JP2020019095A - Griding device and griding method with use thereof - Google Patents

Abstract

To provide a grinding device which shortens a work-piece displacement time and improves production efficiency, and a grinding method with use of this grinding device.SOLUTION: A first displacement position K1 and a second displacement position K2, at which a processed work-piece W and an unprocessed work-piece W are displaced, are juxtaposed with a processing position ST interposed therebetween. In the state that a first table 51a is moved to the first displacement position K1 and a second table 51b is moved to the processing position ST, a work-piece conveyance mechanism 10a replaces the processed work-piece W supported on the first table 51a with the unprocessed work-piece W, and thereafter, further supports another unprocessed work-piece W and can convey the same to the second displacement position K2, and in the state that the second table K2 is moved to the second displacement position K2 and the first table 51a is moved to the processing position ST, the work-piece conveyance mechanism displaces the processed work-piece W supported on the second table 51b with the unprocessed work-piece W, and thereafter, further supports another unprocessed work-piece W and can convey the same to the first displacement position K1.SELECTED DRAWING: Figure 13A

Description

  The present invention relates to a grinding apparatus and a grinding method using the same, and more particularly to a technique for grinding a work supported on a work table with a grindstone provided at a tip of a main shaft.

  Conventionally, as a grinding device that grinds a work, a work table that detachably supports the work, a main shaft that can move forward and backward with respect to the work positioned at the processing position, and a work that is provided at the tip of the main shaft and grinds the work There is known a configuration provided with a grinding stone. In order to improve the production efficiency, various types of devices further provided with a work transfer means for transferring a work to a predetermined position are known.

  For example, Patent Literature 1 discloses a work transfer unit in which a first hand and a second hand for gripping a work are provided side by side, and a loader for moving these is provided. In Patent Literature 1, during processing of a work, the first hand is caused to grip an unprocessed work, and the second hand is kept in an empty state. After the work is processed, the first hand and the second hand are moved by the loader, the processed work at the processing position is gripped by the second hand, and then further moved, and the unprocessed work of the first hand is carried into the processing position. Configuration.

JP 2017-64870 A

  By the way, in such a grinding process, it is strongly required to reduce a cycle time per work in order to increase production efficiency. For that purpose, it is necessary to devise a method for shortening the work exchange time.

  In such a case, according to the invention of Patent Literature 1 described above, while the work is being processed, the unprocessed work is grasped and is on standby, so that it is possible to immediately proceed to the exchange work after the processing, but the work is stopped at the processing position. Since the work is exchanged, the work exchange and the processing cannot be performed in parallel.

  The present invention has been made in view of such a point, and an object of the present invention is to provide a grinding apparatus and a grinding method using the same, which shorten the work replacement time and improve production efficiency.

  In order to achieve the above object, according to the present invention, an exchange position is provided at a position different from the processing position of the work, and the work table supporting the work is moved to each position, so that during the processing of the work, Work can be exchanged.

  Specifically, in the first invention, a work table that removably supports a work, a main shaft that can move forward and backward with respect to the work positioned at a processing position of the work, and that is provided at a tip of the main shaft It is assumed that the grinding device includes a grindstone for grinding the work. Then, a first exchange position and a second exchange position for exchanging the processed work and the unprocessed work are arranged side by side with the processing position interposed therebetween, and the work table is arranged in a direction orthogonal to the reciprocating direction of the spindle. A first table movable between the processing position and the first exchange position and a second table movable between the processing position and the second exchange position; The apparatus further includes a work transfer unit configured to hold and transfer the unprocessed work, wherein the work transfer unit is configured to move the first table to the first exchange position and move the second table to the processing position. After exchanging the processed work supported by the first table with the unprocessed work, holding another unprocessed work and moving the work to the second exchange position; and Is 2 After moving the processed work supported by the second table to the unprocessed work in a state where the first table has moved to the processing position after moving to the exchange position, another unprocessed work is further performed. And can be moved to the first exchange position.

  In the first invention, the first exchange position and the second exchange position are provided with the machining position interposed therebetween, and the first table and the second exchange position movable between the first exchange position and the machining position are provided. Since the second table which can be moved to and from the processing position is provided, while the work supported by one of the work tables is processed at the processing position, the work supported by the other work table is exchanged. Work exchange can be performed by positioning the position. Therefore, it is possible to exchange another work during the processing of the work, and it is possible to improve the production efficiency.

  In a second aspect based on the first aspect, the work transfer means includes a work transfer mechanism capable of holding and transferring the work, wherein the work transfer mechanism includes the first exchange position, the processing position, and the second transfer position. A guide mechanism is provided for guiding the robot so that it can move in the direction in which the two replacement positions are arranged.

  In the second aspect, the work transfer mechanism can be moved by the guide mechanism along the direction in which the first replacement position, the processing position, and the second replacement position are arranged, so that the work can be smoothly transferred to each position.

  A third invention according to the first or second invention, further comprising a first moving means for moving the first table and a second moving means for moving the second table, wherein the first table is provided with the first table. A first rotating unit for rotating the work supported on the table is provided, and the second table is provided with a second rotating unit for rotating the work supported on the second table.

  According to the third aspect, the first table and the second table are provided, and the first table and the second table can be moved separately because the first table and the second table are provided. In addition, the first table and the second table can be separately rotated. Therefore, the positioning of the work supported by the first table or the second table at the processing position can be performed in a short time.

