JPH0236040A - Dividing device for automatic loading of work - Google Patents

Abstract

PURPOSE:To reduce a cycle time by a small sized device by gripping a work by a 1st claw and a worked work by a 2nd claw, turning them to working and discharging positions and restoring by reversely turning them finally after dividing the work by the 1st claw. CONSTITUTION:A claw 24 is faced to a position P0 and a claw 26 to a position P2, a work is gripped by the claw 4 and a completed work by the claw 26, a cylinder 54 is turned OFF, a loader is rotated, the claw 24 is moved to a position P6 and the claw 26 to a position P4, and the work is removed. When the loader is rotated by a high rotor shaft 41 and an arm 42 is abutted to a pusher 49, the claw 24 is faced to a position P5, the pusher 49 is retreated, the loader is rotated by the power of the high rotor shaft 41 and when an arm 22 is abutted to a stopper 51, the claw 24 is faced to a work position P2 and the work is clamped. The claws 24, 26 then release the work, the work at the claw 26 side is discharged at the position P3, the work is ground at a position P2, the loader is rotated with the advance of the pusher 49, the claw 24 becomes at an index position P5, the work is subjected to indexing, the pusher 49 is retreated, the claw 24 is returned, grinding is performed and after repeating the claws 24, 26 are returned by the high rotor shaft 41.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to an automatic workpiece loading and indexing device, and more specifically, to an automatic workpiece loading and indexing device, which automatically transports a workpiece at a supply position to a processing position, and also automatically transports a workpiece at a supply position to a processing position. This invention relates to an automatic loading and indexing device that transports objects to a discharge position.

[Conventional technology]

In the processing of workpieces, various mechanisms have been proposed to automatically transport the workpiece from the supply position to the processing position and from the processing position to the discharge position, depending on the structure of the workpiece. Generally, a single feeder is used to feed the workpiece from the feeder to the processing position and to transport the workpiece from the processing position to the discharge position.

In addition, when the workpiece has multiple machining parts, for example, a tripod member that is a component of an automobile tripod joint, three trunnion shafts protrude from the outer periphery at equal intervals, and each trunnion shaft is ground. For workpieces that require this, it is necessary to feed the processing machine and index each trunnion axis at the processing position.

Conventionally, the index m mechanism for feeding and discharging workpieces to and from a processing machine and for indexing has, for example, used a cylinder equipped with a claw at the tip to hold the workpiece, so that it can move and rotate freely. The structure was such that indexing was performed by rotating it at a swinging position away from the center.

[Problem to be solved by the invention]

By the way, a device that sequentially transports a workpiece from a supply position to a processing position and a discharge position using one feeding device has a problem of poor workability due to a long cycle time.

In addition, since the conventional indexing mechanism swings the cylinder, it is necessary to secure the space necessary for the swinging movement, which increases the size of the entire device, has a complicated structure, and lengthens the cycle time. be.

The object of this invention is to provide an automatic workpiece loading and indexing device that is capable of simultaneously supplying and discharging workpieces to a processing position, shortening cycle time and improving work efficiency, and that is small and advantageous in terms of space. It's about doing.

[Means to solve the problem]

In order to solve the above problems, the present invention provides a loading arm having a first claw that opens and closes with a cylinder and rotates a predetermined angle, an unloading arm that has a second claw that opens and closes with a cylinder, The loading arm and the unloading arm are arranged such that they can freely rotate around a fixed axis and move up and down, and have a first claw and a second claw set at the workpiece supply position and processing position. It is composed of a loader body that is integrally provided with a loader body, a cylinder that moves the loader body up and down, and a Geneva mechanism that rotates the loader body. The second claw of the unloading arm transports the workpiece from the processing position to the discharge position.

[Effect]

With the loading arm corresponding to the supply position, the loader body is lowered, the first claw of the loading arm holds the workpiece in the supply position, and the second claw of the unloading arm is in the processing position. The finished workpiece is held in place, and then the loader body rotates in the raised position, the first claw transports the workpiece from the supply position to the processing position, and the second claw transports the processed workpiece to the discharge position. The first claw performs an indexing operation that changes the position of the workpiece by vertical movement and rotation at the processing position, and with the final processing process, the loader body rotates in the opposite direction, and the loading arm returns to the supply position. The unloading arm also returns to the processing position.

〔Example〕

Embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in FIGS. 1 to 7, a vertical central shaft 13 is rotatably supported by a substantially hollow shaft on a housing 12 provided on a base 11, and this central shaft 13 is installed on the housing 12. The hydraulic high rotor 14 rotates forward and backward via a Geneva mechanism 15 inside the housing 12.

