving position P1.

(8) Next, as shown in FIG. 4 (8), the table support arm 12 is advanced to position the transfer container table 13 at the advance position 13B. As a result, the lens transport container 14a is positioned at P1 (unprocessed lens receiving position). Then, the unprocessed lens material W1 is supplied to the lens transport container 14a from the previous process by a delivery device (not shown). Here, vacuum suction of the lens transport container 14a is started in accordance with the timing when the lens material W1 enters the lens transport container 14a.

(9) Subsequently, the workpiece conveying device 1 is operated in accordance with the timing when the processing of the lens material W1 supplied to the grinding device 2 is completed, and the processed lens material W2 and the lens material W1 are delivered.

  First, as shown in FIG. 4 (9), the table support arm 12 is moved backward again to position the transfer container table 13 at the retracted position 13A.

(10) As shown in FIG. 4 (10), the arm support 11 is turned 90 degrees counterclockwise and stopped. Thereby, the table support arm 12 is positioned again at the first turning position 12B toward the lens delivery position P2 on the grinding apparatus side, similarly to FIGS. 4 (1) to (3). Thereafter, the transfer container table 13 is rotated clockwise as viewed from above and stopped. Accordingly, the lens transport container 14b is positioned at the workpiece transfer turning position 14A (discharge position) on the linear movement path of the table support arm 12.

(11) Next, the table support arm 12 is advanced to position the transfer container table 13 at the advance position 13B. Thereby, the lens transport container 14b is positioned at P2 (lens delivery position on the grinding device side).

  Thereafter, the lens holder 21a of the grinding device 2 is lowered to the height of the lens transport container 14b, and the processed lens material W2 is put into the work holder 41 of the lens transport container 14b, and then the vacuum on the lens holder 21a side is placed. Release suction. Further, vacuum suction of the lens transport container 14b is started at the same timing, and the lens material W2 is sucked and held in the lens transport container 14b. At this time, the lens holder 21a presses the lens material W2 downward in the same manner as when the raw lens material W1 is supplied. However, the lens transport container 14b and the table are moved by the retraction mechanism described above. 13 is suppressed from being deformed and damaged, and the positional deviation of the lens material W2 is suppressed.

(12) Subsequently, as shown in FIG. 4 (12), the transport container table 13 is turned counterclockwise when viewed from above and stopped. Thereby, the lens transport container 14a is positioned at the position 14A on the linear movement path of the table support arm 12. From this state, the operation described in (2) can be performed again by retracting the table support arm 12.

  The workpiece transfer device 1 repeats the operations described with reference to FIGS. 4 (2) to 4 (12), whereby (A) an operation of delivering the unprocessed lens material W1 to the grinding device 2, and (B) a processed lens material. The operation of delivering W2 to the next process (delivery device 3), (C) the operation of receiving the next unprocessed lens material W1 from the previous process, and (D) the operation of receiving the processed lens material W2 discharged from the grinding device 2 Can be repeated.

(Effects of work transfer device)
As described above, in the workpiece transfer apparatus 1, the table support arm 12 can be moved in a desired direction around the second turning center line L2 of the arm support base 11, and therefore the lens transfer container 14a can be moved to various positions and directions. , 14b can be moved quickly. In addition, the lens material is selectively delivered to the two lens transfer containers 14a and 14b by turning the transfer container table 13 supported at the tip of the table support arm 12 around the first turning center line L1. Can be quickly positioned at the workpiece transfer turning position 14A. Therefore, various conveyances can be performed. Moreover, it can convey efficiently and reliably, and the operating efficiency of the workpiece conveyance apparatus 1 and the grinding apparatus 2 can be improved.

  Further, in the work transfer device 1, the arm support 11 is turned when the transfer container table 13 is in the retracted position 13A close to the second turning center line L2, and the table support arm 12 is moved to the first to third turning positions. I try to make it turn. Therefore, high-speed turning of the lens transport containers 14a and 14b can be suppressed, and positional deviation of the lens materials W1 and W2 in the containers being transported can be suppressed. Therefore, it can convey reliably and can improve the operation efficiency of the workpiece conveyance apparatus 1 and the grinding apparatus 2. FIG.

  Furthermore, since the lens transport containers 14a and 14b move while being placed on the transport container table 13, the vacuum suction device 47 can be connected to the lens transport containers 14a and 14b, and the inside of the lens transport containers 14a and 14b can be connected. Can be aspirated. Therefore, it is possible to suppress misalignment of the lens materials W1 and W2 and suppress conveyance errors.

  As a result, a conveyance error that has conventionally occurred at intervals of several minutes does not occur for several hours because the lens materials W1 and W2 can be fixed. Therefore, the original performance of the automatic grinding apparatus can be fully exhibited, and labor saving can be achieved.