  In a fourth aspect based on any one of the first to third aspects, the work transfer means includes a first work holding portion capable of holding the work, and a second work holding portion capable of holding another work. And a holder exchange mechanism for exchanging the positions of the first work holder and the second work holder.

  According to the fourth aspect of the present invention, a plurality of works can be held by the work transfer means, and the positions can be switched by the holding part exchange mechanism, so that the processed work and the unprocessed work can be quickly exchanged. it can.

  In a fifth aspect based on any one of the first to fourth aspects, a carry-in standby unit that waits for the unprocessed work is provided around the first exchange position, and is provided around the second exchange position. A carry-out standby unit that waits for the processed work is provided, and the work transfer unit can transfer the unprocessed work from the carry-in standby unit to the first exchange position or the second exchange position, and The processed work is provided so as to be conveyable from the first exchange position or the second exchange position to the carry-out standby unit.

  In the fifth invention, the work transfer means can transfer the unprocessed work from the carry-in standby section to the first exchange position or the second exchange position, and can transfer the processed work from the first exchange position or the second exchange position. Since it is possible to convey the unprocessed work to the unloading standby unit, the direction from the unloading of the unprocessed work to the unloading of the processed work can be set to one direction. Therefore, the layout setting of the grinding device becomes easy.

  In a sixth aspect based on the fifth aspect, the carry-in standby section is provided around the first exchange position and the second exchange position, and the carry-out standby section is arranged in the first exchange position and the second exchange position. Is provided around.

  In the sixth aspect, the carry-in standby section and the carry-out standby section are provided around the first exchange position and the second exchange position, respectively, so that the first exchange position side or the second exchange position side is provided. Either way, it is possible to carry out the processed work and carry in the unprocessed work.

  In a seventh aspect based on the second aspect, the first exchange position, the processing position, and the second exchange position are provided in a horizontal direction, and the guide mechanism includes the first exchange position, the processing position, and the second exchange position. A work guide unit that is slidable in the horizontal direction while being guided by the work guide unit; A vertically movable member slidably provided in a vertical direction.

  According to the seventh aspect, the workpiece exchange main body is guided by the horizontal guide rail, slides above the first exchange position, the processing position, and the second exchange position, and the vertical movement member is perpendicular to the workpiece exchange main body. Since it is slidable in the direction, the movement is linear, and the work can be smoothly transported to each position.

  According to an eighth invention, in the grinding method for grinding a work using the grinding apparatus according to any one of the first to seventh inventions, the unprocessed work supported by the second table positioned at the processing position is provided. A first processing step in which the processed work supported by the first table positioned at the first replacement position is replaced with the unprocessed work when the first processing position is being processed; and When the unprocessed work supported by the first table is being processed, the processed work supported by the second table positioned at the second replacement position is replaced with the unprocessed work. A first processing step, and the first processing step and the second processing step are sequentially repeated.

  In the eighth aspect, the first working step and the second working step are sequentially repeated, so that the work located at the first replacement position or the second replacement position is replaced during processing of the unprocessed work at the processing position. This is useful for shortening the work exchange time.

  As described above, according to the present invention, it is possible to exchange another work during the processing of the work, and it is possible to improve production efficiency.

FIG. 1 is a schematic front view showing one embodiment of a grinding device according to Embodiment 1 of the present invention. FIG. 2 is a partially enlarged front view showing an operation state of the work transfer means according to the first embodiment of the present invention, and shows a state in which the work transfer means is opposed to a processed work. FIG. 3 is a partially enlarged front view showing an operation state of the work transfer means according to the first embodiment of the present invention, and shows a state where a processed work is held. FIG. 4 is a partially enlarged front view showing an operation state of the work transfer means according to the first embodiment of the present invention, and shows a state in which the positions of the works are exchanged. FIG. 5 is a partially enlarged front view showing an operation state of the work transfer means according to the first embodiment of the present invention, showing a state where an unprocessed work is delivered. FIG. 6 is a schematic front view showing a processing step of a work in Embodiment 1 of the present invention, and shows a state in which an unprocessed work is held. FIG. 7 is a schematic front view showing a processing step of the work in Embodiment 1 of the present invention, and shows a state in which the processed work is transported. FIG. 8 is a schematic front view showing a processing step of the work in the first embodiment of the present invention, and shows a state where an unprocessed work is put on standby. FIG. 9 is a schematic front view showing a work process of the work in the first embodiment of the present invention, and shows a state where a work table is moved. FIG. 10 is a schematic front view showing a processing step of the work in Embodiment 1 of the present invention, and shows a state in which the processed work is transported. FIG. 11 is a schematic front view showing a processing step of a work in Embodiment 1 of the present invention, and shows a state in which an unprocessed work is held. FIG. 12 is a schematic front view showing a work processing step of the work in the first embodiment of the present invention, and shows a state where an unprocessed work is put on standby. FIG. 13A is a flowchart illustrating a first processing step of a workpiece in the first embodiment of the present invention. FIG. 13B is a flowchart illustrating a second processing step of the work in the first embodiment of the present invention. FIG. 14 is a diagram corresponding to FIG. 1 according to the second embodiment of the present invention. FIG. 15 is a diagram corresponding to FIG. 6 according to the second embodiment of the present invention. FIG. 16 is a diagram corresponding to FIG. 8 according to the second embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The description of the preferred embodiments below is merely exemplary in nature and is in no way intended to limit the invention, its applications, or its uses.