Two guide shafts 17 and 17 arranged on both sides of the front part of the central shaft 13 are vertically fixed to a support member 16 fixed to the central shaft 13 so as to rotate together with the central shaft 13.
The loader main body 18 is held vertically movably by and 17, and the rod 20 of the cylinder 19 fixed to the loader main body 18 is fixed to the support member 16, and the vertical movement of the cylinder 19 causes the loader main body 18 to close proximity switches S, , S2. It is designed to move up and down between the two.

A loading arm 21 and an unloading arm 22 are integrally protruded from the loader main body 18, and the loading arm 21 is provided with a first claw 24 that opens and closes with a cylinder 23 and rotates a predetermined angle. The arm 22 is provided with a second pawl 26 that is opened and closed by a cylinder 25.

As shown in FIG. 1, the loading arm 21 and the unloading arm 22 protrude from the loader main body 18 at a right angle in plan view, and have a first pawl 24 and a second pawl 24.
The claws 26 are arranged at positions on the same circumference around the central axis 13, and are pivoted by the rotation of the central axis 13.
It is moved up and down by the cylinder 19.

FIG. 4 shows the structure of the tip of the loading arm 21, and the piston rod 23 is attached to the tip of the loading arm 21.
Fix the cylinder 23 with the side a facing downward, and attach the piston rod 2.
A sprocket 28 of a rotating plate 27 externally fitted in the middle of the rotary plate 3a is interlocked with an indexing hydraulic high rotor 29 fixed to the loader body 18 via a chain 30, and a first pawl 24 is attached to the lower surface of the rotating plate 27. .

The first claw 24 is formed of a three-piece wooden claw 24a whose upper end is supported on a rotary plate 27, and a holding part 24b for the workpiece A is provided at the lower end of each claw 24a, and a holding part 24b for the workpiece A is provided at the lower end of each claw 24a. The spring 31 applies elasticity in the direction in which each holding portion 24b is normally closed, and the cone 32 attached to the lower end of the piston rod 23a is lowered by the cylinder 23 to push open each claw 24a, thereby allowing the holding portion 24b to be inserted into the workpiece A. The inserted holding portion 24b is expanded to hold the workpiece A.

In the illustrated case, the workpiece A is a tripod member that is a component of a tripod joint, and in order to grind Miki's trunnion shaft B protruding from the outer periphery, the first pawl 24 is driven by a hydraulic high rotor 29. Rotation is given every 120 degrees. Note that the rotation of the rotation piece 33a is regulated by a stopper 33b, and the completion of the rotation angle of 120'' is confirmed by a rotation piece 33c attached to the upper end of the output shaft and a proximity switch S. In addition, the tip structure of the unloading 22 is as follows:
As shown on the right side of Figure 3, the unloading arm 2
The cylinder 25 is fixed to the arm 22 with the piston rod 25a facing downward, and the second claw 2 is attached to the lower part of the arm 22.
6 is formed of three single claws 26a, each claw 26a is always elastically biased in the closing direction by a spring 34, and by pressing down the loan 35 attached to the lower end of the piston rod 25a with the cylinder 25, the lower end holding part 26b
is expanded to hold workpiece A.

As shown in FIG. 8, outside the range in which the first claw 24 and the second claw 26 rotate, there is a workpiece supply position IP and a processing position in the range in which the first claw 24 rotates. P2 and a discharge position P3 are set in the range in which the second pawl 26 rotates, and a machining position P is set between the supply position P0 and the machining position 1pz by the first pawl 24. A loader position P4 for raising and lowering the workpiece A released from the machining position IPZ, and an index position P for rotating the workpiece A released from the machining position IPZ.

FIG. 1 shows a state in which the first claw 24 faces the supply position P6 and the second claw 26 faces the processing position P2.

The hydraulic high rotor 14 and the Geneva mechanism 15 that rotate the central shaft 13 are connected to the output shaft 41 of the nine hydraulic high rotors 14-, which are arranged in the housing 12, as shown in FIGS. 5 and 6.
The groove 4 of the bifurcated arm 43 is fixed to the rotary arm 42 and is attached to the central shaft 13 within the housing 12 so as to be freely rotatable.
A cam follower 45 supported at the tip of the swing arm 42 is fitted into the swing arm 4 to transmit the rotation of the swing arm 42 to the bifurcated arm 43.

A spring 47, 47 is provided on a plate 46 externally fitted and fixed to the central shaft 13 at the lower part of the bifurcated arm 43, which elastically presses the bifurcated arm 43 from both sides and holds it in a position where the elasticity is balanced; The rotation of the forked arm 43 is transmitted to the plate 46 via the springs 47, 47, and the central shaft 13 rotates together with the plate 46.

