JP2012213842A - Device for machining thin planar material and method for manufacturing thin planar material - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for machining a thin planar material capable of suppressing a high cost of the whole device and making maintenance relatively easy.SOLUTION: The device for machining the thin planar material includes a carry-out and carry-in unit where a traveling body travels along a first rail and carries in and carries out a material to be machined, and a plurality of machining units arranged along the first rail and machining the material to be machined. The plurality of the machining units have second rails arranged so that a machining table holding the material to be machined is moved from a machining position to the delivery position of the material to be machined. The carry-in and carry-out unit includes a rotating body mounted to the traveling body and rotating around an axis along the arranging direction of the first rail, and further includes holding parts of the material to be machined arranged at the rotating body and disposed in at least two places that selectively face the machining table at the delivery position by the rotation of the rotating body.

Description

  The present invention relates to a thin plate processing apparatus and a method for manufacturing a thin plate member.

  As a thin plate processing apparatus, for example, a grinding apparatus that performs end surface grinding of a substantially rectangular thin plate-shaped workpiece is known, and this grinding apparatus performs end surface grinding of a thin glass used in a portable terminal such as a mobile phone. Used to do. A thin glass plate is often used for the monitor of this portable terminal. Such a thin plate glass is generally cut out from a large glass plate in a roughly workpiece shape, and the end face of the cut out glass plate is accurately ground by a grinding device to be formed into a predetermined shape. In particular, at the time of this grinding, chamfering is also performed to prevent chipping of the end surface of the thin glass.

  In recent years, for example, mobile terminals such as mobile phones have been increasing in which all or one side of a mobile terminal is configured as a display screen. In such cases, the screen is often made into a touch panel, and the number of portable terminals whose entire surface is covered with thin glass is increasing.

  The present inventor is a grinding apparatus that grinds an end surface of a workpiece such as a thin glass used for a display screen of a portable terminal such as the above-described mobile phone. The invention according to Japanese Patent Application No. 2009-297944 has been completed as a grinding apparatus capable of performing grinding without using marks or the like on the surface of the workpiece while being well processed.

  In this Japanese Patent Application No. 2009-297944, a specific example is disclosed in which a three-joint SCARA robot is used as a transporting / unloading unit for transporting and unloading a workpiece to / from the processing unit. However, this three-joint SCARA robot is expensive, which leads to an increase in the cost of the entire thin plate processing apparatus. Further, when the SCARA robot fails, maintenance is difficult.

  In addition, as a grinding apparatus, the thing of Unexamined-Japanese-Patent No. 2002-170797 is also well-known. Even in the grinding described in Japanese Patent Application Laid-Open No. 2002-170797, since a transfer robot is used as a transfer / unload unit for transferring and unloading a workpiece to / from the processing unit, the high price of the entire thin plate processing apparatus is high. In addition, there is a problem that maintenance of the transfer robot is difficult.

JP 2002-170797 A

  Therefore, an object of the present invention is to provide a thin plate material processing apparatus and a method for manufacturing a thin plate member, which can suppress the high cost of the entire apparatus and are relatively easy to maintain.

The thin plate processing apparatus of the present invention,
A thin plate processing apparatus for processing a thin plate workpiece,
A transporting / unloading unit having a traveling body that travels along the first rail and the first rail and transports and unloads the workpiece;
A supply unit that is disposed on one side near the starting end of the first rail and that supplies an unprocessed workpiece to the transporting and unloading unit;
A discharge unit that is disposed on the other side near the starting end of the first rail, and that discharges the processed workpiece from the transport and carry-out unit; and is disposed along the first rail, and the workpiece is It has multiple processing units to process,
A processing table that holds the workpiece to be processed by each of the plurality of processing units, and a delivery position at which the processing table transfers the conveyance / discharge unit and the workpiece from the processing position in a direction crossing the first rail. A second rail arranged to move between
The transporting / unloading unit is
A rotating body that is attached to the traveling body and rotates about an axis along the arrangement direction of the first rail, and is provided on the rotating body, and is selectively applied to the processing table at the delivery position by the rotation of the rotating body. It further comprises workpiece holding parts disposed at at least two locations facing each other.

  The thin plate processing apparatus supplies an unprocessed workpiece to the workpiece holding unit by a supply unit, and then travels the traveling body to the delivery position of the processing table and holds the workpiece on the workpiece holding unit. By transferring the processed workpiece to the processing table, an unprocessed workpiece can be conveyed to the processing table. In addition, the workpiece holding unit receives the processed workpiece held by the processing table at the delivery position, and then travels the traveling body to the discharge position by the discharge unit, and the processed workpiece held by the workpiece holding unit. By discharging the workpiece by the discharge unit, the processed workpiece on the processing table can be discharged. In particular, since the workpiece holding parts are provided in at least two places, the above-described transport procedure and the discharge procedure can be performed substantially continuously. That is, for example, the traveling body is caused to travel to the delivery position of the processing table in a state where an unprocessed workpiece is held in one workpiece holding portion and a workpiece is not held in the other mineral holding portion, and the other workpiece holding portion is held. The workpiece holder receives the processed workpiece from the machining table by the workpiece holder, and then rotates the rotating body to deliver the workpiece as described above to the empty machining table. The workpieces held by the workpiece holder can be transferred to the machining table.

  In addition, since a plurality of processing units are arranged along the first rail, while performing the above-described transporting and unloading operation in one processing unit, for example, a grinding operation or the like in another processing unit. Thus, the productivity can be improved.

  Furthermore, since the machining table is moved from the delivery position to the machining position by the second rail, the workpiece delivery area and the machining area can be partitioned.

  Furthermore, since the traveling body travels along the first rail and the processing table travels along the second rail, the cost is higher than when a conventional transport unit is used. In addition to being able to be suppressed, failure is unlikely to occur and maintenance is easy.

  In addition, since the discharge unit is disposed at a position between the supply unit and the first rail, the workpiece holding unit is disposed at the position of the traveling body that discharges the workpiece of the workpiece holding unit by the discharge unit. The workpiece can be supplied to the supply unit. Furthermore, since the rotating body rotates around an axis along the arrangement direction of the first rail, it is suitable for delivery of a workpiece to and from a supply unit and a discharge unit provided at a position sandwiching the first rail. The workpiece holder can be positioned at the position (angle).

