JP2016155181A - Carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying device which can achieve both of improvement of production efficiency and energy saving.SOLUTION: A carrying device 10 is provided with: a first chuck part 12 which reciprocates between a delivery position and a processing position along a first route R1; a second chuck part 13 which reciprocates between the delivery position and the processing position along a second route R2; and a drive part 15 which drives the first chuck part 12 from one of the delivery position and the processing position to the other, and also drives the second chuck part 13 from the other to the one of the delivery position and the processing position. An intermediate section of the second route is different from that of the first route. The second chuck part 13 passes by the first chuck part 12 in the intermediate section when moving between the delivery position and the processing position. The first chuck part 12 and the second chuck part 13 carries a workpiece 99 before processing on a forward path and carries the workpiece 99 after processing on a return path when reciprocating between the delivery position and the processing position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport apparatus.

  For example, a transfer device disclosed in Patent Document 1 is known as a device for transferring a workpiece to a processing apparatus such as a grinding machine. The conveyance device disclosed in Patent Document 1 includes two chucks that can be driven in three axes. One chuck is a carry-in chuck, and the other chuck is a carry-out chuck. The carry-in chuck moves back and forth between the carry-in position on the carry-in conveyor and the processing position of the grinding machine, and carries the workpiece on the forward path. The unloading chuck moves back and forth between the unloading position on the unloading conveyor and the processing position of the grinding machine, and carries the workpiece on the return path.

  By using the two chucks, the workpiece to be processed can be loaded by the loading chuck immediately after the processed workpiece is collected by the unloading chuck. Thereby, the time when a processing apparatus does not process reduces, and production efficiency improves.

JP 2006-255792 A

However, in the conveyance device disclosed in Patent Document 1, the chuck carries the workpiece only in either the forward path or the backward path. That is, the chuck moves without having a workpiece in half of the moving section. Therefore, the energy consumed to drive the chuck is wasteful.
The present invention has been made in view of the above-described points, and an object of the present invention is to provide a transport device that achieves both improved production efficiency and energy saving.

  The present invention is a transport device that transports a workpiece to a processing device, and includes a first chuck portion, a second chuck portion, and a drive portion. The first chuck portion can grip and release the workpiece, and reciprocates between the delivery position and the processing position along a predetermined first path. The second chuck portion can grip and release the workpiece, and reciprocates between the delivery position and the processing position along a predetermined second path. The drive unit drives the second chuck unit from the other of the delivery position and the machining position to the other while driving the first chuck unit from one of the delivery position and the machining position.

  The second route is different from the first route in the intermediate section. When the second chuck portion moves between the delivery position and the machining position, the second chuck portion passes the first chuck portion in the intermediate section. When the first chuck portion and the second chuck portion reciprocate between the delivery position and the processing position, the first chuck portion and the second chuck portion carry the workpiece before machining on the forward path and carry the workpiece after machining on the return path.

  By using such two chuck portions, the workpiece after processing can be loaded by the other chuck portion as soon as the workpiece after processing is collected by one chuck portion. Thereby, the time when a processing apparatus does not process reduces, and production efficiency improves.

  Furthermore, by making the start point (delivery position) and end point (machining position) of both paths coincide with each other and the first chuck part and the second chuck part pass each other, both the chuck parts can carry in and out. It is designed to perform both operations. For this reason, both the chuck portions carry the workpiece on both the forward path and the return path, so that wasteful energy consumption that does not contribute to the conveyance of the workpiece can be omitted.