The Geneva mechanism 15 has a structure in which the speeds of the first pawl 24 and the second pawl 26 at the beginning and end of the rotation are relaxed and accelerated in the middle, and when the swing arm 42 is in the solid line in FIG. At this time, the first pawl 24 is at the supply position P0, and the first pawl 24 faces the index position P at the pivot position indicated by the dashed line in the figure.

At the position of index P, the hydraulic cylinder 48 fixed to the housing 12 is in the forward position.
9 is a roller follower 5 carried in the middle of the swing arm 42
0 is received and positioning is performed.

Further, when the pusher 49 of the hydraulic cylinder 48 retreats and releases the support of the swing arm 42 while the first pawl 24 is at the index position Wps, the hydraulic high rotor 14 swings to the swing end, and the spring 47.47 At a position where a slight preload is applied, the unloading arm 22 is attached to the housing 1.
2, the first claw 24 is positioned at the processing position P, and at this time the second claw 26 faces the discharge position P.

Therefore, as the pusher 49 of the hydraulic cylinder 48 moves forward and backward, the first pawl 24 moves to the index position WP,
and the machining position if Pz.

Next, when the first pawl 24 is at the supply position P0, the arm 52 of the hydraulic high rotor 14, which is fixed to the upper end of the rotating shaft 41, comes into contact with the stomper 53 as shown in FIG. The pusher 55 of the cylinder 54 provided above is in contact with and positioned in the forward position, and the pusher 5 of the cylinder 54
5 retreats, the plate 46 is moved by the spring 47.47
The loader body 18 also rotates together with the loader body 18, and the first pawl 24 faces Wpb to the point where the second pawl 26 is at the unloading position Wpa, and the cylinder 5
By moving the pusher 55 of No. 4 forward and backward, the first pusher 55 moves forward and backward.
The claws 24 move to the supply position P0 and the position P6, respectively.

Figure 7 shows the processing equipment installed at the processing position.
A first jaw support 63 and a second jaw support 64 are incorporated into the front surface of the chuck body 62 attached to the tip of the main shaft 61, and a first jaw 65 and a second jaw 66 are installed on the front surface of each jaw support 63 and 64. A groove 67 into which the trunnion shaft B of the tripod member can be fitted is provided on the front surface of the winter melon 65 and 66.

A tailstock center 68 is located in front of the main spindle 61.
Among the trunnion shafts B of the tripod member, which are arranged coaxially with the main shaft 61 and supported by the tailstock center 68 and the first claw 65 and the second claw 66, the trunnion shaft is arranged coaxially with the main shaft 61. A grinding wheel 69 is provided that is movable relative to the outer circumference of the trunnion shaft B. Rotation of the main shaft 61 gives rotation to the tripod member, and the grinding wheel 69 grinds the trunnion shaft B.

As mentioned above, since the tripod member has three trunnion shafts B protruding from the outer periphery, in order to grind each trunnion shaft B, the tripod member must be indexed every 20' and , during indexing, each trunnion shaft B is connected to the first pawl 65 and the second pawl 66.
must be released so as not to interfere with the

To index such a tripod member, move the first claw 24 holding the tripod member to the index position P,
, and rotated every 120°.

The automatic loading and indexing device of the present invention has the above-mentioned structure, and its operation will next be explained using simplified process diagrams shown in FIGS. 8 to 11.

As shown by the solid line in FIG. 8, with the first claw 24 facing the supply position P0 and the second claw 26 facing the processing position P2, the cylinder 19 moves downward, the loader body 18 descends, and the loading arm At the same time, the workpiece A is chucked with the first jaw 24 of the unloading arm 21, and the second jaw 2 of the unloading arm 22
Chunk the workpiece that has been ground in step 6.

When the cylinder 54 that the loading arm 21 abuts is turned off, the spring 47.4 in the Geneva mechanism 15
7, the loader main body 18 rotates clockwise in FIG. 8, the first pawl 24 moves to position P6, and the second pawl 2
6 moves to the unloading position P4, thereby machining at the machining position P2? IA is Chuck's V: i 67
．． 67, and the loader main body 18 becomes in a state where it can be raised. (Refer to FIG. 9) Next, the loader body 18 moves upward due to the rise of the cylinder 19, and when the switch S detects this, the hydraulic high rotor 14 is activated and the loader body 18 is moved upward via the Geneva mechanism 15. When the swing arm 42 of the Geneva mechanism 15 comes into contact with the pusher 49 in the forward position of the cylinder 48 and stops, the first pawl 24 faces the index position PS and remains at this position. The loader body 18 is lowered by the lowering of the cylinder 19. (See FIG. 10) When the pusher 49 of the cylinder 48 retreats and the loader body 18 rotates counterclockwise in FIG. 10 by the force of the hydraulic high rotor 14, the unloading arm 22 comes into contact with the stopper 51 and stops. The first jaw 24 faces the machining position P2, the trunnion shaft B for the workpiece held by the first jaw 24 fits into the V groove 67, 67 of the chuck, the tailstock center 68 moves forward, and the workpiece Clamp A. (See Figures 7 and 11) When the clamping of the workpiece A is completed, the first claw 24 and the second
The claw 26 closes and releases the workpiece A, the workpiece of the second claw 26 is ejected at the ejection position P, the loader body 18 moves upward, and the first claw 24 moves into the workpiece A. When the workpiece A comes out of the machining position P2, the first trunnion shaft B of the workpiece A
is ground.