  In addition, since the supply unit and the discharge unit are provided near the starting end of the rail, the supply part and the discharge part of the workpiece are arranged on one side of the thin plate processing apparatus (the side on the starting end side of the first rail). can do.

  In the thin plate processing apparatus, it is preferable to adopt a configuration in which the rotating body is attached to the traveling body so as to be able to approach and separate from the processing table at the delivery position. In other words, it is necessary for the processing table and the workpiece holding part to approach and separate from each other for delivery of the workpiece. For example, if the processing table is moved up and down, the structure may be complicated. As described above, the rotating body is attached to the traveling body so as to be able to approach and leave, so that the structure becomes simple, the cost of the apparatus is prevented, a failure or the like hardly occurs, and maintenance is easy.

  Moreover, in the said thin plate-shaped object processing apparatus, it is preferable to employ | adopt the structure in which a conveyance carrying-out means is further provided with the camera attached to the traveling body. Thus, an unprocessed workpiece held on the processing table can be photographed by the camera, and the machining operation can be accurately performed using the photographed data. That is, it is possible to perform a grinding operation with an accurate grinding path based on, for example, camera data. Although it is conceivable to install multiple cameras for each processing table, it is necessary to install multiple cameras by adopting a configuration that attaches the camera to the traveling body as described above. Without increasing the cost of the apparatus.

  Further, when the camera is provided as described above, the camera is attached to the traveling body on the opposite side of the processing table at the delivery position from the rotating body, and the processing at the delivery position from the camera is performed on the rotating body at a predetermined rotation angle. It is preferable to employ a configuration in which a viewable region where the table is visible is formed. Thus, after the unprocessed workpiece is delivered to the processing table, the workpiece held on the processing table by the camera can be photographed without moving the traveling body. In particular, since the camera is positioned on the opposite side of the processing table at the transfer position relative to the rotating body, the distance between the camera and the workpiece can be increased, whereby the entire workpiece can be photographed with good focus. . Furthermore, since a visible region is formed on the rotating body, the workpiece on the processing table can be visually recognized from the camera by rotating the rotating body after delivering the unprocessed workpiece to the processing table. You can shoot the workpiece.

  Further, in the thin plate material processing apparatus, the rotating body has a pair of opposed walls facing each other, and the workpiece holding portion is provided on each of the opposed walls toward the outside. It is preferable to adopt. Thereby, when one workpiece holding part is positioned toward the supply unit side, the other workpiece holding part is positioned toward the discharge unit at a position sandwiching the supply unit and the first rail. become. For this reason, it is easy to supply the unprocessed workpiece by the supply unit and discharge the processed workpiece by the discharge unit at the same time, and it is possible to shorten the time for conveying and unloading the workpiece, thereby improving productivity. Can be improved.

  Further, in the thin plate material processing apparatus, the processing table has a plurality of holding means capable of holding the workpieces, and each of the at least two workpiece holding parts includes the holding means. It is preferable to employ a configuration having a plurality of workpiece holding means corresponding to the above. Thereby, a plurality of workpieces can be held by a plurality of workpiece holding means formed in the workpiece holding portion, and the plurality of workpieces can be supplied to the plurality of holding means. A plurality of workpieces processed on the table can be received by a plurality of workpiece holding means. In this way, a plurality of workpieces can be conveyed and carried out by a single conveyance / unloading operation, and the plurality of workpieces can be processed on the machining table, so that productivity can be further improved.

  Moreover, in the said thin plate-shaped object processing apparatus, it is preferable to employ | adopt the structure by which all the some processing units are arrange | positioned so that a processing position may be located in the same side with respect to a 1st rail. Thereby, on the side where the processing position of the processing unit is not provided, the first rail can be disposed on the side surface of the apparatus, and there is an advantage that the transport unit can be easily repaired or inspected.

  Furthermore, the thin plate processing apparatus further includes control means for controlling the operation of the traveling body and the rotating body, and the control means supplies one of at least two workpiece holding parts. A step of supplying an unprocessed workpiece through the unit, a step of causing the traveling body holding the unprocessed workpiece in the workpiece holding section to travel to the transfer position of the processing table, and a processing table at the transfer position. The step of receiving the processed workpiece to be held by the other of the at least two workpiece holding portions, rotating the rotating body, and transferring the processed workpiece to the one of the processing tables. A step of delivering an unprocessed workpiece held by the workpiece holder, and a traveling body holding the processed workpiece in the workpiece holder is discharged by the discharge unit. Step allowed to travel to the position, and it is preferable to adopt a configuration for controlling to perform the step of discharging through the discharge unit the processed of the workpiece workpiece holding portion of the other is held. By such control of the control means, the conveyance procedure and the discharge procedure can be performed substantially continuously and accurately, and the productivity can be accurately improved.

  As described above, in the present invention, the transport / unload unit and the plurality of processing units are movably provided along the first rail and the second rail, respectively, and have a simple structure. Therefore, it is possible to reduce the cost as compared with the case where a conventional transport unit is employed, and it is difficult to cause a failure and maintenance is easy.

It is a schematic plan view for demonstrating the grinding apparatus of 1st embodiment of the thin plate-shaped object processing apparatus which concerns on this invention. FIG. 2 is a side view including a partial cutout of a conveying / unloading unit of the grinding apparatus of FIG. FIG. 2 is a front view of a conveying / unloading unit of the grinding apparatus of FIG. 1 (however, illustration of a rotating body is omitted). It is a top view of the conveyance carry-out unit of the grinding apparatus of FIG. It is a top view of the rotary body of the grinding apparatus of FIG. It is a side view of the rotary body of the grinding apparatus of FIG. It is a front view of the rotary body of the grinding apparatus of FIG. It is a typical perspective view showing typically delivery of a work with a processing table by a conveyance carry-out unit of the grinding device of Drawing 1. It is the typical perspective view which represented typically the state of the supply and discharge | emission of the workpiece | work in the conveyance carry-out unit of the grinding apparatus of FIG. It is a top view of the process table in which the 1st adsorption stand of the grinding device of FIG. 1 was installed. It is a top view of the process table in which the 2nd adsorption stand of the grinding device of FIG. 1 was installed. It is a top view of the process table in which the 3rd adsorption stand of the grinding device of FIG. 1 was installed. It is a front view of the 1st holding | maintenance base of the grinding device of FIG. It is the flowchart which showed the control method of the grinding device of FIG. It is explanatory drawing explaining the processing and calculation method of the image | photographed data in the grinding apparatus of FIG.

