JP5287334B2 - Work supply / discharge device - Google Patents

Description

  The present invention relates to a workpiece feeding / discharging device, and more particularly to a workpiece feeding / discharging device that feeds / discharges a cylindrical workpiece such as a bearing race ring to / from a machining part of a machine tool.

  2. Description of the Related Art There is known a workpiece feeding / discharging device that receives a workpiece such as a bearing ring of a rolling bearing from a previous process, supplies it to a machine tool, discharges it from the machine tool, and sends it to a subsequent process. In order to increase the operating rate of the machine tool, it is important to shorten the conveyance time other than the processing time. For this reason, in patent document 1 and patent document 2, two arms, a supply arm and a discharge arm, are used in the workpiece supply / discharge device. Moreover, in the workpiece | work feeding / discharging apparatus of patent document 3, it is devised to convey so that two workpieces may not interfere with a feeding / discharging position and a processing position using two arms.

Japanese Utility Model Publication No. 6-57538 JP-A-5-277878 JP 2008-194806 A

  By the way, when using two arms, a supply arm and a discharge arm, as described in Patent Documents 1 and 2, there are two types of workpiece trajectories in the vicinity of the machining position, which is complicated and wide. In addition, it is necessary to provide the supply position and the discharge position at different locations, and the conveyance between the pre-process and the post-process becomes complicated. Furthermore, since the trajectory is restricted by the arm drive mechanism, when a workpiece support mechanism or a cutting tool that stands by in the vicinity of the machining position is provided, more restrictive conditions are required to avoid interference with them.

  Further, in the workpiece supply / discharge device described in Patent Document 3, the workpiece can be supplied / discharged from the same supply / discharge position, and the device can be miniaturized. However, since the workpiece trajectory is based on the swivel movement of the arm, the processing blade is moved upward. In the case of arrangement, there is a possibility of interfering with the turning area of the turning arm. Therefore, it is necessary to retract the processing blade for the convenience of loading, and there is a problem that the processing cycle becomes complicated.

  The present invention solves the above-described problems of the prior art, and an object of the present invention is to provide a workpiece supply / discharge device having a simple structure and capable of setting an efficient machining cycle by shortening a conveyance time other than the machining time. The purpose is to do.

The above object of the present invention can be achieved by the following constitution.
(1) A gripping arm having a gripping part capable of holding a workpiece at the tip, and pivoting by the power of the driving means;
Power of the driving means provided between the driving means and the gripping arm so that the gripping part moves between a processing position where the workpiece is processed by a tool and a supply / discharge position where the work is supplied / discharged. Power transmission means for transmitting to the grip arm;
Have
The work feeding / discharging device, wherein the gripping arm performs a planetary motion using rotation and revolution by rotating while moving the center of rotation.
(2) The supply / discharge position is disposed above the processing position,
The workpiece feeding / discharging device according to (1), wherein the gripping arm performs a planetary movement so that the gripping portion passes below the processing position.
(3) The power transmission means
A fixed gear coaxially attached to an arm pivot that is rotated by the drive means;
A planetary gear attached to a fulcrum portion of the gripping arm;
An idler gear meshing with both the fixed gear and the planetary gear;
A support arm pivotally attached to the arm pivot shaft, and supporting the planetary gear and the idler gear;
Have
(1) or (2), wherein the gripping arm performs a planetary movement so that the gripping part passes between the fixed gear and moves between the processing position and the supply / discharge position. ) The workpiece feeding / discharging device described above.

According to the workpiece feeding / discharging device of the present invention, the power transmission means is provided between the driving means and the gripping arm, and grips between a machining position where the workpiece is processed by a tool and a feeding / discharging position where the workpiece is fed / discharged. The power of the drive means is transmitted to the grip arm so that the part moves. As a result, the supply position and the discharge position are provided at the same place (supply / discharge position), and the work track by the gripping arm is made to be one type, thereby reducing the size of the entire apparatus including the transport mechanism to the supply / discharge apparatus. Can do.
Further, the gripping arm performs a planetary motion using rotation and revolution by rotating while moving its center of rotation. As a result, the degree of freedom of arrangement near the machining point can be increased, and even when the machining blade is arranged upward, the machining blade is not required to be retracted, and an efficient machining cycle can be realized. it can.

It is the perspective view which showed the machine tool and conveyance mechanism to which the workpiece supply / discharge device of this invention is applied. It is the side view which showed the process in which the holding | gripping arm of FIG. (A) is a front view in the vicinity of the shuttle guide, and (b) is a side view thereof.

  Hereinafter, a machine tool to which a work feeding / discharging device according to the present invention is applied will be described in detail with reference to the drawings.

