JPH07299741A - Work supply device of grinder - Google Patents

Abstract

PURPOSE:To provide a work supply device for grinder which can make a high speed loading with high precision while a single arm system is incorporated. CONSTITUTION:A single loader arm 20 of a loader arm device 1 is arranged as capable of revolving between a work carry-in position A and a work processing position B, and a work carry-out device 2 is installed in the work carry-out part C located between the two positions A and B, and the loader arm device 1 and work carry-out device 2 are interlocked mechanically by an interlocking device 3. Thereby the work carry-out device 2 makes a work carry-out motion interlocking with the revolving return motion of the loader arm 20, and thus a high speed loading is achieved while the merit of single arm system is well made use of.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work supply device for a grinding machine, and more specifically, for a grinding machine that grinds small annular workpieces such as miniature bearings, the workpieces are continuously loaded and unloaded. Work supply technology.

[0002]

2. Description of the Related Art When grinding a small annular work piece (hereinafter referred to as a work), which is a mass-produced product, for example, an inner ring raceway surface or an outer ring outer diameter surface of a miniature bearing, a squareness of an outer circumference with respect to an end surface of the work is secured. Therefore, a shoe-type cylindrical grinder is preferably used. In this shoe-type cylindrical grinder, for example, a work supply device a as disclosed in Japanese Utility Model Publication No. 54-26954 is used to carry in a work. -It is configured to carry out continuously.

As shown in FIG. 11, this work supply device a has a carry-in chute c on which a work W is aligned and carried into a device body b, and a carry-out chute d on which a work W after completion of grinding is carried out. And work W between these shoots c and d
And a loader arm device e for carrying in and out.

This loader arm device e is of a double arm type, and has a carry-in arm f for carrying in the works W one by one from the carry-in chute c to the machining position of the grinder, and a work W after completion of grinding from this machining position. The carry-out chute d
And a carry-out arm g for carrying out.

At the machining position, a drive plate i is attached to the tip of the rotating spindle of the headstock h for adsorbing and supporting the end surface of the work W, and a pair of shoes FS and RS for supporting the outer circumference of the work W. And a grinding wheel G is arranged.

The work W, which is aligned and sent by the carry-in chute c, is carried into the processing position by the carry-in arm f, is rotatably supported on the pair of shoes FS and RS, and is driven by the drive. The plate i is suction-supported and its outer diameter surface is ground by the rotation of the rotary spindle and the advance (cut) of the grinding wheel G. The work W that has been subjected to the grinding process is unloaded from the processing position to the unloading chute d by the unloading arm g.

[0007]

However, the conventional structure provided with such a double arm type loader arm device e has the following problems.

(1) When loading and unloading the work W with respect to the processing position, high positioning accuracy is required. Therefore, loader plugs (not shown) are attached to the tips of the loading arm f and the unloading arm g. The loader plug is removably fitted into the center hole of the work W,
The work W is attached / removed.

Therefore, the relative positioning accuracy between the loader plugs of both arms f and g and the workpiece W directly affects the positioning accuracy when the workpiece W is carried in and out of the machining position.

In the double arm type loader arm device e as described above, since the loading arm f and the unloading arm g have separate and independent drive mechanisms (swivel shaft, power transmission mechanism and drive source), each arm f. , G, of course, high positioning accuracy is required for both arms f, g.

On the other hand, in the drive mechanism of each arm f, g, each component such as a bearing portion which is a supporting portion thereof and a joint portion which is a connecting portion is rattled with time due to wear and the like, resulting in a motion error. In addition to the positioning errors of the arms f and g, the positioning errors of the arms f and g are synergistically added to each other, resulting in an early loading error of the work.

This problem is particularly noticeable in a grinder that requires high positioning accuracy, such as a grinder for a small annular work such as a miniature bearing.

(2) Further, in order to always ensure the high positioning accuracy as described above, when changing the model number of the work W, it is necessary to perform a step change or an adjustment operation for each of the carry-in arm f and the carry-out arm g. However, it is indispensable to perform these operations in consideration of the relative positional relationship between both arms f and g, which requires skill and labor, resulting in poor workability.

(3) Further, the work loading / unloading work by the loading arm f and the unloading arm g is as described above.
This is done by inserting and removing the loader plug at the tip thereof into and from the center hole of the work W. In this case, the work attachment work by both arms f and g is surely performed, and the removal and loading work from the loading arm f is also performed by the drive plate i.
The suction force by the action acts to ensure the operation.