  In addition, the lens transport containers 14 a and 14 b are attached to the transport container table 13 through a spring 43 so as to be retracted downward. Therefore, it is possible to suppress deformation of members constituting the workpiece transfer device 1 when the lens materials W1 and W2 are delivered. Thereby, the position shift of the lens materials W1 and W2 can be suppressed, and a conveyance mistake can be suppressed. Therefore, reliable conveyance can be performed and the operation efficiency of the workpiece conveyance device 1 and the grinding device 2 can be improved. Further, it is possible to improve the durability of the work transfer device 1 and reduce maintenance work.

  In the workpiece transfer device 1 described above, the turning stop position of the arm support base 11 is set to three positions where the arm 12 faces the directions of P1 to P3, and the arm support base 11 is turned 90 degrees at a time. The turning stop position is switched. The number of turning stop positions, the turning angle, and the turning direction are not limited to the above example. For example, the turning angle when changing the direction from the P1 direction to the P2 direction or from the P2 direction to the P3 direction may be set to an angle different from 90 degrees. Even with such a configuration, it is possible to transport the lens material W in one direction. Alternatively, the number of lens transport containers 14 to be placed on the transport container table 13 may be three or more, and the rotation stop position of the transport container table 13 may be set so that the lens material W can be delivered to each of them.

(Multiple workpiece transfer system)
Next, in the workpiece conveying device 1 described above, a progressive operation is performed in which the lens material W is conveyed in one direction and is supplied to one grinding device 2. In addition to this operation, two grinding devices 2 are arranged on the processing line, and the lens material W conveyed in one direction is simultaneously supplied to the two grinding devices 2 by the two workpiece conveying devices 1. Is also possible. Hereinafter, with reference to FIG. 5, an example of a multiple workpiece transfer system that performs such an operation (parallel feeding operation) will be described.

  As shown in FIGS. 5 (1) to (10), two workpiece transfer apparatuses 1A and 1B are installed along the transfer direction. P2a and P2b are grinding device side lens delivery positions for the two grinding devices 2, respectively. A delivery device 3 is also arranged between the workpiece transfer devices 1A and 2A, and P3a and P3b are processed lens delivery positions between the delivery devices 3. At the start of operation, similarly to the above-described embodiment, the operation starts from a state in which the unprocessed lens material W1 and the processed lens material W2 are set one by one in the workpiece transfer apparatuses 1A and 1B.

  Each of the workpiece transfer apparatuses 1A and 1B performs the operation described in (2) to (5) of the above embodiment. Thereby, unprocessed lens material W1 is supplied to P2a and P2b. Thereafter, as shown in FIG. 5 (1), the workpiece transfer apparatuses 1A and 1B are each in a posture for delivering the processed lens material W2 to the downstream side. Thereafter, by performing the operations shown in FIGS. 5 (2) to (10), the unprocessed lens material W1 is supplied to the downstream work conveyance device 1B via the upstream work conveyance device 1A, and the upstream side. The processed lens material W2 in the lens transport container 14b of the work transport device 1A on the side is sent to the next process via the work transport device 1B on the downstream side.

  Specifically, as shown in FIG. 5 (2), the processed lens material W2 on the side of the workpiece transfer device 1A is held by the transfer device 3 at P3b. On the other hand, the processed lens material W2 on the workpiece transfer device 1B side is sent from the transfer device 3 to the next process at P3a.

  5 (3) and 5 (4), the lens transfer containers 14b of the workpiece transfer apparatuses 1A and 2A are moved to P1 and P3b, respectively, and the workpiece transfer apparatus 1A has an unprocessed lens material W1 from the previous step. And the processed lens material W2 discharged from the work transfer device 1A is supplied to the work transfer device 1B.

  Subsequently, by the operations of FIGS. 5 (5) to 5 (8), the workpiece transfer device 1B transfers the processed lens material W2 discharged by the workpiece transfer device 1A to the transfer device 3 by P3a and sends it to the next process. On the other hand, the workpiece transfer device 1A delivers the unprocessed lens material W1 to the delivery device 3 in P3b.

  Finally, by the operations of FIGS. 5 (9) and 5 (10), the workpiece transfer apparatus 1B receives the supply of the unprocessed lens material W1 from the transfer apparatus 3 in P3b. On the other hand, the workpiece transfer apparatus 1A receives supply of an unprocessed lens material W1 from the previous process in P1.

  With the above operation, the processed lens material W2 is discharged from the two workpiece transfer apparatuses 1A and 1B to the next process, and the unprocessed lens material W1 is supplied. Thereafter, the workpiece conveying devices 1A and 1B can receive the processed lens material W2 from the grinding device 2 by performing the operations described in the above embodiments (9) to (12). The state is the same as when the operation started. Thus, by carrying out each of the above operations continuously, the conveyance to the two grinding apparatuses 2 can be carried out continuously. Therefore, grinding can be performed in parallel by the two grinding apparatuses 2.