(Embodiment 1)
In the present embodiment, for example, an example in which the grinding device according to the present invention is applied to a vertical grinding machine 1 that grinds the inner peripheral surface of a cylindrical workpiece W will be described. In the description below, the front side of FIG. 1 is referred to as a front side, the back side of the page is referred to as a rear side, the right side of the page is referred to as a right side, the left side of the page is referred to as a left side, and the upper and lower sides are referred to as upper and lower sides.

  As shown in FIG. 1, a vertical grinding machine 1 includes a base 2 extending in the left-right direction, a column 3 erected at an intermediate portion of the base 2 in the left-right direction, and a processing head 4 supported by the column 3. And a work table 5 movable on the base table 2 in the left-right direction. The work W is detachably supported on the work table 5.

  The processing head body 41 of the processing head 4 is disposed above the processing position ST of the work W. The workpiece W is provided so as to be able to move up and down in the vertical direction while being guided by the vertical guide member 42, that is, to be able to advance and retreat with respect to the work W positioned at the processing position ST. The working head body 41 is moved up and down by, for example, a ball screw or the like (not shown) by the operation of the elevating motor 43.

  A grinding wheel rotation motor 44 is attached to the processing head body 41. A main shaft 45 is provided to extend downward from a lower portion of the grindstone rotating motor 44, and a grindstone 46 is attached to a tip of the main shaft 45. When the tip of the spindle 45 enters the inner periphery of the workpiece W and the grindstone rotating motor 44 is operated, the grindstone 46 rotates around the axis via the spindle 45 so that the inner peripheral surface of the workpiece W is ground. It has become.

  In the following description, an unprocessed work W1 and a processed work W2 among the works W will be described. In each of the drawings, the unprocessed work W1 is hatched for easy distinction.

  A first exchange position K1 and a second exchange position K2 at which the unprocessed work W1 and the processed work W2 are exchanged are arranged side by side with the machining position ST interposed therebetween. That is, the first replacement position K1, the processing position ST, and the second replacement position K2 are arranged in this order from the left.

The work table 5 on the base table 2 has a first table 51a and a second table 51b that can move in a direction perpendicular to the direction in which the main shaft 45 advances and retreats, that is, in the left-right direction.
The first table 51a is movable between the processing position ST and the first exchange position K1, and the second table 51b is movable between the processing position ST and the second exchange position K2. The interval between the processing position ST and the first exchange position K1 is substantially the same as the interval between the processing position ST and the second exchange position K2.

  The work table 5 (the first table 51a and the second table 51b) is moved by the work table moving means 6 in the left-right direction. The work table moving means 6 is composed of, for example, a linear motor 60 or the like. The linear motor 60 includes, for example, a stator 61 including a coil provided on the base table 2 side, and armatures 62a and 62b including magnets provided on the first table 51a and the second table 51b. The stator 61 and the armature 62a constitute a first moving means 60a for moving the first table 51a, and the stator 61 and the armature 62b constitute a second moving means 60b for moving the second table 51b. By using the linear motor 60 for the work table moving means 6, not only the first table 51a and the second table 51b are moved between the processing position ST and the first exchange position K1 and the second exchange position K2. When the workpiece W is ground at the processing position ST, the workpiece W being processed is cut and fed in the left-right direction, so that the cutting state can be more finely adjusted. The use of the linear motor 60 as the work table moving means 6 is an example, and the present invention is not limited to this.

  The first table 51a is provided rotatably with a first work table 52a that supports the work W, and has a built-in first rotating unit 53a that rotates the first work table 52a. The first work table 52a is provided with first clamp means 54a such as a clamp claw for attaching the work W to the first work table 52a. When the clamp by the first clamp means 54a is released, the work W can be removed from the first work table 52a. The first table 51a is provided with a dress mechanism 59 for dressing the grindstone 46 periodically. The position of the work W at the processing position ST of the first table 51a can be finely adjusted by the operation of the work table moving means 6 according to the dressing state where the grindstone diameter changes due to dressing of the grindstone 46. Has become. The second work table 52b, the second rotation means 53b, and the second clamp means 54b have the same configuration as the first work table 52a, the first rotation means 53a, and the first clamp means 54a, and a description thereof will be omitted.

  As described above, the first moving unit 60a and the second moving unit 60b respectively move the first table 51a and the second table 51b to the processing position ST and the first exchange position K1, and the processing position ST and the second exchange position K2. In addition to the function of moving the workpiece W, the workpiece W can also have a function of cutting and feeding the work W, so that there is no need to separately provide a moving means for cutting and feeding.

  Further, since the first table 51a can be moved separately by the first moving means 60a and the second table 51b can be moved separately by the second moving means 60b, for example, the work supported by one of the work tables 5 can be used. During the processing of W, the other work table 5 can be brought close to the processing position ST and kept on standby, or the position of the work table 5 with respect to the processing position ST can be separately fine-tuned. It can be quickly positioned at the processing position ST.

  Further, since the first rotating means 53a is provided on the first table 51a and the second rotating means 53b is provided on the second table 51b, when the same rotating means is used, the engagement work at the processing position ST is not required. Where necessary, the work is not required, and the processing efficiency is improved.