However, at the time of removing and carrying out the work from the carry-out arm g to the carry-out chute d, the loader plug cannot be properly pulled out from the center hole of the work W, and in the worst case,
There is also a problem that the work W cannot be smoothly and reliably transferred, such as dropping the work W to the outside of the discharge chute d.

With respect to this point, a single-arm type work supply device for carrying out the work loading / unloading work by a single loader arm has also been developed. However, since this device has only one loader arm, Inevitably, the work W cannot be loaded and unloaded at the same time, and this time lag extremely lengthens the loading cycle time, which makes it impossible to perform high-speed loading as in the double arm system.

The present invention has been made in view of the above conventional problems, and an object of the present invention is to provide a work supply device for a grinder capable of high-speed loading with high accuracy in a single arm system. To do.

[0018]

In order to achieve the above object, the work supply apparatus of the present invention has a work holding portion for detachably holding an annular work at its tip, and has a work loading position and a work processing position. The loader arm means is provided with a single loader arm means that can be swiveled between them, and a work unloading portion between the work carry-in position and the work machining position of the loader arm means to receive the work from the work holding portion of the loader arm means. It comprises work unloading means for unloading, and interlocking means for mechanically interlocking these loader arm means and work unloading means with each other. By this interlocking means, the loader arm means moves from the work processing position to the work loading position. It is characterized in that the work unloading means is configured to perform the work unloading operation in conjunction with the turning return operation.

[0019]

According to the present invention, the loader arm device having a single loader arm can be pivoted between the work loading position and the work machining position, and the loader arm device between the work loading position and the work machining position can be operated. In the work unloading section,
A work unloading device is provided, and the loader arm device and the work unloading device are mechanically interlocked with each other by an interlocking device.

After the loader plug holds the work at the work loading position, the loader arm pivots to the work processing position and loads the work. The work carried in to the work processing position is subjected to a predetermined grinding process.

When the work grinding is completed, the loader arm holds the work by the loader plug and returns to the work carrying-in position again by swiveling. However, the work is carried out at the work unloading part during the turning. It is received by the work suction part of the carry-out device. The work unloading device performs the work unloading operation by the interlocking device in synchronization with the turning return operation of the loader arm.

The loader arm that has returned to the work loading position again holds the next work, and the series of operations is repeated thereafter.

As described above, since the work unloading device carries out the work unloading operation in conjunction with the turning return operation of the loader arm, it is possible to perform high-speed loading while taking advantage of the single arm system.

[0024]

Embodiments of the present invention will now be described in detail with reference to the drawings.

A work supply apparatus according to the present invention is shown in FIGS. 1 to 8. This work supply apparatus is specifically
A single-arm system provided on a shoe-shaped cylindrical grinder for grinding small workpieces W, W, ... Such as miniature bearings. A single loader arm device (loader arm means) 1 and a work unloading device ( A work unloading means 2, an interlocking device (interlocking means) 3, a work transfer device (work transfer means) 4, a control device (control means) 5 and the like are provided as main parts. Hereinafter, each of these constituent devices will be specifically described in order.

A. Shoe-shaped cylindrical grinder: The basic structure of the shoe-shaped cylindrical grinder is a conventionally well-known general one, and a work spindle device 1 for supporting and rotating the end surface of a work W.
0 and a pair of shoes FS supporting the outer diameter surface of the work W,
It comprises RS and a grinding wheel G for grinding the outer diameter surface of the work W.

The work spindle device 10 is provided with a drive plate 15 at the tip of a rotary spindle (not shown) via a magnetic chuck, and the base end side of the rotary spindle is linked to a drive source such as a drive motor (not shown). The end surface of the work W is the drive plate 15
While being sucked and supported by the chuck surface, the rotary main shaft is forcibly rotated in the arrow X direction at a predetermined speed by the rotational driving of the rotary spindle.

The pair of shoes FS and RS are constructed so as to slidably support the lower front and rear positions of the outer diameter surface of the work W and to positionally support two outer diameter surfaces of the work W in the circumferential direction. ing.

In the grinding wheel G, a rotating spindle 13 is rotatably supported on a spindle stock (not shown), is linked to a driving source such as a driving motor, and is rotationally driven in the arrow Y direction at a predetermined speed. . Further, the grinding wheel G is cut in the arrow Z direction by a cutting mechanism (not shown).