It is a front view which shows the conveying apparatus by one Embodiment of this invention, Comprising: It is a figure of the state in which the 1st chuck | zipper part is located in a delivery position, and the 2nd chuck | zipper part is located in a processing position. It is the II-II sectional view taken on the line of FIG. It is the III-III sectional view taken on the line of FIG. It is the figure which looked at the conveying apparatus of FIG. 1 from the arrow IV direction. It is a figure which shows the state which the 2nd chuck | zipper part moved to the intermediate area of the 2nd path | route from the state of FIG. It is a figure which shows the state which the 2nd chuck | zipper part moved to the delivery side area of the 2nd path | route from the state of FIG. It is a figure corresponding to FIG. 2, Comprising: It is a figure which shows the workpiece supply part and workpiece discharge part which illustration was abbreviate | omitted in FIG. 2, and the figure of the state in which the arm of a workpiece supply part and a workpiece discharge part is located in a retracted position It is. It is a figure which shows the state which the arm of the workpiece | work supply part moved to the protrusion position from the state of FIG. It is a figure which shows the state which the arm of the workpiece | work discharge part moved to the protrusion position from the state of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[One Embodiment]
A transport apparatus according to an embodiment of the present invention is shown in FIGS. The conveyance device 10 is applied to a centerless grinding machine 90. 2 and 4, the centerless grinding machine 90 is a processing device that grinds the outer peripheral surface of a cylindrical workpiece 99, and includes a support blade 91, a grindstone 92, and an adjustment wheel 93. With. The adjustment wheel 93 can approach and separate from the grindstone 92. The grindstone 92 rotates while sandwiching the workpiece 99 placed on the support blade 91 between the adjustment wheel 93 and grinds the outer peripheral surface of the workpiece 99.

Next, the conveying apparatus 10 will be described in detail with reference to FIGS.
The conveyance device 10 is a device that conveys the workpiece 99 to the centerless grinding machine 90, and includes a support portion 11, a first chuck portion 12, a second chuck portion 13, a guide portion 14, and a drive portion 15. And a workpiece supply unit 16 and a workpiece discharge unit 17. For convenience, the workpiece supply unit 16 and the workpiece discharge unit 17 are not shown in FIGS.

  In the following description, the position at which the first chuck unit 12 and the second chuck unit 13 receive the workpiece 99 before processing from the workpiece supply unit 16, and the first chuck unit 12 and the second chuck unit 13 are the workpieces. The position where the processed workpiece 99 is transferred to the discharge unit 17 is referred to as a “delivery position”. The position where the first chuck portion 12 and the second chuck portion 13 put the workpiece 99 into the centerless grinding machine 90, and the first chuck portion 12 and the second chuck portion 13 are the centerless grinding machine 90. The position at which the processed workpiece 99 is recovered from is referred to as a “processing position”. 1 to 4, the first chuck portion 12 is located at the delivery position, and the second chuck portion 13 is located at the processing position.

  As shown in FIGS. 1 to 4, the support portion 11 includes a base plate 21 that is horizontally installed, and two vertical plates 22 and 23 that are fixed to the base plate 21. The vertical plate 22 and the vertical plate 23 are arranged so that the first chuck portion 12 and the second chuck portion 13 are located between each other. Hereinafter, the direction in which the vertical plate 22 and the vertical plate 23 face each other is referred to as “opposing direction”.

  The first chuck portion 12 can grip and release the workpiece 99. In the present embodiment, as shown in FIG. 1, the first chuck portion 12 includes a connection port 24 connected to an external negative pressure source (not shown), a suction port 25 located on the opposite side of the connection port 24, A suction passage 26 containing The first chuck portion 12 is a suction chuck that sucks the workpiece 99 into the suction port 25 when the suction passage 26 becomes negative pressure.

  As shown in FIGS. 1, 2, and 4, the first chuck portion 12 reciprocates between a delivery position and a processing position. In the present embodiment, the first chuck portion 12 is attached to a linear guide 28 provided on the vertical plate 22 via a bracket 27 and the like. The linear guide 28 has a rail 29 and a slider 30. The bracket 27 is fixed to the slider 30. And the 1st chuck | zipper part 12 moves along the predetermined | prescribed 1st path | route R1 which connects the delivery position located above, and the process position located below downward linearly. The first route R1 is linear as shown in FIG.