  As shown in FIG. 1, a workpiece feeding / discharging device 100 according to the present embodiment is applied to a super finishing board M as a machine tool, and a workpiece is loaded by a gantry loader 40 that is a transport mechanism provided at the upper part of the machine tool M. The workpiece W is carried into / out of the feeding / discharging device 100.

  The workpiece feeding / discharging device 100 has a gripping portion 15 having an arc-shaped concave portion in which a workpiece W can be loosely fitted through a slight gap and an opening portion through which a shuttle 53 described later can pass, and a motor as a driving unit. A gripping arm 14 that pivots with the power of the motor 20, a machining position WP that is provided between the motor 20 and the gripping arm 14 and that processes the workpiece W with a tool (not shown) and a supply / discharge position TP that supplies and discharges the workpiece W Power transmission means 30 for transmitting the power of the motor 20 to the gripping arm 14 so that the gripping part 15 moves between them. Further, the workpiece supply / discharge device 100 includes a shuttle mechanism 50 that horizontally transports the workpiece W loaded from the gantry loader 40 to the supply / discharge position TP.

  The power transmission means 30 includes a belt pulley mechanism 21 and a planetary gear mechanism 31. The belt pulley mechanism 21 includes a drive pulley 26 fixed to a rotating shaft of the motor 20 fixed to the base 10 of the machine tool M (a left side wall portion indicated by a one-dot chain line), and an arm turning shaft positioned above the motor 20. A driven pulley 28 fixed to one end of 33, a driving pulley 26, a driven pulley 28, and a belt 24 wound around an idler pulley 29 rotatably attached to the base 10. Further, the arm turning shaft 33 is substantially cylindrical and has a left end portion fixed to the base 10 in FIG. 1 and a fixed gear 32 (described later) fixed to the right end portion via a bearing (not shown). It is supported rotatably. In the center of the base 10 and the fixed gear 32, a hole through which the arm turning shaft 33 passes is provided. Thereby, the arm turning shaft 33 is rotationally driven by the motor 20. In the present embodiment, the arm turning shaft 33 is installed at a height substantially equal to the machining position WP.

  The planetary gear mechanism 31 includes a fixed gear 32 that is coaxially attached to the arm turning shaft 33, a planetary gear 34 that is fixed to the same shaft as the gripping arm 14, and both the fixed gear 32 and the planetary gear 34. It has an idler gear 36 that meshes, and a support arm 13 that is pivotally attached to the arm pivot shaft 33 and supports the planetary gear 34 and the idler gear 36. When the arm turning shaft 33 rotates, the gripping arm 14 performs a turning motion while moving its turning center, thereby performing a planetary motion using rotation and revolution. That is, the gripping arm 14 revolves around the arm turning shaft 33 while rotating around the rotation shaft of the planetary gear 34.

  In this embodiment, when the gear ratio of the fixed gear 32, the idler gear 36, and the planetary gear 34 is a1: a2: a3, a1> a2> a3. In this case, since a1 is larger than a3, the rotation angle of the planetary gear 34 is made larger than the rotation angle of the support arm 13 when the gripping part 15 moves between the supply / discharge position TP and the processing position WP. The grip portion 15 can be moved greatly.

Figure 2 (a) ~ (d) a work W processing position WP indicates the trajectory _{t 1} of the workpiece W as it moves to the sheet discharge position TP.

When the gripping portion 15 shown in FIG. 2A is at the processing position WP, the axis of the planetary gear 34 is at the same height as the arm turning shaft 33, and the support arm 13 and the gripping arm 14 are horizontally aligned with each other. It extends to. When the support arm 13 starts to rotate counterclockwise, the idler gear 36 that meshes with the fixed gear 32 rotates counterclockwise while revolving together with the support arm 13, and the planetary gear 34 that meshes with the idler gear 36 follows the trajectory t. Rotate clockwise along ₂ . Thereby, when the holding part 15 leaves | separates from the process position WP, it moves below. Therefore, since the gripping part 15 is separated without passing above the processing position WP, even when a tool is arranged on the upper part, it can move without interfering with the tool.

  Further, as shown in FIGS. 2B and 2C, while the gripping arm 14 is turning, the gripping arm 14 and the support arm 13 overlap each other in a side view, and the gripping portion 15 is fixed to the fixed gear 32. Turn to pass sideways. Furthermore, in a state where the gripping portion 15 shown in FIG. 2D has reached the supply / discharge position TP, the support arm 13 and the gripping arm 14 are again in a straight line. Accordingly, during the turning of the arms 13 and 14, the trajectory of the turning arm 14 can be superimposed on the trajectory of the support arm 13. Thereby, the range of the locus | trajectory which both arms 13 and 14 turn can be narrowed, and a freedom degree improves in arrange | positioning the other mechanism of the machine tool M. FIG. Further, since the support arm 13 and the gripping arm 14 are in a straight line at the processing position WP and the supply / discharge position TP, a sufficient stroke can be secured at these positions.