  The work transfer means 10 includes a work transfer mechanism 10a capable of holding and transferring the work W, and a work transfer mechanism 10a arranged along the direction in which the first exchange position K1, the processing position ST, and the second exchange position K2 are arranged. A guide mechanism 20 is provided to guide the apparatus so that it can move in the horizontal direction.

  The work transfer mechanism 10a is guided by the guide mechanism 20, and is movable above the first exchange position K1, the processing position ST, and the second exchange position K2. Further, the unprocessed work W1 can be moved above a carry-in waiting section 30 (details will be described later) provided on the left side of the first exchange position K1 for carrying-in standby. At the same time, it is also possible to move above a carry-out waiting section 33 (details will be described later), which is provided on the right side of the second exchange position for carrying out the processed work W2 on standby.

  The guide mechanism 20 is provided so as to guide the movement of the work transfer mechanism 10a in a horizontal direction, that is, in a left-right direction. The guide mechanism 20 includes columns 21 and 22 erected on the front side and left and right sides of the base 2 and extending above the column 3, and a horizontal guide rail 23 laid so as to connect upper ends of the columns 21 and 22. And The horizontal guide rail 23 is further provided to extend to the left side of the column 21 and to the right side of the column 22.

  A carry-in standby unit 30 that waits for the unprocessed work W1 is provided around the first exchange position K1, and a carry-out standby unit 33 that waits for the processed work W2 is provided around the second exchange position K2. Specifically, on the left side of the support 21, a carry-in standby unit 30 is provided adjacent to the support 21 for bringing the unprocessed work W1 into the carry-in standby state. On the right side of the support 22, an unloading standby section 33 is provided adjacent to the support 22 for unloading and waiting the processed work W2. The carry-in waiting section 30 is provided with a carry-in waiting pedestal 31 on which the unprocessed work W1 is placed, and the carry-out waiting section 33 is provided with a carry-out pedestal 34 on which the processed work W2 is placed. The unprocessed work W1 is sequentially conveyed to the carry-in standby pedestal 31 by, for example, a conveyor or the like (not shown), and the processed work W2 is similarly sequentially transferred from the carry-out pedestal 34 by, for example, a conveyor (not shown). It is designed to be transported.

  The unprocessed work W1 that is waiting to be carried in by the carry-in waiting section 30 is held by the work transfer mechanism 10a and is transferred to the first exchange position K1 and the second exchange position K2. The processed work W2 is held by the work transfer mechanism 10a from the first exchange position K1 and the second exchange position K2, and is conveyed to the unloading standby section 33. That is, the unprocessed work W1 is carried in from the left side, and the processed work W2 is carried out from the right side. Therefore, when the vertical grinding machine 1 is installed, the layout is easy.

  Further, the carry-in standby unit 30 is provided around the first exchange position K1 and the carry-out standby unit 33 is provided around the second exchange position K2. The moving distance of the mechanism 10a can be reduced. In particular, in the present embodiment, the carry-in standby unit 30 and the carry-out standby unit 33 are provided substantially at the front and rear positions of the first exchange position K1 and the second exchange position K2. Can be opposed to the first exchange position K1, the second exchange position K2, the carry-in standby unit 30, and the carry-out standby unit 33 by a linear movement of sliding down the work W, and the work W can be smoothly transported. Can be done.

  In the moving range of the work transfer mechanism 10a by the guide mechanism 20, a position almost directly above the carry-in standby unit 30 is referred to as a carry-in standby position H1, and a position almost directly above the carry-out standby unit 33 is referred to as a carry-out standby position H2. Further, a position substantially directly above the first exchange position K1 is referred to as a first exchange standby position T1, and a position substantially immediately above the second exchange position K2 is referred to as a second exchange standby position T2. The work transfer mechanism 10a is controlled by, for example, a servomotor (not shown) so as to be able to stop at the carry-in standby position T1, the carry-out standby position T2, the first exchange standby position T1, and the second exchange position T2.

  In FIGS. 1, 6 to 12, and 14 to 16, the carry-in standby unit 30 and the carry-in standby position H1, the first exchange position K1 and the first exchange position A line connecting the exchange standby position T1, the processing position ST and the processing head 4, the second exchange position K2 and the second exchange standby position T2, and the unloading standby section 33 and the unloading standby position H2 are indicated by alternate long and short dash lines. However, each position is not limited to the position where the dashed line passes, but also includes the vicinity thereof.

  The work transfer mechanism 10a includes a work exchange main body 11 slidably supported in the left and right direction along the horizontal guide rail 23, a slide mechanism 12 for sliding the work exchange main body 11 in the left and right direction, and a work exchange main body 11. A vertically moving member 13 supported vertically vertically, a guide member 14 for vertically guiding the vertically moving member 13, and a vertically moving mechanism 15 such as a hydraulic cylinder for moving the vertically moving member 13 vertically. And a workpiece exchange jig 16 provided at the tip of the vertically moving member 13. By moving the vertical moving member 13 up and down in the first exchange standby position T1, the second exchange standby position T2, the carry-in standby position H1, and the carry-out standby position H2, the work W is picked up from the corresponding position or the work W is picked up. The work W can be transferred to a position. That is, the workpiece W can be transported by the linear movement of the workpiece transport mechanism 10a in the left-right direction and the vertical direction, so that the workpiece W can be moved smoothly without a complicated mechanism.