  Hereinafter, a grinding apparatus as an embodiment of a thin plate processing apparatus according to the present invention will be described with reference to FIGS. In this specification, “grinding” is not only for cutting the end face of a workpiece for the purpose of dimensional accuracy, but also slightly shaving the end face of the workpiece to obtain a desired surface roughness (hereinafter referred to as polishing). It is also used in a sense that includes cases.

  First, the overall configuration of the grinding apparatus M will be described with reference to FIGS. Although not specifically shown in each drawing, the grinding apparatus M is also provided with a guard plate (not shown) around it to ensure the safety of the operator, as is well known.

  This grinding apparatus M conveys and carries the workpiece W to and from a plurality of (four) grinding units 100 (processing units) for grinding a workpiece W (workpiece) which is a thin glass for a mobile phone. A conveyance / unloading unit 10, a supply unit 60 for supplying the workpiece W to the conveyance / unloading unit 10, and a discharge unit 70 for discharging the workpiece W from the conveyance / unloading unit 10 are provided.

  As shown in FIG. 1, the transporting / unloading unit 10 includes a first rail 11 arranged linearly and a traveling body 13 that travels along the first rail 11. The plurality of grinding units 100 are all provided on one side (on the right side in the drawing) of the first rail 11. The plurality of grinding units 100 includes a second rail 101 disposed in a direction orthogonal to the first rail 11, a processing table 103 that travels along the second rail 101, and a mounting table. The processing table 103 moves between the delivery position of the workpiece W, which is directly below the traveling body 13 of the transporting / unloading unit 10, and the processing position on the outside (right side) thereof. It is provided to do.

  As shown in FIG. 2, the transporting / unloading unit 10 includes a rotating body 25 that is rotatably mounted on the traveling body 13 and is movable up and down, and a workpiece holding unit 27 that is provided at two locations of the rotating body 25. And further.

  The rotating body 25 is provided in a substantially rectangular parallelepiped shape, and the two work piece holding portions 27 are provided outward on opposite side walls of the rotating body 25 as shown in FIG. In the present embodiment, the state in which the pair of workpiece holding parts 27 are located on the side is described as a normal state, and unless otherwise specified, terms such as up, down, left, and right are used in this normal state. .

  Each workpiece holding part 27 has a plurality (three) workpiece holding members 29 (workpiece holding means) in the arrangement direction of the first rail 11, and a plurality of workpieces W (simultaneously) ( 3) Can hold. Each workpiece holding member 29 is attached to a pedestal 31 fixed to the side wall of the rotating body 25 so as to protrude outward. A plurality (three) of pedestals 31 are arranged on the side wall of the rotating body 25 in the arrangement direction of the first rail 11. As shown in FIG. 5, each pedestal 31 is formed with an intake passage 31 a along the vertical direction. Each pedestal 31 is formed with a plurality of attachment holes to which the workpiece holding member 29 is attached so as to communicate with the intake passage 31a. The workpiece holding member 29 is attached to one of the plurality of attachment holes, and a cap 33 is attached to the other attachment hole and closed.

  As shown in FIG. 5, the rotator 25 is provided with a notch window 25a formed on the upper wall and the bottom wall, and is provided so as to be visible from above to below the rotator 25 through the notch window 25a. . That is, a visible region that can be viewed from above to below is formed by the cutout window 25a. It is also possible to provide the rotating body 25 with illumination means for illuminating the workpiece W on the processing table 103. Specifically, an illumination frame in which light sources such as LEDs are arranged in a frame shape may be provided in the cutout window 25a on the bottom wall of the rotating body 25 so that the work W is illuminated when the camera 23 is photographed. Is possible.

  The rotating body 25 is provided so as to be rotatable and reversible around an axis 37 parallel to the direction in which the first rail 11 is disposed, and is 90 ° in one direction (for example, clockwise) and the other direction (for example, counterclockwise). ) (Rotation) is provided so as to be able to rotate (reverse) 90 ° (hereinafter, may be negatively labeled as “−90 °”). Specifically, the rotating body 25 is provided so as to rotate so that the two workpiece holding portions 27 are directed downward. Further, the rotating body 25 is provided so as to be movable up and down, and is provided so as to be able to approach and separate from the processing table 103 at the delivery position. As described above, the rotating body 25 is in a state where the workpiece holding portion 27 faces downward. The workpiece W is transferred between the workpiece holding unit 27 and the machining table 103 by moving 25 downward.

  The rotating body 25 is attached to the traveling body 13 via a vertical rotation mechanism 35. As shown in FIGS. 2 and 3, the vertical rotation mechanism 35 includes a shaft 37 to which the rotary body 25 is fixed, a bearing member 39 that rotatably supports the shaft 37, and the traveling body 13 in the vertical direction. A pair of shafts 41 fixed along the upper and lower sides, a vertical guide member 43 having a bush housing (not shown) slidable on the pair of shafts 41 at both ends, and fixed to the bearing member 39, and fixed to the traveling body 13. And a cylinder 45 for moving the vertical guide member 43 up and down. Here, the bearing member 39, the pair of shafts 41, the vertical guide member 43, and the cylinder 45 are provided on both ends of the shaft 37. The cylinder 45 and the vertical guide member 43 are connected and fixed via an L-shaped member 47. Further, the cylinder 45 is composed of an air cylinder. In addition, an actuator (not shown) for rotating the shaft 37 is fixed to the vertical guide member 43. 2 and 3, reference numeral 51 denotes a wheel that travels on the first rail 11, and four wheels 51 are rotatably attached to lower portions of the four corners of the traveling body 13.

  The traveling body 13 includes a lower frame body 15 in which the rotating body 25 is disposed, and an upper frame body 17 fixed to the upper portion of the lower frame body 15.

  The transport / unload unit 10 further includes a camera 23 attached to the upper portion of the traveling body 13. On the traveling body 13, a standing frame 19 is erected and fixed upward on the upper frame body 17, and the camera bracket 21 protrudes toward the center side of the traveling body 13 on the upper portion of the standing frame 19. The camera 23 is fixed to the camera bracket 21 with the shooting direction facing downward. The traveling body 13 has a notch window 17a formed on the upper wall of the upper frame body 17, and is provided so that no other member exists below the notch window 17a. As a result, a visible region that can be visually recognized from the camera 23 to the processing table 103 positioned below the rotating body 25 is formed in the traveling body 13.