As shown in FIGS. 1, 3, and 4, the second chuck portion 13 can grip and release the workpiece 99. In the present embodiment, the second chuck portion 13 is a suction chuck as with the first chuck portion 12.
The second chuck portion 13 reciprocates between the delivery position and the processing position. In the present embodiment, the second chuck portion 13 is attached to a linear guide 33 provided on the vertical plate 23 via a bracket 32 or the like. The linear guide 33 includes a rail 34 and a slider 35. The bracket 32 is fixed to the slider 35. As shown in FIG. 3, the second chuck portion 13 moves along a predetermined second path R <b> 2 that connects the delivery position positioned above and the machining position positioned below.

  Here, when the second route R2 is divided into three sections, the sections are defined as a delivery side section S1, an intermediate section S2, and a processing side section S3 in order from the delivery position side. Then, the delivery side section S1 and the processing side section S3 coincide with the first route R1. On the other hand, the intermediate section S2 is different from the first route R1. Specifically, the intermediate section S2 is offset toward the workpiece supply unit 16 so that the first chuck unit 12 and the second chuck unit 13 can pass each other.

  As shown in FIGS. 1, 3, and 4, the guide portion 14 guides the second chuck portion 13 so as to move along the second path R2. In the present embodiment, the guide portion 14 includes a guide shaft 40, a slider 41, a groove cam 42, and a cam follower 43. The guide shaft 40 is provided so as to protrude from the bracket 27 to the workpiece supply unit 16 side. The slider 41 is fitted to the guide shaft 40 and reciprocates in the axial direction of the guide shaft 40, that is, in the horizontal direction. The groove cam 42 is formed on a wall portion of the vertical plate 23 that faces the second chuck portion 13. The groove cam 42 is a groove extending along the second path R2. The cam follower 43 is a “contact” described in the claims, is fixed to the slider 41, and contacts the cam surface 44 of the groove cam 42.

  As shown in FIGS. 3, 5, and 6, when the second chuck portion 13 moves in the vertical direction together with the slider 35, the guide portion 14 moves in the horizontal direction together with the slider 41 in accordance with the vertical position. When the second chuck portion 13 is located in the intermediate section S2 as shown in FIG. 5, the second chuck portion 13 is disengaged from the first path R1, and thus can pass the first chuck portion 12.

  As shown in FIGS. 1 to 4, the drive unit 15 drives the first chuck unit 12 from one of the delivery position and the processing position to the other while moving the second chuck unit 13 to the other of the delivery position and the processing position. Drive from one to the other. In the present embodiment, the drive unit 15 includes one motor 45, a first transmission mechanism 46 that transmits the power of the motor 45 to the first chuck unit 12, and the power of the motor 45 in conjunction with the first transmission mechanism 46. And a second transmission mechanism 47 that transmits to the second chuck portion 13.

  The first transmission mechanism 46 includes rotating shafts 48 and 49, pulleys 50 and 51, a belt 52, a gear 53, and a rack 54. The rotary shafts 48 and 49 are rotatably supported by the vertical plate 22. The rotating shaft 48 and the rotating shaft 49 are arranged in parallel to each other. The rotating shaft 48 is connected to the motor 45. The pulley 50 is fixed to the rotating shaft 48, and the pulley 51 is fixed to the rotating shaft 49. The belt 52 is wound around the pulleys 50 and 51. The gear 53 is fixed to the rotating shaft 49, and the rack 54 is fixed to the bracket 27.

  The second transmission mechanism 47 includes pulleys 55 and 56, a tensioner pulley 57, a belt 58, rotary shafts 59 and 60, pulleys 61 and 62, a belt 63, a gear 64, and a rack 65. The pulley 55 is fixed to the rotating shaft 48. The rotary shafts 59 and 60 are rotatably supported by the vertical plate 23. The rotation shaft 59 and the rotation shaft 60 are arranged in parallel to each other. The pulley 56 is fixed to the rotation shaft 59. The belt 58 is wound around pulleys 55 and 56 and a tensioner pulley 57. The pulley 61 is fixed to the rotating shaft 59, and the pulley 62 is fixed to the rotating shaft 60. The belt 63 is wound around pulleys 61 and 62. The gear 64 is fixed to the rotating shaft 60, and the rack 65 is fixed to the bracket 32.

