JP6689549B2 - Work feeder and work grinder - Google Patents

Description

  The present invention relates to a work feeding device that divides a plurality of works discharged by a work feeder into a plurality of work housing holes in a rotating turntable and sends the work to a predetermined processing device, and such a work feeding device. The present invention relates to a work grinder provided with a feeder.

  Conventionally, as a work feeding device of this type, a work feeder is attached to a robot, and each time the work accommodating holes of the turntable pass through the reference position, the work ejection port of the work feeder is opposed to the work accommodating hole. There are known robots that operate (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 5-45964 (page 1, right column, line 23 to page 2, left column, line 15, lines 1 and 5)

  However, in the above-described conventional work feeding device, the work may not be fed because the work receiving hole and the work discharging port of the work feeder are misaligned and the work does not enter the work receiving hole. Further, if the rotation speed of the turntable is slowed down in order to solve the problem, there is a problem that productivity is lowered. Further, the high cost of the robot has been a problem.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a work feeding device and a work grinding machine that can feed a work at high speed and reliably at a lower cost than conventional ones.

  The invention according to claim 1 made to achieve the above object, a work feeder for discharging the works one by one, a rotary disk provided with a plurality of work receiving holes for accommodating the works one by one in a circle, Every time the work accommodating hole passes through the preset reference position while the turntable is rotating, the work feeder is moved so that the work ejecting port of the work feeder faces the work accommodating hole. In a work feeding device including a feeder moving mechanism, which distributes a plurality of the works discharged by the work feeder to the plurality of work accommodating holes and sends the work to a predetermined processing device, the feeder moving mechanism includes: The engaging protrusion protruding from the opening edge of each work accommodating hole and the work feeder are set to the origin in the first direction along the moving direction of the engaging protrusion. First support means for supporting reciprocating movement between a point and a point; origin returning means for returning the work feeder to the origin; and the work feeder from the side toward and away from the engaging protrusion. A second supporting means for supporting the work feeder in a reciprocating manner in a second direction, a second direction driving means for reciprocating the work feeder in the second direction, and a second direction driving means provided in the work feeder. Is laterally pressed by the engaging protrusion to position the work discharge port at a position facing the work accommodating hole, and at the same time, applies power to the end point side in the first direction to the engaging protrusion. And an engaging contact portion that is received from the work feeding device.

  According to a second aspect of the present invention, a concentric circular arc surface which is formed on one of the engagement protrusion or the engagement abutment and forms a concentric circle on one of the work housing hole or the work discharge port, and the engagement protrusion. 2. The centering abutment portion, which is formed on the other of the portion and the engaging abutment portion, abuts on the concentric circular arc surface, and centers the work accommodation hole and the work discharge port. It is the work feeding device described.

  According to a third aspect of the present invention, a cylindrical body is fitted and fixed in a plurality of fitting holes formed in the turntable, the inside of the cylindrical body forms the work accommodating hole, and a part of the cylindrical body is The work feeding device according to claim 2, wherein the engaging protrusion is formed so as to protrude from the rotary plate, and an outer surface of the engaging protrusion is formed as the concentric arc surface.

According to a fourth aspect of the present invention, the engagement contact portion is a substantially U-shaped contact surface including an arc surface having a curvature radius substantially the same as that of the concentric arc surface , or two of the concentric arc surfaces. contacting the portion, which is a work feeding apparatus according to claim 3, contact surface Kano any of a substantially V-shaped or substantially L-shaped is provided.

  A fifth aspect of the present invention is the work feeding device according to any one of the first to fourth aspects, which has a substantially L shape in which the origin side in the first direction is open.

  The invention according to claim 6 is the work feeding according to any one of claims 1 to 5, wherein the origin returning means is an air actuator for constantly urging the work feeder toward the origin side by air pressure. It is a device.

  According to a seventh aspect of the present invention, the first direction is linear, and the first supporting means movably supports the first table on a first guide that linearly extends in the first direction. 7. The work according to claim 1, wherein the second support means is movably supported by a second guide that is fixed to the first table and linearly extends in the second direction. It is a feeding device.

  According to an eighth aspect of the present invention, there is provided the work feeding device according to any one of the first to seventh aspects, and a grinding device as the predetermined processing device having a pair of rotating grindstones facing each other in a vertical direction. The rotating disk rotates in a state where a part of the rotating disk is arranged between the pair of rotating grindstones, and the work accommodating hole penetrates the rotating disk up and down, The work grinding machine is provided below with a support plate that supports the work in the work receiving hole from below between the pair of rotary grindstones.