B. Loader Arm Device 1: The loader arm device 1 includes a single loader arm 20 that can be swung between a work loading position A and a work processing position B, and an arm drive unit 21 that swivels the loader arm 20. And are equipped with.

As shown in FIG. 5, the loader arm 20 has its base end 20a fixed to the tip of the arm drive shaft 25 by means of a mounting bolt or the like (not shown). The arm drive shaft 25 is rotatably supported by a bearing 27 on an apparatus main body 28, which is a fixed side, and is capable of reciprocating in an arrow M direction, and a base end portion (not shown) is connected to the arm via a joint mechanism. It is drivingly connected to the driving unit 21.

The tip 20b of the loader arm 20 is also included.
Includes a work holding section 2 for detachably holding the work W.
9 is provided. Specifically, the work holding portion 29 is in the form of a loader plug that is removably fitted in the center hole of the work W, and extends in parallel with the arm drive shaft 25.

The arm drive unit 21 is the loader arm 2 described above.
0 is pivotally driven and a work is attached / detached. Specifically, a rotation mechanism (not shown) for rotationally driving the arm drive shaft 25 and the arm drive shaft 25 are reciprocally driven in the axial direction M thereof. And a direct-acting mechanism (not shown).

With this arm drive section 21,
The loader arm 20 advances to the position shown by the solid line in FIG. 5, its loader plug 29 is inserted into the center hole of the work W to hold the work W, and retracts to the position shown by the chain double-dashed line. Work loading position A and work processing position B
It is swung between and.

At the work carry-in position A, a carry-in chute 30 is fixedly provided so as to extend in the vertical direction, and the works W, W, ... Drop along the work supply groove 30a while being aligned by their own weight. It is supplied and is sequentially supplied to the loader plug 29 of the loader arm 20 from the work W at the lowermost end. On the other hand, at the work processing position B, the work spindle device 10, the shoes FS and RS, and the grinding wheel G that form the processing portion of the shoe-shaped cylindrical grinder described above are arranged.

C. Work unloading device 2: Work unloading device 2
Is for receiving and unloading the work W from the loader plug 29 of the loader arm device 1, and is arranged in the work unloading section C between the work loading position A and the work processing position B. The work unloading device 2 includes a slide body 35,
Work suction part 36, positioning mechanism (positioning means) 3
7, 38 and a restoring device (restoring means) 39.

The slide body 35 is reciprocally supported on a pair of parallel guide bars 40, 40 in the work unloading section C, and these guide bars 40, 40 are supported.
Has both ends attached to the fixed side via the support frames 41, 41.

This slide body 35 is specifically shown in FIG.
As shown in FIG. 4, the sliding portion 35a provided at the lower portion is slidably inserted into and supported by the guide bars 40, 40, and the work receiving position C ₁ (see FIGS. 3 and 4) and the work unloading position. It is reciprocally movable with respect to C ₂ (see FIG. 2). Further, on the surface of the front end portion of the slide body 35, the work suction portion 3 that sucks and holds the work W by magnetic force is held.
6 is provided.

The work attracting portion 36 is in the form of an attracting pad. Specifically, the permanent magnet 3 is provided in the slide body 35.
6a is mounted and fixed in an embedded manner by a mounting plate 36b. Note that an electromagnet may be employed instead of the permanent magnet 36a, and ON / OFF control may be performed.

When the slide body 35 is at the work receiving position C ₁ , the work suction portion 36 is disposed at a turning track D of the loader plug 29 of the loader arm device 1.
The loader arm device 1 is located above and when the slide body 35 is in the work unloading position C _2.
The loader plug 29 is set to be located outside the turning track D.

Then, as will be described later, the work suction portion 3
When the loader plug 29 is positioned on the turning track D, the magnetic force of the load 6 forcibly pulls out the work W fitted and held on the loader plug 29 of the loader arm device 1 and suction-holds it.

Both of the positioning mechanisms 37 and 38 are for positioning the slide body 35, and the first positioning mechanism 37 moves the slide body 35 to the work receiving position C ₁
And the second positioning mechanism 38,
The slide body 35 is positioned at the work unloading position C ₂ .