As a result, the gripping arm 14 moves in a planetary motion so that the gripping portion 15 passes below the processing position WP and moves between the processing position WP and the supply / discharge position TP disposed above the processing position WP. To do.
In addition, since the gripping part 15 pivots between the two guide plates 10c and 10d fixed to the base 10 with a gap slightly wider than the thickness of the work W, the work W is placed in the recess of the gripping part 15. Can be transported while being housed in the container.

  The shuttle mechanism 50 includes a supply / discharge position TP, extends in parallel with the arm turning shaft 33, guides the workpiece W, a shuttle 53 that can move horizontally within the shuttle guide 51 by the air cylinder mechanism 52, and Is provided.

  As shown in FIG. 3, the shuttle guide 51 includes a loading-side shuttle guide 51a and a loading-side shuttle guide 51b that are substantially bilaterally symmetrical with respect to the guide plates 10c and 10d. Both the carry-in side shuttle guide 51a and the carry-out side shuttle guide 51b have through holes having an inner diameter slightly larger than the diameter of the workpiece W, and are fixed to the guide plates 10c and 10d. Similarly, the guide plates 10c and 10d have through holes having an inner diameter slightly larger than the diameter of the workpiece W, and these four are arranged in a straight line, thereby forming a passage for the shuttle 53. Further, the shuttle guide 51 and the guide plates 10b and 10c have a notch 51c through which the shuttle 53 passes on the front side over the entire length. Furthermore, the carry-in side shuttle guide 51a and the carry-out side shuttle guide 51b have shapes that allow the workpiece W and the grip portion 40a of the loader 40 to enter and exit in the vertical direction.

  The shuttle 53 has four identical partition plates 53a. Specifically, the partition plate 53a is located in the shuttle guide 51, has an arc shape with a diameter substantially equal to the outer diameter of the workpiece W, and has a notch for avoiding interference with the gripping portion 40a of the loader 40 on the upper portion. It comprises a main body portion provided and an elongated base portion, and the base portion extends outward from the notch 51c. The two sheets on the left side and the two sheets on the right side are coupled to each other at the base end portion via a spacer 53b. Further, two sheets in the center are a slide part 52a of an air cylinder device described later (more specifically, an end plate 52c on the right side that penetrates the cylinder fixing part 52b. Note that in FIG. It is connected via an arm portion 53c fixed to the bracket. The thickness of the spacer 53b is slightly larger than the width of the workpiece W, and is equal to the interval between the guide plates 10c and 10d. A workpiece W (unprocessed workpiece) loaded between the two left partition plates 53a and a workpiece W (processed workpiece) unloaded between the two right partition plates 53a are accommodated. The Further, the relationship between the shuttle guide 51 and the shuttle 53 is that when the processed workpiece storage portion is positioned at the supply / discharge position TP due to the movement of the shuttle 53, the unprocessed workpiece storage portion loads the workpiece W into the loader 40. When the unprocessed workpiece accommodating portion is located at the supply / discharge position TP, the processed workpiece accommodating portion is positioned at the unloading position OP where the workpiece W can be unloaded by the loader 40. It is in a relationship that is located.

  In the workpiece supply / discharge device 100 configured as described above, the unprocessed workpiece W is supplied from the device in the previous process to the loading position IP (left side in FIG. 1) of the shuttle guide 51 by the gantry loader 40. At this time, the workpiece W that has been processed while being accommodated in the gripping portion 15 of the gripping arm 14 is positioned at the supply / discharge position TP. Then, the workpiece W is pushed by the shuttle 53 by the air cylinder mechanism 52 and moves along the shuttle guide 51, so that the unprocessed workpiece W is waiting from the loading position IP to the supply / discharge position TP. At the same time, the processed workpiece W is conveyed from the supply / discharge position TP to the unloading position OP.

By pivoting the gripping arms 14, the grip portion 15, while passing through the work trajectory t ₁ as the center of the workpiece W is shown in FIG. 2 in the order of FIG. 2 and opposite to the planetary motion, accessible from below the working position WP Then, the workpiece W is carried to the machining position WP. In this state, the workpiece W is processed by a tool such as a grindstone (not shown) disposed above the processing position WP while being supported by the workpiece support mechanism including the backing plate 60 provided on the side surface from the grip portion 15. .