  The supply unit 60 and the discharge unit 70 are disposed at the start end of the first rail 11, and the plurality of grinding units 100 are sequentially disposed toward the end side of the first rail 11. The supply unit 60 and the discharge unit 70 are disposed so as to face each other with the first rail 11 interposed therebetween (see FIG. 9). In the present embodiment, the plurality of grinding units 100 are disposed on the discharge unit 70 side (right side) with respect to the first rail 11.

  The supply unit 60 includes a mounting table (not shown) for a work cartridge 61 for standing and holding an unprocessed work W, a supply holding member 63 for holding (sucking) the work W of the work cartridge 61, and the supply holding. There is a moving mechanism (not shown) that moves the member 63 up and down and moves in the horizontal direction (horizontal direction perpendicular to the first rail 11). In the supply unit 60, the unprocessed workpiece W standing on the work cartridge 61 is held by the supply holding member 63, and the supply holding member 63 is moved in the vertical and horizontal directions by the moving mechanism. 70 is provided so as to be supplied to the workpiece holding portion 27 of the conveyance / unloading unit 10 existing between 70.

  Similarly to the supply unit 60, the discharge unit 70 holds a work cartridge 71 (not shown) on which a processed work W is erected and holds the work W transferred to the work cartridge 71 ( A discharge holding member 73 to be adsorbed and a moving mechanism (not shown) for moving the discharge holding member 73 in the vertical direction and moving in the horizontal direction (horizontal direction orthogonal to the first rail 11). The discharge unit 70 holds the workpiece W of the workpiece holding unit 27 of the transport / unload unit 10 existing between the supply unit 60 and the discharge unit 70, and the discharge holding member 73 is moved in the vertical and horizontal directions by the moving mechanism. The work cartridge 71 is provided to deliver the work W. In the illustrated example, two work cartridges 61 and 71 are provided in each of the supply unit 60 and the discharge unit 70, but the number of the work cartridges 61 and 71 can be changed as appropriate. It is. Although various types of work cartridges 61 and 71 can be adopted, for example, the work cartridges 61 and 71 can be configured to be partitioned by a resin wall so that the works W are erected in three rows in the left-right direction.

  The work cartridges 61 and 71 can be loaded and unloaded in various forms. For example, the work cartridges 61 and 71 are placed on drawer-like structural members (not shown), respectively. A member is attached to the apparatus M so as to be slidable in the horizontal direction between a storage position of the work cartridges 61 and 71 (inside the apparatus M) and a loading / unloading position of the work cartridges 61 and 71 (outside the apparatus M). The slide of the drawer-like structural member can be provided manually by an operator, but is controlled by a control means to be described later so that it cannot slide when the supply unit 60 or the discharge unit 70 is operated. It is preferable.

  The processing table 103 includes a stage base 105 slidably mounted on the second rail 101, and a holding base 107 detachably mounted on the stage base 105. On the holding base 107, a suction stand 108 (holding stand) for holding the workpiece W is placed and fixed. In the present embodiment, three suction tables 108 are mounted and fixed corresponding to the number of workpiece holding members 29 of the transport / unload unit 10.

  Note that a plurality of types (three types) of holding bases 107 are provided on the stage base 105 so as to be detachable. Specifically, on the stage base 105, as shown in FIG. 10, three first suction bases 108 each holding a small work W are fixed upright. 11, a second holding base 107 on which one second suction stand 108 for holding one large workpiece W is fixed upright, and a medium-sized workpiece W as shown in FIG. The two third adsorption bases 108 are provided so that one of the three holding bases 107 of the third holding base 107 fixed upright can be selectively attached. That is, the processing table 103 includes a plurality of first suction tables 108 that respectively hold small workpieces W, a second suction table 108 that holds large workpieces W, and a third one that holds medium-sized workpieces W. It is provided so that any one of the suction stands 108 can be selected and installed.

  The first holding base 107, the second holding base 107, the third holding base 107, and the stage base 105 are provided with positioning means for positioning the mounting position. Specifically, the holding base 107 has a base plate 109 having substantially the same shape in each holding base 107 at the lower portion, and each base plate 109 has a pair of positioning hole portions near both sides. 111 is drilled. The stage base 105 is provided with a positioning pin 113 that can be inserted into the positioning hole 111. For this reason, the holding bases 107 are positioned and placed on the stage base 105 by inserting the positioning pins 113 through the positioning holes 111.

  Furthermore, the first holding base 107, the second holding base 107, the third holding base 107, and the stage base 105 are provided with fixing means for fixing them. . Specifically, the base plate 109 of each holding base 107 has a plurality of bolt insertion holes (not shown), and the stage base 105 corresponds to the bolt insertion holes. A female screw 117 to which the bolt 115 is screwed is formed at a position where the bolt 115 is to be fitted. Therefore, the holding base 107 positioned and placed on the stage base 105 can be fixed by the bolt 115. The holding base 107 can be detached from the stage base 105 by removing the bolt 115.

  On the stage base 105, a plurality of reference pins 116 (reference parts) for calculating the machine origin in grinding are erected so as to face the camera 23 side (upper side). As shown in FIGS. 10 to 12, the reference pin 116 is disposed outside the upper surface (receiving surface) of the suction table 108 installed on the processing table 103 and is held by the suction table 108. It is arranged outside the outer shape of the workpiece W. Note that the upper surface of the suction stand 108 is provided in an outer shape that is substantially similar to the outer shape of the workpiece W and slightly smaller than the outer shape of the workpiece W.

  The reference pin 116 is formed not only on the stage base 105 but also on the first holding base 107 on which a small work W is held. Two reference pins 116 are erected on the first holding base 107. The two reference pins 116 are disposed on both sides of the central suction stand 108, and one reference pin 116 is disposed on the front side and the other reference pin 116 is disposed on the rear side.

  In addition, each reference pin 116 described above has the same height as the height of the top surface of the suction stand 108 in the same manner as in the first embodiment. Is set to

  Further, the suction table 108 (holding table) of each holding base 107 is provided with an intake port (not shown) on the upper surface, and a negative pressure connection port 123 for making the intake port have a negative pressure. ing. In addition, it is possible to provide the upper surface of the three suction stands 108 provided on the first holding base 107 and the two suction stands 108 provided on the third holding base 107 with different sizes. It is. Thereby, workpieces W having various shapes can be held on the same holding base 107. It is also possible to change the design as appropriate so that the upper surfaces of the three suction stands 108 provided on the first holding base 107 have the same shape and each suction stand 108 can hold a plurality of workpieces W having the same shape. It is a matter. In addition, in order to prevent the surface of the workpiece W, which is a thin glass plate, from being damaged, the upper surface of the suction table 108 is smoothed.