  In the work feeding device according to claim 1, the engaging protrusion projects from each of the work accommodating holes of the turntable, and the work feeder has a first direction along a moving direction of the engaging protrusion and a side of the engaging protrusion. It is supported so as to be able to reciprocate in a second direction that approaches and separates from one side. Further, the work feeder is provided with an engaging contact portion that is pressed against the engaging protrusion from the side. Then, when the engagement contact portion is pressed against the engagement protrusion, the work discharge port of the work feeder is positioned at a position facing the work accommodating hole, and the power directed toward the end point side in the first direction is engaged. Receive from the protrusion. Accordingly, the work feeder moves following the work accommodating hole only by driving the engagement abutting part of the work feeder so as to press the engagement abutting part in the second direction. The opposite state can be maintained. Further, if the engaging contact portion is separated from the engaging protrusion in the second direction and returned to the origin, the work discharge port can be made to follow the next work accommodation hole in the same manner. That is, as a drive source or a biasing means for moving the work feeder, an origin returning means for moving the work feeder to one side in the first direction, and a second direction driving means for moving the work feeder to one side and the other side in the second direction. Only by providing the above, the work discharge port can be made to follow the work accommodating hole, the cost can be suppressed and the weight can be reduced as compared with the conventional robot, so that the high speed operation can be performed. Moreover, since the work contact port and the engagement projection are brought into contact with each other, the work discharge port and the work accommodation hole are surely positioned to face each other, so that the work can be reliably accommodated in the work accommodation hole. it can. That is, according to the work feeding apparatus of the present invention, it is possible to feed the work at high speed and reliably at a lower cost than in the past.

  According to the work feeding device of claim 2, the concentric arcs provided on one and the other of the engaging projection and the engaging abutting part while the work discharge port moves following the work accommodating hole. The surface and the centering contact portion are in sliding contact with each other, and the centered state in which the center axes of the work accommodating hole and the work discharge port are aligned is maintained. Thereby, the work can be reliably accommodated in the work accommodation hole.

Further, the engagement protrusion may be composed of a plurality of protrusions arranged on the concentric circles of the work accommodating hole, or a plurality of fitting holes formed in the turntable as in the configuration of claim 3. It is also possible to fit and fix the cylindrical body on and to project a part of the cylindrical body from the rotary disk to form the engaging projection. With this, the inner side of the cylindrical body can be easily arranged on the concentric circle with the work accommodation hole and the concentric arc surface of the outer side surface of the engaging projection. In this case, the engagement contact portion has a substantially U-shaped contact surface including an arc surface having substantially the same radius of curvature as the concentric arc surface , or is in contact with two concentric arc surfaces , forming a V-shaped or substantially L-shaped may be configured to include an abutment surface (invention of claim 4).

  Further, in the work feeding apparatus of the fifth aspect, since the engagement contact portion is substantially L-shaped with the origin side in the first direction being opened, the engagement contact portion is engaged with the engagement protrusion in the first direction. After the abutment is made to abut, the engaging abutment is brought into abutment with the engaging protrusion in the second direction, so that the engaging abutment is easily attached to the engaging protrusion in both the first direction and the second direction. It is possible to bring them into contact with each other in the state of being positioned.

  In the work feeding device of the sixth aspect, an air actuator for constantly urging the work feeder toward the origin by the air pressure is provided as the origin returning means. As a result, the work feeder is moved toward the origin immediately after the engagement between the engagement protrusion and the engagement contact portion is released, and the operation time of one cycle of the work feeder can be shortened.

  As in the work feeding device of claim 7, the first and second supporting means may be provided with a first guide or a second guide linearly extending in the first direction or the second direction, It may be configured to include a first guide extending in an arc shape. That is, "the first direction has an arc shape centered on the rotation center of the turntable, and the first support means moves the first table to a first guide extending in an arc shape in the first direction. 7. The support according to claim 1, wherein the second support means is movably supported by a second guide that is fixed to the first table and extends linearly in the radial direction of the rotary disk. The work feeding device according to claim 1. "

  Since the work grinder of claim 8 is equipped with the work feeding device of any one of claims 1 to 7, it is possible to grind both ends of the work at a lower cost and at a higher speed than conventional ones.