The first positioning mechanism 37 includes a hitting member 37a provided on the slide body 35 and a stopper member 37b provided on the support frame 41 on the fixed side.
The work receiving position C ₁ can be adjusted appropriately by screwing the stopper member 37b forward and backward with respect to the support frame 41.

The second positioning mechanism 38 comprises a positioning bar 38a provided on the slide body 35 and a stopper member 38b provided on the support frame 41 side.

The positioning bar 38a is slidably inserted into and supported by the guide hole 42a of the support portion 42 fixedly mounted on the support frame 41 on the fixed side, and has an engaging recess 43. On the other hand, the stopper member 38b is attached to the support portion 42 via an elastic spring 44, and the elastic member 44 allows the guide hole 42 to be formed.
a The elastic force is constantly urged inward.

The stopper member 38b is shown in FIG.
As shown in FIG. 7, the slide main body 35 is elastically positioned and held at the work unloading position C ₂ by releasably engaging with the engagement recess 43 of the positioning bar 38a.

The restoring device 39 is the slide body 3
5 for returning the work 5 from the work unloading position C ₂ to the work receiving position C ₁ , specifically in the form of a cylinder device composed of an air cylinder, a hydraulic cylinder or the like. In the illustrated embodiment, the air cylinder is used. Has been done.

The air cylinder 39 is mounted on the support frame 41, and the piston rod 39a thereof can project and retract in parallel with the guide bars 40, 40 at the center position between the guide bars 40, 40. It is said that.

As shown in FIG. 6, a connecting rod 50 is coaxially connected to the end of the piston rod 39a via a joint 51, and the end 50 of the connecting rod 50 is connected.
a is connected to the slide body 35.

Specifically, the connecting rod 50 is slidably inserted into the sliding portion 35a of the slide body 35, and the locking nut 5 screwed to the tip 50a thereof.
1 is engageable with the sliding portion 35a. As a result, the connecting rod 50 and the slide body 35 do not engage with each other when the piston rod 39a projects, but engages with each other when the piston rod 39a retracts.

D. Interlocking device 3: The interlocking device 3 mechanically interlocks the loader arm device 1 and the work unloading device 2 with each other, and includes the slide arm 60 and the cam mechanism 6.
It is equipped with 1.

The slide arm 60 is drivingly connected to the slide body 35 of the work unloading device 2 via an operation stroke expanding mechanism (operation stroke expanding means) 62.

The slide arm 60 is guided by a fixed guide portion (not shown) so as to be able to reciprocate in a direction parallel to the slide body 35 moving on the guide bar 40, and the cam mechanism is provided on the tip side thereof. 61 is provided, and the operation stroke enlarging mechanism 62 is provided on the base end side thereof. 68 is a positioning stopper for restricting the excessive movement of the slide arm 60, which is in the form of an adjusting screw. The positioning stopper 68 is disposed so as to face the tip end surface 60a of the slide arm 60 so as to be able to come into contact therewith, and can be appropriately adjusted in position by being screwed back and forth with respect to the support bracket 69.

The cam mechanism 61, as shown in FIG.
Cam follower 61 provided on the slide arm 60
a and the striker 6 provided on the loader arm 20
1b and.

The cam follower 61a is specifically in the form of a cam roller, and is rotatably supported by the tip of the slide arm 60 via a mounting bracket 63. Further, the striker 61b is attached and fixed to the rear surface side of the base end portion of the loader arm 20 at a position where it can be engaged with the cam follower 61a.

These cam followers 61a and striker 6
The engagement range with 1b is within the swing angle range α between the work unloading section C and the work unloading position A, of the entire slewing range of the loader arm 20, and the swinging from the work unloading section C to the work unloading position A. It is said to be in the direction of return movement.

In connection with this, an elastic spring (biasing means) 65 is connected to the slide arm 60. As shown in FIG. 8, one end 65a of the elastic spring 65 is connected to the base end side of the slide arm 60, and the other end 65b thereof is connected to the support frame 41 via an adjusting mechanism 66. It is connected to the attached support bracket 67, whereby the slide arm 60 is constantly elastically urged toward the workpiece receiving position C ₁ side, and the engagement operation of the cam mechanism 61 is smooth and reliable. It is configured to be performed.

The elastic urging force of the elastic spring 65 can be adjusted by screwing the adjusting bolt 66a of the adjusting mechanism 66 forward and backward.

