JP3058798B2 - Work supply and unloading device for rotary carrier - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for feeding and unloading a work from a rotary carrier. The present invention relates to a rotary carrier work supply / extraction device suitable for use in an apparatus.

[0002]

2. Description of the Related Art Recently, a piezoelectric element such as a piezoelectric element has a thickness of 0.5 m.
In order to form the thickness of the thin-film ceramic component set to be equal to or less than m, a processing method as shown in FIG. 3 has been realized.

[0003] This method uses a thin plate-shaped rotary carrier d.
, Two vertically opposed grinding wheels c1, c2 driven by the drive units a, b in the double-ended grinding device f
In the meantime, the thin film work e such as a piezoelectric element is carried in, processed, and then carried out.

The rotary carrier d has a holding hole g for the transfer, and the work e received in the holding hole g is prevented from dropping downward by a lower guide h along the work transfer path, thereby transferring the work. The upper guide i along the route prevents the upward jump.

[0005] Thereby, the double-sided processing of the thin plate-like work e is simultaneously achieved.

[0006]

However, it is difficult to automatically supply the thin film work e to the rotary carrier d and to remove it from the rotary carrier d. As shown in FIG. . This work is not easy even by hand.
The rotary carrier d is stopped at the time of supply and take-out.

Therefore, since the rotary carrier d can be driven only intermittently, it takes a long time to supply and take out the work e by hand, and it is not enough to efficiently process a large amount of work. Further, since the rotary carrier d is intermittently rotated,
Since it is difficult for the work e to pass through the double-headed grinding device f at a stable speed and state, there is a problem that the processing accuracy is likely to vary, and the stability of the quality is lacking.

SUMMARY OF THE INVENTION An object of the present invention is to solve such a problem and to supply or take out a work automatically to save labor and supply a work of a rotary carrier capable of continuous high-precision and high-efficiency machining. The main purpose is to provide a take-out device.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, a work supply / removal device for a rotary carrier according to the present invention is capable of continuously rotating and conveying a work while performing various operations such as processing during the rotation. A suction nozzle that repeats supplying or removing a workpiece from or rotating a rotary carrier during a forward movement in the same direction synchronized with the rotation of the rotary carrier with respect to a rotary carrier provided for The main feature is that a guide for guiding the reciprocating movement of the suction nozzle along an arc locus which coincides with the rotation center of the rotary carrier is provided.

[0010] It is preferable that an interlocking mechanism for moving the suction nozzle in a predetermined cycle in association with the rotation of the rotary carrier is provided.

[0011]

In the above-mentioned configuration of the main feature of the rotary carrier work supply / extraction device of the present invention, the rotary carrier conveys the supplied work by rotating itself,
During this transportation, it can be used for various works such as processing. On the other hand, the suction nozzle is capable of immediately sucking even small and thin workpieces at the same time as suctioning and securely carrying them, and releasing suction by stopping suction to release the carried workpieces immediately. With respect to the supply of the workpiece, the workpiece sucked and held at the predetermined position at the initial stage of the forward movement can be carried while maintaining the state opposite to the predetermined position of the rotary carrier. The work carried by releasing the suction is released, and the workpiece is accurately supplied to a predetermined position of the rotating rotary carrier in the same state as when both are stopped at a relative speed of zero, and It can be used for various operations such as machining by rotation of the rotary carrier. Due to the synchronized forward movement, the rotary carrier is moved while maintaining a state facing the predetermined position of the rotary carrier, and various kinds of processing such as processing, which are held at the predetermined position facing the rotary carrier by the start of suction during the movement, are performed. The completed work can be stably taken out by holding it in the same state as when the relative speed is zero and both sides are stopped, and the taken out work can be carried to a predetermined position by continuous suction. Thereafter, by stopping the suction and releasing it, a process such as discharge from a predetermined position can be performed. Therefore, no matter how small and thin the work is, it is surely sucked and held by the suction nozzle and carried, and while the suction nozzle is released and released in a timely manner without failure, the suction nozzle moves backward after returning and returns to the original position. By returning and repeating the forward movement at a predetermined cycle, the rotary carrier can be automatically supplied to or taken out of the rotary carrier while rotating, so that labor saving can be achieved without any problem. In addition, the rotary carrier can provide the work to various operations such as the above-mentioned processing at a stable speed and state by continuous rotation, so that various operations such as the processing of the work with high precision and efficiency can be achieved. Can be In addition, the reciprocating movement of the suction nozzle is guided by an arc guide in an arc locus which coincides with the rotation center of the rotary carrier, and the movement locus of the suction nozzle at the time of the forward movement is a predetermined position of the opposing rotary carrier. Supplying and unloading the work to and from the rotating rotary carrier
This can be reliably achieved without failure due to the displacement of the two movement trajectories.