  The processing machine 104 of the grinding unit 100 is detachably provided with a processing tool 130 that performs processing such as grinding on the end surface of the workpiece W (thin glass) on the processing table 103. This processing tool 130 grinds the end surface of the workpiece W which contacts by rotating, for example. In addition, as the processing tool 130, a tool that makes a hole in contact with the workpiece W can be employed. A plurality of types of processing tools 130 are placed on the processing table 103, and are provided so that the processing tools 130 can be attached to the processing machine 104 according to the purpose. Specifically, for example, by using a processing tool made of a large-diameter cylindrical grindstone, the processing tool can be stably ground during grinding, so that the processing accuracy can be increased and the processing tool is large. Because of the diameter, the tool life of the tool can be extended, and the workpiece W can be ground continuously in large quantities. On the other hand, by using a processing tool made of a small-diameter columnar grindstone, it is possible to perform internal grinding or chamfering of the hole by inserting it into the hole of the workpiece W.

  Further, the processing machine 104 has a processing spindle (not shown) that attaches the processing tool 130 to the tip of the processing machine 104 in a detachable manner. The machining spindle includes an electric motor (not shown) that generates a rotational driving force when machining, and a chuck that attaches a machining tool to the spindle shaft of the electric motor.

  The processing spindle (processing machine 104) is provided so as to be movable along the arrangement direction of the first rail 11. For this reason, by moving the machining table 103 and the machining spindle, the machining tool is provided so as to be movable in the horizontal direction (front / rear / left / right direction) relative to the workpiece W on the machining table 103. The machining spindle is provided so as to move also in the vertical direction.

  In addition, it is preferable that the grinding unit 100 further includes a grinding fluid ejecting unit (not illustrated) that ejects the grinding fluid toward the processing tool 130 attached to the processing spindle. Further, the grinding unit 100 is provided with a bellows cover (not shown) or the like so that the grinding fluid scattered during the grinding does not enter the delivery position or the like. Although not shown in detail, a catch pan (not shown) for collecting the grinding fluid sprayed onto the workpiece W is preferably provided.

  The grinding apparatus M has control means for controlling various operations. Here, as a control means, it can comprise from an electronic control unit, for example.

  The control means controls the unprocessed workpiece W to be supplied to the processing table 103 by the transporting / unloading unit 10 and unloading the processed workpiece W from the processing table 103. This transporting / unloading method will be described below. To do.

  First, when the grinding operation is started, the transporting / unloading unit 10 is positioned on the start end side of the first rail 11. Then, the supply unit 60 receives the unprocessed workpiece W from the workpiece cartridge 61, and the supply unit 60 transfers the unprocessed workpiece W to the workpiece holding unit 27 on one side of the transport / unload unit 10. At the time of delivery, suction and stop of the workpiece holding unit 27 of the transport / unload unit 10 and the suction unit of the supply unit 60 are controlled. Such a suction and stop is also controlled during the delivery of the workpiece W, which will be described later, and a detailed description thereof will be omitted below.

  The transporting / unloading unit 10 that has received the unprocessed workpiece W moves to the delivery position of one of the grinding units 100. At this time, the processing table 103 of the grinding unit 100 is also moved to the delivery position.

  Then, the rotating body 25 rotates 90 °, and the workpiece holding part 27 holding the workpiece W is set to the lower side so that the workpiece W and the machining table 103 face each other. Then, the rotating body 25 descends and delivers the workpiece W to the machining table 103.

  Thereafter, the rotator 25 rotates (inverts) by −90 °, and the camera 23 photographs the workpiece W on the processing table 103.

  After the photographing, the processing table 103 is moved to the processing position, the grinding operation is started, and the conveyance / unloading unit 10 is moved to the starting point side of the first rail 11.

  The conveying operation as described above is performed for each grinding unit 100, and the workpiece W is supplied to each grinding unit 100.

  When the grinding operation is completed in the grinding unit 100, the processing table 103 moves to the delivery position. Further, the transport / unload unit 10 moves to the delivery position in a state where the unprocessed workpiece W is held in the workpiece holding portion 27 on one side. At this time, the work piece holding part 27 on the other side is in an empty state where the work W is not held.

  Thereafter, the rotating body 25 is rotated (inverted) by −90 °, and the workpiece W and the machining table 103 are faced with the other-side workpiece holding portion 27 not holding the workpiece W facing downward. Then, the rotating body 25 descends and receives the processed workpiece W from the processing table 103.

  Then, the rotating body 25 is rotated 180 °, and the workpiece holding part 27 holding the workpiece W is set to the lower side so that the workpiece W and the machining table 103 face each other. Then, the rotating body 25 descends and delivers the workpiece W to the machining table 103.

  Thereafter, the rotator 25 rotates (inverts) by −90 °, and the camera 23 photographs the workpiece W on the processing table 103.

  After the photographing, the processing table 103 is moved to the processing position, the grinding operation is started, and the transport / unloading unit 10 is moved to the start point side of the first rail 11.

  Then, after moving to the starting point side of the first rail 11, the discharge unit 70 receives the processed workpiece W from the workpiece holding part 27 on the other side of the transport / unload unit 10, and the processed workpiece W has been processed. While being accommodated in the work cartridge 61 of the work W, the supply unit 60 receives the unprocessed work W from the work cartridge 61 of the unprocessed work W, and the supply unit 60 receives the unprocessed work W on one side of the transport / unload unit 10. The workpiece is transferred to the workpiece holder 27.

  In this way, the transport / unload unit 10 that has received the unprocessed workpiece W moves to the delivery position of another grinding unit 100 for which the grinding operation has been completed, and the transport / transport operation as described above is repeated.

  Further, the control means calculates the grinding path of the workpiece W based on the data photographed by the camera 23. The control method at the time of this calculation will be described with reference to FIGS.