The top view of the work grinding machine which concerns on 1st Embodiment of this invention. Side sectional view of turntable and rotary whetstone Side sectional view of work feeder Side sectional view before the work is fed from the work feeder to the work receiving hole Side sectional view immediately after the work is fed from the work feeder to the work accommodating hole (A) Side sectional view of the work feeder when the first and second stoppers are arranged at the passage restricting position, (B) The first stopper is arranged at the passage restricting position, and the second stopper is arranged at the passage allowing position. Sectional view of the work feeder when broken (A) A plan sectional view of the engaging abutting portion and the engaging protruding portion, (B) A plan sectional view of the engaging abutting portion and the engaging protruding portion in a engaged state, and (C) The engaging abutting portion is engaged. Plane cross-sectional view of a state in which it is engaged with the collision portion and moved Block diagram of control system of work feeding device Flow chart of control program (A) A plan sectional view of an engaging contact portion according to another embodiment, (B) A plan sectional view of an engaging contact portion according to another embodiment. (A) A plan sectional view of an engagement contact portion according to another embodiment, (B) A plan sectional view of an engagement protrusion portion according to another embodiment.

[First Embodiment]
An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a work grinder 80 according to the present invention. The work grinding machine 80 has a grinding device 99 as a “predetermined processing device” according to the present invention. In the work grinding device 99, a pair of disc-shaped rotary grindstones 13, 13 are arranged coaxially and are vertically opposed to each other (see FIG. 2). Then, the work W is passed between the pair of rotary grindstones 13 and 13 in a state where the pair of rotary grindstones 13 and 13 are rotated in the same direction or the opposite direction, so that the upper and lower end portions of the work W are Is ground.

  The work grinder 80 is provided with a turntable 12 for feeding the work W between the pair of rotary grindstones 13, 13. As shown in FIG. 1, the turntable 12 has a rotation axis that is substantially parallel to the rotation axis of the rotary grindstone 13, and is partially disposed between the pair of rotary grindstones 13 and 13. Rotate counterclockwise when viewed from above.

  A plurality of work accommodating holes 31 are provided on the outer edge of the turntable 12. Specifically, the main body portion 12H of the turntable 12 is made of a circular sheet metal, and a plurality of fitting holes 33 (see FIG. 2) vertically penetrates the outer edge portion of the main body portion 12H and extends in the circumferential direction. They are arranged at equal pitch. Further, as shown in FIG. 2, the cylindrical bodies 34 are press-fitted into the respective fitting holes 33, and the insides of the cylindrical bodies 34 serve as the work accommodating holes 31. Further, the diameter of the upper step portion of the cylindrical body 34 is increased stepwise, and the step surface thereof abuts the upper surface of the main body portion 12H. The lower end surface of the cylindrical body 34 and the lower surface of the turntable 12 are substantially flush with each other. The portion of the cylindrical body 34 that protrudes upward from the turntable 12 forms the engagement protrusion 32 according to the present invention, and the outer peripheral surface of the engagement protrusion 32 becomes the concentric arc surface 32A according to the present invention. There is.

  The turntable 12 is arranged such that there are gaps between the upper and lower end surfaces of the cylindrical body 34 and the rotary grindstones 13, 13. A support plate 14 is provided below the portion of the turntable 12 located outside the pair of rotary whetstones 13, 13. The support plate 14 has an upper surface that is substantially flush with the upper surface of the lower rotary grindstone 13. Then, in the state where the turntable 12 is rotating, the compression coil springs as the work W are sequentially housed in the work housing holes 31 outside the pair of rotary grindstones 13 and 13, and the pair of rotary grindstones 13 are sequentially housed. , 13 Further, the support plate 14 is provided with a work collecting portion 14A (see FIG. 1) in which a part of the outer edge portion is cut out, and the work is received from the work accommodating hole 31 passing between the pair of rotary grindstones 13, 13. The work W falls into the collection unit 14A and is collected.

  As shown in FIG. 1, the work grinder 80 is provided with a work feeder 11 that discharges the works W one by one. As shown in FIG. 3, the work feeder 11 has a work supply pipe 27, and the work supply pipe 27 is formed by connecting an extension pipe 27P to the upper end of a sleeve 27N extending in the vertical direction. The inner cross-sectional shapes of the sleeve 27N and the extension pipe 27P are both circular, the inner diameter of the extension pipe 27P is slightly larger than the inner diameter of the work accommodation hole 31, and the inner diameter of the sleeve 27N is substantially the same as the inner diameter of the work accommodation hole 31. ing. A portion of the sleeve 27N that communicates with the extension pipe 27P is tapered downward. The extension pipe 27P has high flexibility and can be bent and deformed. Then, the plurality of works W are inserted, for example, manually from the start end of the extension pipe 27P, move in the extension pipe 27P and the sleeve 27N in a line, and are discharged from the work discharge port 26 at the lower end of the sleeve 27N. It