In a configuration provided with an interlocking mechanism for synchronously moving the suction nozzle with the rotation of the rotary carrier in a predetermined cycle in association with the rotation of the rotary carrier, the positional relationship and the speed relationship of the forward movement synchronized with the rotary carrier of the suction nozzle. Is fixedly set, and the position and speed of the suction nozzle in the moving direction with respect to the predetermined position of the rotary carrier are appropriately maintained, so that the supply of the workpiece to the rotating rotary carrier,
In addition, removal can be reliably achieved without failure due to a shift in the positional relationship in the moving direction and the moving speed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A rotary carrier work supply / removal device according to the present invention will be specifically described below with reference to an embodiment.

FIGS. 1 and 2 show a rotary carrier work supply / removal device according to an embodiment of the present invention.

As shown in the drawing, this apparatus uses a thin plate-shaped rotary carrier 1 as in the conventional case, and employs two vertically opposed grinding wheels driven by driving units 3 and 4 in a double-head grinding device 2. The thin-film work 7 such as a piezoelectric element is carried in between the grindstones 5 and 6, is subjected to processing, and is then carried out.

The rotary carrier 1 has a holding hole 8 for this conveyance, and the work 7 received in the holding hole 8 is prevented from dropping downward by a lower guide 11 along the work moving path 9 to prevent the work 7 from falling down. The upper guide 12 along the movement path 9 prevents the upward jump.

As a result, the double-sided processing on the thin plate-like work 7 as described above can be simultaneously achieved as in the conventional case. However, the present invention is not limited to such processing, and can be similarly applied to a case where various types of workpieces are subjected to other various types of processing and operations. In this case, the double-head grinding device 2
However, it can be replaced with various working machines such as other necessary processing and processing for performing work.

For various operations such as machining, a work supply position 14 is set immediately before the double-headed grinding device 2 when viewed from the rotation direction of the rotary carrier 1 shown in the figure, and the work is supplied immediately after the double-headed grinding device 2. The takeout position 15 is set.

A work supply mechanism 16 as shown in the figure is installed at the work supply position 14, and a work take-out mechanism (not shown) is installed at the work take-out position 15. As the work take-out mechanism, the same mechanism as the work supply mechanism 16 may be used for the reverse purpose, so that illustration and overlapping description will be omitted.

The work supply mechanism 16 or a work take-out mechanism (not shown) supplies the work 7 to and from the rotary carrier 1 during forward movement synchronized with the rotary carrier 1 for carrying the work 7 and performing various operations such as processing. A reciprocating suction nozzle 21 for taking out and a reciprocating movement of the suction nozzle 21 are defined by a rotation center O of the rotary carrier 1.
And an arc guide 22 that guides the user along an arc trajectory that coincides with.

Thus, the rotary carrier 1 conveys the supplied work 7 by rotating itself, and can perform various works such as processing during the conveyance. on the other hand,
The suction nozzle 21 is capable of immediately sucking the small work 7 no matter how small it is at the same time as the suction and carrying the work 7 surely, and releasing the suction of the work 7 carried by stopping the suction and immediately releasing the work. With respect to the supply of the work 7 by the forward movement synchronized with the rotation of the rotary carrier 1, the work 7 sucked and held at the predetermined position 27 near the work supply position 14 shown in FIG. Can be carried while maintaining the state of being opposed to the transport hole 8 at the position. During the carrying, the suction of the work 7 is stopped, and the carried work 7 is released, and the predetermined position of the rotating rotary carrier 1 is released. Is supplied exactly on the conveying hole 8 in the same state as when the relative speed is zero and both are stopped, and the processing such as the rotation of the rotary carrier 1 is performed. The work 7 can be taken out, and with respect to the removal of the work 7, the forward movement synchronized with the rotation of the rotary carrier keeps a state in which the work 7 faces the transport hole 8 at a predetermined position of the rotary carrier 1. The workpiece 7 which has been moved and has been subjected to various operations such as processing held in the opposed conveying hole 8 at the predetermined position on the rotary carrier 1 due to the start of suction during the movement.
Can be stably taken out by holding in the same state that both are stopped when the relative speed becomes zero, and the taken out work 7 is set near the work take-out position 15 by the continuous suction. After carrying it in place,
By stopping the suction and releasing it, processing such as discharging from a predetermined position can be performed. Therefore, no matter how small and thin the work 7 is, the suction nozzle 21 surely sucks and holds it by the suction nozzle 21 and carries it. In addition, the suction nozzle 21 returns after the forward movement and returns to the original state while handling without releasing the suction and releasing it in a timely manner. To return to the position, and the forward movement can be repeatedly performed at a predetermined cycle, so that the rotary carrier 1 can be repeatedly supplied to the rotating carrier 1 and removed from the rotating carrier 1 automatically and repeatedly. Can be achieved without any problem, and the rotary carrier 1 can provide the work 7 to various operations such as the above-mentioned processing at a stable speed and state by continuous rotation, so that the work 1 can be processed with high accuracy and high efficiency. Various tasks can be accomplished. Moreover, the reciprocating movement of the suction nozzle 21 is performed by the arc guide 22.
Accordingly, the rotary carrier 1 is guided along an arc locus which coincides with the rotation center O, and the moving locus of the suction nozzle 21 at the time of the forward movement is changed to the moving locus 9 of the conveying hole 8 at a predetermined position of the rotary carrier 1 opposed thereto. Therefore, the supply and unloading of the work 7 to and from the rotating rotary carrier 1 can be reliably achieved without failure due to the positional deviation of both movement trajectories.