It is a perspective view which shows the workpiece | work processing system provided with the workpiece conveyance apparatus to which this invention is applied. It is explanatory drawing of the turning drive device which turns a conveyance container table. It is sectional drawing which shows the lens conveyance container of the workpiece conveyance apparatus of FIG. It is explanatory drawing which shows operation | movement of the workpiece conveyance apparatus of FIG. It is explanatory drawing which shows the workpiece conveyance operation | movement by two workpiece conveyance apparatuses.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1A, 1B Work conveying apparatus 1a Apparatus frame 2 Grinding apparatus 3 Delivery apparatus 11 Arm support stand 12 Table support arm 12A 2nd turning position 12B 1st turning position 12C 3rd turning position 12a Tip part 13 Transfer container table 13A Backward position 13B Advance position 13a Shaft 13b Sleeve 13c Gear 13d Rack 13e Air cylinder device 14a, 14b Lens transfer container 14A Work transfer turning position 21 Lens holder 21a Lens holder 21b Shaft member 21e Holding surface 21 Suction passage 22 Lifting mechanism 22a Upper holder 22b Arm base 22c Feeding mechanism 23 Grinding tool 23a Grinding plate 23b Spindle 23c Electric motor 23d Oscillator 31 Lens holding part 41 Work holder 41a Suction hole 41b Support part 42 Shaft 42b Flange part 42a Suction Passage 43 Spring 44 Packing 45 Connector 46 Air hose 47 Vacuum suction device L Operating axis L1 First turning center line L2 Second turning center line P1 Unprocessed lens receiving position P2, P2a, P2b Lens transferring position P3, P3a on the grinding apparatus side , P3b Processed lens delivery position W, W1, W2 Lens material

Claims (6)

In a workpiece transfer device that carries in and out a workpiece with respect to a workpiece transfer position of a workpiece processing device that performs predetermined processing on a workpiece such as a lens,
At least first and second workpiece transfer containers;
A container transfer table supporting these first and second work transfer containers;
A table support arm that supports the container transport table in a rotatable state;
An arm support that supports the table support arm in a linearly movable state;
The transfer container table is turned around a first turning center line that is equidistant from the first and second work transfer containers, and the first and second work transfer containers are selectively used for workpiece transfer. Can be positioned in the swivel position,
The table support arm is capable of linearly moving on a plane intersecting the first turning center line to position the transfer container table at a forward position and a backward position,
The arm support base is capable of turning around a second turning center line parallel to the first turning center line and positioning the table support arm at a first turning position;
The first and second workpiece transfer containers are closer to the second turning center line when the transfer container table is at the retracted position than when the transfer container table is at the advanced position.
When the table support arm is positioned at the first swivel position, the transfer container table is positioned at the advance position, and the first or second work transfer container is positioned at the work transfer swivel position, the work transfer hand A workpiece transfer apparatus, wherein a workpiece transfer container positioned at a turning position is positioned at the workpiece transfer position. In the workpiece conveyance apparatus of Claim 1,
The workpiece receiving position for receiving the workpiece before machining and the workpiece delivery position for delivering the workpiece after machining are defined,
The first work transport container is a supply-side work transport container for transporting a work before processing, and the second work transport container is a discharge-side work transport container for transporting a processed work,
The arm support base is turned about the second turning center line, and the table support arm is turned by a predetermined angle in one direction from the first turning position, and a predetermined angle in the opposite direction. Can be positioned at the third turning position that has just turned,
When the table support arm is positioned at the second turning position, the transfer container table is positioned at the advance position, and the supply-side work transfer container is positioned at the workpiece transfer turning position, the supply-side work transfer container is Positioned at the workpiece receiving position,
When the table support arm is positioned at the third turning position, the transfer container table is positioned at the forward movement position, and the discharge-side work transfer container is positioned at the work transfer turning position, the discharge-side work transfer container is A workpiece transfer device positioned at the workpiece delivery position. In the workpiece conveyance apparatus of Claim 1,
Each work conveyance container is provided with the adsorption | suction part for adsorbing-holding the workpiece | work of conveyance object by vacuum suction, The workpiece conveyance apparatus characterized by the above-mentioned. In the workpiece conveyance apparatus of Claim 1,
The work transfer apparatus is characterized in that the transfer container table supports each work transfer container in a retractable state in a predetermined direction. A work transfer method using the work transfer device according to claim 2, wherein:
The operation of turning the arm support and positioning the table support arm to any one of the first to third turning positions is performed with the transfer container table positioned at the retracted position. A workpiece transfer method for a workpiece transfer apparatus. Having at least two workpiece transfer devices,
These workpiece conveyance devices are workpiece conveyance devices according to any one of claims 2 to 4,
The multiple workpiece transfer system, wherein the workpiece delivery position of one workpiece transfer device is the workpiece receiving position of the other workpiece transfer device.

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