  First and second stoppers 28 and 29 are provided at the end of the work supply pipe 27. Specifically, the sleeve 27N is fixed in a state of being fitted in a sleeve support hole 70A that vertically penetrates the block-shaped bracket 70. Further, the bracket 70 is provided with a pair of horizontal holes 71, 71 that are open on one side face side by side, and these horizontal holes 71, 71 both communicate with the inside of the sleeve 27N. The first air cylinder 28K is attached to the lower lateral hole 71, and the piston of the first air cylinder 28K forms the first stopper 28. Further, as shown in FIG. 8, a pipe P of compressed air connected to a compressor 98 of a factory or the like is connected to the first air cylinder 28K via a valve 28V. Then, by switching the supply of the compressed air to the first air cylinder 28K by the valve 28V, the first stopper 28 projects into the sleeve 27N and is positioned below the work W as shown in FIG. 5 moves between a passage regulation position that regulates passage of the workpiece W and a passage permission position that retracts from the sleeve 27N and permits passage of the work W, as shown in FIG.

  On the other hand, a second air cylinder 29K is attached to the upper lateral hole 71, and the piston of the second air cylinder 29K serves as the second stopper 29. Further, as shown in FIG. 8, a pipe P for compressed air is also connected to the second air cylinder 29K via a valve 29V. Then, by switching the supply of the compressed air to the second air cylinder 29K by the valve 29V, the second stopper 29 is slightly projected into the sleeve 27N and pressed against the work W as shown in FIG. 6 (A). , A passage restriction position that restricts the passage of the work W, and as shown in FIG. 6B, moves between a passage allowable position that retracts from the sleeve 27N and allows the passage of the work W.

  The distance between the second stopper 29 and the first stopper 28 is larger than one work W and smaller than 2 minutes. As a result, as shown in FIG. 4, the second stopper 29 regulates the passage of the second work W from the bottom while the first stopper 28 regulates the passage of the work W at the lowermost end. Then, when the first stopper 28 is moved to the passage permitting position from that state as shown in FIG. 5, only the work W at the lowermost end is discharged from the work discharge port 26. After that, as shown in FIG. 6 (A), the first stopper 28 is returned to the passage restricting position, and then, as shown in FIG. 6 (B), the second stopper 29 is moved to the passage allowing position, and further, As shown in FIG. 4, by returning the second stopper 29 to the passage restricting position, the original state is restored. By repeating such an operation, the works W can be discharged one by one from the work discharge ports 26 as described above.

  In the following description, the regulation of the movement of the work W by the first stopper 28 is referred to as “the first stopper 28 is turned on”, and the first stopper 28 allows the movement of the work W. , "The first stopper 28 is turned off" as appropriate. The same applies to the second stopper 29.

  As shown in FIG. 4, when the work feeder 11 discharges the work W, if the work storage hole 31 is located coaxially below the work discharge port 26, the work W is stored in the work storage hole 31. Therefore, a feeder moving mechanism 81 is provided in order to move the work feeder 11 so as to follow each work accommodating hole 31 of the rotating turntable 12. The feeder moving mechanism 81, the work feeder 11, and the turntable 12 constitute the work feeding device 10 (see FIG. 1) according to the present invention.

  The feeder moving mechanism 81 has first and second linear motion actuators 82 and 83. The first linear motion actuator 82 is arranged at a lateral position of the turntable 12, and the first guide 20 linearly extending in a first direction H1 along the moving direction of the engaging projection 32 passing near the rotary disk 12, and The first table 21 is linearly engaged with the first guide 20. On the other hand, the second linear motion actuator 83 includes a second guide 22 that extends in the second direction H2 that approaches and separates from the engagement protrusion 32 from the side, and a second guide 22 that is linearly engaged with the second guide 22. And a table 23. The second guide 22 is fixed to the first table 21 of the first linear motion actuator 82. The first direction H1 and the second direction H2 are substantially orthogonal to each other.

  Hereinafter, in the first linear motion actuator 82, the end of the movable range of the first table 21 when it moves in the same direction as the moving direction of the engaging protrusion 32 is moved to the “termination point” and the opposite side. The end of time is called the "origin." In the second linear motion actuator 83, the end of the movable range of the second table 23 when it moves toward the engagement protrusion 32 is the “termination point”, and the end when it moves to the opposite side. Is called the “origin”. Further, the movement of the first and second tables 21 and 23 toward the end point is referred to as "forward movement", and the operation on the opposite side is referred to as "backward movement".

  As shown in FIG. 8, a compressed air pipe P is connected to the first and second linear motion actuators 82 and 83 via valves 82V and 83V. Then, during the operation of the work feeding device 10, the valve 82V of the first linear motion actuator 82 is in a constant open state and is constantly urged to move the first table 21 toward the origin. On the other hand, the valve 83V of the second direct-acting actuator 83 is appropriately switched, and thereby the second table 23 is driven so as to approach or separate from the engaging protrusion 32. In these respects, the first linear motion actuator 82 corresponds to the “origin returning device” according to the present invention, and the second linear motion actuator 83 corresponds to the “second direction driving device” according to the present invention.