As shown in FIGS. 7 to 9, the workpiece supply unit 16 supplies the workpiece 99 before processing to the first chuck unit 12 and the second chuck unit 13. The workpiece supply unit 16 includes a linear guide 66, a guide shaft 67, an arm 68, a cam pin 69, groove cam plates 70 and 71, and a linear actuator 72.
The linear guide 66 includes a rail 73 extending in the horizontal direction and a slider 74. The guide shaft 67 is provided so as to protrude upward from the slider 74. The arm 68 is fitted to the guide shaft 67. The arm 68 can move in the horizontal direction so as to approach and separate from the chuck portions 12 and 13 together with the slider 74 and can move in the axial direction of the guide shaft 67, that is, in the vertical direction.

  The cam pin 69 protrudes from the arm 68 in the facing direction. The groove cam plate 70 is fixed to the base plate 21 and has a groove cam 75 through which the cam pin 69 is inserted. The groove cam 75 is a groove having a horizontal portion 76 that extends horizontally and an inclined portion 77 that extends obliquely so as to be positioned upward as it approaches the chuck portions 12 and 13. The groove cam plate 71 is movable relative to the base plate 21 and has a groove cam 78 with which the cam pin 69 is engaged. The groove cam 78 is a groove extending obliquely so that the groove cam 78 is positioned upward as it is separated from the chuck portions 12 and 13. The linear actuator 72 can drive the groove cam plate 71 in the horizontal direction so as to approach and separate from the chuck portions 12 and 13.

  The arm 68 reciprocates between the retracted position shown in FIG. 7 and the protruding position shown in FIG. In the retracted position, the cam pin 69 is engaged with the end portion of the horizontal portion 76 of the groove cam 75 and the lower end portion of the groove cam 78. In the protruding position, the cam pin 69 is engaged with the end portion of the inclined portion 77 of the groove cam 75 and the upper end portion of the groove cam 78.

  When the linear actuator 72 drives the groove cam plate 71 toward the chuck portions 12 and 13 from the retracted position shown in FIG. 7, first, the cam pin 69 moves along the horizontal portion 76 of the groove cam 75 and the chuck portions 12 and 13. Move horizontally to approach When the cam pin 69 reaches the inclined portion 77 of the groove cam 75, the cam pin 69 moves upward along the inclined portion 77 of the groove cam 75 so as to approach the chuck portions 12, 13. At this time, the engaging position of the cam pin 69 and the groove cam 78 also changes from the lower end portion to the upper end portion side. When the cam pin 69 reaches the upper end portion of the inclined portion 77 of the groove cam 75, the protruding position shown in FIG. The arm 68 can deliver the workpiece 99 to the chuck portions 12 and 13 at the protruding position.

  The workpiece discharge unit 17 discharges the processed workpiece 99 from the first chuck unit 12 and the second chuck unit 13. The workpiece discharge unit 17 has the same configuration as the workpiece supply unit 16 except that it has a symmetrical shape.

  In the transport apparatus 10 configured as described above, the second chuck portion 13 passes the first chuck portion 12 in the intermediate section S2 when moving between the delivery position and the processing position. Further, when the first chuck portion 12 and the second chuck portion 13 reciprocate between the delivery position and the machining position, the workpiece 99 before machining is carried on the forward path and the workpiece 99 after machining on the return path. carry. That is, the first chuck portion 12 and the second chuck portion 13 function as a carry-in chuck and also function as a carry-out chuck.

Hereinafter, operations of the first chuck portion 12 and the second chuck portion 13 will be described in detail. First, from the state where the first chuck portion 12 is located near the machining position, the second chuck portion 13 is located near the delivery position, and the workpiece 99 to which the centerless grinding machine 90 has already been put is being machined. Start explanation.
(1) First Stage While the second chuck unit 13 is waiting until the end of processing, the workpiece supply unit 16 supplies the workpiece 99 before processing to the first chuck unit 12. When the processing is completed, the second chuck unit 13 holds the workpiece 99 after processing.