  The work exchanging jig 16 includes a first work holder 17a and a second work holder 17b capable of holding the work W, and a holder exchange mechanism 17c for exchanging the positions of the first work holder 17a and the second work holder 17b. And The directions of the first work holding portion 17a and the second work holding portion 17b are orthogonal to each other so that one of the work holding portions 17a is directed downward and the other is turned sideways. Then, as shown in FIG. 4, the holding unit replacement mechanism 18 rotates around the axis J <b> 1, and their positions are switched. The first work holding portion 17a and the second work holding portion 17b have the same configuration and include gripping claws 19a and 19b for gripping the outer periphery of the cylindrical work W, respectively. As described above, since the plurality of works W can be held by the work exchange jig 16 and their positions can be exchanged, the work W can be exchanged quickly. Further, the positions of the first work holding portion 17a and the second work holding portion 17b can be easily changed by the holding portion changing mechanism 18.

  As described above, when the second table 51b is at the processing position ST, the first table 51a supporting the work W is moved to the first exchange position K1, and the work positioned at the first exchange standby position T1 is moved. The work W on the first table 51a can be exchanged by lowering the vertically moving member 13 of the transport mechanism 10a. When the first table 51a is at the processing position ST, the second table 51b supporting the work W is moved to the second exchange position K2, and the work transfer mechanism 10a positioned at the second exchange standby position T2 is moved. The work W on the second table 51b can be replaced by lowering the vertically moving member 13. Therefore, another work W can be replaced with another work W during the processing of the work W, and the production efficiency is improved.

  Further, a carry-in standby unit 30 is provided around the first exchange position K1, and a carry-out standby unit 33 is provided around the second exchange position K2, so that the work transport mechanism 10a can transport the work W to the corresponding position. Has become. Therefore, during the processing of the unprocessed work W1, the processed work W2 can be transferred by moving the work transfer mechanism 10a, and the new unprocessed work W1 picked up from the carry-in standby unit 30 can be kept on standby. Production efficiency is further improved.

  Next, a grinding method using the vertical grinding machine 1 will be described in order based on schematic diagrams of FIGS. 1 to 12 and a flowchart of FIG.

  As shown in FIG. 1, the processed work W2 processed at the processing position ST is supported by the first table 51a and positioned at the first replacement position K1. Further, the unprocessed work W1 supported by the second table 51b is positioned at the processing position ST.

  Further, at this time, the work transfer mechanism 10a is positioned on the horizontal guide rail 23 at a first replacement standby position T1 which is almost directly above the first replacement position K1. The work exchange jig 16 is oriented downward facing the processed work W2 with the first work holding portion 17a being empty, and oriented horizontally with the second work holding portion 17b holding the unprocessed work W1. ing. From this state, the grinding method will be described.

  In the following description, in order to make it easier to understand the processing state of the work W, a description will be given with reference numerals corresponding to each work W. For example, when the unprocessed work W1a is processed, the processed work W2a is formed, and when the unprocessed work W1b is processed, the processed work W2b is formed. . Since the work W (processed work W2a) supported by the first table has already been processed, the unprocessed work W1a is not shown.

  As shown in FIG. 13A, in the first processing step C1, during processing of the unprocessed work W1b, the processed work W2a positioned at the first replacement position K1 is replaced with a new unprocessed work W1c.

  The first processing step C1 will be described in detail. First, in step S0, if it is a processed work W2, the flow proceeds to step S1, and if it is an unprocessed work W1, the flow proceeds to step S1 '. Usually, all of them are present, so that these are performed simultaneously in parallel.

  Then, as step S1, as shown in FIG. 2, the vertically moving member 13 of the work transfer mechanism 10a is lowered by the operation of the vertically moving mechanism 15. Then, the clamp by the first clamp unit 54a is released, and the machined work W2a can be removed. Then, as shown in FIG. 3, the processed work W2a at the first exchange position K1 is gripped by the gripping claws 19a of the first work holding portion 17a.

  Next, as shown in FIG. 3 and FIG. 4, as shown in FIGS. 3 and 4, the vertical movement member 13 is slightly raised, and then the holding part exchange mechanism 18 turns the first work holding part 17 a and the second work holding part 17 b. Replace That is, the first work holding portion 17a and the second work holding portion 17b are rotated around the axis J1 of the holding portion exchange mechanism 18 so that the second work holding portion 17b holding the unprocessed work W1c faces downward. I do. Then, as shown in FIG. 5, the vertical moving member 13 is lowered, the unprocessed work W1c is clamped by the first clamping means 54a, and is supported by the first table 51a at the first exchange position K1.

  Next, as step S3, after raising and lowering the vertically moving member 13 of the work transfer mechanism 10a to the first exchange standby position T1, the work transfer mechanism 10a is slid to the left along the horizontal guide rail 23 to wait for carry-in. It is positioned at the carry-in standby position H1 above the unit 30 (see FIG. 6). As shown by the imaginary line in FIG. 6, the workpiece is lowered from here, and the new unprocessed work W1d prepared on the carry-in standby pedestal 31 is gripped by the gripping claws 19b of the second workpiece holding portion 17b.