  As shown in FIG. 4, an extension plate 24 is fixed to the second table 23 and projects like a cantilever on the rotary table 12 side. The bracket 70 of the work feeder 11 is fixed to the tip of the extension plate 24, and the work discharge port 26 of the work feeder 11 is arranged above the turntable 12. More specifically, as shown in FIG. 3, a first step portion 70D is formed on the lower end portion of the bracket 70 on the side away from the sleeve support hole 70A. Then, the tip end portion of the extension plate 24 is fixed to the first step portion 70D, the lower surface of the extension plate 24 and the lower surface of the bracket 70 are flush with each other, and the upper surface of the turntable 12 is positioned slightly above. ing.

  Further, a second step portion 70E is formed on the sleeve support hole 70A side of the lower end portion of the bracket 70. The second step portion 70E is formed by cutting off a part of the lower end portion of the bracket 70 from the side surface on the rotary table 12 side to the central axis position of the sleeve support hole 70A. As a result, a protrusion having a semicircular arc surface is formed between the first step portion 70D and the second step portion 70E in the lower end portion of the bracket 70, as shown in FIG. 7 (A). ing. Then, the protruding portion forms the engaging contact portion 51 according to the present invention and faces the engaging protruding portion 32 from the side. Further, the semicircular arc surface of the engaging contact portion 51 constitutes the concentric arc surface 51A according to the present invention. Since the concentric arc surface 51A extends from the inner surface of the sleeve supporting hole 70A, the concentric arc surface 51A and the inner surface of the work discharge port 26 form a concentric circle. Further, the concentric arc surface 51A of the engagement contact portion 51 and the concentric arc surface 32A of the engagement protrusion 32 have the same radius of curvature. Furthermore, the lateral width (width in the first direction H1) of the engaging contact portion 51 is smaller than the interval S between each engaging protrusion 32 and the engaging protrusion 32 adjacent thereto. For that purpose, both side edges of the lower surface of the bracket 70 are cut off in a stepped manner.

  Here, when the center line in the lateral width direction of the work feeder 11 is L1, the center line L1 extends in the second direction H2 and is orthogonal to the center line of the sleeve 27N. Then, as shown in FIG. 1, when both the first table 21 and the second table 23 are arranged at the origin, the center line L1 of the work feeder 11 becomes orthogonal to the center axis of the turntable 12, and As shown in FIG. 3 and FIG. 7A, the engagement contact portion 51 is arranged slightly outside the rotation locus of the group of the engagement protrusions 32. When the immobile line that overlaps the center line L1 at this time is defined as the starting reference line L2, when the center of the work accommodation hole 31 is located in the vicinity of the starting reference line L2, the second table 23 and the work feeder 11 are moved to the second position. When it is moved forward in the direction H2, as shown in FIG. 7B, the concentric arc surface 51A of the engagement contact portion 51 and the concentric arc surface 32A of the engagement protrusion 32 come into contact with each other, so that the work accommodation hole 31 and the work accommodation hole 31 The discharge port 26 and the discharge port 26 are arranged on the concentric axis.

  Then, the engagement contact portion 51 receives the rotational power of the turntable 12 from the engagement projection portion 32 by the engagement between the engagement contact portion 51 and the engagement projection portion 32 in the first direction H1, and the work feeder 11 moves. As the engaging protrusion 32 moves in the first direction H1 component, it moves forward in the first direction H1, and the second linear motion actuator 83 drives the work feeder 11 to move the engaging protrusion 32 in the second direction H2 component. With the movement, it moves forward in the second direction H2. That is, the work feeder 11 moves so as to draw an arc locus following the arc locus of the engagement protrusion 32. During this period, the work accommodation hole 31 and the work ejection port 26 are maintained in the state of being arranged on the concentric axis. Therefore, if the work W is ejected from the work ejection port 26 of the work feeder 11 during this time, the work accommodation hole 31 can be accommodated.

  Then, before the next work accommodating hole 31 reaches the starting reference line L2, if the operation direction of the second linear motion actuator 83 is switched and the work feeder 11 is moved to the origin side in the second direction H2, the engagement contact is made. The engagement between the contact portion 51 and the engaging protrusion 32 is released, and the work feeder 11 is moved to the origin side even in the first direction H1 by the biasing force of the first linear motion actuator 82, and returns to the original state. In order to automatically and repeatedly perform this series of cycle operations, the work feeding device 10 includes a position sensor 85 for detecting the position of the work accommodating hole 31, and valves 28V, 29V based on the detection result of the position sensor 85. , And a control unit 86 for controlling 83 V.