Specifically, the arc guide 22 is fixed around the rotary carrier 1 so as to be concentric with the rotary carrier 1 as shown in FIGS. It is guided so that it can reciprocate along the matching arc trajectory. A suction head 24 for vertically moving and rotating the suction nozzle 21 is connected to the slider 23 via a support arm 25, and the suction nozzle 21 is moved together with the suction head 24 into a circular arc shape along the automatic trajectory 9. The suction nozzle 21 is moved along with the reciprocating movement.
Can be moved up and down and rotated as needed, regardless of the difference between the stopped state and the moving state.

As shown in FIG. 1, the workpiece 7 is provided with various component supply mechanisms 2 using a vibration type part feeder or the like.
6, the workpiece 7 is transported to a predetermined position 27 directly above the moving path 9 of the rotary carrier 1 by the rotary carrier 1.

On the other hand, the work supply mechanism 16 sucks the supplied work 7 at the predetermined position 27 by lowering the suction nozzle 21 at the beginning of the predetermined forward movement. The workpiece 7 is picked up by the upward movement, and is picked up by the forward movement synchronized with the rotation of the rotary carrier 1 of the suction nozzle 21.
Is carried in such a manner as to keep the rotary carrier 1 facing the predetermined holding hole 8, and the suction nozzle 21 is lowered in the middle of the carrying, so that the suction nozzle 21 is carried onto the predetermined holding hole 8. After the work 7 is fitted, the suction nozzle 21 is released by stopping the suction, and the suction nozzle 21 is moved upward, thereby leaving the work 7 fitted in the predetermined holding hole 8 and terminating the supply of the work 7. It has become.

On the other hand, in the case of the work take-out mechanism, the suction nozzle 21 is transported by the rotary carrier 1 by the forward movement synchronized with the rotation of the rotary carrier 1 and is provided in the predetermined holding hole 8 after being subjected to various operations such as processing. After the suction nozzle 21 moves down to suck the opposed work 7 while maintaining the state of facing the work 7 held by the suction nozzle 21, the suction nozzle 21
Is lifted, the work 7 in the holding hole 8 is picked up and taken out. When the taken out work 7 is carried to a predetermined take-out position, the suction nozzle 21 is moved down or moved down. When the suction stops, the work 7 taken out and carried is discharged to a predetermined position, and the work 7 is appropriately discharged.

The rotation of the suction nozzle 21 is performed mainly while the work supply mechanism 16 is carrying the work 7 to supply the work 7, thereby correcting the rotation direction of the work 7 being suctioned to the suction nozzle 21. Supply mistakes due to misalignment between the workpiece 7 to be supplied to the rotary carrier 1 and the direction of the holding hole 8 of the rotary carrier 1 can be prevented. For this purpose, the suction nozzle 21
For determining the orientation of the workpiece 7 supplied by
It is necessary to provide an already known imaging device, determination mechanism, and control mechanism.

However, such a vertical mechanism and a rotating mechanism are not essential, and the suction nozzle 21 may expand and contract instead of moving vertically.

In the case of the present embodiment, as shown in FIG. 2, the rotary carrier 1 engages a driving gear 33 directly connected to a motor 32 with a large-diameter gear 31 which rotates in the same direction as the rotary carrier 1, and the rotary carrier 1 is driven by the motor 32. It is designed to be driven with a predetermined reduction ratio.