After grinding is completed, the loader main body 18 descends and the first claw 24 enters the workpiece A, and after chucking the workpiece A by opening, the tailstock center 68 retreats, and the button shear 49 of the cylinder 48 moves forward. Then, the loader body 1 is moved by the Geneva mechanism 15.
8 rotates clockwise in FIG. 11, and the first pawl 24 is at the index position P.

(Fig. 1θ) At this position P, the first pawl 24 is 1
The workpiece A is indexed by rotating 20 degrees, then the pusher 49 of the cylinder 48 retreats, the first pawl 24 moves to the processing position P2, and the tailstock center 68 moves forward to clamp the workpiece A. , the first pawl 24 is closed and removed from the workpiece A as the loader main body 18 rises, and the second trunnion shaft B is ground. After the loader body 18 rises, the hydraulic high rotor 29 is reversely activated, and the first pawl 24 is rotated until the rotating piece 33a contacts the stopper 33b.
Rotate 0°.

After the grinding is completed, the above operation is repeated and the third trunnion shaft B for the workpiece is moved to the grinding position, the loader body 18 is raised, and the hydraulic high rotor 14 is driven to move the loader body 18 to the first position.
0, the first pawl 24 returns to the supply position P0, the second pawl 26 returns to the processing position P2 (state shown by the solid line in FIG. 8), and the next cycle begins.

(Effects of the Invention) As described above, according to the present invention, a loading arm having a first pawl that rotates at a predetermined angle and an unloading arm having a second pawl that rotate at a predetermined angle are provided on a loader main body that performs vertical movement and rotational movement. The workpiece is set at the supply position and the processing position of the workpiece and is integrally provided, and the first claw transports the workpiece from the supply position to the processing position, and the second claw transports the workpiece from the processing position to the discharge position. Therefore, the workpiece in the supply position can be transported to the machining position, and the workpiece in the machining position can be transported to the discharge position at the same time. Furthermore, the workpiece can be indexed by rotating the first pawl, reducing cycle time. It is possible to shorten the time.

Furthermore, since indexing is performed by the vertical movement and rotation of the loader body and the rotation of the first pawl, less space is required for indexing, and the entire device can be made smaller.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a plan view of an automatic loading and indexing device according to the present invention, FIG. 2 is a side view of the automatic loading and indexing device according to the present invention, FIG. A vertical sectional view taken along the arrow ■-■, FIG. 4a is an enlarged sectional view showing the first claw part,
5 is a sectional view taken along arrow A-A in FIG. 1, FIG. 6 is a sectional view taken along arrow V--■ in FIG.
FIG. 7 is a cross-sectional plan view of the grinding processing device, and each of FIGS. 8 to 11 is an explanatory diagram showing simplified operation steps. 13... Central axis, 14... Hydraulic high rotor, 15... Geneva mechanism, 18
... Loader body, 1S ... Cylinder, 21 ... Loading arm, 22 ...
・Unloading arm, 23...Cylinder, 24...First claw, 25...
Cylinder, 26... Second claw, 2S...
...Hydraulic high rotor for indexing. Figure 1 Figure 2 Figure 5 Figure 6

Claims (1)

[Claims] (1) A loading arm that has a first claw that opens and closes with a cylinder and rotates a predetermined angle, an unloading arm that has a second claw that opens and closes with a cylinder, and rotates about a constant axis and moves up and down. a loader main body in which the loading arm and the unloading arm are integrally provided with a first claw and a second claw set at a workpiece supply position and a processing position; It consists of a cylinder that moves the main body up and down and a Geneva mechanism that rotates the loader main body.The first claw of the loading arm transports the workpiece from the supply position to the processing position by the rotation and up and down movement of the loader main body. The automatic workpiece loading and indexing device is configured to transport the workpiece from the processing position to the discharge position using the second claw of the unloading arm.