The operation stroke enlarging mechanism 62 enlarges and transmits the sliding operation of the slide arm 60 to the slide body 35. The operation stroke enlarging mechanism 62 extends between the base end of the slide arm 60 and the slide body 35 of the work unloading device 2. It is provided in the connecting part.

This operation stroke expanding mechanism 62 is shown in FIG.
As shown in FIG. 5, a fixed rack 62a mounted and fixed to the fixed portion 70, a pinion 62b rotatably supported by the base end portion of the slide arm 60 which is a drive portion, and the slide body 35 which is a driven portion. And a movable rack 62c mounted and fixed to the.

The racks 62a and 62c are arranged in parallel on both sides of the pinion 62b with the pinion 62b interposed therebetween, and are meshed with the pinion 62b. Thus, when the slide arm 60 moves in the carry-out direction E, the pinion 62b meshed with the fixed rack 62a rotates, and the rotation of the pinion 62b moves the slide body 35 in the carry-out direction E via the movable rack 62c. It

In this case, the moving distance ratio (L ₁ : L ₂ ) between the slide arm 60 and the slide body 35 is determined by the two racks 6 described above.
2a, 62c and the pinion 62b are determined by the relative meshing ratio (depending on the diameter of the pinion 62b). In the illustrated embodiment, the moving distance ratio between the two is 1: 2,
That is, the moving distance L ₂ of the slide body 35 is set to be twice the moving distance L ₁ of the slide arm 60.

The moving distance ratio (L ₁ : L ₂ ) between the slide arm 60 and the slide body 35 is not limited to that in this embodiment, and is small in consideration of the installation space and operability of the entire apparatus. It is appropriately set so that a large movement of the slide body 35 can be obtained by moving the slide arm 60.

When the loader arm 20 reaches the work unloading section C during the turning return operation of the loader arm unit 1, the striker 61b collides with the cam follower 61a (see FIG. 4). The combined state is held until the loader arm 20 reaches the work loading position A (see FIG. 2). As a result, the slide arm 60 is moved in the carry-out direction E, and the slide body 35 of the work carry-out device 2 is moved from the work receiving position C ₁ to the work carry-out position C ₂ via the operation stroke expanding mechanism 62. (Perform unloading operation).

At the work unloading position C ₂ , a unloading chute 71 is fixedly provided to extend in the horizontal direction, and an inclined chute 72 is provided to extend downward from the downstream end of the unloading chute 71. ing.

E. Work transfer device 4: Work transfer device 4
Is intended to further transport to the outside the workpiece W is unloaded to the work unloading position C ₂ by the work unloading device 2,
It comprises a transfer member 75 and a rodless cylinder 76.

As shown in FIGS. 1 and 10, the transfer member 75 is provided so as to be capable of reciprocating in the horizontal direction along the carry-out chute 71, and has an engaging rod 75a at its tip. The engaging rod 75a is projected into the inside through the guide window 71a of the carry-out chute 71, and engages and holds the work W on the carry-out surface 71b inside in the transfer direction F.

The rodless cylinder 76 moves the transfer member 75, and is arranged horizontally on a base 80, and a moving table 81 thereof can reciprocate in the horizontal direction. A moving table 90 is drivingly connected to the moving table 81 via an operation stroke expanding mechanism (operation stroke expanding means) 82, and the transfer member 75 is connected to a connecting bracket 83 below the moving table 90.
It is horizontally attached and supported via.

The movable table 90 is supported on a pair of parallel guide rods 91, 91 so as to be capable of reciprocating, and both ends of the guide rods 91, 91 are supported by the support frame 9.
It is mounted on the base 80 via the terminals 2, 92.

Various sources can be adopted as the drive source of the rodless cylinder 76, but in the illustrated embodiment, air pressure is used to form the air cylinder. Although not shown, the base 80 is provided with a positioning stopper for defining the horizontal movement stroke of the moving table 81.

The operation stroke enlarging mechanism 82 is provided for the same purpose as the operation stroke enlarging mechanism 62 of the interlocking device 3 described above, and its basic structure is also the same.
It is provided at the connecting portion between the moving table 81 and the moving base 90.

That is, the operation stroke expanding mechanism 8
2 is a fixed rack 82 fixed to the base 80.
a, a pinion 82b that is rotatably supported by the moving table 81 that is a drive unit, and a movable rack 82c that is fixedly attached to the moving table 90 that is a driven unit.