A cam follower 35 driven by a cam 34 is provided at the other end of an arm 39 having one end connected to the slider 23 by a pin 38.
1 through a gear 36 to rotate the cam 34 in conjunction with the rotation of the rotary carrier 1, and the cam 34 in conjunction with the rotary carrier 1 reciprocates the slider 23 through the cam follower 35 and the arm 39. The suction nozzle 2 is moved.
1 is moved forward in conjunction with the rotation of the rotary carrier 1, and when the end of a predetermined forward stroke is reached, quick return according to the shape of the cam 34 is performed. A spring 37 for urging the arm 39 toward the cam 34 is operated so that the arm 39 follows the cam 34 via the cam follower 35.

Thus, the positional relationship and the speed relationship of the suction nozzle 21 in the forward movement synchronized with the rotary carrier 1 are fixedly set by the shape and the speed ratio of the cam 34, and the suction nozzle 21 is positioned at a predetermined position of the rotary carrier 1. Since the position and speed in the moving direction with respect to a certain holding hole 8 are appropriately maintained, the supply and unloading of the workpiece 7 to and from each holding hole 8 of the rotating rotary carrier 1 are
This can be reliably achieved without failure due to a shift in the positional relationship in the moving direction and the moving speed.

Various mechanisms and control circuits other than those described above can be used to reciprocate the suction nozzle 21 in conjunction with the rotation of the rotary carrier 1.

For example, this can be achieved by using a pneumatic, hydraulic, or transmission mechanism that operates in conjunction with the rotation of the rotary carrier 1 as a reciprocating drive source of the suction nozzle 21, particularly a forward drive source. It is also possible to employ a mechanism for transmitting the rotation of the rotary carrier 1 to a member on the suction nozzle 21 side such as the slider 23 for a necessary timing and a necessary time.

[0033]

According to the above structure of the main feature of the rotary carrier work supply / removal device of the present invention, no matter how small and thin the work is, it is securely sucked and held by the suction nozzle and carried, and the suction is released to timely. The suction nozzle is moved back after the forward movement and returned to the original position while being handled without failure so that the forward movement can be repeated at a predetermined cycle, so that the rotary carrier is supplied to the rotating carrier while rotating it. Can be performed automatically and repeatedly, so that labor saving can be achieved without any problem, and the rotary carrier provides the workpiece for various operations such as the above-mentioned processing at a stable speed and state by continuous rotation. Therefore, various operations such as machining of a work can be achieved with high precision and efficiency.

In addition, the reciprocating movement of the suction nozzle is guided by an arc guide along an arc locus which coincides with the center of rotation of the rotary carrier. Therefore, the supply and removal of the work to and from the rotating rotary carrier can be reliably achieved without failure due to the displacement of both the movement trajectories.

In a configuration provided with an interlocking mechanism that makes a forward movement in synchronization with the suction nozzle at a predetermined cycle in conjunction with the rotation of the rotary carrier, the positional relationship and the speed relationship of the forward movement synchronized with the rotary carrier of the suction nozzle are changed. Fixedly set,
Since the position and speed of the suction nozzle in the moving direction with respect to the predetermined position of the rotary carrier are properly maintained, the supply and unloading of the work to and from the rotating rotary carrier are performed in a manner dependent on the positional relationship and the moving speed in the moving direction. This can be reliably achieved without failure due to the occurrence of a shift.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an overall configuration of a rotary carrier work supply / extraction device as one embodiment of the present invention.

FIG. 2 is a plan view showing a rotary carrier driving mechanism of the apparatus of FIG. 1 and an interlocking mechanism of the driving mechanism and a suction nozzle.

FIG. 3 is a perspective view showing the entire configuration of a conventional rotary carrier work supply / extraction device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rotary carrier 2 Double-head grinding device 7 Work 8 Holding hole 16 Work supply mechanism 21 Suction nozzle 22 Arc guide 23 Slider 31 Large diameter gear 32 Motor 33 Drive gear 34 Cam 35 Cam follower 36 Gear 37 Spring 38 Pin 39 Arm O Rotation center

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 47/90-47/92 B65G 47/80

Claims (2)

(57) [Claims] 1. A rotary carrier for performing various operations such as processing while rotating while transporting a workpiece while continuously rotating, the rotary carrier rotating during the forward movement in the same direction synchronized with the rotation of the rotary carrier. And a guide that guides the reciprocating movement of the suction nozzle along an arc locus that matches the center of rotation of the rotary carrier. A rotary carrier work supply / removal device. 2. The apparatus according to claim 1, further comprising an interlocking mechanism for moving the suction nozzle in a predetermined cycle in conjunction with the rotation of the rotary carrier.