  As shown in the flowchart of FIG. 14, after starting, first, in S1, model data (outer shape, hole, etc.) of the workpiece W is input (installed) into the electronic control unit (input process). In this input work, for example, design data (CAD data) of the workpiece Wo that has been precisely machined is once taken into another software and converted into grinding data such as a grinding path, and then input (installed) to the electronic control unit. )

  After such input work is completed, next, in S2, an actual work Wi (hereinafter, actual work W) is placed (loaded) on the processing table 103, and the work Wi is held on the suction table 108 (holding step). ).

  Thereafter, in S3, the camera 23 captures images of the actual workpiece Wi and the reference pins 116 and 116 (imaging process). Specifically, the work 23 and the reference pins 116 and 116 on the processing table 103 are photographed by the camera 23. Thus, by photographing the processing table 103 from a position away from the upper side, distortion of image data of the workpiece Wi to be taken in and the reference pins 116 and 116 can be reduced as much as possible.

  An example of the image data captured in this way is shown in FIG. The work Wi and the two reference pins 116 and 116 are taken in as image data, and each position data is calculated.

  In S4, the machine origin C of the machining table 103 is calculated from the positions of the reference pins 116 and 116 (machine origin calculation step). Here, the machine origin C is a reference for machine coordinates for performing grinding, and by specifying the machine origin C, accurate grinding can be performed.

  The machine origin C is determined by the midpoint of the line L connecting the two reference pins 116 and 116 as shown in FIG. As another example, as indicated by a broken line, two reference pins 116 ′ and 116 ′ are added, and a line N connecting the two added reference pins 116 ′ and 116 ′ and the two reference pins are added. An intersection point with the line L connecting the pins 116 and 116 may be defined as the machine origin C.

  In S5, the center of gravity position P of the outer shape Wa of the actual work Wi and the center of gravity position Q of the hole Wb are calculated from the captured data of the actual work Wi (center of gravity position calculating step). Here, the center-of-gravity position is the position of the center of gravity of the figure, and is determined by the outer shape and hole shape of the workpiece W. The black circles P and Q shown in FIG. 15B are the gravity center positions of the outer shape Wa and the hole Wb of the actual workpiece W, respectively.

  After that, in S6, the center of gravity position of the actual workpiece Wi (the center of gravity position P of the outer shape and the center of gravity position Q of the hole) is matched with the center of gravity of the model Wm (the center of gravity position Pm of the outer shape and the center of gravity position Qm of the hole). By making the center of gravity positions P and Q of the actual workpiece W coincide with the center of gravity positions Pm and Qm of the model Wm, the difference (position data difference) between the actual workpiece Wi and the model Wm is clarified. The state shown in FIG. 15C is a state in which the center of gravity P, Q, Pm, and Qm of the actual workpiece Wi and the model Wm (one-dot chain line) are matched. Thus, by making the gravity center positions P, Q, Pm, and Qm coincide, the difference between the actual work Wi and the model Wm can be clarified.

  In S7, the machine origin C of the machining table 103 and the center of gravity position P of the actual work Wi are compared, and the amount of deviation between the machine origin C and the center of gravity P of the actual work Wi (lateral deviation X, vertical The displacement amount Y in the direction and the displacement amount θ in the rotation direction are calculated (deviation amount calculation step). Further, the actual workpiece Wi and the model Wm are compared, and the amount of cutting Δw is also calculated based on the external shape difference. Thus, the grinding amount of the actual workpiece Wi can be clarified.

  FIG. 15D shows the amount of deviation and the amount of cutting. The deviation amount of the center of gravity position P of the actual workpiece Wi from the machine origin C of the machining table 103 is, for example, as shown in this figure, X on the left side, Y on the upper side, and θ on the right side. It is inclined to.

  Then, the amount of cutting is calculated by subtracting the model width dimension T1 from the width dimension r1 of the actual workpiece Wi and dividing the result by dividing the amount of cutting Δw1 in the width direction by 2. It is calculated by subtracting the model length dimension T2 from the length dimension r2 of the actual workpiece Wi and dividing by 2.

  Thus, after obtaining the cutting amounts Δw1 and Δw2 in the width direction and the length direction, a large value is determined as the final cutting amount Δw. This is determined by the locus similar to the model shape when grinding, and since the entire circumference of the workpiece W is cut with a constant cut amount, it is determined by setting it to a large value. This is because it is possible to surely cause the grinding and to grind to a shape closer to the model shape.

  In S8, the grinding path of the workpiece Wi is calculated according to the amount of deviation of X, Y, θ and the amount of cutting Δw (grinding path calculation step). This grinding path varies depending on the shape of the actual workpiece Wi and the variation of the placement position of the actual workpiece Wi, and is different for each workpiece W.

  Thereafter, in S9, the actual workpiece Wi is ground by the calculated grinding path (grinding process). This grinding operation is performed by moving the grinding spindle 131 and the processing table 103, respectively. The grinding operation of the workpiece W is performed according to the grinding portion using the large-diameter machining tool 130A and the small-diameter machining tool 130B.

  Finally, in S10, the actual workpiece Wi is taken out from the machining table 103 as described above (unloading step).

  Next, it is determined whether or not the work is finished in S11. If the work continues (in the case of NO determination), the process returns to S2 in order to process the next workpiece W. On the other hand, when the work is finished (in the case of YES determination: when the power is off), the process proceeds to the end as it is.

  As described above, the end face of the workpiece W can be ground by the grinding apparatus M under the control of the control means, and a thin plate member with the end face ground can be manufactured.

  In the grinding apparatus M, the workpiece holding portions 27 are provided at two locations, and the discharge procedure and the transfer procedure can be performed substantially continuously by the single transfer / unload unit 10, thereby improving the production efficiency. .

  In particular, since the plurality of grinding units 100 are provided, the grinding work can be performed in another grinding unit 100 while the above-described transporting and unloading work is performed in one grinding unit 100, and thus the productivity is further improved. can do.

  In addition, the supply unit 60 and the discharge unit 70 are disposed at positions sandwiching the first rail 11, and the workpiece holding portions 27 are respectively provided on the opposing walls of the rotating body 25, whereby the supply is performed as described above. The supply of the unprocessed workpiece W by the unit 60 and the discharge of the processed workpiece W by the discharge unit 70 can be performed at the same time, so that the time for transporting and unloading the workpiece W can be shortened and the productivity can be further improved. be able to.