  Next, in step S4, the vertical moving member 13 is raised to the carry-in standby position H1, and then slid rightward along the horizontal guide rail. Then, it passes through the first exchange standby position T1, the processing position ST, and the second exchange standby position T2, and is positioned at the unloading standby position H2 above the unloading standby section 33 (see FIG. 7). Then, as shown by a virtual line in FIG. 7, the directions of the first work holding unit 17a and the second work holding unit 17b are switched so that the first work holding unit 17a holding the processed work W2a faces downward and descends. Then, the processed work W2a is placed on the unloading pedestal 34, and is brought into standby for unloading. The processed work W2a that has been waiting for carry-out is carried out by a conveyor or the like (not shown). In addition, the timing of changing the direction may be before lowering, or after lowering to the vicinity of the carry-out pedestal 34.

  Next, as step S5, after raising the vertically moving member 13 to the unloading standby position H2, the work transfer mechanism 10a is slid to the left to wait at the second exchange standby position T2 above the second exchange position K2. (See FIG. 8).

  In the meantime, in step S1 ', the unprocessed work W1b at the processing position ST is processed to become a processed work W2b.

  Then, in step S6, the second table 51b supporting the processed work W2b is moved to the right so that the second table 51a supporting the unprocessed work W1c is positioned at the processing position ST. (See FIG. 9). Prior to this movement, the first table 51a may be slightly moved to the right side in advance so as to approach the processing position ST, and may be on standby. As described above, since the first table 51a and the second table 51b can move independently, each of them can be quickly positioned at a predetermined position, and the production efficiency can be improved.

  Next, the second processing step C2 will be described with reference to FIG. 13B. In the second processing step C2, during the processing of the unprocessed work W1c positioned at the processing position ST, the processed work W2b at the second replacement position K2 is replaced with a new unprocessed work W1d.

  To describe the second processing step C2 in detail, first, in step S10, as in the first processing step C1, the processing proceeds to step S11 if the work is a processed work W2, and proceeds to step S11 'if the work is an unprocessed work W1.

  Then, as step S11, the vertically moving member 13 of the work transfer mechanism 10a is lowered. Then, the processed work W2b at the second exchange position K2 is gripped by the gripping claws 19a of the first work holding portion 17a.

  Next, as step S12, after the vertical moving member 13 is slightly raised, the directions of the first work holding portion 17a and the second work holding portion 17b are switched by the holding portion replacement mechanism 18. That is, the second work holding portion 17b holding the unprocessed work W1d is directed downward. Then, the vertically moving member 13 is lowered to support the unprocessed work W1d on the second table 51b at the second replacement position K2.

  Next, as step S13, the vertical moving member 13 is raised to the second replacement standby position T2, and then slid rightward along the horizontal guide rail 23 to be positioned at the unloading position H2 above the unloading standby unit 33. (See FIG. 10). Then, as shown by a virtual line in FIG. 10, the directions of the first work holding portion 17a and the second work holding portion 17b are switched so that the first work holding portion 17a holding the processed work W2b is directed downward, and then descends. Then, the processed work W2b is placed on the carry-out pedestal 34 and carried out. In addition, the timing of changing the direction may be before lowering, or after lowering to the vicinity of the carry-out pedestal 34.

  Next, as step S14, after raising and lowering the vertically moving member 13 of the work transfer mechanism 10a to the second replacement standby position T2, the work transfer mechanism 10a is slid to the left along the horizontal guide rail 23. Then, it passes through the second exchange standby position T2, the processing position ST, and the first exchange standby position T1, and is positioned at the carry-in standby position H1 above the carry-in standby unit 30 (see FIG. 11). As shown by the imaginary line in FIG. 11, the workpiece is lowered from here, and the new unprocessed work W1e prepared in the carry-in standby pedestal 31 is gripped by the gripping claws 19b of the second workpiece holding unit 17b.

  Then, in step S15, after raising the vertical moving member 13 to the carry-in standby position H1, the work transfer mechanism 10a is slid to the right, and the second work holding portion 17b holding the unprocessed work W1e faces downward. With the orientations of the first work holding portion 17a and the second work holding portion 17b reversed, the first work holding portion 17a and the second work holding portion 17b are made to stand by at a first exchange standby position T1 above the first exchange position K1 (see FIG. 12).

  During this time, in step S11 ', the unprocessed work W1c at the processing position ST is processed to become a processed work W2c.

  Then, in step S16, the first table 51a supporting the processed work W2c is moved to the left side so as to be positioned at the first replacement position K1, and the second table 51b supporting the unprocessed work W1d is positioned at the processing position ST. Let it. Before this movement, the second table 51b may be slightly moved to the left side in advance so as to approach the processing position ST, and may be in standby.

  Then, the process returns to the first processing step C1 again. That is, during the processing of the unprocessed work W1d, the processed work W2c at the first replacement position K1 is replaced with a new unprocessed work W1e. As described above, the first processing step C1 and the second processing step C2, that is, steps S0 to S6 and S1 ', and steps S10 to S16 and S11' are sequentially repeated to exchange and process the workpiece W.

  As described above, while the unprocessed work W1 is being processed at the processing position ST, the processed work W2 is carried out, and the next unprocessed work W1 is picked up and prepared. That is, during the processing of the unprocessed work W1, the processed work W2 and the new unprocessed work W1 are exchanged. Therefore, for example, it is possible to eliminate the time loss required for the exchange such as waiting for the processing during the exchange of the work W, and the production efficiency of the work W is improved.

(Embodiment 2)
Embodiment 2 will be described with reference to FIGS. 14 to 16. In the second embodiment, only parts different from the first embodiment will be described, and description of common parts will be omitted. In the second embodiment, the carry-in standby unit is provided on the right side of the column 22, and the carry-out standby unit is also provided on the left side of the column 21. That is, in the above-described first embodiment, the unprocessed work W1 is put on standby on the left side and carried in, and the processed work W2 is carried out from the right side. It was made.