(2) Second Stage The first chuck part 12 and the second chuck part 13 are driven by the drive part 15 and pass each other in the intermediate section S2. Then, the first chuck portion 12 reaches the machining position, and the second chuck portion 13 reaches the delivery position.
(3) Third Stage The first chuck unit 12 puts the workpiece 99 before processing into the centerless grinding machine 90. As soon as the workpiece 99 is input, the centerless grinding machine 90 starts grinding. The workpiece discharge unit 17 collects the processed workpiece 99 from the second chuck unit 13.

(4) Fourth Stage While the first chuck unit 12 is waiting until the end of processing, the workpiece supply unit 16 supplies the workpiece 99 before processing to the second chuck unit 13. When the processing is completed, the first chuck unit 12 grips the workpiece 99 after processing.
(5) Fifth Stage The first chuck part 12 and the second chuck part 13 are driven by the drive part 15 and pass each other in the intermediate section S2. Then, the second chuck portion 13 reaches the machining position, and the first chuck portion 12 reaches the delivery position.

(6) 6th stage The 2nd chuck | zipper part 13 throws into the centerless grinding machine 90 the workpiece 99 before a process. As soon as the workpiece 99 is input, the centerless grinding machine 90 starts grinding. The workpiece discharge unit 17 collects the processed workpiece 99 from the first chuck unit 12.
Thereafter, a large amount of the workpiece 99 is ground by repeating (1) to (6).

(effect)
As described above, in the present embodiment, the second chuck portion 13 passes the first chuck portion 12 in the intermediate section S2 when moving between the delivery position and the processing position. Further, when the first chuck portion 12 and the second chuck portion 13 reciprocate between the delivery position and the machining position, the workpiece 99 before machining is carried on the forward path and the workpiece 99 after machining on the return path. carry.

  By using the two chuck portions 12 and 13 in this way, one chuck portion collects the processed workpiece 99 after processing, and the other chuck portion inputs the workpiece 99 before processing. it can. Thereby, the time when the centerless grinding machine 90 does not perform processing is reduced, and the production efficiency is improved.

  Further, by configuring the start point (delivery position) and end point (processing position) of both paths R1, R2 to coincide with each other, and the first chuck part 12 and the second chuck part 13 pass each other, both chuck parts 12 and 13 perform both a carrying-in operation and a carrying-out operation. For this reason, both the chuck portions 12 and 13 carry the workpiece 99 both in the forward path and in the backward path, so that wasteful energy consumption that does not contribute to the conveyance of the workpiece 99 can be omitted.

  In the present embodiment, a guide portion 14 is provided for guiding the second chuck portion 13 to move along the second path R2. The guide portion 14 includes a groove cam 42 and a cam follower 43 that contacts the cam surface 44 of the groove cam 42. Accordingly, it is possible to reliably avoid interference between the first chuck portion 12 and the second chuck portion 13.

  In the first embodiment, the drive unit 15 includes one motor 45, a first transmission mechanism 46 that transmits the power of the motor 45 to the first chuck unit 12, and the motor 45 in conjunction with the first transmission mechanism 46. And a second transmission mechanism 47 that transmits the motive power to the second chuck portion 13. By driving both chuck portions 12 and 13 with one motor 45 in this way, the manufacturing cost can be reduced.

  In the first embodiment, the first chuck portion 12 and the second chuck portion 13 include a connection port 24 connected to an external negative pressure source, and a suction port 25 located on the opposite side of the connection port 24. The workpiece 99 is sucked into the suction port 25 when the suction passage 26 becomes negative pressure. Thus, by making the chuck | zipper parts 12 and 13 into a suction type, the attachment or detachment speed of the workpiece 99 can be made quick. Moreover, the physique of the chuck | zipper parts 12 and 13 can be made small.