  Further, in the grinding apparatus M, since the processing table 103 includes the plurality of suction tables 108 that can hold the workpieces W, the plurality of workpieces W can be ground by a single processing operation. In addition, since each of the two workpiece holding portions 27 has a plurality of workpiece holding members 29 corresponding to the suction table 108 of the processing table 103, a plurality of workpieces W can be transferred by one transporting / unloading operation. Can be carried out. For this reason, productivity can be further improved. In particular, for example, when processing with a plurality of types of processing tools in a single processing operation, the same type of processing with the one processing tool is performed on a plurality of workpieces W after attaching the one processing tool. After that, the one processing tool is detached and another processing tool is attached, and the same type of processing using the other processing tool can be performed on the plurality of workpieces W. That is, since a plurality of workpieces are processed by attaching and detaching the processing tool once, the time required for attaching and detaching the processing tool can be shortened, and work efficiency can be improved.

  Furthermore, since the machining table 103 is moved from the delivery position to the machining position by the second rail 101, the area where the workpiece W is delivered and the area where machining is performed can be partitioned, and the machining position is wet by the grinding liquid. However, the delivery position can be distinguished from this wet state. In addition, one of the two workpiece holding parts 27 holds only the dry unprocessed workpiece W, and the other holds only the wet processed workpiece W.・ Wet conditions can be classified.

  Furthermore, since the traveling body 13 travels along the first rail 11 and the machining table 103 travels along the second rail 101, it is compared with the case where a conventional SCARA robot is employed. Therefore, the high cost can be suppressed, the failure hardly occurs, and the maintenance is easy.

  Further, since the rotating body 25 moves up and down on the traveling body 13 and approaches and separates from the processing table 103 side, the structure is relatively simple, and a failure or the like occurs while preventing an increase in the cost of the apparatus. It is difficult and maintenance is easy.

  Further, in the grinding apparatus M, since all of the plurality of grinding units 100 are arranged so that the processing position is located on the same side with respect to the first rail 11, the processing position of the grinding unit 100. The first rail 11 can be disposed on the side surface of the apparatus on the side where no is provided, and there is an advantage that the transport unit can be easily repaired or inspected.

  Further, since the supply unit 60 and the discharge unit 70 are provided in the vicinity of the start end of the first rail 11, the work W supply portion and the one side surface (the side surface on the start end side of the first rail 11) of the grinding device M are provided. A discharge part can be arranged. For this reason, one worker can perform loading and unloading of the work cartridges 61 and 71 from one side.

  In addition, a camera 23 is attached to the traveling body 13, the workpiece W on the processing table 103 can be photographed, and grinding work can be performed along an accurate grinding path based on the photographed data.

  In particular, the workpiece W model data is installed in advance, the machine origin of the processing table 103 is calculated from the imaging data of the reference pin 116 captured by the camera 23, and the workpiece W is captured from the imaging data of the workpiece W captured by the camera 23. The center of gravity position of the workpiece W is obtained, the machine origin of the processing table 103 is compared with the center of gravity position P of the workpiece W, the amount of deviation of the workpiece W is calculated, and the grinding path is calculated according to this amount of deviation. Can be ground. In particular, even if the workpiece W itself does not have a “reference mark” or the like, the “machine origin” can be obtained by the reference pin provided on the machining table 103 and the displacement amount of the workpiece W can be grasped. Therefore, even a thin glass (work W) used for a display screen of a mobile terminal such as a mobile phone can be precisely ground.

  Although it is conceivable to install a plurality of cameras 23 and arrange the cameras 23 for each processing table 103, a configuration in which the cameras 23 are attached to the traveling body 13 as described above allows a plurality of cameras 23 to be installed. It is not necessary to install a stand, and the cost of the apparatus can be suppressed.

  Furthermore, since the camera 23 is located above the traveling body 13, the distance between the camera 23 and the workpiece W to be photographed can be increased, and thus the entire workpiece W can be photographed with good focus.

  In addition, since a plurality of types of suction tables 108 can be selected and installed on the processing table 103, an appropriate suction table is selected according to the size of the workpiece W to be ground and the grinding work is performed accurately. I can. Furthermore, when the first or third holding base 107 is placed and fixed, a plurality of suction tables 108 can be installed on the processing table 103. Thereby, it is possible to perform the grinding operation by selecting a more suitable suction stand 108 according to the size of the workpiece W without changing the holding base 107.

  In addition, since the plurality of reference pins 116 are disposed outside the outer shape of each workpiece W held by the suction table 108, the plurality of reference pins 116 are disposed at positions close to the workpiece W. Therefore, the “machine origin” is close to the position of the center of gravity of the workpiece W, and the error in calculating the deviation amount can be reduced. Furthermore, since the reference pins 116 are positioned on both sides of each workpiece W, a point formed on a line connecting the reference pins 116 on both sides of the workpiece W can be used as a “machine origin”. Thus, a position close to the position of the center of gravity of the workpiece W can be set as the mechanical origin. In addition, since at least two pairs of reference pins 116 facing each other with the workpiece W interposed therebetween are arranged, the intersection of the lines connecting the pairs of reference pins 116 is defined as the “machine origin”, whereby the machine origin and the workpiece The center of gravity of W can be brought closer. For this reason, the deviation | shift amount of the workpiece | work W can be calculated more correctly.

  Further, since the reference pin 116 erected on the base plate 109 is positioned outside the outer shape of the work W held on the suction stand 108, the reference pin 116 is not hidden by the work W. Regardless of which of the first, second, and third suction tables 108 are installed, it is not necessary to replace the reference pin 116, and the photographing operation can be performed accurately. For this reason, the structure of the processing table 103 can be simplified.

  The present invention is not limited to the above-described embodiment, and can be appropriately modified within the scope intended by the present invention.

  In the grinding apparatus M of the above-described embodiment, the workpiece W as the workpiece is a thin glass for a mobile phone, but may be a thin glass for a portable audio device, or for a portable game machine. The thin glass may be used. Further, it may be a thin glass for portable navigation, a thin glass for portable TV, or the like.

  Further, the overall configuration of the grinding apparatus M is not limited to the above-described embodiment. For example, there are many grinding units such as one having a single grinding unit and, on the contrary, five or six. What is included is also within the intended scope of the present invention.