  As shown in FIG. 14, a first carry-in standby unit 301a and a second carry-in standby unit 301b are provided on the left and right of the base table 2 as carry-in standby units, and a first carry-out standby unit 331a and a second carry-in standby unit 331 are provided as carry-out standby units. The carry-out standby units 331b are provided on the left and right of the base table 2.

  More specifically, the first carry-in / out standby unit 35 provided around the first exchange position K1, that is, on the left side of the column 21, has both the first carry-in standby unit 301a and the first carry-out standby unit 331a. Further, the second carry-in / out standby unit 37 provided around the second exchange position K2, that is, on the right side of the column 22, has both the second carry-in standby unit 301b and the second carry-out standby unit 331b.

  A grinding method according to the second embodiment will be described with reference to FIGS.

  FIG. 14 shows a state similar to FIG. 1 of the first embodiment. Then, as shown in FIG. 15, in the first processing step C1 ′, as step S30 following step S1 and step S2, the vertical moving member 13 of the work transfer mechanism 10a is raised to the first exchange standby position T1, and then the work is started. The transport mechanism 10a is slid to the left along the horizontal guide rail 23 to position the transport mechanism 10a at the loading standby position H1 above the first loading / unloading standby section 35. Thereafter, as shown by the imaginary line in FIG. 15, the directions of the first work holding portion 17a and the second work holding portion 17b are switched and lowered. That is, the first work holding unit 17a holding the processed work W2a is lowered in a state where the first work holding unit 17a is replaced with a downward work. Then, the processed work W2a is placed on the first unloading standby section 331a and is unloaded. In addition, the timing of changing the direction may be before lowering, or after lowering to the vicinity of the first unloading standby unit 331a.

  Next, as step S40, the new unprocessed work W1d prepared in the first carry-in standby unit 301a is held by the empty first work holding unit 17a.

  Next, as step S50, after raising the vertically movable member 13 to the unloading standby position H1, the work transport mechanism 10a is slid to the right. Then, in a state in which the directions of the first work holding portion 17a and the second work holding portion 17b are exchanged, that is, in a state where the empty second work holding portion 17b faces downward, the second replacement standby above the second replacement position K2. It waits at the position T2 (see FIG. 16). Note that the timing of changing the direction may be before sliding to the right or after sliding to the second replacement position K2.

  The operation of the second processing step C2 'is similar to that of the first processing step C1', and is not illustrated.

  In the second processing step C2 ', following step S11, step S12, and step S13, as step S140, the new unprocessed work W1e of the second carry-in standby unit 301b is held by the empty second work holding unit 17b. .

  Next, in step S150, after raising the vertically moving member 13 to the carry-in standby position H2, the work transport mechanism 10a is slid to the left to change the orientation of the first work holding unit 17a and the second work holding unit 17b. In the exchanged state, that is, in a state in which the empty first work holding portion 17a faces downward and the second work holding portion 17b holding the unprocessed work W2e faces sideways, the first exchange standby above the first exchange position K1. It waits at the position T1.

  As described above, the carry-in standby units (the first carry-in standby unit 301a and the second carry-in standby unit 301b) are provided on the left and right, and the carry-out standby units (the first carry-out standby unit 331a and the second carry-out standby unit 331b) are provided on the left and right. Accordingly, the operation range and operation time of the work transfer mechanism 10a are reduced as compared with the first embodiment. Therefore, it is useful when it is desired to reduce the operation range or operation time of the work transfer mechanism 10a, for example, in the case of a work W having a short processing time.

  Here, it is assumed that the first carry-in / standby unit 35 has both the first carry-in / standby unit 301a and the first carry-out / standby unit 331a, and the second carry-in / out wait unit 37 has the second carry-in / standby unit 301b and the second carry-out standby unit. Although the unit 331b also has the unit 331b, the loading and unloading is performed at the same position, but the invention is not limited to this. For example, the first carry-in standby unit 301a and the first carry-out standby unit 331a may be provided adjacent to each other. In this case, the work transport mechanism 10a is slightly moved in the horizontal direction so as to correspond to each position when loading and unloading. However, the first loading standby section 301a and the first unloading standby section 331a are provided around the column 21. If this is the case, the moving distance can be shortened, so that the effect of reducing the operating range and operating time can be obtained. The same applies to the second carry-in standby unit 301b and the second carry-out standby unit 331b.

(Other embodiments)
In the first and second embodiments, the vertical grinding machine 1 has been described, but the invention is not limited to the vertical grinding machine, but may be a horizontal grinding machine or the like.

  In the first and second embodiments, the present invention is applied to the grinding of the inner peripheral surface of the work W. However, the present invention is not limited to this. For example, the upper surface and the outer surface of the work W may be ground, cut, and honed. It can also be applied to processing.

  In the first and second embodiments, a plurality of workpieces W of the same type are described as being processed. However, the present invention is not limited to the same type of workpiece W. The present invention can be applied to works W having almost the same time.

  The structures of the work transfer mechanism 10a, the vertically moving member 13, the work changing jig 16, the first work holding portion 17a, the second work holding portion 17b, and the like are not limited to the above embodiment, and other structures may be used. Good. For example, a robot hand having a first work holding portion 17a and a second work holding portion 17b at its tip is provided in the work exchange main body 11 instead of the vertical moving member 13, and the first work holding portion 17a and the The second work holding part 17b may be lowered and raised.