The structural relationship between these constituent members 82a to 82c is similar to that of the operation stroke expanding mechanism 62 described above. When the moving table 81 is moved in the horizontal direction, the transfer member is transferred via the constituent members 82a to 82c. The movable table 90 that supports 75 is also moved in the horizontal direction.

The moving table 81 and the moving base 90 in this case
That is, the moving distance ratio (L ₁ : L ₂ ) of the transfer member 75 (see FIG. 9) is the same as that of the operation stroke enlargement mechanism 62 in the illustrated embodiment.
Although it is set so as to move a distance L ₂ which is twice the moving distance L ₁ of ₁ , the movement table 81 is not limited to this and the installation space and operability of the entire apparatus are taken into consideration.
Is appropriately set so as to obtain a large movement of the transfer member 75.

By the horizontal movement of the moving table 81 of the rodless cylinder 76 from the left end position to the right end position in FIG. 1, the transfer member 75 is moved to the work unloading position C _2, that is, the upstream end of the unloading chute 71. The work W is received from the work suction unit 36 of the work unloading device 2 and transferred to the downstream end of the unloading chute 71. The work W transferred to the downstream end slides and falls from the upstream end of the inclined chute 72 to the downstream end by its own weight, and is dropped and accommodated in the work accommodating portion 84 outside the machine. 85 is work W
The work sensor which detects passage of is shown.

A demagnetizer (demagnetizing means) 86 is provided at a midway position of the transfer path of the transfer member 75, specifically, at the downstream end of the carry-out chute 71, and the work W after grinding is provided.
The magnetized magnetic force is completely demagnetized by the demagnetizer 86 during the unloading and transfer.

F. Control device 5: The control device 5 is synchronized with the work spindle device 10 of the shoe-shaped cylindrical grinder, the drive device of the grinding wheel G, and the like, and the arm drive portion 21 of the loader arm device 1 and the air of the work unloading device 2 are synchronized. The cylinder 39 and the rodless cylinder 76 of the work transfer device 4 are controlled to interlock with each other. This controller 5
Is, specifically, a CNC type composed of a microcomputer including a CPU, a ROM, a RAM, an I / O port, etc.
It is configured to automatically control each component of the work supply device.

Next, the grinding process in the shoe-shaped cylindrical grinder provided with the work supply apparatus configured as described above will be described.

Loader Arm 2 of Loader Arm Device 1
0 is the work loading position A as shown in FIG. 2, and receives the work W to be ground from the loading chute 30.

In this case, when the loader arm 20 moves forward (the position indicated by the chain double-dashed line in FIG. 5 → the position indicated by the solid line), the loader plug 29 is inserted into the center hole of the work W at the lowermost end of the carry-in chute 30, and this After the work W is inserted and held, the loader arm 20 retracts again (solid line position in FIG. 5 → two-dot chain line position).

The loader arm 20 rotates and carries in the workpiece W to be ground while holding the workpiece W to be ground (two-dot chain line in FIG. 2, solid line position in FIG. 3). In this loaded state, the work W has a pair of shoes F whose outer diameter surfaces are
It is supported on S and RS, and its end face is adsorbed and supported by the drive plate 15 of the work spindle device 10.

At this time, the slide main body 35 of the work unloading device 2 is moved to the work unloading position C as described later.
₂ is elastically positioned and held, and its work suction portion 36 is located outside the turning track D of the loader plug 29.

By driving the work spindle device 10, the work W is forcibly rotated and the shoe F
While being slidably supported on S and RS, a predetermined grinding process is performed on the outer diameter surface of the rotating grinding wheel G as it moves forward (cuts). After finishing the grinding, the grinding wheel G moves backward.

During this time, the slide main body 35 of the work unloading device 2 is moved to the work receiving position C as described later.
The workpiece suction portion 36 is pulled up to ₁ and returned, and the workpiece suction portion 36 stands by on the turning trajectory D of the loader plug 29.

When the grinding of the work W is completed, the loader arm 20 returns to the work carrying-in position A again after the loader plug 29 holds the work W, but during the turning return operation, The work W is received by the work unloading device 2 at the work unloading section C.

In other words, when the loader arm 20 is returned to rotate, the slide body 35 of the work unloading device 2 is moved.
Is pulled up to the work receiving position C ₁ by the air cylinder 39 and returned, and the work suction portion 36 stands by on the turning track D of the loader plug 29. Therefore, when the work W passes near the work suction portion 36, the work W is forcibly pulled out by the magnetic force, and is held by suction.