  Furthermore, in the above embodiment, only the grinding unit is provided and the same kind of grinding work is performed in each grinding unit. However, the present invention is not limited to this, and different processing is performed in each processing unit. What can be processed can be adopted. That is, for example, not only a grinding unit that cuts the end surface of the workpiece for the purpose of dimensional accuracy as in the above embodiment, but also a polishing unit that slightly cuts the end surface of the workpiece to obtain a desired surface roughness, Even a grinding apparatus provided with a drilling unit that performs drilling is within the intended scope of the present invention.

In the case of this grinding apparatus, for example, the control means
1. Supplying an unprocessed workpiece to one of at least two workpiece holding portions via a supply unit;
2. Running the traveling body holding the unprocessed workpiece in the workpiece holding section to the delivery position of the machining table of the drilling unit;
3. The other of the at least two workpiece holders receives the drilled workpiece held by the machining table of the drilling unit at the delivery position;
4). A step of rotating the rotating body and delivering the unprocessed workpiece held by the one workpiece holding section to the machining table that has delivered the drilled workpiece;
5. A step of running a traveling body, which holds a drilled workpiece in the workpiece holder, to a delivery position of a processing table of a grinding unit;
6). A step in which the one workpiece holding section receives the ground workpiece held by the processing table of the grinding unit at the delivery position;
7). A step of rotating a rotating body and delivering a drilled workpiece held by the other workpiece holder to the machining table that delivered the ground workpiece;
8). Running the traveling body holding the ground workpiece in the workpiece holding section to the delivery position of the processing table of the polishing unit;
9. A step in which the other workpiece holding unit receives the polished workpiece held by the processing table of the polishing unit at the delivery position;
10. A step of rotating a rotating body to deliver a ground workpiece which is held by the one workpiece holding portion to a machining table which has delivered the polished workpiece;
11. 11. running the traveling body holding the polished workpiece in the workpiece holder to the discharge position by the discharge unit; It is also possible to adopt a control for performing a step of discharging the polished workpiece held by the other workpiece holding section through the discharge unit.

  Furthermore, although the substantially rectangular parallelepiped shape has been described as the rotating body 25, for example, a substantially hexagonal or octagonal rotating body 25 as viewed from the rotating shaft 37 can be employed. Further, the workpiece holding portions are not limited to those provided at two locations, and providing three or more workpiece holding portions is a matter that can be appropriately changed in design.

  Moreover, although what provided the rotary body 25 so that it could rotate and reverse was demonstrated in the said embodiment, even if it is a rotary body which can rotate only to one direction (it cannot rotate to another direction), the range which this invention intends Is within. However, as in the above embodiment, it is preferable to employ a rotating body that can be rotated and reversed, and this eliminates the need for a means for preventing twisting of a cable or the like attached to the rotating body, and has the advantage that the structure is simple. Have.

  As described above, the thin plate material processing apparatus of the present invention performs end surface grinding of a substantially rectangular thin plate material such as thin glass used in a portable terminal such as a mobile phone at low cost and quickly. be able to.

DESCRIPTION OF SYMBOLS 10 Conveying / unloading unit 11 Rail 13 Traveling body 23 Camera 25 Rotating body 25a Window 27 Workpiece holding part 29 Workpiece holding member 35 Vertical rotation mechanism 60 Supply unit 61 Work cartridge 63 Supply holding member 70 Discharge unit 71 Work cartridge 73 Discharge Holding member 100 Grinding unit (processing unit)
101 Rail 103 Processing table 130 Processing tool W Workpiece

Claims (9)

A thin plate processing apparatus for processing a thin plate workpiece,
A transporting / unloading unit having a traveling body that travels along the first rail and the first rail and transports and unloads the workpiece;
A supply unit that is disposed on one side near the starting end of the first rail and that supplies an unprocessed workpiece to the transporting and unloading unit;
A discharge unit that is disposed on the other side near the starting end of the first rail, and that discharges the processed workpiece from the transport and carry-out unit; and is disposed along the first rail, and the workpiece is It has multiple processing units to process,
A processing table that holds the workpiece to be processed by each of the plurality of processing units, and a delivery position at which the processing table transfers the conveyance / discharge unit and the workpiece from the processing position in a direction crossing the first rail. A second rail arranged to move between
The transporting / unloading unit is
A rotating body that is attached to the traveling body and rotates about an axis along the arrangement direction of the first rail, and is provided on the rotating body, and is selectively applied to the processing table at the delivery position by the rotation of the rotating body. A thin plate processing apparatus, further comprising workpiece holding portions disposed at at least two locations facing each other.   The thin plate material processing apparatus according to claim 1, wherein the rotating body is attached to the traveling body so as to be able to approach and separate from a processing table side at a delivery position.   The thin plate material processing apparatus according to claim 1, wherein the transporting / carrying means further includes a camera attached to the traveling body. The camera is attached to the traveling body on the opposite side of the processing table at the transfer position from the rotating body,
The thin plate material processing apparatus according to claim 3, wherein a visible region in which a processing table at a delivery position can be visually recognized from a camera at a predetermined rotation angle is formed on the rotating body. The rotating body has a pair of opposed walls facing each other,
The thin plate material processing apparatus according to any one of claims 1 to 4, wherein the workpiece holding portion is provided on the facing wall toward the outside. The processing table has a plurality of holding means capable of holding workpieces,
The thin plate material processing apparatus according to any one of claims 1 to 5, wherein each of the at least two workpiece holding portions has a plurality of workpiece holding means corresponding to the holding means.   The thin plate material processing apparatus according to any one of claims 1 to 6, wherein all of the plurality of processing units are disposed such that a processing position is located on the same side with respect to the first rail. . And further comprising control means for controlling the operation of the traveling body and the rotating body,
This control means
Supplying an unprocessed workpiece to one of at least two workpiece holding portions via a supply unit;
A step of causing the traveling body holding an unprocessed workpiece in the workpiece holding section to travel to a delivery position of the processing table;
A step of receiving the processed workpiece held by the processing table at the delivery position by the other of the at least two workpiece holders;
A step of rotating a rotating body and delivering an unprocessed workpiece held by the one workpiece holding section to a machining table that has delivered the processed workpiece;
A step of causing the traveling body holding the processed workpiece in the workpiece holding section to travel to a discharge position by the discharge unit; and a discharge of the processed workpiece held by the other workpiece holding section The thin plate material processing apparatus according to any one of claims 1 to 7, wherein control is performed so as to perform the step of discharging via the sheet.   The manufacturing method of a thin plate-shaped member provided with the process processed with the thin plate-shaped object processing apparatus of any one of Claims 1-8.

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