  When the processing time of the work W is short and the transfer time and the exchange time of the work W need to be further reduced, for example, a jig for removing the processed work W2 from the work table 5 and the unprocessed work W1 are attached. A jig may be provided separately to shorten the replacement time. Further, for example, a conveyor or the like may be further provided as a work transfer mechanism to shorten the transfer time.

  Further, in the first and second embodiments, the first work holding portion 17a and the second work holding portion 17b are provided so that the directions are orthogonal to each other, and are rotated around the axis J1 of the holding portion exchange mechanism 18 to change the directions of each other. It is a replacement, but is not limited to this structure. For example, the first work holding portion 17a and the second work holding portion 17b may be provided side by side in the front-rear direction or the like so as to be switched.

  In the first and second embodiments, the clamp claws are employed as the first clamp means 54a and the second clamp means 54b. However, the present invention is not limited to this structure, and clamp claws having other structures may be used. Further, instead of the clamp claws, for example, a magnetic chuck or the like may be used.

DESCRIPTION OF SYMBOLS 1 Vertical grinding machine 11 Work exchange main body 10 Work transfer means 10a Work transfer mechanism 13 Vertical moving member 17a First work holding part 17b Second work holding part 18 Holding part exchange mechanism 20 Guide mechanism 23 Horizontal guide rail 30 Loading standby part 301a 1st loading standby section (loading standby section)
301b Second loading standby unit (loading standby unit)
33 Unloading standby unit 331a First unloading standby unit (unloading standby unit)
331b Second unloading standby unit (unloading standby unit)
4 Working head 45 Main shaft 46 Grinding stone 5 Work table 51a First table 51b Second table 53a First rotating means 53b Second rotating means 6 Work table moving means 60a First moving means 60b Second moving means C1, C1 'First processing Process C2, C2 'Second machining process ST Machining position K1 First exchange position K2 Second exchange position W Work W1 Unworked work W2 Worked work

Claims (8)

Grinding comprising: a work table that detachably supports a work; a main shaft that can move forward and backward with respect to the work positioned at a processing position of the work; In the device,
A first exchange position and a second exchange position for exchanging a processed work and an unprocessed work are arranged side by side with the processing position interposed therebetween;
A first table movable between the machining position and the first exchange position and a movable table between the machining position and the second exchange position in a direction orthogonal to the reciprocating direction of the spindle; Having a possible second table,
Work transport means for holding and transporting the processed work or the unprocessed work is further provided,
The work transfer means,
After exchanging the processed work supported by the first table with the unprocessed work in a state where the first table is moved to the first exchange position and the second table is moved to the machining position. , Can be moved to the second exchange position while holding another unprocessed work, and
After exchanging the processed work supported by the second table with the unprocessed work in a state where the second table is moved to the second exchange position and the first table is moved to the processing position. A grinding apparatus characterized in that it can be moved to the first exchange position while holding another unprocessed work. In claim 1,
The work transfer means, a work transfer mechanism capable of holding and transferring the work,
A grinding mechanism comprising: a guide mechanism that guides the work transfer mechanism so that the work transfer mechanism can move along a direction in which the first exchange position, the processing position, and the second exchange position are arranged. In claim 1 or 2,
A first moving unit that moves the first table and a second moving unit that moves the second table;
The first table includes first rotating means for rotating the work supported on the first table,
The grinding apparatus according to claim 1, wherein the second table includes a second rotating unit configured to rotate the work supported by the second table. In any one of claims 1 to 3,
The work transfer means may include a first work holding unit capable of holding the work, a second work holding unit capable of holding another work, and positions of the first work holding unit and the second work holding unit. A grinding device, comprising: a holding part replacement mechanism for replacing. In any one of claims 1 to 4,
A carry-in standby unit that waits for the unprocessed work is provided around the first exchange position,
A carry-out standby unit that waits for the processed work is provided around the second exchange position,
The work transfer means is capable of transferring the unprocessed work from the carry-in standby unit to the first exchange position or the second exchange position, and transfers the processed work to the first exchange position or the second exchange position. A grinding device, which is provided so as to be able to be conveyed to the carry-out standby section. In claim 5,
The carry-in standby unit is provided around the first exchange position and the second exchange position,
The grinding device, wherein the carry-out standby unit is provided around the first replacement position and the second replacement position. In claim 2,
The first exchange position, the processing position and the second exchange position are provided in a horizontal direction,
The guide mechanism includes a horizontal guide rail that is suspended above the first exchange position, the processing position, and the second exchange position,
The work transfer means includes a work exchange main body guided by the lateral guide rail and slidable in a horizontal direction, and a vertical moving member provided on the work exchange main body so as to be slidable in a vertical direction. And grinding equipment. A grinding method for grinding a work using the grinding device according to any one of claims 1 to 7,
When the unprocessed work supported by the second table positioned at the processing position is being processed, the processed work supported by the first table positioned at the first replacement position is A first processing step replaced with an unprocessed work;
When the unprocessed work supported by the first table positioned at the processing position is being processed, the processed work supported by the second table positioned at the second exchange position is A second processing step to be replaced with an unprocessed work,
A grinding method, wherein the first processing step and the second processing step are sequentially repeated.

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