In this case, the loader arm 20 once advances at the work receiving position C ₁ and then moves backward,
Alternatively, the work W may be retracted as it is, and the work W may be operated to assist the drawing operation.

The work unloading device 2 that has received the work W performs the above-described unloading operation of the work W in association with the rotation of the loader arm 20 to the work loading position A by the interlocking device 3.

The work W carried out to the work carry-out position C ₂ (FIG. 2) by the work carry-out device 2 is moved to the outside of the machine by the work transfer device 4 via the carry-out chute 71 and the inclined chute 72 as described above. It is transferred and stored in the work storage portion 84.

On the other hand, the loader arm 20 that has returned to the workpiece carry-in position A by turning again restarts the subsequent steps in parallel with the above steps.

At this time, the slide body 35 of the work unloading device 2 is initially elastically positioned and held at the work unloading position C ₂ by the positioning mechanism 38, and the work suction part 36 is attached to the loader plug 29. It is located outside the turning track D.

Then, this positioning and holding state is maintained during the above steps, and then released by the retracting operation of the air cylinder 39 during the above steps. As a result, the work suction unit 36 is connected to the loader plug 2
It returns to the turning trajectory D of 9 again and waits for the next work W after the grinding process to pass.

From then on, the series of operations from to is sequentially repeated.

The above-described embodiment is merely a preferred embodiment of the present invention, and the present invention is not limited to this, and various design changes can be made within the range.

For example, the specific structure of each constituent device may be changed to another structure having the same functions and actions as the illustrated embodiment.

[0096]

As described in detail above, according to the present invention,
Various unique effects as listed below can be obtained, high-speed loading with high accuracy is possible in the single-arm system, and high positioning accuracy is required, especially for grinders for small annular workpieces such as miniature bearings. It is possible to provide an optimum work supply device for a grinding machine to be used.

(1) Since it is a single-arm system, it is not necessary to secure the positioning accuracy for a pair of arms as in the conventional double-arm system, and the work can be carried in and out with respect to the machining position with high positioning accuracy. be able to.

(2) Since the loader arm may have a single drive mechanism, even if each component such as the bearing portion which is the supporting portion and the joint portion which is the connecting portion is loosened due to wear or the like over time, The motion error is limited to only a single loader arm, and again, unlike the case of the conventional double arm system, it does not cause a work loading error early.

(3) In order to always ensure the high positioning accuracy as described above, it is necessary to perform a step change or adjustment work for the loader arm when changing the model number of the work, etc. Since it is one, it is relatively easy and has good workability.

(4) The work holding portion at the tip of the loader arm is equipped with a loader plug which is removably fitted into the center hole of the workpiece, and the work unloading means receives the work from this loader plug by magnetic force and holds it by suction. Since the work suction portion is provided, not only the work mounting work by the loader arm but also the work removing work can be smoothly and surely performed, and further, the work transfer work after the completion of grinding can be smoothly and surely performed.

(5) Since the work take-out operation is performed in conjunction with the turning-back operation of the work take-out means or the loader arm, there is not much time lag in spite of the single-arm system, and the high-speed operation like the double-arm system is possible. Carrying in and out can be done.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a work supply device of a shoe-shaped cylindrical grinding machine according to an embodiment of the present invention.

FIG. 2 is a front view showing, in a partial cross section, an operation of a main part of the work supply apparatus, showing a state in which a loader arm is performing a work loading operation from a work loading position to a work processing position.

FIG. 3 is a front view showing a partial cross-section of the operation of the main part of the work supply device. The work is ground at the work processing position, and the work suction unit of the work unloading device returns to the work receiving position and waits. It shows the state of doing.

FIG. 4 is a front view showing a partial cross-section of the operation of the main part of the work supply device, showing a state where the work after completion of the grinding process is transferred from the loader arm to the work suction part of the work unloading device. There is.

FIG. 5 is a side view showing a partial cross section of a loader arm device in the work supply device.

FIG. 6 is a side view showing a partial cross section of the work unloading device in the work supply device.

FIG. 7 is a front view for explaining related operations of a loader arm and a cam mechanism of an interlocking device in the work supply apparatus.

FIG. 8 is a side view showing a slide arm and an operation stroke expanding mechanism of the interlocking device in the work supply device.