  Here, the fault of driving the two chuck portions 12 and 13 with one motor 45 will be described. When the drive sources of the two chuck portions 12 and 13 are common, only one of the chuck portions cannot be moved. Therefore, when one chuck part is stopped at the processing position, the other chuck part is also stopped at the delivery position. Therefore, it is necessary that the workpiece discharge unit 17 moves to collect the workpiece 99 from the other chuck portion, and that the workpiece supply unit 16 moves to supply the workpiece 99 to the other chuck portion. is there.

  The workpiece supply unit 16 is configured to move in the horizontal direction so as to approach the chuck units 12 and 13 and then move upward. This movement is realized by transmitting the power of one linear actuator 72 to the arm 68 by the groove cams 75, 78 and the like. Therefore, it is not necessary to use two actuators, and the manufacturing cost can be reduced.

[Other Embodiments]
In another embodiment of the present invention, the conveying device is not limited to the centerless grinding machine, and may be applied to other processing devices such as a machining center and a lathe.
In other embodiments of the present invention, the first chuck portion and the second chuck portion are not limited to the suction type, and may be other types, for example, a type in which a workpiece is gripped by a plurality of movable fingers.
In another embodiment of the present invention, the drive source for driving the first chuck part and the drive source for driving the second chuck part may be different. That is, the drive unit may include a plurality of drive sources.

In another embodiment of the present invention, the drive unit moves the second chuck unit in the horizontal direction and a first drive mechanism that linearly moves the second chuck unit in the vertical direction between the delivery position and the processing position. And a second drive mechanism. That is, the guide part is not always necessary.
In one embodiment, the drive unit transmits the power of the motor to the chuck unit using a belt transmission and a rack and pinion mechanism. On the other hand, in another embodiment, the drive unit may transmit the power of a drive source such as a motor to the chuck unit using another known mechanism.
The present invention is not limited to the embodiments described above, and can be implemented in various forms without departing from the spirit of the invention.

DESCRIPTION OF SYMBOLS 10 ... Conveying device 12 ... 1st chuck | zipper part 13 ... 2nd chuck | zipper part 15 ... Drive part 90 ... Centerless grinding machine (processing apparatus)
99 ... Workpiece R1 ... First route R2 ... Second route S2 ... Intermediate section

Claims (5)

A transport device for transporting a workpiece (99) to a processing device (90),
A first chuck portion (12) capable of gripping and releasing a workpiece and reciprocating between a delivery position and a processing position along a predetermined first path (R1);
A second chuck portion (13) capable of gripping and releasing the workpiece and reciprocating between the delivery position and the processing position along a predetermined second path (R2);
A drive unit (15) for driving the second chuck part from the other of the delivery position and the machining position while driving the first chuck part from one of the delivery position and the machining position; ,
With
The second route differs from the first route in the intermediate section (S2),
When the second chuck portion moves between the delivery position and the processing position, the second chuck portion passes the first chuck portion in the intermediate section.
When the first chuck portion and the second chuck portion reciprocate between the delivery position and the processing position, the first chuck portion and the second chuck portion carry the workpiece before machining on the forward path and carry the workpiece after machining on the return path. A conveying apparatus characterized by that.   The transport apparatus according to claim 1, further comprising a guide portion (14) for guiding the second chuck portion so as to move along the second path.   The said guide part has a groove | channel cam (42) and a contact (43) which contacts the cam surface (44) of the said groove cam, The conveying apparatus of Claim 2 characterized by the above-mentioned.   The drive unit includes one motor (45), a first transmission mechanism (46) that transmits the power of the motor to the first chuck unit, and the power of the motor in conjunction with the first transmission mechanism. The transfer device according to claim 1, further comprising a second transmission mechanism (47) that transmits the second chuck portion.   The first chuck part and the second chuck part include a connection port (24) connected to an external negative pressure source, and a suction port (25) located on the opposite side of the connection port. The conveying device according to any one of claims 1 to 4, further comprising a passage (26), wherein the workpiece is sucked into the suction port when the suction passage has a negative pressure.

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