Processed workpiece W is moved to the sheet discharge position TP in the same manner as described above by the work trajectory t ₁ in a state of being accommodated in the grip portion 15 again (order shown in FIG. 2). For this reason, when the gripping part 15 leaves the processing position WP, it passes below the processing position WP. Next, by moving the shuttle 53 again to the unloading side (right end), the processed workpiece W processed this time is moved to the unloading position OP. Thereafter, the gantry loader 40 receives the processed workpiece W and carries it out to an apparatus in a subsequent process. In addition, while the gripper 15 supplies the workpiece W to the machining position WP and the machining is being performed, the workpiece W that has already been machined is unloaded by the gantry loader 40 at the unloading position OP, and the shuttle is further moved. The mechanism 50 returns the shuttle 53 to the left side and completes the operation of supplying the next unprocessed workpiece W. These steps are repeated in the same manner.
It should be noted that the loader 40 may be provided individually on the carry-in side and the carry-out side depending on the processing time and transport time conditions, or both units may be transported.

Therefore, according to the workpiece feeding / discharging device 100 of the present embodiment, the power transmission means 30 is provided between the motor 20 and the gripping arm 14, and the machining position WP for machining the workpiece W with a tool and the workpiece W are fed and discharged. The power of the motor 20 is transmitted to the grip arm 14 so that the grip portion 15 moves between the supply / discharge position TP. Thus, it provided the discharge position and the supply position in the same location (supply and discharge position), the trajectory t ₁ of the workpiece W by the one by the gripping arms 14, including the transport mechanism to supply and discharge device TP, the entire device Can be miniaturized.

  In addition, the gripping arm 14 performs a planetary motion using rotation and revolution by rotating while moving its center of rotation. As a result, the degree of freedom of arrangement near the machining point can be increased, and even when a tool such as a machining tool is arranged at the top, the retracting operation of the machining tool is not required, and an efficient machining cycle is realized. can do

  In addition, since the supply / discharge position TP is disposed above the processing position WP, it is possible to easily carry the pre-process and the post-process. Furthermore, the swivel arm 14 passes below the machining position WP and makes a planetary motion, thereby increasing the degree of freedom of arrangement of the workpiece support mechanism, the cutting tool, and the like in the vicinity of the machining position WP.

Further, the power transmission means 30 includes a fixed gear 32 coaxially attached to the arm turning shaft 33 rotated by the motor 20 driving means, a planetary gear 34 attached to the fulcrum portion of the grip arm 14, and a fixed gear 32. The idler gear 36 meshing with both the planetary gears 34 and the support arm 13 pivotally attached to the arm turning shaft 33 and supporting the planetary gear 34 and the idler gear 36 are supported. Moves in a planetary motion so as to move between the machining position WP and the supply / discharge position TP so as to pass by the side of the fixed gear 32. Thereby, the range of the locus | trajectory which both arms 13 and 14 turn can be narrowed, and a freedom degree improves in arrange | positioning the other mechanism of the machine tool M. FIG.
Further, the idle time can be shortened by cooperation between the reciprocating movement of the shuttle 53 and the turning operation of the gripping arm 14.

In addition, this invention is not limited to embodiment mentioned above, A deformation | transformation, improvement, etc. are possible suitably.
For example, in the present embodiment, the workpiece has been described as a cylindrical workpiece such as a bearing race ring. However, the workpiece is not limited to this, and can be applied to various workpieces by deforming the holding mechanism of the holding portion. It is.
Further, the machine that processes the ring-shaped workpiece may be any machine tool such as polishing, cutting, and grinding.

100 Workpiece supply / discharge device W Workpiece WP Processing position TP Supply / discharge position 13 Support arm 14 Grip arm 15 Grip portion 20 Motor (drive means)
24 belt 26 driving pulley 28 driven pulley 29 idler pulley 30 power transmission means 32 fixed gear 33 arm turning shaft 34 planetary gear 36 idler gear 40 gantry loader (conveying mechanism)

Claims (3)

A gripping arm that has a gripping part capable of holding a workpiece at the tip and that pivots by the power of the driving means;
Power of the driving means provided between the driving means and the gripping arm so that the gripping part moves between a processing position where the workpiece is processed by a tool and a supply / discharge position where the work is supplied / discharged. Power transmission means for transmitting to the grip arm;
Have
The work feeding / discharging device, wherein the gripping arm performs a planetary motion using rotation and revolution by rotating while moving the center of rotation. The supply / discharge position is disposed above the processing position,
The workpiece feeding / discharging device according to claim 1, wherein the gripping arm performs a planetary motion so that the gripping portion passes below the processing position. The power transmission means is
A fixed gear coaxially attached to an arm pivot that is rotated by the drive means;
A planetary gear attached to a fulcrum portion of the gripping arm;
An idler gear meshing with both the fixed gear and the planetary gear;
A support arm pivotally attached to the arm pivot shaft, and supporting the planetary gear and the idler gear;
Have
3. The planetary movement according to claim 1, wherein the gripping arm performs a planetary motion so that the gripping part passes between the fixed gear and moves between the processing position and the supply / discharge position. Work supply / discharge device.

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