  As shown in FIG. 1, the position sensor 85 is supported by a stand 85S and arranged above the turntable 12. Further, an alternative reference line L3, which is shifted from the starting reference line L2 by about 5 to 30 degrees on the opposite side of the rotating direction of the turntable 12, is set so as to pass through the central portion of the position sensor 85. Then, when the engagement protrusion 32 passes through the alternative reference line L3, the engagement protrusion 32, which is displaced by 3 to 4 downstream from the engagement protrusion 32, just passes through the starting reference line L2. Has become. Further, the position sensor 85 scans the laser light along the alternative reference line L3, detects the width of the portion of the engagement protrusion 32 that the alternative reference line L3 crosses, and controls based on the detected width. The portion 86 is adapted to detect the position of the engagement protrusion 32 with respect to the starting reference line L2.

  Specifically, when the width of the portion of the engagement protrusion 32 that the alternative reference line L3 crosses is gradually increasing, the engagement protrusion 32 that is 3 to 4 downstream of the engagement protrusion 32 is located. It is determined that the center of the work accommodating hole 31 that intersects the starting reference line L2 and has the engaging protrusion 32 is close to the starting reference line L2. Further, when the width of the portion of the engagement protrusion 32 that the alternative reference line L3 crosses is the same as the outer diameter of the engagement protrusion 32, the engagement protrusion 32 is provided 3 to 4 downstream from the engagement protrusion 32. It is determined that the center of the work housing hole 31 having the abutting portion 32 is located on the starting reference line L2.

  In the control unit 86, as shown in FIG. 7A, the center of the work accommodating hole 31 is slightly displaced to the upstream side with respect to the starting reference line L2 (for example, a predetermined value equal to or smaller than the radius of the work accommodating hole 31). The position shifted by the distance) is set as the reference position P1 according to the present invention. Further, as shown in FIG. 7C, the center of the work accommodating hole 31 is set to the downstream side with respect to the starting reference line L2, for example, a position displaced by about the radius of the engaging projection 32 is set as the disengagement position P2. ing. Then, the control unit 86 executes the control program PG1 shown in FIG. 9, and based on whether or not the work accommodating hole 31 has reached the reference position P1 or the disengagement position P2, the valves 28V, 29V, 32V is controlled.

  When the control program PG1 is executed, a work discharge preparation process is performed (S10), for example, the work feeder 11 is arranged at the origin position in the first and second directions H1 and H2, and the first and second stoppers are arranged. Both 28 and 29 are turned on. Then, the process waits until any of the work accommodating holes 31 reaches the reference position P1 (NO loop of S11), and as shown in FIG. 7A, any of the work accommodating holes 31 reaches the reference position P1. Then (YES in S11), the valve 83V is switched and the work feeder 11 advances in the second direction H2 (S12). Then, as shown in FIG. 7B, at the timing when the center of the work accommodating hole 31 almost reaches the starting reference line L2, the engagement protrusion 32 of the work accommodating hole 31 and the engagement abutment of the work feeder 11 are brought into contact with each other. The part 51 is engaged.

  Then, as described above, the work feeder 11 moves following the work accommodation hole 31, and the state where the work accommodation hole 31 and the work ejection port 26 of the work feeder 11 are coaxially arranged is maintained. Meanwhile, the valve 28V is switched, the first stopper 28 is turned off, and one work W is discharged from the work feeder 11 and stored in the work storage hole 31 (S13). Next, the valves 28V and 29V are switched, the first stopper 28 is turned on, and then the second stopper 29 is turned off (S14, S15). Then, as shown in FIG. 7C, when the work housing hole 31 reaches the detachment position P2 (YES in S16), the valve 83V is switched, and the work feeder 11 is retracted in the second direction H2 (S17). Along with this, the engagement between the work accommodation hole 31 and the engagement contact portion 51 is released, and the work feeder 11 retracts in the first direction H1. Then, during that time, the valve 29V is switched, the second stopper 29 is turned on, and the work feeder 11 returns to the origin in both the first and second directions H1 and H2. At this time, the center of the next work accommodating hole 31 is located on the front side of the reference position P1, and when the center of the work accommodating hole 31 reaches the reference position P1, the above-mentioned operations in and after step S11 are repeated.

  In this way, the works W are discharged one by one from the work feeder 11, the works W are distributed to the work accommodation holes 31, and are fed between the pair of rotary grindstones 13 and 13 to both end portions of the work W. Grinding.