FIG. 9 is an enlarged front view showing the operation stroke enlargement mechanism.

FIG. 10 is a rear view showing a partial cross section of the work transfer device in the work supply device.

FIG. 11 is a front view showing a conventional work supply device.

[Explanation of symbols]

W Work (workpiece) A Work carry-in position B Work machining position C Work carry-out part C ₁ Work carry-out part work receive position C ₂ Work carry-out part work carry-out position D Loader plug swivel track FS, RS Shoe-shaped cylindrical grinder Shoe G Grinding wheel of shoe-type cylindrical grinder 1 Loader arm device (loader arm means) 2 Work unloading device (workpiece unloading means) 3 Interlocking device (interlocking means) 4 Work transfer device (work transfer means) 5 Control device (control) Means) 10 Work spindle device of shoe type cylindrical grinder 20 Loader arm of loader arm device 21 Arm drive part of loader arm device 29 Loader plug (work holding part) 30 Carry-in chute 35 Slide body of work unloading device 36 Work unloading device Work suction part 37, 38 Positioning mechanism (positioning means) for work unloading device 3 9 Air cylinder (returning means) of work discharge device 60 Slide arm of interlocking device 61 Cam mechanism of interlocking device 61a Cam follower of cam mechanism 61b Striker of cam mechanism 62,82 Operation stroke expanding mechanism (operation stroke expanding means) 62a, 82a Operation Fixed rack 62b, 82b of stroke expanding mechanism Pinion 62c, 82c of operating stroke expanding mechanism Movable rack of operating stroke expanding mechanism 65 Elastic spring (biasing means) 71 Carry-out chute 72 Inclined chute 75 Transfer member of work transfer device 76 Work transfer Device rodless cylinder 86 Demagnetizer (Demagnetizer)

Claims (7)

[Claims] 1. A single loader arm means having a work holding portion for detachably holding an annular work piece at its tip and capable of pivoting between a work loading position and a work processing position, and the loader arm means. In the workpiece unloading section between the workpiece loading position and the workpiece machining position in the workpiece loading and unloading means for receiving and discharging the workpiece from the workpiece holding section of the loader arm means, and the loader arm means and the workpiece unloading means. And an interlocking means for mechanically interlocking with the work loader. By this interlocking means, the work unloading means unloads the work piece in synchronism with the turning return operation of the loader arm means from the work processing position to the work loading position. A work supply device for a grinder, which is configured to perform an operation. 2. The work unloading means is a slide body movable between a work receiving position and a work unloading position in the work unloading portion, and a work holding portion of the loader arm means provided on the slide body. And a work suction portion that sucks and holds the workpiece from the work holding portion, and the work suction portion is located on the turning trajectory of the work holding portion of the loader arm means when the slide body is at the work receiving position. In addition, the work supply device for the grinding machine according to claim 1, wherein when the slide body is in the work carry-out position, the work supply device for the grinding machine is set so as to be located outside the turning track of the work holding portion of the loader arm means. 3. The interlocking means comprises a slide arm connected to the work unloading means, and a cam mechanism for mechanically interlocking the slide arm with the loader arm means, the cam mechanism comprising the slide arm. And a striker provided on the loader arm means side, and the striker engages with the cam follower when the loader arm means pivotally returns from the work processing position to the work loading position. In addition, the work unloading means is configured to perform a work discharge operation.
The workpiece supply device for the grinding machine described in. 4. The work unloading means includes positioning means for elastically positioning and holding the slide body at the work unloading position, and returning means for returning the slide body to the work receiving position. 4. The interlocking means includes a biasing means for constantly resiliently biasing the slide arm toward the workpiece receiving position.
The workpiece supply device for the grinding machine described in. 5. The interlocking means includes an operation stroke enlarging means for enlarging and transmitting a sliding operation of the slide arm to the slide body, at a connecting portion between the slide arm and a slide body of the work unloading means. Item 4. A workpiece supply device for a grinding machine according to Item 4. 6. The work supply device for a grinding machine according to claim 2, further comprising work transfer means for receiving the workpiece from the work suction portion of the work unloading means and transferring it to the outside of the machine at the work unloading position of the work unloading portion. . 7. An intermediate portion of the transfer path of the transfer member,
The work supply device for a grinding machine according to claim 6, further comprising demagnetizing means for demagnetizing the magnetic force of the workpiece.