  The above is the description regarding the configuration and operation of the work feeding apparatus 10 of the present embodiment. Next, the function and effect of the work feeding device 10 will be described. As described above, in the work feeding device 10 of the present embodiment, the engaging protrusions 32 project from the respective work accommodating holes 31 of the turntable 12, and the work feeder 11 moves in the first direction along the moving direction of the engaging protrusions 32. It is supported so as to be able to reciprocate in one direction H1 and in a second direction H2 that approaches and separates from the engagement protrusion 32 from the side. Further, the work feeder 11 is provided with an engagement contact portion 51 that is pressed against the engagement protrusion 32 from the side. Then, when the engagement contact portion 51 is pressed against the engagement protrusion 32, the work discharge port 26 of the work feeder 11 is positioned coaxially with the work accommodation hole 31, and the power for directing in the first direction H1 is applied. Received from the collision part 32. As a result, the work feeder 11 moves following the work accommodating hole 31 only by driving the engagement abutting portion 51 of the work feeder 11 so as to press the engagement abutting portion 51 against the engagement protrusion 32 in the second direction H2. It is possible to keep the outlet 26 and the work accommodation hole 31 facing each other. Further, if the engagement contact portion 51 is separated from the engagement protrusion 32 in the second direction H2 and returned to the origin, the work discharge port 26 can be made to follow the next work accommodation hole 31 in the same manner. You can That is, as the drive source or the urging means for moving the work feeder 11, the first linear actuator 82 as the “origin returning means” for moving the work feeder 11 to one side in the first direction H1, and the second direction H2. The work discharge port 26 can be made to follow the work accommodating hole 31 only by providing the second linear motion actuator 83 as the “second direction drive means” that moves the work discharge port 26 to one side and the other side. That is, according to the work feeding apparatus 10 of the present embodiment, the cost can be suppressed and the weight can be reduced as compared with the conventional robot, and thus the high speed operation can be performed. Moreover, since the work discharge port 26 and the work accommodating hole 31 are reliably positioned so as to face each other by the abutment of the engagement abutting portion 51 and the engagement protrusion 32, the work W can be reliably accommodated in the work accommodating hole. 31 can be accommodated. As described above, according to the work feeding apparatus 10 of the present embodiment, it is possible to feed the work at high speed and reliably at lower cost than in the past. Further, since the work grinder 80 of the present embodiment is provided with the work feeding device 10, it is possible to grind the work W at a lower cost and at a higher speed than conventional ones.

[Other Embodiments]
The present invention is not limited to the above-described embodiment, and for example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following without departing from the scope of the invention. It can be changed and implemented.

  (1) In the above embodiment, the first direction H1 of the moving direction of the work feeder 11 is linear, but it may be curved. In this configuration, the first table 21 is guided by the curved first guide 20. When the first direction H1 has a curved shape, it may have, for example, an arc shape centered on the rotation center of the turntable 12. In these configurations, the second direction H2 may be the radial direction of the turntable 12.

  (2) In the above embodiment, the work W is a coil spring, but the work W is not limited to this and may be, for example, a rod-shaped one or a cylindrical one.

  (3) In the above embodiment, the work feeding device 10 feeds the work W to the work grinding device 99. However, the work feeding device 10 may feed the work W to a processing device that performs other processing on the work W. In this case, for example, a processing device that applies the processing liquid to the work W or a processing device that punches holes in the work W may be used.

  (4) In the above-described embodiment, the portion that opens in the rotary disc 12 and accommodates the work W is the work-accommodating hole 31 that penetrates the rotary disc 12, but is a recess that does not penetrate the rotary disc 12. Good.

  (5) In the above embodiment, the second stopper-off process (S15) may be performed simultaneously with step S16 or after step S16.

  (6) In the above-described embodiment, the engaging protrusion 32 has a cylindrical shape, but it may be composed of a plurality of protrusions arranged concentrically in the work-accommodating hole 31. As described above, the engagement protrusion 32 may protrude from the entire opening edge of the work accommodation hole 31, or may protrude from only a part of the opening edge.

  (7) In the above embodiment, the contact surface of the engagement contact portion 51 with the engagement protrusion 32 includes a substantially U-shaped surface having an arcuate surface having substantially the same radius of curvature as the outer peripheral surface of the engagement protrusion 32. It may be in the shape of a letter, may be in the shape of a letter L including such an arcuate surface (see the engaging contact portion 51V in FIG. 10A), or the engaging protrusion 32. It may be in a substantially L shape (see the engaging contact portion 51W in FIG. 10B) or in a substantially V shape (see the engaging contact portion 51X in FIG. 11A) that contacts the location. Further, as shown in FIGS. 10 (A) and 10 (B), when the engagement contact portion 51V (51W) has a substantially L shape with the origin side in the first direction being open, the first direction H1. The engaging contact portion 51V (51W) is brought into contact with the engaging protrusion 32, and then the engaging contact portion 51V (51W) is brought into contact with the engaging protrusion 32 in the second direction H2. The engagement contact portion 51V (51W) can be easily brought into contact with the engagement protrusion 32 in a state of being positioned in both the first direction H1 and the second direction H2.

  (8) In the above-described embodiment, the arcuate surface is formed on the outer peripheral surface of the engaging projection 32, but the engaging abutting portion 51 may be formed with a “concentric arcuate surface” concentric with the work discharge port 26. For example, an arcuate surface does not have to be formed on the outer peripheral surface of the engaging projection 32, and the engaging projection 32 has a distance from the central axis of the work accommodating hole 31 of the outer peripheral surface that is substantially the same as the radius of the concentric arc surface. It may be configured to contact the concentric circular arc surface at at least two positions apart from each other. In this case, the outer peripheral surface of the engagement protrusion 32 may have a regular polygonal shape (see FIG. 11B) that is coaxial with the work accommodation hole 31.

10 Work Feeding Device 11 Work Feeder 12 Turntable 26 Work Discharge Port 31 Support Hole 32 Engagement Projection 80 Work Grinding Device

Claims (8)

Work feeder that discharges the works one by one,
A rotary disk provided with a plurality of work-accommodating holes that accommodate the works one by one in a circle,
While the turntable is rotating, every time the work accommodating hole passes through a preset reference position, the work feeder is moved so that the work ejecting port of the work feeder faces the work accommodating hole. And a feeder moving mechanism for
In a work feeding device for distributing the plurality of works discharged by the work feeder to the plurality of work housing holes and feeding the work to a predetermined processing device,
The feeder moving mechanism includes
An engagement protrusion that protrudes from the opening edge of each work accommodation hole,
First supporting means for supporting the work feeder so as to be capable of reciprocating between an origin and a terminal point in a first direction along a moving direction of the engagement protrusion;
Origin returning means for returning the work feeder to the origin,
Second supporting means for supporting the work feeder so as to be capable of reciprocating in a second direction that approaches and separates from the engaging protrusion from the side;
Second direction drive means for reciprocating the work feeder in the second direction,
It is provided on the work feeder and is laterally pressed against the engagement protrusion by the second direction drive means to position the work discharge port at a position facing the work accommodation hole and to move in the first direction. A work feeding device, comprising: an engagement abutting portion that receives motive power directed to the end point side from the engagement protrusion. Concentric arc surfaces that are formed on one of the engagement protrusion or the engagement abutment and that form a concentric circle on one of the work housing hole or the work discharge port,
A centering abutment portion formed on the other of the engagement protrusion or the engagement abutment, abutting against the concentric circular arc surface, and centering the work accommodating hole and the work discharge port. The work feeding device according to claim 1. A cylindrical body is fitted and fixed in a plurality of fitting holes formed in the rotating disk, and the inside of the cylindrical body forms the work accommodating hole,
A part of the cylindrical body projects from the rotary disk to form the engaging projection,
The work feeding device according to claim 2, wherein an outer surface of the engagement protrusion is the concentric arc surface. The engagement abutment portion is a substantially U-shaped abutment surface including an arcuate surface having a radius of curvature substantially the same as that of the concentric arcuate surface , or is in contact with two points of the concentric arcuate surface and is substantially V-shaped. The work feeding device according to claim 3, wherein either one of the contact surfaces having a letter-shape or a substantially L-shape is provided.   The work feeding device according to any one of claims 1 to 4, wherein the engagement contact portion has a substantially L-shape that is open at the origin side in the first direction.   The work feeding device according to any one of claims 1 to 5, wherein the origin returning means is an air actuator that constantly biases the work feeder toward the origin side by air pressure. The first direction is straight,
The first support means movably supports the first table on a first guide linearly extending in the first direction,
7. The second support means according to claim 1, wherein the second support means is movably supported by a second guide that is fixed to the first table and extends linearly in the second direction. Work feeding device. A work feeding device according to any one of claims 1 to 7,
And a grinding device as the predetermined processing device having a pair of rotating grindstones facing each other in the vertical direction,
The turntable rotates in a state where a part of the turntable is arranged between the pair of rotary whetstones,
The work storage hole penetrates the turntable vertically.
A work grinder provided below the work storage hole with a support plate that supports the work in the work storage hole from below from outside the pair of rotary grindstones.

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